adhoc

completed
2026-09-18T04:39:06.105968+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
178 s
total steps
134
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can lies on its side just ahead and slightly right of the left gripper in the left wrist view; the burner is in the table centre. Moving the left arm forward and down over the can to line up the grasp.
move_to
left_x0.3300left_y-0.0300left_z0.1200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3893, -0.0189, -0.0341, 0.9993, -0.02, 0.794, 0.6075, -0.4011, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1785 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2924 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4718, -1.388, 10.1949, 1.9951, -0.0366, 0.1832, -0.0806, -0.4991, -1.4974, 9.6889, 2.0342, -0.0659, 0.1685, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.03, "left_z": 0.12, "left_gripper": 1.0}, "note": "The can lies on its side just ahead and slightly right of the left gripper in the left wrist view; the burner is in the table centre. Moving the left arm forward and down over the can to line up the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteThe can fills the left wrist view but its middle is still a few cm beyond the fingertips and tilted ~20° with the cap toward the far left. Advancing forward, lowering, and yawing slightly so the jaws close across the can's diameter.
move_to
left_x0.3700left_y-0.0400left_z0.0800left_yaw0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1741, 1.0405, 0.4667, -0.1417, -0.1173, -0.1028, 0.9993, -0.0208, 0.7975, 0.6132, -0.424, -0.0189, -0.0273, 0.9996] state[eef_state]: left_x=0.3097 left_y=-0.0299 left_z=0.0963 left_yaw=-0.0345 left_pitch=-0.1324 left_roll=0.0149 left_gripper=0.9993 right_x=0.2901 right_y=0.0009 right_z=0.1742 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [-0.1436, -4.3966, 7.6786, 2.1905, -0.2271, -0.0659, -0.0855, -0.0479, -1.4291, 6.5846, 2.0537, -0.0317, -0.0952, -0.0073] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.04, "left_z": 0.08, "left_yaw": 0.3, "left_gripper": 1.0}, "note": "The can fills the left wrist view but its middle is still a few cm beyond the fingertips and tilted ~20\u00b0 with the cap toward the far left. Advancing forward, lowering, and yawing slightly so the jaws close across the can's diameter."})
tool
executing move_to over 5 steps (0.5s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe can is now centred on the jaw column and aligned with the jaws in the left wrist view; from above the gripper sits just behind the can's middle. Advancing 3 cm more and descending to can-centre height for the grasp.
move_to
left_x0.3900left_y-0.0450left_z0.0300left_yaw0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3286, 1.4422, 0.6399, -0.0711, -0.3973, -0.3882, 0.9993, -0.0212, 0.8005, 0.6075, -0.4503, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3538 left_y=-0.0446 left_z=0.061 left_yaw=0.2091 left_pitch=-0.2088 left_roll=0.0469 left_gripper=0.9993 right_x=0.2857 right_y=0.0008 right_z=0.1655 right_yaw=-0.0006 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.3214, -6.6803, 7.7197, 1.4725, -0.3492, -0.0757, -0.0855, -0.1573, -1.4974, 7.5556, 1.9609, -0.0366, 0.0073, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.045, "left_z": 0.03, "left_yaw": 0.25, "left_gripper": 1.0}, "note": "The can is now centred on the jaw column and aligned with the jaws in the left wrist view; from above the gripper sits just behind the can's middle. Advancing 3 cm more and descending to can-centre height for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe arm only partly tracked the last target (still at z≈0.066, x≈0.36); the can remains centred in the wrist view. Re-issuing a smaller step down to grasp height.
move_to
left_x0.3800left_y-0.0400left_z0.0350left_yaw0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.4686, -0.4587, 0.9993, -0.0212, 0.8005, 0.6075, -0.4595, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0663 left_yaw=0.2921 left_pitch=-0.172 left_roll=0.0383 left_gripper=0.9993 right_x=0.2843 right_y=0.0009 right_z=0.1637 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [-0.2393, -6.1744, 7.9658, 1.5067, -0.3346, -0.1197, -0.0855, -0.0205, -1.2103, 6.9402, 1.7998, -0.0757, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.04, "left_z": 0.035, "left_yaw": 0.25, "left_gripper": 1.0}, "note": "The arm only partly tracked the last target (still at z\u22480.066, x\u22480.36); the can remains centred in the wrist view. Re-issuing a smaller step down to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe left arm is not moving at all despite two targets—likely the tilted fingers are resting on top of the can. Lifting clear and squaring the tool vertical before descending again.
move_to
left_x0.3700left_y-0.0400left_z0.1300left_yaw0.2500left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.469, -0.4587, 0.9993, -0.0212, 0.8009, 0.6075, -0.4778, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0664 left_yaw=0.2924 left_pitch=-0.1719 left_roll=0.0385 left_gripper=0.9993 right_x=0.2816 right_y=0.001 right_z=0.1601 right_yaw=-0.0003 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.9829, 7.9521, 1.5067, -0.3785, -0.0904, -0.0855, -0.1573, -1.1829, 6.9949, 1.8535, -0.0464, -0.0171, -0.0073] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.04, "left_z": 0.13, "left_yaw": 0.25, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm is not moving at all despite two targets\u2014likely the tilted fingers are resting on top of the can. Lifting clear and squaring the tool vertical before descending again."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe arm tracks slowly but the can is well centred between the jaws in the wrist view and the gripper sits over the can from above. Descending to can-centre height to grasp.
move_to
left_x0.3700left_y-0.0400left_z0.0300left_yaw0.2500left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.347, 1.4063, 0.6609, -0.0841, -0.4843, -0.4217, 0.9993, -0.0212, 0.8036, 0.6075, -0.4999, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3587 left_y=-0.0384 left_z=0.0835 left_yaw=0.272 left_pitch=-0.1353 left_roll=0.0532 left_gripper=0.9993 right_x=0.2783 right_y=0.001 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.6359, -8.1573, 7.788, 1.9951, -0.3346, 0.1832, -0.0806, -0.1299, -0.9504, 6.9402, 1.8828, -0.0855, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.04, "left_z": 0.03, "left_yaw": 0.25, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm tracks slowly but the can is well centred between the jaws in the wrist view and the gripper sits over the can from above. Descending to can-centre height to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe gripper is down at table level straddling the can, which shows centred between the jaws in the wrist view. Closing the gripper to grasp the can.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3561, 1.6325, 0.4675, 0.321, -0.5175, -0.3676, 0.9993, -0.0212, 0.807, 0.6075, -0.522, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3473 left_y=-0.0321 left_z=0.0071 left_yaw=0.2593 left_pitch=-0.1356 left_roll=0.1234 left_gripper=0.9993 right_x=0.2748 right_y=0.001 right_z=0.1501 right_yaw=-0.0005 right_pitch=-0.1343 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.5402, -6.2838, 4.9983, 1.8632, -0.3736, 0.0708, -0.0855, -0.1299, -1.4974, 6.9128, 1.8291, -0.0366, -0.0659, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is down at table level straddling the can, which shows centred between the jaws in the wrist view. Closing the gripper to grasp the can."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteGripper settled at 0.70 (≈6.7 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can to check it comes along.
move_to
left_z0.1700left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3588, 1.6409, 0.4587, 0.3656, -0.5217, -0.371, 0.7049, -0.0212, 0.8074, 0.6067, -0.5461, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.3503 left_y=-0.0335 left_z=0.0088 left_yaw=0.2597 left_pitch=-0.1112 left_roll=0.1072 left_gripper=0.7049 right_x=0.2707 right_y=0.0011 right_z=0.1453 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0025 right_gripper=0.9996 state[joint_eff]: [0.0342, -6.5983, 5.4632, 1.0476, -0.2027, 0.022, 1.0183, -0.0479, -1.2103, 6.9538, 1.7851, -0.0269, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_gripper": 0.0}, "note": "Gripper settled at 0.70 (\u22486.7 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can to check it comes along."})
tool
executing move_to over 11 steps (1.1s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe can lifted with the left gripper and is visible above the table in the overhead view. Carrying it right and forward toward the burner in the table centre, staying high to clear the burner rim.
move_to
left_x0.4500left_y-0.3000left_z0.1700left_yaw0.2500left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3588, 1.2747, 0.8368, -0.4156, -0.5163, -0.3763, 0.7027, -0.0212, 0.8097, 0.606, -0.5686, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.3478 left_y=-0.0334 left_z=0.1465 left_yaw=0.2613 left_pitch=-0.1433 left_roll=0.1215 left_gripper=0.7027 right_x=0.2669 right_y=0.0013 right_z=0.1404 right_yaw=0.0 right_pitch=-0.185 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.335, -6.2974, 9.6205, 1.4969, -0.3394, 0.0366, 1.033, -0.212, -1.3744, 6.8991, 1.7851, -0.0562, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.3, "left_z": 0.17, "left_yaw": 0.25, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The can lifted with the left gripper and is visible above the table in the overhead view. Carrying it right and forward toward the burner in the table centre, staying high to clear the burner rim."})
tool
executing move_to over 24 steps (2.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe left wrist view shows the burner coil and its red light just to the right of the held can, so the can is a few cm left of and slightly past the burner centre. Shifting right and back a little while lowering toward the burner.
move_to
left_x0.4300left_y-0.3400left_z0.1300left_yaw0.2500left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8448, 2.2032, 1.9316, -0.7963, -0.8455, -0.8051, 0.702, -0.0212, 0.8116, 0.6056, -0.6113, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4457 left_y=-0.2975 left_z=0.1531 left_yaw=0.2346 left_pitch=-0.0487 left_roll=0.1247 left_gripper=0.702 right_x=0.2593 right_y=0.0014 right_z=0.1323 right_yaw=0.0002 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.6359, -12.9436, 8.5949, 0.7888, -0.8034, 0.0317, 1.0281, -0.0342, -1.306, 6.8308, 1.8877, -0.0562, -0.0659, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.34, "left_z": 0.13, "left_yaw": 0.25, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The left wrist view shows the burner coil and its red light just to the right of the held can, so the can is a few cm left of and slightly past the burner centre. Shifting right and back a little while lowering toward the burner."})
tool
executing move_to over 8 steps (0.8s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe burner coil now sits directly behind the held can in the wrist view and the overhead shows the gripper over the burner. Lowering the can onto the burner surface until contact.
move_to
left_x0.4300left_y-0.3400left_z0.0700left_yaw0.2500left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9291, 2.331, 2.0125, -0.857, -0.8871, -0.915, 0.7019, -0.0212, 0.8116, 0.6056, -0.6319, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4258 left_y=-0.3351 left_z=0.1161 left_yaw=0.2336 left_pitch=-0.0532 left_roll=0.149 left_gripper=0.7019 right_x=0.2556 right_y=0.0014 right_z=0.1289 right_yaw=0.0 right_pitch=-0.2506 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [-0.7316, -12.6564, 9.4564, 0.9499, -0.7985, -0.0122, 1.0281, -0.0342, -1.0188, 6.8855, 1.6435, -0.0464, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.34, "left_z": 0.07, "left_yaw": 0.25, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The burner coil now sits directly behind the held can in the wrist view and the overhead shows the gripper over the burner. Lowering the can onto the burner surface until contact."})
tool
executing move_to over 8 steps (0.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe descent stopped at z≈0.083 with elbow effort dropping, meaning the can is resting on the burner surface. Opening the gripper to release it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9367, 2.3722, 1.9282, -0.7139, -0.9257, -0.9226, 0.7015, -0.0212, 0.812, 0.6056, -0.6575, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.429 left_y=-0.3391 left_z=0.0832 left_yaw=0.2452 left_pitch=-0.0131 left_roll=0.1403 left_gripper=0.7015 right_x=0.2508 right_y=0.0016 right_z=0.1247 right_yaw=0.0005 right_pitch=-0.2765 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.4855, -11.1521, 5.094, 1.0965, -0.3883, -0.0317, 1.033, -0.1436, -0.9504, 6.9949, 1.6777, -0.0562, -0.0464, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stopped at z\u22480.083 with elbow effort dropping, meaning the can is resting on the burner surface. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
Gripper still reads 0.70 — the open command was clamped in only 3 steps. Re-sending the open.
agent noteThe gripper still reads 0.70 so it hasn't opened yet; re-sending the open command to release the can on the burner.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.696, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6727, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4301 left_y=-0.3399 left_z=0.0828 left_yaw=0.2473 left_pitch=-0.0026 left_roll=0.1333 left_gripper=0.7015 right_x=0.2479 right_y=0.0016 right_z=0.1222 right_yaw=0.0002 right_pitch=-0.2918 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [-0.0068, -13.7778, 6.6393, 0.7302, -0.3736, -0.0562, 1.033, -0.0752, -1.0598, 6.9402, 1.6386, -0.0464, -0.0317, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
Gripper still reads 0.70 — the open command was clamped in only 3 steps. Re-sending the open.
move_to({"targets": {"left_gripper": 1.0}, "note": "The gripper still reads 0.70 so it hasn't opened yet; re-sending the open command to release the can on the burner."})
tool
executing move_to over 3 steps (0.3s)
step 93
top_cam
camera top_cam step 93
left_cam
camera left_cam step 93
right_cam
camera right_cam step 93
assistant
agent noteThe gripper has not moved from 0.70 after two open commands; trying a smaller incremental opening target with a slight lift in case the jaws are wedged against the can on the burner.
move_to
left_gripper0.8500left_z0.0900
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.6952, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6788, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4302 left_y=-0.34 left_z=0.0829 left_yaw=0.2473 left_pitch=-0.0023 left_roll=0.1326 left_gripper=0.7015 right_x=0.2468 right_y=0.0016 right_z=0.1213 right_yaw=0.0003 right_pitch=-0.2979 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.3624, -13.6, 6.2427, 0.8767, -0.4811, -0.0269, 1.0281, -0.1983, -1.0051, 6.9538, 1.4579, -0.0464, -0.0415, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.85, "left_z": 0.09}, "note": "The gripper has not moved from 0.70 after two open commands; trying a smaller incremental opening target with a slight lift in case the jaws are wedged against the can on the burner."})
tool
executing move_to over 2 steps (0.2s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
Gripper is now opening (0.79, effort dropped). Opening fully and lifting clear.
agent noteThe gripper is opening now (0.79, effort dropped to zero), releasing the can on the burner. Opening fully and lifting the arm away to verify the placement from above.
move_to
left_gripper1.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.7013, -0.9325, -0.9218, 0.7938, -0.0212, 0.812, 0.6056, -0.68, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4296 left_y=-0.3393 left_z=0.0824 left_yaw=0.2468 left_pitch=-0.0053 left_roll=0.1383 left_gripper=0.7938 right_x=0.2465 right_y=0.0017 right_z=0.1211 right_yaw=0.0006 right_pitch=-0.299 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [-0.0752, -14.0239, 7.6786, 0.8181, -0.4664, -0.0415, 0.022, -0.0205, -1.0325, 6.735, 1.4286, -0.0708, -0.0659, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
Gripper is now opening (0.79, effort dropped). Opening fully and lifting clear.
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.18}, "note": "The gripper is opening now (0.79, effort dropped to zero), releasing the can on the burner. Opening fully and lifting the arm away to verify the placement from above."})
tool
executing move_to over 7 steps (0.7s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe wrist view shows the can lying on the burner coil, released. Returning the left arm to its home pose to clear the overhead view.
move_to
left_x0.2900left_y0.0000left_z0.1800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9375, 2.3737, 2.2356, -1.0191, -0.9211, -0.934, 0.9979, -0.0212, 0.8127, 0.6056, -0.6804, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4311 left_y=-0.3434 left_z=0.1592 left_yaw=0.2488 left_pitch=-0.0158 left_roll=0.1285 left_gripper=0.9979 right_x=0.2465 right_y=0.0016 right_z=0.1209 right_yaw=0.0003 right_pitch=-0.3002 right_roll=0.0055 right_gripper=0.9996 state[joint_eff]: [-0.2393, -14.3795, 8.5402, 0.9695, -0.5495, 0.0659, -0.1343, -0.1299, -0.8547, 6.8308, 1.4481, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows the can lying on the burner coil, released. Returning the left arm to its home pose to clear the overhead view."})
tool
executing move_to over 31 steps (3.1s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
The overhead view confirms the can is resting on the burner's coil surface.
agent noteGrasped the can (lying on its side) with the left arm across its diameter, carried it to the table-centre burner (left frame x≈0.43, y≈-0.34), lowered until contact at z≈0.083, released it, and retracted. Overhead view shows the can lying on the burner.
done
hindsightBurner centre for the left arm is about x=0.43, y=-0.34; its surface is ~5 cm high, so a 6.5 cm can lying on it rests with grasp point at z≈0.083. The left arm tracks targets sluggishly: short (3-step) moves often produce no motion at all — expect to need 2 commands or larger targets. The gripper open command also ignored two full-open requests while at 0.70 with the can on the burner; an intermediate target (0.85) plus a 1 cm lift got it moving. Grasping the can lying down at the table (z≈0.01, yaw ~0.25 to align with the can) gave a settled reading of 0.70 ≈ 6.7 cm, a clean grasp. The right idle arm drifted down ~6 cm over the trial.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0578, 0.791, 0.6106, -0.4026, -0.12, -0.1032, 0.9985, -0.0212, 0.8165, 0.6056, -0.7021, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.2921 left_y=0.0079 left_z=0.1798 left_yaw=0.0831 left_pitch=-0.0011 left_roll=-0.0024 left_gripper=0.9985 right_x=0.2423 right_y=0.0017 right_z=0.1167 right_yaw=0.0005 right_pitch=-0.3257 right_roll=0.0061 right_gripper=0.9996 state[joint_eff]: [-0.841, -1.265, 7.0359, 1.8974, 0.2711, 0.2076, -0.1685, -0.1026, -1.2103, 6.694, 1.5897, -0.0415, -0.0317, -0.0073] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
The overhead view confirms the can is resting on the burner's coil surface.
done({"summary": "Grasped the can (lying on its side) with the left arm across its diameter, carried it to the table-centre burner (left frame x\u22480.43, y\u2248-0.34), lowered until contact at z\u22480.083, released it, and retracted. Overhead view shows the can lying on the burner.", "hindsight": "Burner centre for the left arm is about x=0.43, y=-0.34; its surface is ~5 cm high, so a 6.5 cm can lying on it rests with grasp point at z\u22480.083. The left arm tracks targets sluggishly: short (3-step) moves often produce no motion at all \u2014 expect to need 2 commands or larger targets. The gripper open command also ignored two full-open requests while at 0.70 with the can on the burner; an intermediate target (0.85) plus a 1 cm lift got it moving. Grasping the can lying down at the table (z\u22480.01, yaw ~0.25 to align with the can) gave a settled reading of 0.70 \u2248 6.7 cm, a clean grasp. The right idle arm drifted down ~6 cm over the trial."})
tool
done: Grasped the can (lying on its side) with the left arm across its diameter, carried it to the table-centre burner (left frame x≈0.43, y≈-0.34), lowered until contact at z≈0.083, released it, and retracted. Overhead view shows the can lying on the burner.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 27.23 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]: [-0.0189, 0.7925, 0.6041, -0.3893, -0.0189, -0.0341, 0.9993, -0.02, 0.794, 0.6075, -0.4011, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1785 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2924 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.1949, 1.9951, -0.0366, 0.1832, -0.0806, -0.4991, -1.4974, 9.6889, 2.0342, -0.0659, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa40bafdaac2af435cddf3842fccf43804890a7455b28d4dd08bc542d9117e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf80e48735d820fc3359ee598c8b21e771a50a65432fe56e2bdeda47a951f55",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23e6a631d368169d4a1e05f9c58a1b8f82f2aef6791a67fd0ef1b9e0d0e673ed",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
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  "role": "user"
}
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wire blob 5cf80e48735d
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call 1 attempt 0 · /messages · status 200 · 12.45 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]: [-0.0189, 0.7925, 0.6041, -0.3893, -0.0189, -0.0341, 0.9993, -0.02, 0.794, 0.6075, -0.4011, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1785 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2924 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.1949, 1.9951, -0.0366, 0.1832, -0.0806, -0.4991, -1.4974, 9.6889, 2.0342, -0.0659, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa40bafdaac2af435cddf3842fccf43804890a7455b28d4dd08bc542d9117e96",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf80e48735d820fc3359ee598c8b21e771a50a65432fe56e2bdeda47a951f55",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e6a631d368169d4a1e05f9c58a1b8f82f2aef6791a67fd0ef1b9e0d0e673ed",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P3kkE3Ea9V82kq5fM7948i",
      "input": {
        "note": "The can lies on its side just ahead and slightly right of the left gripper in the left wrist view; the burner is in the table centre. Moving the left arm forward and down over the can to line up the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.03,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01P3kkE3Ea9V82kq5fM7948i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1741, 1.0405, 0.4667, -0.1417, -0.1173, -0.1028, 0.9993, -0.0208, 0.7975, 0.6132, -0.424, -0.0189, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3097 left_y=-0.0299 left_z=0.0963 left_yaw=-0.0345 left_pitch=-0.1324 left_roll=0.0149 left_gripper=0.9993 right_x=0.2901 right_y=0.0009 right_z=0.1742 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.3966, 7.6786, 2.1905, -0.2271, -0.0659, -0.0855, -0.0479, -1.4291, 6.5846, 2.0537, -0.0317, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43547c2bf33da561c18985cdf61ff668f82645390a71d66cfba190f72cf936f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62dd9f454cc58b4a5c88b3c23675aa26c14963ba1322aeb7f1b4f06d3fa587a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3e6bd27cff804bbdafaaf2a59df761b9632d328b6af8b7f7530dfd312bacfbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a43547c2bf33
wire blob f62dd9f454cc
wire blob d3e6bd27cff8
call 2 attempt 0 · /messages · status 200 · 7.602 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]: [-0.0189, 0.7925, 0.6041, -0.3893, -0.0189, -0.0341, 0.9993, -0.02, 0.794, 0.6075, -0.4011, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1785 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2924 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.1949, 1.9951, -0.0366, 0.1832, -0.0806, -0.4991, -1.4974, 9.6889, 2.0342, -0.0659, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1741, 1.0405, 0.4667, -0.1417, -0.1173, -0.1028, 0.9993, -0.0208, 0.7975, 0.6132, -0.424, -0.0189, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3097 left_y=-0.0299 left_z=0.0963 left_yaw=-0.0345 left_pitch=-0.1324 left_roll=0.0149 left_gripper=0.9993 right_x=0.2901 right_y=0.0009 right_z=0.1742 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.3966, 7.6786, 2.1905, -0.2271, -0.0659, -0.0855, -0.0479, -1.4291, 6.5846, 2.0537, -0.0317, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a43547c2bf33da561c18985cdf61ff668f82645390a71d66cfba190f72cf936f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f62dd9f454cc58b4a5c88b3c23675aa26c14963ba1322aeb7f1b4f06d3fa587a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e6bd27cff804bbdafaaf2a59df761b9632d328b6af8b7f7530dfd312bacfbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a43547c2bf33]
[blob f62dd9f454cc]
[blob d3e6bd27cff8]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jc52HTKhsEyHHeqfBX75oz",
      "input": {
        "note": "The can fills the left wrist view but its middle is still a few cm beyond the fingertips and tilted ~20° with the cap toward the far left. Advancing forward, lowering, and yawing slightly so the jaws close across the can's diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.04,
          "left_yaw": 0.3,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Jc52HTKhsEyHHeqfBX75oz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3286, 1.4422, 0.6399, -0.0711, -0.3973, -0.3882, 0.9993, -0.0212, 0.8005, 0.6075, -0.4503, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3538 left_y=-0.0446 left_z=0.061 left_yaw=0.2091 left_pitch=-0.2088 left_roll=0.0469 left_gripper=0.9993 right_x=0.2857 right_y=0.0008 right_z=0.1655 right_yaw=-0.0006 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.6803, 7.7197, 1.4725, -0.3492, -0.0757, -0.0855, -0.1573, -1.4974, 7.5556, 1.9609, -0.0366, 0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18ad153c867e85e067bebae37dc5d43124b27381c78620dea5e1526533acde72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46899348a43cc422fffe5e1baa7d49ead8c12ca3d1fc90960d877e08b43539d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:736d7a3dfcca5df41f04f7a886b2e8e8aa8f67a3fa094b395c6face5091de2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 18ad153c867e
wire blob a46899348a43
wire blob 736d7a3dfcca
call 3 attempt 0 · /messages · status 200 · 6.009 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]: [-0.0189, 0.7925, 0.6041, -0.3893, -0.0189, -0.0341, 0.9993, -0.02, 0.794, 0.6075, -0.4011, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1785 left_yaw=-0.0003 left_pitch=-0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2924 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -1.388, 10.1949, 1.9951, -0.0366, 0.1832, -0.0806, -0.4991, -1.4974, 9.6889, 2.0342, -0.0659, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1741, 1.0405, 0.4667, -0.1417, -0.1173, -0.1028, 0.9993, -0.0208, 0.7975, 0.6132, -0.424, -0.0189, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3097 left_y=-0.0299 left_z=0.0963 left_yaw=-0.0345 left_pitch=-0.1324 left_roll=0.0149 left_gripper=0.9993 right_x=0.2901 right_y=0.0009 right_z=0.1742 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.3966, 7.6786, 2.1905, -0.2271, -0.0659, -0.0855, -0.0479, -1.4291, 6.5846, 2.0537, -0.0317, -0.0952, -0.0073]",
      "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]: [-0.3286, 1.4422, 0.6399, -0.0711, -0.3973, -0.3882, 0.9993, -0.0212, 0.8005, 0.6075, -0.4503, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3538 left_y=-0.0446 left_z=0.061 left_yaw=0.2091 left_pitch=-0.2088 left_roll=0.0469 left_gripper=0.9993 right_x=0.2857 right_y=0.0008 right_z=0.1655 right_yaw=-0.0006 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.6803, 7.7197, 1.4725, -0.3492, -0.0757, -0.0855, -0.1573, -1.4974, 7.5556, 1.9609, -0.0366, 0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18ad153c867e85e067bebae37dc5d43124b27381c78620dea5e1526533acde72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46899348a43cc422fffe5e1baa7d49ead8c12ca3d1fc90960d877e08b43539d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:736d7a3dfcca5df41f04f7a886b2e8e8aa8f67a3fa094b395c6face5091de2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 18ad153c867e]
[blob a46899348a43]
[blob 736d7a3dfcca]
{
  "content": [
    {
      "signature": "CAQSqwkKEAgRGAI4AUIIdGhpbmtpbmcSDCCYzjWfkGjiMNZWdRoMV1ZIzwr9j4YVSIyNIjBYe5Ji+aEKUbbUgSocvKSDkkSMj5t9BMdJ6q6dOzw52lnnTgKC0exhlsT5DG0sNpkqyAiawDj+wdVJbRXI2DR9NjpaGcLFZcUTKyCJ35R9rTCl8JAcT+0bEMH8+xYCS/JRmGKZvkEDxf4T7glLwuKxzOXcOhDP3N2barwmyo8Z+GkSDzpTCW5j4ks+OkpqZ1oGHA5DGyVmFCFJ4PrUZCI1ZW/aVz/Vg4/NBv2H1c27Csdgh1bjxv6pO9pAEvJe0b52prPLXs7fhqFP+KiqqBedWK12T8EUSMoTwSO7arrcBd2Xui6LJoRH4VxvkGMyYfHUHGc/3DOlSEvkeDVUJJEg7Avwspx6o9ZYiu415Z/VqCkpe66L6HgGz3i08yGmVOyPhFf81fV24VZjEp8dOYAjj3zTSsMrwV6KqqbH5/UAs/ISl791w5/Qucud16utrUWnGstl06WJ9KVfA1T4eXt7x4s44cHHUxuKZ2j2FOwCxaV2OqGbAHQ5dTb4fynBq9wKgUSmatgWGnc8nvyJWwx7VIIbkO6pLhBJZWiXP2XwojiFQiDsjHGf77tly1dnwhx61y4EdchdbkVSEz4dFGiR6TwCOZsnTIKvS4IoPQALbvRqaqfx7fXGqvAia797CK0LMN8c0Uv3Q/eeWjUN3tlninbfYw8FDHrTleg5prLxMEZ6/mPgGnJ9w+1kvzNqU1YtIfMniJP+PMySiRPAOhdNvr0K6h9xApwcwVjvRf1y+hBqZkfiQOLna6wf1b3LmmR4ITPV4zE6T0N3rM5ZI3/PVb6a9vrfNr6M662X7xrmfdZphETPWcCZZYpE7TCbIsc2WGrUkoyhEJ8ihPzbhxVRu+zgZSrhMuz87AJ14Woq7SnMMjoYolLrC/rTZQHGZBoeXxfjBup7GMehGNbWU/Hrlz/rzr84hA/muRpeQSKpXfQTB95u4L0wtkt9GOYluW3zcSV66QofPjs4fmdLPmdPKyev6oP5mrY7ANY7nrrHqkABWCPZB+bOvFpfgqZc9huTCyVLLVOgJmhVzUWfMmv+m4jeFbbk0n6WL/f0G0EtLAvb80JnbwGrmnF9FWeo1jO5AQGEFHKM+1MW9T+RG9o/c2D7YjdtE6tyNC68A1QeETZEkGZ/2/vNv2zGaLzgPDmLKlCfUVgoKv7fBytRVh/iFx+5oFP9bwcD+BM++AFEslcIf6jnZl129TMHMjSWvnM7XZmz/YlHTFokmMd7l+mrJ6ph/mTxNsqY9sI3mmKftW6DNf99bWhsELN2OIfZkzxYWn20a9jKJOzIcFi5j2gP7OAHTt2PJHh4Csu1sTigCeN2/mMoCve2K0j61c0XGtR78Q/KpYoN3YlnBSMPyVt4uJMVHi9o4zW2lXZ6BK01peh5jMPP9Ld9NBz7fg8Uz/m4wtj54rcKgU//U177jSaclAbRr2UfNdHQgRlDymUJ7viswV8LKTkxJh0Fefmo4GoDgcXOpG5FCHKZAGPAvGHnVdUBts0ptZsZDCPq+lFRBRNo79qJYpVICMetGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dmv5jRMdmJ2AT1YJcmxNbP",
      "input": {
        "note": "The can is now centred on the jaw column and aligned with the jaws in the left wrist view; from above the gripper sits just behind the can's middle. Advancing 3 cm more and descending to can-centre height for the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.045,
          "left_yaw": 0.25,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Dmv5jRMdmJ2AT1YJcmxNbP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.4686, -0.4587, 0.9993, -0.0212, 0.8005, 0.6075, -0.4595, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0663 left_yaw=0.2921 left_pitch=-0.172 left_roll=0.0383 left_gripper=0.9993 right_x=0.2843 right_y=0.0009 right_z=0.1637 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.1744, 7.9658, 1.5067, -0.3346, -0.1197, -0.0855, -0.0205, -1.2103, 6.9402, 1.7998, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89155d9a2d49e123b03a08b7ea50a7ced5d4d2ec69d96febcfaec15e3bea4eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4665621a56bfa6a6144fd91c80e25ae9c0c8a962dd2161c7896d77112d9cc26c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fb4acfaef6fabd23c73d5a7421d763de11500dbd3476d25aeee05480e63a34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 89155d9a2d49
wire blob 4665621a56bf
wire blob 1fb4acfaef6f
call 4 attempt 0 · /messages · status 200 · 8.694 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]: [-0.1741, 1.0405, 0.4667, -0.1417, -0.1173, -0.1028, 0.9993, -0.0208, 0.7975, 0.6132, -0.424, -0.0189, -0.0273, 0.9996]\nstate[eef_state]: left_x=0.3097 left_y=-0.0299 left_z=0.0963 left_yaw=-0.0345 left_pitch=-0.1324 left_roll=0.0149 left_gripper=0.9993 right_x=0.2901 right_y=0.0009 right_z=0.1742 right_yaw=-0.0035 right_pitch=-0.021 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -4.3966, 7.6786, 2.1905, -0.2271, -0.0659, -0.0855, -0.0479, -1.4291, 6.5846, 2.0537, -0.0317, -0.0952, -0.0073]",
      "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]: [-0.3286, 1.4422, 0.6399, -0.0711, -0.3973, -0.3882, 0.9993, -0.0212, 0.8005, 0.6075, -0.4503, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3538 left_y=-0.0446 left_z=0.061 left_yaw=0.2091 left_pitch=-0.2088 left_roll=0.0469 left_gripper=0.9993 right_x=0.2857 right_y=0.0008 right_z=0.1655 right_yaw=-0.0006 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.6803, 7.7197, 1.4725, -0.3492, -0.0757, -0.0855, -0.1573, -1.4974, 7.5556, 1.9609, -0.0366, 0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.4686, -0.4587, 0.9993, -0.0212, 0.8005, 0.6075, -0.4595, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0663 left_yaw=0.2921 left_pitch=-0.172 left_roll=0.0383 left_gripper=0.9993 right_x=0.2843 right_y=0.0009 right_z=0.1637 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.1744, 7.9658, 1.5067, -0.3346, -0.1197, -0.0855, -0.0205, -1.2103, 6.9402, 1.7998, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89155d9a2d49e123b03a08b7ea50a7ced5d4d2ec69d96febcfaec15e3bea4eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4665621a56bfa6a6144fd91c80e25ae9c0c8a962dd2161c7896d77112d9cc26c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb4acfaef6fabd23c73d5a7421d763de11500dbd3476d25aeee05480e63a34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 89155d9a2d49]
[blob 4665621a56bf]
[blob 1fb4acfaef6f]
{
  "content": [
    {
      "signature": "CAQS/gYKEAgRGAI4AUIIdGhpbmtpbmcSDA+apbEpyKmGAslZPhoMpwZ69zP2hzA7YE31IjD0745AeeqhzPDJJgRWt4EJBvHdz8I5+bTmxZS27K0bOtfyDamm4XmZfcghpUuz2wMqmwbrAjbKOGbfjH0Cj7kA9oIFtUvsf3dpJE/nHq1M7zgHCVO3oBFwtcCebP5qt9jm4dHjl6myg83xhlecrKVaXkL+F5f4VFdafiCy2QRXcNdO01blfVTx7XX9RbGeMg6JgUuj3I35+06siavCU4Mm0MOc8WCgyotcYlZ8/0tLP6OP3oUa945gFKAT/9w4TFDl6Ae4hmV9aIOPe6IZ0KjAckMT0FFXV2tDIzZM9VhNw4lbu1VJa02kyKPkk/7YO/KsG9cdocLdAcxLI2VclO0JQp7H/p+dx4LHi3BeVLfBuYjoFT7HMYGRdIclGi1IKYW8B5HQEfzDgu8Apu4JHgcdSlA4KaMsVmcTnGby9P7r4oTS8jTYaEiZD/ZEPmrIsrWHB81X+ofEM/mQPXDseBvu4Ns1dC+CFGgz9CJez4eOp89pNXK6/0UxV1rzFBCR1wIDdoEzJkdO/E1WtZd89fC9qYCcCPMztbH9L6Ez/wMludOnn71YH95/qOaygc9W/AyldN4UOMpacxgI1GTZnpEQIJVf4JPHFiQfN8QSOr7T5UyKfO1ctVXSXTugLizph/y42qBIEkAoifUH411MYJVPoSt+18Rej+eZMDQF9nsxnGmUe9WngRszykZd+xwMHRk1PjvEzXRdxPNPw8XYxyIMIoOum7qHP4dXJ9nCQMZLptpka8z97hGoms4bfxAenKigleqODnFEXMNu70FfllwB6pAXBkb+Ayy6Pz+776/fG5hPYwfbmwrOIUh6vWf4FxR1EOdzXxWZ0LB2LZVPuxu/Q1rVor55DKloe+DLnrirhtbQBVkY20EBich9xhAXOpBRK/fDhD+wqDbwH7tV8V7Tb+pbTrkMLqxj93GWgtA0v2vJLkOpucLfKoGkrL6XzmmldqbTvAVq8bO3fgzkceMWFzaMBbs358V0m9k42unPI7UZZTOIKn7FNki9NRULfvv+4AIKZYXynRX5lsDXR/vPaaEQB5ykLh2gFnZCfaK1gQll3v2GWolSZezOLqlbBDoPlpLoi0QeocjiSHMvvkFH/bOW1JaND/Qbj6dbIfAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UYwAqzynGvYukUDv25jx75",
      "input": {
        "note": "The arm only partly tracked the last target (still at z≈0.066, x≈0.36); the can remains centred in the wrist view. Re-issuing a smaller step down to grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.04,
          "left_yaw": 0.25,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UYwAqzynGvYukUDv25jx75",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.469, -0.4587, 0.9993, -0.0212, 0.8009, 0.6075, -0.4778, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0664 left_yaw=0.2924 left_pitch=-0.1719 left_roll=0.0385 left_gripper=0.9993 right_x=0.2816 right_y=0.001 right_z=0.1601 right_yaw=-0.0003 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9829, 7.9521, 1.5067, -0.3785, -0.0904, -0.0855, -0.1573, -1.1829, 6.9949, 1.8535, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea11055466cab341f13b8d75c2662153aa0e8fe88557596bce264a2273baf708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ebb4303a27d67087436c0824e16294a8f1fc81a1729cd5686cd0a9f0e9d79fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10a01223d84a3e7c8b7baab6b55db58bb12b74f640425fe2e3ba557efba6e151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ea11055466ca
wire blob 7ebb4303a27d
wire blob 10a01223d84a
call 5 attempt 0 · /messages · status 200 · 8.903 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]: [-0.3286, 1.4422, 0.6399, -0.0711, -0.3973, -0.3882, 0.9993, -0.0212, 0.8005, 0.6075, -0.4503, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3538 left_y=-0.0446 left_z=0.061 left_yaw=0.2091 left_pitch=-0.2088 left_roll=0.0469 left_gripper=0.9993 right_x=0.2857 right_y=0.0008 right_z=0.1655 right_yaw=-0.0006 right_pitch=-0.0561 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.6803, 7.7197, 1.4725, -0.3492, -0.0757, -0.0855, -0.1573, -1.4974, 7.5556, 1.9609, -0.0366, 0.0073, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.4686, -0.4587, 0.9993, -0.0212, 0.8005, 0.6075, -0.4595, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0663 left_yaw=0.2921 left_pitch=-0.172 left_roll=0.0383 left_gripper=0.9993 right_x=0.2843 right_y=0.0009 right_z=0.1637 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.1744, 7.9658, 1.5067, -0.3346, -0.1197, -0.0855, -0.0205, -1.2103, 6.9402, 1.7998, -0.0757, -0.0757, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.469, -0.4587, 0.9993, -0.0212, 0.8009, 0.6075, -0.4778, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0664 left_yaw=0.2924 left_pitch=-0.1719 left_roll=0.0385 left_gripper=0.9993 right_x=0.2816 right_y=0.001 right_z=0.1601 right_yaw=-0.0003 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9829, 7.9521, 1.5067, -0.3785, -0.0904, -0.0855, -0.1573, -1.1829, 6.9949, 1.8535, -0.0464, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea11055466cab341f13b8d75c2662153aa0e8fe88557596bce264a2273baf708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ebb4303a27d67087436c0824e16294a8f1fc81a1729cd5686cd0a9f0e9d79fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a01223d84a3e7c8b7baab6b55db58bb12b74f640425fe2e3ba557efba6e151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ea11055466ca]
[blob 7ebb4303a27d]
[blob 10a01223d84a]
{
  "content": [
    {
      "signature": "CAQSwQoKEAgRGAI4AUIIdGhpbmtpbmcSDFAVp9XPN8Lvw5x8uxoM2V2SngbDTZGWoUOZIjBfvaJ+ljcotPJs4zELxj+lcETX6KSUCz0aVC2utHo1q/VBNJOZsXlDiEr+4fR8TIkq3gmzeCHGW42/FuHmR53+hk3a/eZhd3ZvHkrviu7Hr11ftgcoH/kK/DW719/f4tyaKPhQe56+S8FSUQKpQrWBefmPM+CpyNb8/1bVik5VLaqHE8S+qzabhxeK3fMrtmz6hGfhxFk+e8mMB1+YHzpw1HaImcz242LuazP/8wLeAljz2a0YZXcRqa2OyXrlullZ7Ba29lRT5bNX7rnyFgYytk+jsFdFMNFG2u7pGOhF+bYrI7w+tUv/AsN+OOLh77uKeCyrs6V3pbIfprah6fhvAGKA58/TcJaWY5t3xQTZms4FSvj8UJp67HNRqgSACo/Q83MSP37iKsnJ8hbsGsqDXlGKQzrDfwAYsDHX+L5F39qdbCMwlEzyfafaEl9nLIuXpdPhfm1F2FdrH8wGeUefdte1DxQyLe7r4Jx5paLAUYHGReKRr7irO95ymLV2yp9jPvxCYXBM0Rc2vr/pmDmTdU7wo4rVPmteKuKfL3Y5dLDrfB7lGV4Z1/iNI5IoYONioBUAje9H7Z7+IeBQBfC0G9nIPkR0qXKa3DMMdT8ICKDETPP89Szr2GjZnUra0/vu5T9l+wZgFc57zDLYT1RurXqCF0imJYsct/90YbEdycCww8fl0n762b/yp+mK1is6Zoi5uejOGUuOaGTF9TMCD+GwTXzhEgqoi1w1oUJAHFZjniih0vLQKDZrCwu4wuHHipYihqgnFlQJZoVr8tRgvmt9g0bAqdTodopLBNSbVzNBm32hp27RgKgcJWrUeKSQ6TwmWPssdxDhx/y2UgY6Ia/Kd1chu1twKgkqEliz33aybSznc/Z8G+hI6ZV1/6Say6JwbPN5ZPyNc2WGeqbQhAzGBwf40y5C69nHqNhhGbu8uDbI1577DB6BezE+62SwH6xi7vQhXFOqY1Mj3nCy5P+jnNwu7XfAUcZ55+t2XYyyvKJBi62/2n/vH97X7JpHwbMudH6/p8LKGGUdmQFXBWktl+LtdGX+kPxEH3WmMgT2K/Ir4IuTLLK3BBl23QV9XNKtXX3EvyZ+Qjxg0XytHvYVrpO08+eagYq4dus4xZq4cUtf/QOiYF3dRqwbGqMPLD0rVv/e5Y4jwIpS2B3XSWLrrLR5nyShf9qAnMNkKlwpaX9ebpULb2eh1od1omifMZkHztBuqmEyhPPwjmXJxUSNzcS/ldv0zj6xf0+clzMemw8y7xIJ7YZ6Scd7T/9/UFqWiyLjWzWAtxZwxgv9kdz3sFb9IoHXYx7WvPSXeIr9jLJ9Q/ZFJJXDfu3h2vQi32MCwRU6QBgitDgc0/lP3VXKq5RX6Co6/mQBBWtuWlrMlT6Yq9DOdLk1ahYMM3ZNpS6MTgp5Bfx4gl3EDJZfwqP4xYJKay++Nq8v4TyNAEoJwiOcfHTCHzTq1WORhVw1w4UtTkoW/NMTDTa3MiXBQSUCKQKkhIGT039H9A1wllOyulkWOJfJTUpwWXLnZ9I3oOlM8w0TNoeREF9HBT0HS69/G5CsFggSD24/tmx2ygKw8xppplAgrEPc/rYy7Eb9Juk25+PGrjKanevQNOhCrrVdAC8CJPOMptJKpFupKxF9e9/trYZZE+sus5ug4vrwhzqDf4bx1UR2cKkFWRW4T84IpgKLtHFg7BcPg4iM3YOsvjA++OZ9mKe8vfdjqh/fGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LhFMGv9n4JFDUXaeAF9Dh1",
      "input": {
        "note": "The left arm is not moving at all despite two targets—likely the tilted fingers are resting on top of the can. Lifting clear and squaring the tool vertical before descending again.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.37,
          "left_y": -0.04,
          "left_yaw": 0.25,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LhFMGv9n4JFDUXaeAF9Dh1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.347, 1.4063, 0.6609, -0.0841, -0.4843, -0.4217, 0.9993, -0.0212, 0.8036, 0.6075, -0.4999, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.0384 left_z=0.0835 left_yaw=0.272 left_pitch=-0.1353 left_roll=0.0532 left_gripper=0.9993 right_x=0.2783 right_y=0.001 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -8.1573, 7.788, 1.9951, -0.3346, 0.1832, -0.0806, -0.1299, -0.9504, 6.9402, 1.8828, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c93ee4b29b1e470a0ac14b34f2aeed549ec130747f6ca3d3604be9731fa46d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158d2c9bc3708bc856cd701f22781f24af066bb8eb87d1f2587edb4648c772d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e95a3bc9dd2b806e6569a7f5d82ecccc96202250788607727cf9118e2bd2b5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 42c93ee4b29b
wire blob 158d2c9bc370
wire blob e95a3bc9dd2b
call 6 attempt 0 · /messages · status 200 · 9.232 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]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.4686, -0.4587, 0.9993, -0.0212, 0.8005, 0.6075, -0.4595, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0663 left_yaw=0.2921 left_pitch=-0.172 left_roll=0.0383 left_gripper=0.9993 right_x=0.2843 right_y=0.0009 right_z=0.1637 right_yaw=-0.0003 right_pitch=-0.0652 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -6.1744, 7.9658, 1.5067, -0.3346, -0.1197, -0.0855, -0.0205, -1.2103, 6.9402, 1.7998, -0.0757, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.469, -0.4587, 0.9993, -0.0212, 0.8009, 0.6075, -0.4778, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0664 left_yaw=0.2924 left_pitch=-0.1719 left_roll=0.0385 left_gripper=0.9993 right_x=0.2816 right_y=0.001 right_z=0.1601 right_yaw=-0.0003 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9829, 7.9521, 1.5067, -0.3785, -0.0904, -0.0855, -0.1573, -1.1829, 6.9949, 1.8535, -0.0464, -0.0171, -0.0073]",
      "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]: [-0.347, 1.4063, 0.6609, -0.0841, -0.4843, -0.4217, 0.9993, -0.0212, 0.8036, 0.6075, -0.4999, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.0384 left_z=0.0835 left_yaw=0.272 left_pitch=-0.1353 left_roll=0.0532 left_gripper=0.9993 right_x=0.2783 right_y=0.001 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -8.1573, 7.788, 1.9951, -0.3346, 0.1832, -0.0806, -0.1299, -0.9504, 6.9402, 1.8828, -0.0855, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c93ee4b29b1e470a0ac14b34f2aeed549ec130747f6ca3d3604be9731fa46d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158d2c9bc3708bc856cd701f22781f24af066bb8eb87d1f2587edb4648c772d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e95a3bc9dd2b806e6569a7f5d82ecccc96202250788607727cf9118e2bd2b5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 42c93ee4b29b]
[blob 158d2c9bc370]
[blob e95a3bc9dd2b]
{
  "content": [
    {
      "signature": "CAQSiQsKEAgRGAI4AUIIdGhpbmtpbmcSDCm1Pl+g1GjZatR7NxoMoEPPjsXo9ogBXWwOIjDSdnxwoRRMKPUsjYuaDaNWhglPUSpPauNalxYUIla0+q9MKoiZN/mET8T59zfuMKIqpgpQSKcPy2OlFig9pPioHIl8iVaT7Jet9YvWKNYVgZWJV6EG420cQ85HxQ4E5K4k19n8sP2J/+cGF2oBs5JjB8mvXEORhESn+lh6m2cAY8TQr5CWttUjGauE/6TW9+fCn7PqL2I2Ule2lEotZ8kYGhSvcoE08DLw3RdT5N21l5lqDSRk5lL445a1/Z0SZs8IUTC7LW8wXY7Y8Myu+sLGUXyxCsWrcBFJZ1fcxG1rWjQm08no3Hn4arU50McHsUHJNqEUKxJlL6FWA+DG9mJci6WSPYWJC3WpLcLPhunta3OPYvl2WitJm2aOvem9hvpBQq6hdDoXwUy4UztWkpdInoHuDRFEmWejRp5lwhHRCYLwyMi1q67vjWdeOAxq0YKm7wBFa0qT3GL0DdeC/8SBWWtKu8/CLZMvkBf19vxjHhKdhyo4n0ylD4knCqjBVg7cXb+T3zu5vUKpgnEm5aCSxXI4Vp5ZGTHwwoJqkEQIl7werbnteA84DOrOKAHpftv2GhWNSL5JFo/0zCsVdqogcA9WRK8sYOrBIBtmQQBARqWSxFLoDQMqmgxUFLNb9Fi/D5NLlkksiNfLVsfBN0YJfi6ePztj8bRzOfRR3UVcFmFmpq39mvUl+/KUvhwGQLW0gyTr7n7g2dtrd3gbf7/1ISgCPcJyNTkhSNR9guZyFVxWQCZSBe3Smyb90yPbTe/5x+X7jH4s14/HfBNCJZ4KWojNGxfsLTUeO4HMdrf99wb0Yu/F+XSuV50v1QPLsMNy8uRp1zN95gxbreTQmfwKbul/3JD1TaIBXKrRkJynKH1lw2OXB1KAzPg4twinyiL9jtftYClrO3bNZD4wy1bR4fkQhsuUQju91cub/Y5AeZL1C9c9UGmiynAzP6fuQdDstflu5cMkxbQ7ZxSK7gD/m/BtNZI4kGymvPijiJrsaISEjlYwLgf3D6/MHbe22YVlDlVrc6vVODItuMfXvqp1IRS1vTsSzA+4KvZw3As45Epv4Jx+fDLbZ/M2Fa6rOlsbePTv0dr+jl85SMGWc+UJrJXLQ5D6ViWfne6FK+6yvvUXZMERXx731/XQcZFmzZDptHKwaSIa950VAudEti9WlZVCnlpQ3opOwdTtzsZTouqKrC24xtPdhlKMn9K0NGk4ItkA+0K/DuUnDuQtjCwqoD0SZNChZf3yabP458ASF7FclhiIz7EcLxGxr8k98lj2VaNKPKiv+uQ2kaATBrczPx0mE4xs/YI/OKTGpGZELiqG6RderR2ninMKX+upbtQ2OSgCCaqnMYEYvIOgceT2JIFN+ZLwAWONwjWaGvHbADPVxK8G7c6ia3hVRpVn0pTa4BeJXOzakfaWcMEACcW+VCGeuXQihZVCpwIP53hPK2tbwslze/7CYxoWU8yItAgnGjkT7jR/3S3HrjT/9c3cNyC+vqneL+tg2U5YchQKTyicllq1tys2u5r85HCvObzMWblBcUVzNXDnlIbBPfZDhtQZDPJGWWb0+UxVCCoi5q8zarAufwUEhG4wrj5Do9/bYcLSjMEbWTf3j1Z0qyGFjQUqs3IFrAC2vVU+h8Nzh91TLO00C22MW3EKenZxcvLq1Gtke7hxo5weYcNDE+a/nQ/ap9lHd79U49Bj7Qanp+v1iYyAtEaJ/CBASuhbk+aMqaqa5kkTIL4Hh6G9O6N8Ipn6USbTiKVomADsMRhf8aCfeVh9F6boq1lkZIw1FN4dq6gTKWbC2ZYvATsElnYD7nTH6arpPIXsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LxZzGnoDeXd3ms6sSaSHhn",
      "input": {
        "note": "The arm tracks slowly but the can is well centred between the jaws in the wrist view and the gripper sits over the can from above. Descending to can-centre height to grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.37,
          "left_y": -0.04,
          "left_yaw": 0.25,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LxZzGnoDeXd3ms6sSaSHhn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3561, 1.6325, 0.4675, 0.321, -0.5175, -0.3676, 0.9993, -0.0212, 0.807, 0.6075, -0.522, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3473 left_y=-0.0321 left_z=0.0071 left_yaw=0.2593 left_pitch=-0.1356 left_roll=0.1234 left_gripper=0.9993 right_x=0.2748 right_y=0.001 right_z=0.1501 right_yaw=-0.0005 right_pitch=-0.1343 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.2838, 4.9983, 1.8632, -0.3736, 0.0708, -0.0855, -0.1299, -1.4974, 6.9128, 1.8291, -0.0366, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db050cad214a494ad2fc02ac23fa08e6c1b4c5d8f9c37efe0c06cc41c62433c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930db3cd17d4b989d43f8b649c76f715b7d9b0ee5c6a9583f46c7c1b416985ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1d8d1c7c5aa69d20e3e2f1d81ffe4c5aef6cc90adb6a5139ad83ddf47d17cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 3db050cad214
wire blob 930db3cd17d4
wire blob e1d8d1c7c5aa
call 7 attempt 0 · /messages · status 200 · 6.112 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]: [-0.3389, 1.4662, 0.6628, -0.0643, -0.469, -0.4587, 0.9993, -0.0212, 0.8009, 0.6075, -0.4778, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3606 left_y=-0.0387 left_z=0.0664 left_yaw=0.2924 left_pitch=-0.1719 left_roll=0.0385 left_gripper=0.9993 right_x=0.2816 right_y=0.001 right_z=0.1601 right_yaw=-0.0003 right_pitch=-0.0839 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.9829, 7.9521, 1.5067, -0.3785, -0.0904, -0.0855, -0.1573, -1.1829, 6.9949, 1.8535, -0.0464, -0.0171, -0.0073]",
      "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]: [-0.347, 1.4063, 0.6609, -0.0841, -0.4843, -0.4217, 0.9993, -0.0212, 0.8036, 0.6075, -0.4999, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.0384 left_z=0.0835 left_yaw=0.272 left_pitch=-0.1353 left_roll=0.0532 left_gripper=0.9993 right_x=0.2783 right_y=0.001 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -8.1573, 7.788, 1.9951, -0.3346, 0.1832, -0.0806, -0.1299, -0.9504, 6.9402, 1.8828, -0.0855, -0.0562, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3561, 1.6325, 0.4675, 0.321, -0.5175, -0.3676, 0.9993, -0.0212, 0.807, 0.6075, -0.522, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3473 left_y=-0.0321 left_z=0.0071 left_yaw=0.2593 left_pitch=-0.1356 left_roll=0.1234 left_gripper=0.9993 right_x=0.2748 right_y=0.001 right_z=0.1501 right_yaw=-0.0005 right_pitch=-0.1343 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.2838, 4.9983, 1.8632, -0.3736, 0.0708, -0.0855, -0.1299, -1.4974, 6.9128, 1.8291, -0.0366, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3db050cad214a494ad2fc02ac23fa08e6c1b4c5d8f9c37efe0c06cc41c62433c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930db3cd17d4b989d43f8b649c76f715b7d9b0ee5c6a9583f46c7c1b416985ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d8d1c7c5aa69d20e3e2f1d81ffe4c5aef6cc90adb6a5139ad83ddf47d17cdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 3db050cad214]
[blob 930db3cd17d4]
[blob e1d8d1c7c5aa]
{
  "content": [
    {
      "signature": "CAQShAgKEAgRGAI4AUIIdGhpbmtpbmcSDM6/jRUOT4LRf8bDRRoM3BV9sJ+MJ8CG/QMEIjDoyJkcoItz5cNfG7MHb4ag86LFr8sdhLRM+H5EjBxBKCKz4g2rluGIccGc9ztVOoQqoQeyMyTOrZHTiNsqqniNzDABtvh1wkYM+YEdc9kjCbJ2T1Yp8tR+dAVs1oKNZae+bGDLFY+9FDsIVN7coFOpMOzwLe64Nu9x6t8BtEfmcBY4LNlkzNdsgw6Yi5Y1b/XDR9C9XIqiTCALv/IjVNRr5+OygTCEmxJ10TEL1bW1t0TOpQAzemCTsfOeQBvEZ5LnT4c9pz+O8MAm1P8+vb19zAnZR/fBxocPmFU+BJoSxQsiIOnqf4vJdQwxSxh52h9RnN9G2ZiBddrnVYkc6krvmN7lXtmI5fgy6AMdJUvFP/B0oDA/0nITULNbT9AyS+5E2mdWiLP/Ci9Vvd+RBtes4OWhClHzxjThl4bAdMNcJNs9O7yEUYhFq9UvRI4BO10tuN42ZNemtVjZV0sgGGciUwe69JRp9cffubATvc6Q68j/gJNOUsQrKYpftgLrxmd29XI6/M/y3/5GjA7AP+qzEflch5m9FrFr/vpFhhJkTEpvqh8Pq+3OSAxrHV0NEb153zWuX6hhcAC7bpG4OUOxR0SrByJ7e7/4L/7dT27yJ7yRg5HobbnILOZeZEW+9oLkErEe7rbg/xv4/JT3PT/LWzWx0TB1kVwsjkWe5Px30/AZsn0MBQKzR14N+rubHHKvrQxb9Vmgw9jdtXNs+qvqCD8yzRPGwJg+O8HQohtxcYOv95O12srNtFgPkdv3O8UBcMuIuq5XzUl/Vyngr8hODyEcLSsxQM3Q5zWTG6MP5Y7tszBQmTYguZc5GQS79MMD3m/OnREmUoxh0ZEbBUO1UsJWe3uDvAl+Vdoy50KzIITjjd+qZglS3QL1A6T4y46Gpu656cANxbavp66sLXFxkbsXGTUcElEZX84sWVRWUTEfiZTJfl/L9u3bNPgpRT4qFZHLQCrqRHcXogfSKRdH1PdOeUnf8zgFFdTDpYyUVmGF49QFu3xlYyYebX35/PawYtUQZy3GPhqLZnRhIraoZYSX7FlHZBSfVKbmfcSZGIOcGJMpfJOtaijHowq6xSO38v5TMWUuMFMxaK/ym/rhZ7FZMFPxtttda3RG1MthonOZQmdhUQbsq2VkE3SJvwwYhkFk+jAmWthtMAXmvbcSjYj8atmuOniK5rbCc+miiBEYfalhx+dXNj3hm/ttWCj0ZXqQT5Nr2eFVY+MkBStaRM/uDTdLBPOmiLIVa2qqpmVIJas7kwf9g1EN6wL9uGL8Py0OAIEYqFPhvhQXJ1OsLVtyRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XmtLzYjYgcGjAffBvCd9gU",
      "input": {
        "note": "The gripper is down at table level straddling the can, which shows centred between the jaws in the wrist view. Closing the gripper to grasp the can.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XmtLzYjYgcGjAffBvCd9gU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3588, 1.6409, 0.4587, 0.3656, -0.5217, -0.371, 0.7049, -0.0212, 0.8074, 0.6067, -0.5461, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3503 left_y=-0.0335 left_z=0.0088 left_yaw=0.2597 left_pitch=-0.1112 left_roll=0.1072 left_gripper=0.7049 right_x=0.2707 right_y=0.0011 right_z=0.1453 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.5983, 5.4632, 1.0476, -0.2027, 0.022, 1.0183, -0.0479, -1.2103, 6.9538, 1.7851, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3438f9af304e2f16a1b6516e18a3095fe2188d93a8f0b4dbc04ace94500e799b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ab2391861aa23709c52601d76f22983bc68a8b83c64f4db510edba441a5e098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f40c764c4043907493f1b2b42fb23448f053c7e075e7e92e996af14ca7bd4e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 12.42 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]: [-0.347, 1.4063, 0.6609, -0.0841, -0.4843, -0.4217, 0.9993, -0.0212, 0.8036, 0.6075, -0.4999, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3587 left_y=-0.0384 left_z=0.0835 left_yaw=0.272 left_pitch=-0.1353 left_roll=0.0532 left_gripper=0.9993 right_x=0.2783 right_y=0.001 right_z=0.1551 right_yaw=-0.0002 right_pitch=-0.1087 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -8.1573, 7.788, 1.9951, -0.3346, 0.1832, -0.0806, -0.1299, -0.9504, 6.9402, 1.8828, -0.0855, -0.0562, -0.0122]\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]: [-0.3561, 1.6325, 0.4675, 0.321, -0.5175, -0.3676, 0.9993, -0.0212, 0.807, 0.6075, -0.522, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3473 left_y=-0.0321 left_z=0.0071 left_yaw=0.2593 left_pitch=-0.1356 left_roll=0.1234 left_gripper=0.9993 right_x=0.2748 right_y=0.001 right_z=0.1501 right_yaw=-0.0005 right_pitch=-0.1343 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.2838, 4.9983, 1.8632, -0.3736, 0.0708, -0.0855, -0.1299, -1.4974, 6.9128, 1.8291, -0.0366, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3588, 1.6409, 0.4587, 0.3656, -0.5217, -0.371, 0.7049, -0.0212, 0.8074, 0.6067, -0.5461, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3503 left_y=-0.0335 left_z=0.0088 left_yaw=0.2597 left_pitch=-0.1112 left_roll=0.1072 left_gripper=0.7049 right_x=0.2707 right_y=0.0011 right_z=0.1453 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.5983, 5.4632, 1.0476, -0.2027, 0.022, 1.0183, -0.0479, -1.2103, 6.9538, 1.7851, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3438f9af304e2f16a1b6516e18a3095fe2188d93a8f0b4dbc04ace94500e799b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ab2391861aa23709c52601d76f22983bc68a8b83c64f4db510edba441a5e098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f40c764c4043907493f1b2b42fb23448f053c7e075e7e92e996af14ca7bd4e39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAYKEAgRGAI4AUIIdGhpbmtpbmcSDIOMg2vuunLMVbKfURoMXIIv7EQuJh7rW8FBIjCtTUQ0mIWNF/xUu+UlEuqnDokuPyQE32KVlOKRkM47b1CYf09fHkrRwBg9atbIgSAq2QVTujF3YBlZvxQY0xIDFw8a+YtPu09lYcOgPxq4h/8Fta2girMdMfuEafUVW0vpXa5lXPZ3og5T9L0dTbAuPk0TLVP54QZW95FX+vDb5mt6i07iUSNhelBtH1jJNz7EL/E1dHmK+ac0rPx+WpD2iR+cr2/48FdpC7aqYOjPSAj4lU2m3E4zjbxWVTuCm1yX+MULz+uqGGLcoOTWNN0sEgJIB/DRZx4PvRJU+93h/huRxQHCdHmHrvq0APrUP0aCnwghu+IvIQyBUhrtsD3Qx11fo4T4s4PsiQ/K7qaoT95lJR62c8GDy3QmRzysdXokHq089X+Nyg9cE+WQ5I0G80I98R3RHVMUyGTMMyfvkHx35CjLYAW1o3m8nnp5X57fwNxK9BZdjoyLcpu8mZUd38vVyOFTtuzStsMIOTkSIGqElqL3VvE88EZOs9EWZyMAqU70hfyQdcTIAKxjipDK9dEyUtRH990vMx76iXZOPP3BHNxUSMi5Fjz5S2RAc5dOYVdszch6wJ2LdtvtDcs7lagUu7iT/z+qDqKiZZtzTBGwQumI1Oz/wUFXE7/f3jZnxCaCUZyLhdpL+tKbIOjSmb+DFB0uSQa+Csw1uIGd0pARFKVhQcQ62Lt3j4rp9IOaKx9IXoS8Cz7KYxEwf0EYuPttyFqF6tdi1x0lI/rEZeeJzA4CidChY6uQATTKEJDrA3ahHzCBDiSVnSqyI7R0FtCOPjV/SkbiQwGGveGeTl2oaRtQPnYn8hXfrUxeaXeDs4VXfx+Tcv39DtU591K6ESQAdJfaSisU6CdiwfX6D12JkP4USSVBzmprj5AYjMtu18g9RftkfFFEx72UkWvY2etlw9VrGuM//6D7rgkN5M/5nlINuiqNMJp+0lo3YRZ/K8hokKZUiU51KWvigE0dC7BoNf3/C690VOqkbn2br3SZL0Lr40hq1xmFtOEWuY1yNBpgs3vjT71ljvEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNK4LCMmLPK69ouJ18R3it",
      "input": {
        "note": "Gripper settled at 0.70 (≈6.7 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can to check it comes along.",
        "targets": {
          "left_gripper": 0.0,
          "left_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_01TNK4LCMmLPK69ouJ18R3it",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3588, 1.2747, 0.8368, -0.4156, -0.5163, -0.3763, 0.7027, -0.0212, 0.8097, 0.606, -0.5686, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3478 left_y=-0.0334 left_z=0.1465 left_yaw=0.2613 left_pitch=-0.1433 left_roll=0.1215 left_gripper=0.7027 right_x=0.2669 right_y=0.0013 right_z=0.1404 right_yaw=0.0 right_pitch=-0.185 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2974, 9.6205, 1.4969, -0.3394, 0.0366, 1.033, -0.212, -1.3744, 6.8991, 1.7851, -0.0562, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5cd85f89913d2c10d5461a6d1bdb7235c03586dee6644fb7fdf41a997620b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559d9a80ddebc17a2353be370da5f3d3055f3b7c2873372d61f2d7a89d963a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96d72390a3b745beff060caee7f64e02a3c6fd1dbee304623d5c5a184c756934",
        "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 · 9.162 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]: [-0.3561, 1.6325, 0.4675, 0.321, -0.5175, -0.3676, 0.9993, -0.0212, 0.807, 0.6075, -0.522, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3473 left_y=-0.0321 left_z=0.0071 left_yaw=0.2593 left_pitch=-0.1356 left_roll=0.1234 left_gripper=0.9993 right_x=0.2748 right_y=0.001 right_z=0.1501 right_yaw=-0.0005 right_pitch=-0.1343 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -6.2838, 4.9983, 1.8632, -0.3736, 0.0708, -0.0855, -0.1299, -1.4974, 6.9128, 1.8291, -0.0366, -0.0659, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3588, 1.6409, 0.4587, 0.3656, -0.5217, -0.371, 0.7049, -0.0212, 0.8074, 0.6067, -0.5461, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3503 left_y=-0.0335 left_z=0.0088 left_yaw=0.2597 left_pitch=-0.1112 left_roll=0.1072 left_gripper=0.7049 right_x=0.2707 right_y=0.0011 right_z=0.1453 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.5983, 5.4632, 1.0476, -0.2027, 0.022, 1.0183, -0.0479, -1.2103, 6.9538, 1.7851, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3588, 1.2747, 0.8368, -0.4156, -0.5163, -0.3763, 0.7027, -0.0212, 0.8097, 0.606, -0.5686, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3478 left_y=-0.0334 left_z=0.1465 left_yaw=0.2613 left_pitch=-0.1433 left_roll=0.1215 left_gripper=0.7027 right_x=0.2669 right_y=0.0013 right_z=0.1404 right_yaw=0.0 right_pitch=-0.185 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2974, 9.6205, 1.4969, -0.3394, 0.0366, 1.033, -0.212, -1.3744, 6.8991, 1.7851, -0.0562, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5cd85f89913d2c10d5461a6d1bdb7235c03586dee6644fb7fdf41a997620b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:559d9a80ddebc17a2353be370da5f3d3055f3b7c2873372d61f2d7a89d963a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96d72390a3b745beff060caee7f64e02a3c6fd1dbee304623d5c5a184c756934",
        "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_01FptWKBMLSbJryvAjHjHt2M",
      "input": {
        "note": "The can lifted with the left gripper and is visible above the table in the overhead view. Carrying it right and forward toward the burner in the table centre, staying high to clear the burner rim.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_y": -0.3,
          "left_yaw": 0.25,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01FptWKBMLSbJryvAjHjHt2M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8448, 2.2032, 1.9316, -0.7963, -0.8455, -0.8051, 0.702, -0.0212, 0.8116, 0.6056, -0.6113, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=-0.2975 left_z=0.1531 left_yaw=0.2346 left_pitch=-0.0487 left_roll=0.1247 left_gripper=0.702 right_x=0.2593 right_y=0.0014 right_z=0.1323 right_yaw=0.0002 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.9436, 8.5949, 0.7888, -0.8034, 0.0317, 1.0281, -0.0342, -1.306, 6.8308, 1.8877, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5349969acebee319ddc6d8300a736b826971e8601fcadc52dc1e44e611e97e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feffc5801b4b04eb564d33b2a5b957e2617cee19067fdaa200d38a0b2a6c2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:975dbb6eb605bfe939db3da842f21a1f9eeaacea9da5897d6dafe63bc58691e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 8.477 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]: [-0.3588, 1.6409, 0.4587, 0.3656, -0.5217, -0.371, 0.7049, -0.0212, 0.8074, 0.6067, -0.5461, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3503 left_y=-0.0335 left_z=0.0088 left_yaw=0.2597 left_pitch=-0.1112 left_roll=0.1072 left_gripper=0.7049 right_x=0.2707 right_y=0.0011 right_z=0.1453 right_yaw=-0.0004 right_pitch=-0.1594 right_roll=0.0025 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.5983, 5.4632, 1.0476, -0.2027, 0.022, 1.0183, -0.0479, -1.2103, 6.9538, 1.7851, -0.0269, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3588, 1.2747, 0.8368, -0.4156, -0.5163, -0.3763, 0.7027, -0.0212, 0.8097, 0.606, -0.5686, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3478 left_y=-0.0334 left_z=0.1465 left_yaw=0.2613 left_pitch=-0.1433 left_roll=0.1215 left_gripper=0.7027 right_x=0.2669 right_y=0.0013 right_z=0.1404 right_yaw=0.0 right_pitch=-0.185 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2974, 9.6205, 1.4969, -0.3394, 0.0366, 1.033, -0.212, -1.3744, 6.8991, 1.7851, -0.0562, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8448, 2.2032, 1.9316, -0.7963, -0.8455, -0.8051, 0.702, -0.0212, 0.8116, 0.6056, -0.6113, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=-0.2975 left_z=0.1531 left_yaw=0.2346 left_pitch=-0.0487 left_roll=0.1247 left_gripper=0.702 right_x=0.2593 right_y=0.0014 right_z=0.1323 right_yaw=0.0002 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.9436, 8.5949, 0.7888, -0.8034, 0.0317, 1.0281, -0.0342, -1.306, 6.8308, 1.8877, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5349969acebee319ddc6d8300a736b826971e8601fcadc52dc1e44e611e97e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feffc5801b4b04eb564d33b2a5b957e2617cee19067fdaa200d38a0b2a6c2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:975dbb6eb605bfe939db3da842f21a1f9eeaacea9da5897d6dafe63bc58691e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AoKEAgRGAI4AUIIdGhpbmtpbmcSDEDre5qXoCRUt0XfFhoMjUidlkz4yXacwOFmIjCte3hNyCwMZN0Z+Y6hqfWjGzgn/zTruvUbfIBmWhetLlpVnjUYq7ZofSfCriG8mk8qhQoIKKzuvype3dvi/i3ptdjrd7M2Aw2vopsPHB6hzAm+C8hY8z3cVx0c/rxMpySxTpqWbUG6mD8qpLP0a306WPwyY/UfOl+ld99Y+2dLjsdt8t5Wohhi+zwyr297wbyCJ0uBDt2N/8HgIX9j68LrxzPo/Q5Y4ooFAH/7wPCv9jaHT6yg+kkUBeMOlAZa7xG1o/sIucWcEbODLsY4RjDVYyCIDy1cJqr9tzDgMRZ+mh/ITgNr4hcFvJk9mUSD2Aa94RlXEIRO2P5GdMvI/LkQIqMt4s4O9qD1EKqOpqjmX6iMLucRgt1wP3FaWUxjVZ6VzVThlKtepo6mTXYWyR+K1Z3AKNm2g7IFIOR5uoIGDAD0vwuIm7x9uM+rOeU8trOnubB9evnUNzCTlqxhw5UtgEn92gdYHXx7wXKeVvyofzoRxVuGvcK6aq9RykxVe2StaUF3KdJ0h18Hsk+GeR2R9zRcHyRl4lKubsBgxLlACSIrd88lF0szfnYG9ApW5BH9oxN6KaezHzT882+ZLe61UtRkOvzJmWprUGO1b9IkQPfZWRH0cjwAOcp1s6cETAsxeB3dCRxy68fEKT3xeW+EVDHBoiVtxQnwSbhKyvaXlnn3g98WuXIX+3g8mq8Cpyi+TGGtvQuW2ZxhrPpHVH3wvOpzGJKiqyJFJT/KWaRtRKS7HzezlnyqZHos8OaFZMn5PG/KLFiHGUwc33DcewBaqLGRT+QjfD25VlFS99M2VDVeG1+DPFS0OcZL6o2b2l4J0epBW6J/dXyXQrNc7Tqib5brsnCpnUjDHfIvsBEhS4v5KJeX5BVe9tS9X7f6pCkoVe0iQBogrPqt6b48V8N2v30+9pgK7Hu3LAgBU4S6GkRgZLmGqHr+6oQXLVPBbHa08gWYvSUQKaFI4Rg2BaSSvM/K0Kg3vVgYVkWtoo+5lUlxCVSuzhNm8D3FPdq1rJPlidyBIwVXurftJ6vddDIudNxXpS5Il5mczkJ73Tz9yQ/7nVVhOOejL9B74h7BxrOo76ThMmPM4mC5XavlPROI5xmkEd0PQNOnXThsoho3wx935FPMubo/5M3FbVlDyV6knng60bmGEsZIIjWJCo7QlIiv/g6DUNMuLYh2fU3aR0nGbgQBdnHQy4achRCntKO3or/EihZEaqPwvoz+D4wFEIgzQ9SYRnR+feAk66k7xgYt/F7+gL+hbKHXmsq8nH8nW2Xbp7aFd4vidDGE34wcMHCNz5XYQbPnLl34rxTmDCDmGK9kf0fqCH094evgMmzU9nKe/5Vk1fSEQcup/uI7zlK6AZTeC+LJv4i73kv0da8RD8vV6/g1wpHy/3rioMgyKAPTk/nGgd66igrOzo1MqCzw/jyif0lFY9GyeZGLkgPsMYm8IpGkxWsD0K0nPXbeaPegwkhehpsHm5WhpyqK5QBTTmjlQ9cs6XIEg+DmXHahAKBGvgPbnoZgT/HXUY2b4ar6bsDI2XfIiqJBGC/as8tSLHaAfAkh5DvFUsaWG1wlL5X4czPe2pqmkXsix/lFmhx8/HycSjiUBDGitMSKQjCfPQ/fhY0exW0ZXhNJS79aXGSn8jmjzn76M8yT9uQWaUZh6HEzXU1kHm61rxF9ehu4v4zp9iSzFonI/typLVSJt39Rwixaxuo/g0GpoqdqcxE6MXlS2s90KMJGb9iikLjNUe6Ozase+NzXSN9SCHahY2vn0jAJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01681fACeH4iT1abm7otJEgH",
      "input": {
        "note": "The left wrist view shows the burner coil and its red light just to the right of the held can, so the can is a few cm left of and slightly past the burner centre. Shifting right and back a little while lowering toward the burner.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.34,
          "left_yaw": 0.25,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01681fACeH4iT1abm7otJEgH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9291, 2.331, 2.0125, -0.857, -0.8871, -0.915, 0.7019, -0.0212, 0.8116, 0.6056, -0.6319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.3351 left_z=0.1161 left_yaw=0.2336 left_pitch=-0.0532 left_roll=0.149 left_gripper=0.7019 right_x=0.2556 right_y=0.0014 right_z=0.1289 right_yaw=0.0 right_pitch=-0.2506 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.6564, 9.4564, 0.9499, -0.7985, -0.0122, 1.0281, -0.0342, -1.0188, 6.8855, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605c4ea93a5551626ec9965527abe897d4c0c9b657ae185c60c51a2779da8873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce0c979b2ec53facaecc91d326ec6a6e19f2fa4d5bb1553447b9bc8f4962c269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a93f03593912124d54ac0073214033c1d595fd44e7fbbea212f32fcc0407e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 6.718 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]: [-0.3588, 1.2747, 0.8368, -0.4156, -0.5163, -0.3763, 0.7027, -0.0212, 0.8097, 0.606, -0.5686, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.3478 left_y=-0.0334 left_z=0.1465 left_yaw=0.2613 left_pitch=-0.1433 left_roll=0.1215 left_gripper=0.7027 right_x=0.2669 right_y=0.0013 right_z=0.1404 right_yaw=0.0 right_pitch=-0.185 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -6.2974, 9.6205, 1.4969, -0.3394, 0.0366, 1.033, -0.212, -1.3744, 6.8991, 1.7851, -0.0562, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8448, 2.2032, 1.9316, -0.7963, -0.8455, -0.8051, 0.702, -0.0212, 0.8116, 0.6056, -0.6113, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=-0.2975 left_z=0.1531 left_yaw=0.2346 left_pitch=-0.0487 left_roll=0.1247 left_gripper=0.702 right_x=0.2593 right_y=0.0014 right_z=0.1323 right_yaw=0.0002 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.9436, 8.5949, 0.7888, -0.8034, 0.0317, 1.0281, -0.0342, -1.306, 6.8308, 1.8877, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9291, 2.331, 2.0125, -0.857, -0.8871, -0.915, 0.7019, -0.0212, 0.8116, 0.6056, -0.6319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.3351 left_z=0.1161 left_yaw=0.2336 left_pitch=-0.0532 left_roll=0.149 left_gripper=0.7019 right_x=0.2556 right_y=0.0014 right_z=0.1289 right_yaw=0.0 right_pitch=-0.2506 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.6564, 9.4564, 0.9499, -0.7985, -0.0122, 1.0281, -0.0342, -1.0188, 6.8855, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:605c4ea93a5551626ec9965527abe897d4c0c9b657ae185c60c51a2779da8873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce0c979b2ec53facaecc91d326ec6a6e19f2fa4d5bb1553447b9bc8f4962c269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a93f03593912124d54ac0073214033c1d595fd44e7fbbea212f32fcc0407e29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+ggKEAgRGAI4AUIIdGhpbmtpbmcSDNSeIFaDfMFtJX6pVRoMYOFgCOWDM6CWFS5NIjDxoSVdeHZxrqfZY6jmWWQfRV5yHMZWHdw7rNDTewO10DgDMSJGKIFtyaZ+s/vOT20qlwg8DpFeubX5s40Pyb+3cx2suL8zN9y10GWTwu1A5G8bqiKLgm0KH+LteT5WIUIHXwO0068WW19Mo6uOUzj6VS4kDT+csi6MghyuiXC5HddCwe+T9jGC8FubD0vfcF7eSpZDttIvVGXc+pDCw+SSJlGFbdqFJuu+Bcgl5IiMTTO2oo8GzWfGf+J1ITb7s+1Uce3k0EO8HK1PStOyBQt1tIMUWHW/Elu4Us3TtUg9OEkaAZfNyX/qD1wThLyG6JnrThV56Ew/6lcdr+09ieqzJS2UbqXo1VAuaxvxSYrS6FVwK8lKk6qYWq8R3xpC/4pEbkpAe4rmHu8hLtiiPAMU9bX1RJnO4zBYRtnokS44dEWGQtlstg/0OAAZiAjadHOEa4Utj/l0UgH3HhllJwPcXEZTIjMYg73Jqnz04volbr5WpGQgFhTK008bKGPYQfW3dCrEsAVM/IHc/NlCWF0jpMx7bxKtUeL1N7RNE9YKwtyZ3LDVPrfDpUmToooagt8vXbbQpaE1B5V+OY9q3JGvXvXWaOi7x8jJjTw4mhIGtHLMnMhmJohkipC6KLnZmYVhldlz2N7HaKc4oVc7FflIWZzQLmiaL01TDpJbB9Grezbwci+bdonWd2zRB+V53M9dTsUbg/7oZtDRJ9kFh3VrYXyw3O1+/ZKBp/M2x/xmBuZlbN2P5UkOMZimnV7U3FyC2CZZBkIlFSuz2pYHSbq+pgrlgHngHg4Y0bTjaN3+pko0J3OQbR6uJkpLalLdNZqih/YTYTuR0KuWjxdCOM15yJpsPQTQnPd6yM61QaXY1ckw2xd/Qbqlob9HfnYM2WzhhQAJMs8sMmJp8VbMz6NdJUpGkcibXru3lZImgZYdarMuQWxR/7eQmk4yaMk7gofWeYK+hrQoATpPFcQVlaqfUEqGMwYUhLXg7nD/+1uSHdxntMqZdLt7PSdpS1TvxlswqN0WydlYDWnhlzZ/CevOQqo94bpkKC7kuRjENhovyhSZsAMry0QkH2fvbm2e/YKCL6ZirAZKMl3fNPfyRr/tK5WgB6C864WhgpHbrgw9KI7IXFtnOXo4XPIGi+KydbJeWlVTzTH4qMyhoDjNVVRpIQU+2MGw6+TpZkQ1gdiaMq8/RiOQ+L6LsgauSfpOtr0RZACA1NWQFEyNNspuN4kWMNkeWX+t+4BS9HrnzxPElKG6QMUNpb4CszFCQm6AsRUjCtBgxaRTcTX+1hYODNIPvI1bawV9UMU0ALB0iiyY83wbMLn1gPQwB4hdHiVPHjwGkrk1HpCdgx25KpIcg75b9EuyWGkevMjrTSzf0t366IPhEFp4GMPfWecoEMA9/iUkazo332asEp0SQsqMISaEzb5tSP6TIwn5S2+KPiqNCuZMOcotJU6k9fIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015V6gLY59qoh1r96CeNLZUK",
      "input": {
        "note": "The burner coil now sits directly behind the held can in the wrist view and the overhead shows the gripper over the burner. Lowering the can onto the burner surface until contact.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.34,
          "left_yaw": 0.25,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015V6gLY59qoh1r96CeNLZUK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9367, 2.3722, 1.9282, -0.7139, -0.9257, -0.9226, 0.7015, -0.0212, 0.812, 0.6056, -0.6575, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.3391 left_z=0.0832 left_yaw=0.2452 left_pitch=-0.0131 left_roll=0.1403 left_gripper=0.7015 right_x=0.2508 right_y=0.0016 right_z=0.1247 right_yaw=0.0005 right_pitch=-0.2765 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.1521, 5.094, 1.0965, -0.3883, -0.0317, 1.033, -0.1436, -0.9504, 6.9949, 1.6777, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40456c3aaeb5cb78bbd8fff79a25f94b07041ff1f17158c7643a17041a5e522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89d4f1e461e089bf434d710a88a0bc837e0464657b720d4afe2b3284d72b073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:356f0da5be3bde0ab3912d94772db171eea21cb8bb93b82501d3c331c92e6123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 4.893 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]: [-0.8448, 2.2032, 1.9316, -0.7963, -0.8455, -0.8051, 0.702, -0.0212, 0.8116, 0.6056, -0.6113, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4457 left_y=-0.2975 left_z=0.1531 left_yaw=0.2346 left_pitch=-0.0487 left_roll=0.1247 left_gripper=0.702 right_x=0.2593 right_y=0.0014 right_z=0.1323 right_yaw=0.0002 right_pitch=-0.23 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -12.9436, 8.5949, 0.7888, -0.8034, 0.0317, 1.0281, -0.0342, -1.306, 6.8308, 1.8877, -0.0562, -0.0659, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9291, 2.331, 2.0125, -0.857, -0.8871, -0.915, 0.7019, -0.0212, 0.8116, 0.6056, -0.6319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.3351 left_z=0.1161 left_yaw=0.2336 left_pitch=-0.0532 left_roll=0.149 left_gripper=0.7019 right_x=0.2556 right_y=0.0014 right_z=0.1289 right_yaw=0.0 right_pitch=-0.2506 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.6564, 9.4564, 0.9499, -0.7985, -0.0122, 1.0281, -0.0342, -1.0188, 6.8855, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9367, 2.3722, 1.9282, -0.7139, -0.9257, -0.9226, 0.7015, -0.0212, 0.812, 0.6056, -0.6575, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.3391 left_z=0.0832 left_yaw=0.2452 left_pitch=-0.0131 left_roll=0.1403 left_gripper=0.7015 right_x=0.2508 right_y=0.0016 right_z=0.1247 right_yaw=0.0005 right_pitch=-0.2765 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.1521, 5.094, 1.0965, -0.3883, -0.0317, 1.033, -0.1436, -0.9504, 6.9949, 1.6777, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40456c3aaeb5cb78bbd8fff79a25f94b07041ff1f17158c7643a17041a5e522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a89d4f1e461e089bf434d710a88a0bc837e0464657b720d4afe2b3284d72b073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356f0da5be3bde0ab3912d94772db171eea21cb8bb93b82501d3c331c92e6123",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgRGAI4AUIIdGhpbmtpbmcSDJne1J8lkYiH3NBLZxoMCipp2/0yVutK+kWEIjAKCYcGzQ2N0eVdOpu4FKStOy0OzDhcRKcY4lYeWy91P6dlVBnJ9Rbi1eVLhn9VuoMqogfQyqmLRDpcsxHAzpninozufnUR66MjcpWm3RiiAPUS5cHG/TEy2bj8IdzDJLoCG7phT1n7CT0bYf1DfadMuISyHcwtW+nG6n4KnB8bNRJItogZpw4+IIOeGshcTomzif1XNB0KByr+V+xgQZsppKgN+sKKl4NxvbPmtN+k65pkmhpDcDpDYhMOFwaNLR1lf96U0us6EdLmsHt3tnQa9juikwHGPOUdZG/2sR3VS7sK3dNbvLpdSuDlFOVjHZvG48dOTiYpJ/445LxAn7p9GnerK5DOMO+NQAbSu/sqax0i4+BDC6TyoumJHwZ14Bi6crt8crbhIGr425d09d1yr1ygevdoMbgXPpVCpz1RZrabIlC/uQ61auy3/Tgyh2Pm2oV3HiqaanYVJ6rAPVSYfArJUhaxuDXvLfVCTGffXBavep3jWlwUQMcMnKOgTtIhwnBVgfLcb/F29SOef1WeFrKQGw6R8Do027RkFwr1WqMI5sBdu75NJ1Q86OQASTit7wCxNUNM+HEEMc0yWkuyWLFPXbeoIkRqhHFKnXwUKj+9rqT5Gt7qivNvXhbi9K9zto9ZbHVejMJQ+QUbNqw8FOhoYUkK72fbieYq0UV7cLaRus23LfFEEcMtyafAncgJ3ttx11345MYEJaBzRJlVeUQ+6nVTBSJaLnvtpp7WbCkq6xACEzzzFvNcIIid228p/lFPIp1bP4riqNU1Gx01OVood8Oxki1Vi5PiYEWDTsHs/swe0Fz7kI/wLUeNNjeJKhcxhbFqbgIfvYsSlpP1Bc4hXCGlv8WUkDUkiEiutybjdOCdPLsLcJjH5UcmZK5Qyv3uoIEPyiYhjbmV/kJSlpgp33oLY2Egk/9qmEMIeviCCVhcnHKEds3WDcA4k8QbLjjQv4gBSdW377VdlnmI90c73bMYXHYSYt31Xu3f6Vigu7Z194FWr0DuGm/DjZDzziD+RuUGO2bR5L81o3ZXqv6FhmiqZVAxKBTKXtz50p+RDC4ofih26MEG8tZqdwXVi6zWYwHhJGUMFeSlkW4OkXRU0SIGW0JC0Ch2V6V5WINOPvpD8A33et4fUWhzno2nZH1fAjJ8hYbYP2bMMyBxtfme8ovaQ/IfHChH8F0J+rLrSBi6vA3yPbT5LedsI3Jt+dg/amx+SfjvlCwlC7E4Qsda7v1Tj0X+9Rr9zzYk9ctO3zyTFLeNI3iUne/t0U6bUjPR0436jj0NkZDHhRZed+Iqt80YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXgCzhMu2AV7KxMSuxCzpE",
      "input": {
        "note": "The descent stopped at z≈0.083 with elbow effort dropping, meaning the can is resting on the burner surface. Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TXgCzhMu2AV7KxMSuxCzpE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.696, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6727, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.3399 left_z=0.0828 left_yaw=0.2473 left_pitch=-0.0026 left_roll=0.1333 left_gripper=0.7015 right_x=0.2479 right_y=0.0016 right_z=0.1222 right_yaw=0.0002 right_pitch=-0.2918 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.7778, 6.6393, 0.7302, -0.3736, -0.0562, 1.033, -0.0752, -1.0598, 6.9402, 1.6386, -0.0464, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5316d407b2ba553353f2bc9ea3524cdc723777d2de329e8d821a93ec252280a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72b1dbfb3ac5ced96e4ab0486d7d389972b6f803a91f93e7f178783045a3ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:156958d4c197dd098d8e9bef78adfb8a543fd24dfa845cb08ff898c5964c97e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.432 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]: [-0.9291, 2.331, 2.0125, -0.857, -0.8871, -0.915, 0.7019, -0.0212, 0.8116, 0.6056, -0.6319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4258 left_y=-0.3351 left_z=0.1161 left_yaw=0.2336 left_pitch=-0.0532 left_roll=0.149 left_gripper=0.7019 right_x=0.2556 right_y=0.0014 right_z=0.1289 right_yaw=0.0 right_pitch=-0.2506 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [-0.7316, -12.6564, 9.4564, 0.9499, -0.7985, -0.0122, 1.0281, -0.0342, -1.0188, 6.8855, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9367, 2.3722, 1.9282, -0.7139, -0.9257, -0.9226, 0.7015, -0.0212, 0.812, 0.6056, -0.6575, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.3391 left_z=0.0832 left_yaw=0.2452 left_pitch=-0.0131 left_roll=0.1403 left_gripper=0.7015 right_x=0.2508 right_y=0.0016 right_z=0.1247 right_yaw=0.0005 right_pitch=-0.2765 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.1521, 5.094, 1.0965, -0.3883, -0.0317, 1.033, -0.1436, -0.9504, 6.9949, 1.6777, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.696, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6727, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.3399 left_z=0.0828 left_yaw=0.2473 left_pitch=-0.0026 left_roll=0.1333 left_gripper=0.7015 right_x=0.2479 right_y=0.0016 right_z=0.1222 right_yaw=0.0002 right_pitch=-0.2918 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.7778, 6.6393, 0.7302, -0.3736, -0.0562, 1.033, -0.0752, -1.0598, 6.9402, 1.6386, -0.0464, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5316d407b2ba553353f2bc9ea3524cdc723777d2de329e8d821a93ec252280a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72b1dbfb3ac5ced96e4ab0486d7d389972b6f803a91f93e7f178783045a3ed1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:156958d4c197dd098d8e9bef78adfb8a543fd24dfa845cb08ff898c5964c97e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper still reads 0.70 — the open command was clamped in only 3 steps. Re-sending the open.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PTR5sUJWmrbn3qpKvMBVLX",
      "input": {
        "note": "The gripper still reads 0.70 so it hasn't opened yet; re-sending the open command to release the can on the burner.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PTR5sUJWmrbn3qpKvMBVLX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.6952, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6788, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.34 left_z=0.0829 left_yaw=0.2473 left_pitch=-0.0023 left_roll=0.1326 left_gripper=0.7015 right_x=0.2468 right_y=0.0016 right_z=0.1213 right_yaw=0.0003 right_pitch=-0.2979 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.6, 6.2427, 0.8767, -0.4811, -0.0269, 1.0281, -0.1983, -1.0051, 6.9538, 1.4579, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a77646d993128e193448ecd1feab9016140241b4d77876a1e9ffa635377450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:167bad3510598309cab5f27c719ff688156af21ab0e93303ab795faf7a874f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c1e727309242d5b0938294e1f1139728db8d875355c5d746d8c00190fcbe052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.455 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]: [-0.9367, 2.3722, 1.9282, -0.7139, -0.9257, -0.9226, 0.7015, -0.0212, 0.812, 0.6056, -0.6575, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.429 left_y=-0.3391 left_z=0.0832 left_yaw=0.2452 left_pitch=-0.0131 left_roll=0.1403 left_gripper=0.7015 right_x=0.2508 right_y=0.0016 right_z=0.1247 right_yaw=0.0005 right_pitch=-0.2765 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -11.1521, 5.094, 1.0965, -0.3883, -0.0317, 1.033, -0.1436, -0.9504, 6.9949, 1.6777, -0.0562, -0.0464, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.696, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6727, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.3399 left_z=0.0828 left_yaw=0.2473 left_pitch=-0.0026 left_roll=0.1333 left_gripper=0.7015 right_x=0.2479 right_y=0.0016 right_z=0.1222 right_yaw=0.0002 right_pitch=-0.2918 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.7778, 6.6393, 0.7302, -0.3736, -0.0562, 1.033, -0.0752, -1.0598, 6.9402, 1.6386, -0.0464, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.6952, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6788, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.34 left_z=0.0829 left_yaw=0.2473 left_pitch=-0.0023 left_roll=0.1326 left_gripper=0.7015 right_x=0.2468 right_y=0.0016 right_z=0.1213 right_yaw=0.0003 right_pitch=-0.2979 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.6, 6.2427, 0.8767, -0.4811, -0.0269, 1.0281, -0.1983, -1.0051, 6.9538, 1.4579, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09a77646d993128e193448ecd1feab9016140241b4d77876a1e9ffa635377450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:167bad3510598309cab5f27c719ff688156af21ab0e93303ab795faf7a874f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c1e727309242d5b0938294e1f1139728db8d875355c5d746d8c00190fcbe052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgRGAI4AUIIdGhpbmtpbmcSDH8ZRzEi4zVAT/0uDxoMXcCcN9jkWps9UyJzIjA+sDzjIhiRFZ0hh35h+HPx/dBdz2u+6oE3B8NxmP07stcaysWXO88m5o6XguckJWIqqwiLFVla+7OWLxCbV5/NX2xhgWOLYsHJkcPRH8gs4lS0t1KhbX0M4o+yxE2Xs958F965Ms20eOJvSp6IOXoLL0LyzaEx0Q7yXaJ2ViO1e54t4jBKA1lt1mXd6CwTLO0CC9o2EcJ2a0CSS/qsb+P4lUMiJel85Q0tDgbiom5zJrLvj2Ny4vpaY0g2layR9zd/PGwnDSNF0xG4zr2ublUY0PiV8NQT0FIhrNueFr4+smkVYqEhkcwolUaFyj/SPJ04hBHEF570lWKJFNSuTsjhFayiDSNqH1ylvTsZbOApgvfvGl/4gVZ50zeXYOXbKNF1mGyBrHFuHmX1T9q160O/0sjUTUHZ8wA5MUGgUOxcW252YjKMxtzCFoydEL496i38IKgbxGCWSyj14iMx3T2MIV1u4gtfTaTYS4Vr9kcdnvmMGeF7RaGfFUiZ1XaS3jSRjrDJjsJcphj8djTHj1yb7VIw9huzZoHLpokg4ii97lNuo0Hjpju32c5GjfZ9jOYtBx7Z0KZLZACpN5V12LWowZoMbORnilwXSc28o6h/mklFJZtbnE8lGpVN0jGW1ENy8yjPBILMNNxKUB8hOQ9Y7uJBpQRbERppy5NeH4cv/100OvUoYguyo38dQFhtMUA217Si/Rt5Ono9f/DvdmX00Vh5Wj7Y8K7PiXif+ssrKgOYnd27YMXE451FgGBrCjodzL+UpZFWBMwOd6EUePv/D3yw6tnC3LEYwQfoaMwKQzQuYDlRYgnGt7UU9iTA1BGdgutDx+u2L1wUJvNoG1zBPNjCJGKlT7zm1eD7YR7gerhpNz6InaUGU/b1S540Oz1868gL8ucdtxXsQDDm2ULTUrScR0R2T4ZgYR2AsJgiIiDOSr1GGcsjVreZxQPEp+BDYpAdI8WC6f/F5bMJ8teCnPxilC9OE39uuUwtVtez7RkO/KpqEinB8guHdHBTEB7GDAJWBIaEs+uUOU5tJAu0v9+Gf+Sr5VmU1LTxmeq0iEMYD0prr4ZkTVQoF2Q0ghRKlc89PlbdFuxPWhoEG6JGOt6h5XdMcUZ2LMTu2ghMH7JQK4oh5aRalWciRdXC95jq7EPp/r6F+wZbpqEyvUmcY0HazRhymu5dXBWYvRSUwIWweGBDY7NFVG7iP+ZugsQPyWr80/M8kycnihlGel7jWnpvCyHII9fgt8Fd9UQyCn3nYenko/qW7JaRygyDcxM1JzjHAOr2qicANIYWvUZs/mPpFPT2da0lYfh1nxAYRmxTQCS550AEzeozJaUcyZCg0G98KtXA2a4LEfheGNgNDgIezmQeikWlSxJXOrZCkzQs8wHh7RyMuIuGgpWZjV86E5toy0i67w06sEzgYK+GX2SNF3/AVJthmJ9cceJEyXypLBgf4vzXc0QKeIDpfpuLeh8H0+5Ai88fIzUvahgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C5yzUvTyPj6FLKhQsRsBRP",
      "input": {
        "note": "The gripper has not moved from 0.70 after two open commands; trying a smaller incremental opening target with a slight lift in case the jaws are wedged against the can on the burner.",
        "targets": {
          "left_gripper": 0.85,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01C5yzUvTyPj6FLKhQsRsBRP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.7013, -0.9325, -0.9218, 0.7938, -0.0212, 0.812, 0.6056, -0.68, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4296 left_y=-0.3393 left_z=0.0824 left_yaw=0.2468 left_pitch=-0.0053 left_roll=0.1383 left_gripper=0.7938 right_x=0.2465 right_y=0.0017 right_z=0.1211 right_yaw=0.0006 right_pitch=-0.299 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -14.0239, 7.6786, 0.8181, -0.4664, -0.0415, 0.022, -0.0205, -1.0325, 6.735, 1.4286, -0.0708, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76960f8b27c4a7a1db373f35d4ebf47d19ebe87d40758882b424a83fa71796e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90899a1512510be765f74c707d4421c47fff8a68e6aadd58ff528b564c10945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8c7ad2f1b20ef84c6f4c76ed8a0f4a3e31006972757eaedd1e1123ea584f710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.005 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]: [-0.9375, 2.3741, 1.9228, -0.696, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6727, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.3399 left_z=0.0828 left_yaw=0.2473 left_pitch=-0.0026 left_roll=0.1333 left_gripper=0.7015 right_x=0.2479 right_y=0.0016 right_z=0.1222 right_yaw=0.0002 right_pitch=-0.2918 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -13.7778, 6.6393, 0.7302, -0.3736, -0.0562, 1.033, -0.0752, -1.0598, 6.9402, 1.6386, -0.0464, -0.0317, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.6952, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6788, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.34 left_z=0.0829 left_yaw=0.2473 left_pitch=-0.0023 left_roll=0.1326 left_gripper=0.7015 right_x=0.2468 right_y=0.0016 right_z=0.1213 right_yaw=0.0003 right_pitch=-0.2979 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.6, 6.2427, 0.8767, -0.4811, -0.0269, 1.0281, -0.1983, -1.0051, 6.9538, 1.4579, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.7013, -0.9325, -0.9218, 0.7938, -0.0212, 0.812, 0.6056, -0.68, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4296 left_y=-0.3393 left_z=0.0824 left_yaw=0.2468 left_pitch=-0.0053 left_roll=0.1383 left_gripper=0.7938 right_x=0.2465 right_y=0.0017 right_z=0.1211 right_yaw=0.0006 right_pitch=-0.299 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -14.0239, 7.6786, 0.8181, -0.4664, -0.0415, 0.022, -0.0205, -1.0325, 6.735, 1.4286, -0.0708, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76960f8b27c4a7a1db373f35d4ebf47d19ebe87d40758882b424a83fa71796e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90899a1512510be765f74c707d4421c47fff8a68e6aadd58ff528b564c10945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c7ad2f1b20ef84c6f4c76ed8a0f4a3e31006972757eaedd1e1123ea584f710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is now opening (0.79, effort dropped). Opening fully and lifting clear.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKbcAKidXqgfRRarZYKJsY",
      "input": {
        "note": "The gripper is opening now (0.79, effort dropped to zero), releasing the can on the burner. Opening fully and lifting the arm away to verify the placement from above.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PKbcAKidXqgfRRarZYKJsY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3737, 2.2356, -1.0191, -0.9211, -0.934, 0.9979, -0.0212, 0.8127, 0.6056, -0.6804, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4311 left_y=-0.3434 left_z=0.1592 left_yaw=0.2488 left_pitch=-0.0158 left_roll=0.1285 left_gripper=0.9979 right_x=0.2465 right_y=0.0016 right_z=0.1209 right_yaw=0.0003 right_pitch=-0.3002 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -14.3795, 8.5402, 0.9695, -0.5495, 0.0659, -0.1343, -0.1299, -0.8547, 6.8308, 1.4481, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061dc95e03b585cd550dad9be8a81bf6b53ec3b907a3548295e2a61f229e37d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3296a6f86d0f0d4edbdf0abef25b5bf88a06d859f0aeb5a1735216aadfbf7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13387a9dd8dc14f9d3d5e57502575328f9d7242051a754d28b995a8cf46b3b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 13.18 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]: [-0.9375, 2.3741, 1.9228, -0.6952, -0.9333, -0.9222, 0.7015, -0.0212, 0.812, 0.6056, -0.6788, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4302 left_y=-0.34 left_z=0.0829 left_yaw=0.2473 left_pitch=-0.0023 left_roll=0.1326 left_gripper=0.7015 right_x=0.2468 right_y=0.0016 right_z=0.1213 right_yaw=0.0003 right_pitch=-0.2979 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -13.6, 6.2427, 0.8767, -0.4811, -0.0269, 1.0281, -0.1983, -1.0051, 6.9538, 1.4579, -0.0464, -0.0415, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3741, 1.9228, -0.7013, -0.9325, -0.9218, 0.7938, -0.0212, 0.812, 0.6056, -0.68, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4296 left_y=-0.3393 left_z=0.0824 left_yaw=0.2468 left_pitch=-0.0053 left_roll=0.1383 left_gripper=0.7938 right_x=0.2465 right_y=0.0017 right_z=0.1211 right_yaw=0.0006 right_pitch=-0.299 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -14.0239, 7.6786, 0.8181, -0.4664, -0.0415, 0.022, -0.0205, -1.0325, 6.735, 1.4286, -0.0708, -0.0659, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9375, 2.3737, 2.2356, -1.0191, -0.9211, -0.934, 0.9979, -0.0212, 0.8127, 0.6056, -0.6804, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4311 left_y=-0.3434 left_z=0.1592 left_yaw=0.2488 left_pitch=-0.0158 left_roll=0.1285 left_gripper=0.9979 right_x=0.2465 right_y=0.0016 right_z=0.1209 right_yaw=0.0003 right_pitch=-0.3002 right_roll=0.0055 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -14.3795, 8.5402, 0.9695, -0.5495, 0.0659, -0.1343, -0.1299, -0.8547, 6.8308, 1.4481, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061dc95e03b585cd550dad9be8a81bf6b53ec3b907a3548295e2a61f229e37d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3296a6f86d0f0d4edbdf0abef25b5bf88a06d859f0aeb5a1735216aadfbf7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13387a9dd8dc14f9d3d5e57502575328f9d7242051a754d28b995a8cf46b3b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwQcKEAgRGAI4AUIIdGhpbmtpbmcSDIPyR+vsKkLXYaY7HRoM6TYgqm9KlMWimv4SIjB00zwPPAQzZtYoP70pB6RlYQ68mAABs9MtAJYnarhFlQCQw1vmKCMtMMiKpRm3XlAq3gZdiiFbiZetrXjUVItP9RSmHWa1tPZ3uYSwNDX+T5gNYtuuhUXbQLkMii1axRiTzDHSN7imJaxcFq7S4oiOhNyJFegdihSCCIg1/yvuKmJJEbR33mk9LNPep/j2OkImp9OVMlzDk4PmK3AJOoYOcQ0ZYm8/MTlu1MV137HDQmOWcAxoaj6Cu5P2Q+ZddxqvyvL2vr9eD9WDjIoziS5c21sGaJz0PN9LZUx3tQusU5pBDSDmzAZ0Tg3CtUbBwY5/tTBgVHI/R5vvlP/Mdi/MnudMPZVPH0gi/+c0r0UvfqbZ0CzL+h0XMu0lSRDppd8Ct594JpneCApyQLQv9PTzTXv9aUe70MLZIxPt6mei98GyS2Lk0d+bgd5FJz//kcw/XEYft5x9wsut+/NavS0Uebm5vDf5NO4VX+Aqvf+jGMcAkmDoXMpmjj26G8Z/TmrkJvLi8yQHU0HmvevjpFAXChtgbYK2BSZu8Bci3OU7SwD/qGJm3RWyJgpJtREkxbmUUHwxHBI+cqKsVxRGq13I8zOuHA3T7qSkTBvjeJxGbzT9BAYvI4w8ACUuhBSMbAXnTsRqHYcQ+WtxIkErj1HLZPXnBuDeRCOWEGzULObV33Gwzc9IdKiZNoHWA9qspjOodpCkJjZaI8PW6NyEui9Jhnt1WW4N6d2j7GQ+nL/8vk2Cz/uRLG8w8IgyU9oWt9eDpnLbjUpCkNFGhTOkxKkqXPfR3JNBZCzh+X6yt+aTjj7B1R7iLwUzWYYocps2ssypxRHL8hnmh4IuwHS/XgTvXpZMe3kKngpGpzOL60XdtkFagkfjctTz4UnC3sOpFpHbZUss2g9+WI+UO5AvePiA8fB3wl5CHad8jS1psNNsPdCQfG/BgNVwTdxN/IyDuysTkUnvrVqI/kH06tMbFaMs9zk05VxXFg5doQmqY0FODG0DK7VfT5HLOVL9VSC3zTrHdPG6LDMB1D3PGEh/dRwgA9/gYm2HO4PTNgjePkxGAjhaJ/qJUuyIZpndKUgHdqbGSwqKkaWLNYK3Z36EFVkFbH4OQRFBU03/kgOuEhfciWrB8VZGkzDBTMpWa3Yt/8dP2NdXsGLa5TGIBUuRRIM6YIFMd32QjYZ0kD3t80Xefjn2uvoTiUEKSqmqjYuGc4cqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0135ZrxmnfsxxkWpzA4jR1mG",
      "input": {
        "note": "The wrist view shows the can lying on the burner coil, released. Returning the left arm to its home pose to clear the overhead view.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_0135ZrxmnfsxxkWpzA4jR1mG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0578, 0.791, 0.6106, -0.4026, -0.12, -0.1032, 0.9985, -0.0212, 0.8165, 0.6056, -0.7021, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.2921 left_y=0.0079 left_z=0.1798 left_yaw=0.0831 left_pitch=-0.0011 left_roll=-0.0024 left_gripper=0.9985 right_x=0.2423 right_y=0.0017 right_z=0.1167 right_yaw=0.0005 right_pitch=-0.3257 right_roll=0.0061 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -1.265, 7.0359, 1.8974, 0.2711, 0.2076, -0.1685, -0.1026, -1.2103, 6.694, 1.5897, -0.0415, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a451e4ce1ce2676283a2d311995cae829d4f151021ff21052bc05b218b9195e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a67703c1cd1e265da676838a3b165f5f3e280fa2f1918e275e47172eb8b5552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:001912424c0aa44687957979004e7df984c281bda5909cdcca1d9a7b25da92fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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