adhoc

completed
2026-09-18T04:07:49.557928+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
453.9 s
total steps
325
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can lies on its side ahead of the left gripper, angled from forward-left (cap) to back-right. Moving the left arm forward over it and yawing +45° so the jaws will close across the can's diameter.
move_to
left_x0.3600left_y0.0000left_z0.1500left_yaw0.7850left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0189, -0.0338, 0.9993, -0.0212, 0.7921, 0.6056, -0.4015, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.3744, 10.2769, 1.9463, -0.0415, 0.2027, -0.0904, -0.4308, -1.3333, 9.7709, 2.0537, -0.0464, 0.0562, -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": 0.36, "left_y": 0.0, "left_z": 0.15, "left_yaw": 0.785, "left_gripper": 1.0}, "note": "The can lies on its side ahead of the left gripper, angled from forward-left (cap) to back-right. Moving the left arm forward over it and yawing +45\u00b0 so the jaws will close across the can's diameter."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteIn the left wrist camera the can body now runs vertically along the jaw column, so the jaws will close across its diameter. Descending to can-center height (~3 cm) with the gripper open.
move_to
left_x0.3700left_y-0.0200left_z0.0300left_yaw0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.395, 1.4448, 0.9119, -0.4606, -0.7467, -0.7563, 0.9993, -0.0212, 0.7975, 0.606, -0.4335, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3589 left_y=-0.0158 left_z=0.1339 left_yaw=0.6007 left_pitch=-0.0887 left_roll=0.0565 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.169 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.4171, -7.1316, 6.9812, 0.6178, -0.7204, 0.0171, -0.0904, -0.1709, -1.4701, 7.0359, 2.0098, -0.0659, 0.0024, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.02, "left_z": 0.03, "left_yaw": 0.6, "left_gripper": 1.0}, "note": "In the left wrist camera the can body now runs vertically along the jaw column, so the jaws will close across its diameter. Descending to can-center height (~3 cm) with the gripper open."})
tool
executing move_to over 7 steps (0.7s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
The can fills the wrist view between the jaws, well aligned. Closing the gripper.
agent noteThe can body sits squarely between the jaws in the left wrist view at can-center height. Closing the gripper to grasp it across its diameter.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3981, 1.6958, 0.7246, -0.0738, -0.746, -0.7631, 0.9993, -0.0212, 0.7982, 0.6037, -0.4549, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3622 left_y=-0.0184 left_z=0.0328 left_yaw=0.6054 left_pitch=-0.1168 left_roll=0.0943 left_gripper=0.9993 right_x=0.2844 right_y=0.001 right_z=0.1635 right_yaw=-0.0001 right_pitch=-0.0614 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.1162, -6.188, 4.1368, 1.1355, -0.525, 0.0757, -0.0855, -0.0342, -1.0051, 7.159, 1.8437, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
The can fills the wrist view between the jaws, well aligned. Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The can body sits squarely between the jaws in the left wrist view at can-center height. Closing the gripper to grasp it across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
Gripper settled at 0.64 (~6 cm), consistent with the can's diameter. Lifting to verify the grasp.
agent noteGripper reads 0.64 (~6 cm), matching the can diameter, so it appears grasped. Lifting to 15 cm to confirm the can comes with the jaws.
move_to
left_z0.1500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3988, 1.6997, 0.7219, -0.0429, -0.7681, -0.7635, 0.6368, -0.0212, 0.7986, 0.6025, -0.4782, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3657 left_y=-0.0171 left_z=0.0363 left_yaw=0.6151 left_pitch=-0.0877 left_roll=0.0834 left_gripper=0.6368 right_x=0.2807 right_y=0.0012 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0862 right_roll=0.0015 right_gripper=0.9996 state[joint_eff]: [-0.0205, -7.3778, 5.3538, 0.8474, -0.2076, -0.0122, 1.033, -0.2667, -1.2513, 7.0359, 1.8486, -0.0611, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
Gripper settled at 0.64 (~6 cm), consistent with the can's diameter. Lifting to verify the grasp.
move_to({"targets": {"left_z": 0.15, "left_gripper": 0.0}, "note": "Gripper reads 0.64 (~6 cm), matching the can diameter, so it appears grasped. Lifting to 15 cm to confirm the can comes with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe can lifted with the gripper (it's gone from its table spot in the top view). Carrying it up and toward the burner in the table centre, staying high to clear the burner's ~8 cm height.
move_to
left_x0.4500left_y-0.2200left_z0.2200left_yaw0.6000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3988, 1.5097, 0.9565, -0.4988, -0.7521, -0.7708, 0.6359, -0.0212, 0.8005, 0.6018, -0.4999, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3639 left_y=-0.0185 left_z=0.1251 left_yaw=0.6128 left_pitch=-0.1156 left_roll=0.097 left_gripper=0.6359 right_x=0.2773 right_y=0.0013 right_z=0.1534 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.1162, -8.3487, 9.1966, 1.1795, -0.5153, 0.022, 1.033, -0.335, -1.3607, 6.9949, 1.8632, -0.0317, -0.0562, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.22, "left_z": 0.22, "left_yaw": 0.6, "left_gripper": 0.0}, "note": "The can lifted with the gripper (it's gone from its table spot in the top view). Carrying it up and toward the burner in the table centre, staying high to clear the burner's ~8 cm height."})
tool
executing move_to over 18 steps (1.8s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe wrist camera shows the burner coil to the right of the held can, so the burner lies further to the arm's right. Shifting the can over toward the burner centre while staying high.
move_to
left_x0.4900left_y-0.3100left_z0.2000left_yaw0.6000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7258, 2.3688, 2.5145, -1.4609, -0.833, -1.2034, 0.6192, -0.0212, 0.8043, 0.601, -0.5312, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4559 left_y=-0.225 left_z=0.2086 left_yaw=0.5887 left_pitch=-0.1343 left_roll=0.0374 left_gripper=0.6192 right_x=0.2722 right_y=0.0013 right_z=0.1463 right_yaw=0.0001 right_pitch=-0.1465 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [-0.3897, -13.0803, 7.0359, -0.0366, -0.7741, 0.0415, 0.105, -0.335, -1.3744, 7.2, 1.8632, -0.0366, -0.0562, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.31, "left_z": 0.2, "left_yaw": 0.6, "left_gripper": 0.0}, "note": "The wrist camera shows the burner coil to the right of the held can, so the burner lies further to the arm's right. Shifting the can over toward the burner centre while staying high."})
tool
executing move_to over 8 steps (0.8s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe gripper reads fully closed (0.01), so the can slipped out during the last move; the wrist camera shows an empty burner. Retracting the left arm up and back to get a clear overhead view of where the can landed.
move_to
left_x0.3000left_y-0.0500left_z0.2500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.775, 2.5946, 2.8037, -1.5749, -0.8322, -1.2747, 0.0094, -0.0212, 0.807, 0.601, -0.5629, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.459 left_y=-0.2617 left_z=0.174 left_yaw=0.5854 left_pitch=-0.1453 left_roll=0.0327 left_gripper=0.0094 right_x=0.267 right_y=0.0014 right_z=0.1399 right_yaw=0.0002 right_pitch=-0.1808 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [-0.6496, -11.8496, 7.1043, 0.6716, -0.6325, -0.0269, 0.7692, -0.1846, -1.4017, 6.9812, 1.8535, -0.0317, -0.0171, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.25, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The gripper reads fully closed (0.01), so the can slipped out during the last move; the wrist camera shows an empty burner. Retracting the left arm up and back to get a clear overhead view of where the can landed."})
tool
executing move_to over 19 steps (1.9s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe overhead view shows the dropped can lying sideways near the left base, cap pointing left. Moving the left gripper above it and yawing 90° so the jaws close across the can's now left-right axis.
move_to
left_x0.1900left_y-0.0700left_z0.1500left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3561, 1.055, 1.1034, -0.8116, -0.3382, -0.3099, 0.9975, -0.0212, 0.8112, 0.601, -0.598, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.3054 left_y=-0.0473 left_z=0.25 left_yaw=0.0832 left_pitch=-0.1354 left_roll=0.014 left_gripper=0.9975 right_x=0.2609 right_y=0.0015 right_z=0.1328 right_yaw=0.0001 right_pitch=-0.2201 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.1709, -2.7692, 6.2017, 1.663, -0.1294, 0.2418, 0.0464, -0.1299, -0.9641, 7.1043, 1.8926, -0.0269, -0.0171, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.19, "left_y": -0.07, "left_z": 0.15, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The overhead view shows the dropped can lying sideways near the left base, cap pointing left. Moving the left gripper above it and yawing 90\u00b0 so the jaws close across the can's now left-right axis."})
tool
executing move_to over 10 steps (1.0s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe arm stopped short (x 0.24, y 0.0) and the overhead shows the can still behind and to the right of the gripper, near the base. Retrying the approach a bit higher to help the IK fold in closer over the can.
move_to
left_x0.2000left_y-0.0800left_z0.1800left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5652, 1.6157, 1.2053, -1.5387, -0.7731, -1.8862, 0.9984, -0.0212, 0.8165, 0.6006, -0.6209, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.2433 left_y=-0.004 left_z=0.1507 left_yaw=1.2418 left_pitch=-0.1635 left_roll=0.1681 left_gripper=0.9984 right_x=0.2568 right_y=0.0016 right_z=0.1275 right_yaw=0.0006 right_pitch=-0.2487 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-1.388, -6.5846, 6.5709, -0.398, -0.4078, -0.1099, -0.1783, -0.0752, -1.4154, 6.8855, 1.6679, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": -0.08, "left_z": 0.18, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The arm stopped short (x 0.24, y 0.0) and the overhead shows the can still behind and to the right of the gripper, near the base. Retrying the approach a bit higher to help the IK fold in closer over the can."})
tool
executing move_to over 7 steps (0.7s)
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 left arm is stalled in a folded pose and won't track the low, near-base target. Raising it high and unwinding the yaw first, per the rig's advice for escaping a folded pose.
move_to
left_x0.2500left_y-0.0600left_z0.3000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5774, 1.6157, 1.2053, -1.5528, -0.7715, -2.014, 0.9984, -0.0212, 0.8158, 0.6003, -0.6357, -0.0196, -0.0269, 0.9996] state[eef_state]: left_x=0.2409 left_y=-0.0056 left_z=0.1515 left_yaw=1.3022 left_pitch=-0.1519 left_roll=0.0859 left_gripper=0.9984 right_x=0.254 right_y=0.0017 right_z=0.1251 right_yaw=0.0009 right_pitch=-0.2632 right_roll=0.0049 right_gripper=0.9996 state[joint_eff]: [-0.1162, -6.4479, 6.735, -0.5885, -0.4615, -0.0611, -0.1734, -0.212, -0.7453, 6.9538, 1.5653, -0.022, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_x": 0.25, "left_y": -0.06, "left_z": 0.3, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm is stalled in a folded pose and won't track the low, near-base target. Raising it high and unwinding the yaw first, per the rig's advice for escaping a folded pose."})
tool
executing move_to over 10 steps (1.0s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteThe wrist camera now shows the can at the bottom of the frame, i.e. just toward the base from the gripper. Approaching it from above with the yaw turned the other way (-90°) so the jaws close across the can while the wrist has an easier configuration.
move_to
left_x0.1900left_y-0.0500left_z0.1500left_yaw-1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5762, 1.0145, 1.2751, -1.2068, -0.5533, -0.87, 0.9985, -0.0212, 0.8181, 0.5999, -0.6613, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.246 left_y=-0.0449 left_z=0.2787 left_yaw=0.3538 left_pitch=-0.1958 left_roll=-0.1612 left_gripper=0.9985 right_x=0.2491 right_y=0.0018 right_z=0.1203 right_yaw=0.0008 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996 state[joint_eff]: [0.1573, -2.0991, 8.1026, 1.3748, -0.3492, 0.232, -0.1734, -0.0752, -1.2239, 6.7897, 1.6532, -0.0464, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.19, "left_y": -0.05, "left_z": 0.15, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "The wrist camera now shows the can at the bottom of the frame, i.e. just toward the base from the gripper. Approaching it from above with the yaw turned the other way (-90\u00b0) so the jaws close across the can while the wrist has an easier configuration."})
tool
executing move_to over 12 steps (1.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe wrist camera shows the can slightly ahead and angled ~30° off the jaw axis; yaw only reached -1.16 so far. Shifting 4 cm to the arm's right over the can, completing the -90° yaw, and lowering to 10 cm.
move_to
left_x0.2000left_y-0.0900left_z0.1000left_yaw-1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.374, 1.4189, 1.0294, -1.5074, 0.73, 1.2957, 0.9985, -0.0212, 0.8227, 0.5999, -0.68, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.1949 left_y=-0.0462 left_z=0.1446 left_yaw=-1.1563 left_pitch=-0.3069 left_roll=-0.515 left_gripper=0.9985 right_x=0.2455 right_y=0.0019 right_z=0.1164 right_yaw=0.001 right_pitch=-0.3146 right_roll=0.0063 right_gripper=0.9996 state[joint_eff]: [-0.4034, -4.7795, 7.5692, -0.1343, 0.442, 0.2466, -0.1685, -0.0479, -1.3607, 6.735, 1.5507, -0.0269, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": -0.09, "left_z": 0.1, "left_yaw": -1.57, "left_gripper": 1.0}, "note": "The wrist camera shows the can slightly ahead and angled ~30\u00b0 off the jaw axis; yaw only reached -1.16 so far. Shifting 4 cm to the arm's right over the can, completing the -90\u00b0 yaw, and lowering to 10 cm."})
tool
executing move_to over 4 steps (0.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe can now lies nearly along the jaw column in the wrist view but the arm only partially tracked (y -0.057, yaw -1.28). Continuing toward the same spot over the can, slightly lower, to finish alignment before descending to grasp.
move_to
left_x0.2000left_y-0.0900left_z0.0800left_yaw-1.5700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.3214, 1.3785, 0.9604, -1.4357, 0.7216, 1.4563, 0.9985, -0.0212, 0.823, 0.5999, -0.6838, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.1884 left_y=-0.0565 left_z=0.1321 left_yaw=-1.2812 left_pitch=-0.2782 left_roll=-0.359 left_gripper=0.9985 right_x=0.2448 right_y=0.0019 right_z=0.1157 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996 state[joint_eff]: [0.1709, -4.7658, 4.9436, -0.0611, 0.5495, 0.0855, -0.1734, -0.1162, -1.1692, 6.9265, 1.4042, -0.0464, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.2, "left_y": -0.09, "left_z": 0.08, "left_yaw": -1.57, "left_gripper": 1.0}, "note": "The can now lies nearly along the jaw column in the wrist view but the arm only partially tracked (y -0.057, yaw -1.28). Continuing toward the same spot over the can, slightly lower, to finish alignment before descending to grasp."})
tool
executing move_to over 4 steps (0.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe arm won't track further yaw here, but the can is only ~17° off the jaw axis, which is acceptable for a 6 cm cylinder. Keeping the current yaw, shifting a few cm so the can body sits on the jaw column, and descending to grasp height.
move_to
left_x0.2300left_y-0.0700left_z0.0400left_yaw-1.2700left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.321, 1.3788, 0.96, -1.4162, 0.7219, 1.4418, 0.9985, -0.0212, 0.823, 0.5999, -0.7017, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.1919 left_y=-0.0554 left_z=0.131 left_yaw=-1.2685 left_pitch=-0.281 left_roll=-0.3495 left_gripper=0.9985 right_x=0.2413 right_y=0.002 right_z=0.113 right_yaw=0.0015 right_pitch=-0.3368 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.2667, -4.8205, 5.012, -0.0073, 0.5983, 0.0611, -0.1734, -0.0479, -1.0325, 6.6803, 1.5751, -0.0464, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.23, "left_y": -0.07, "left_z": 0.04, "left_yaw": -1.27, "left_gripper": 1.0}, "note": "The arm won't track further yaw here, but the can is only ~17\u00b0 off the jaw axis, which is acceptable for a 6 cm cylinder. Keeping the current yaw, shifting a few cm so the can body sits on the jaw column, and descending to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe can fills the wrist view just left of the jaw column and the overhead shows the gripper right above it. Descending to can-centre height with a small forward shift to centre the body between the jaws.
move_to
left_x0.2100left_y-0.0800left_z0.0250left_yaw-1.3600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.2157, 1.6108, 0.8131, -1.1896, 0.7399, 1.3441, 0.9985, -0.0212, 0.8253, 0.5999, -0.7246, -0.0193, -0.0265, 0.9996] state[eef_state]: left_x=0.1841 left_y=-0.0779 left_z=0.0592 left_yaw=-1.3623 left_pitch=-0.2856 left_roll=-0.576 left_gripper=0.9985 right_x=0.2367 right_y=0.002 right_z=0.1092 right_yaw=0.001 right_pitch=-0.3619 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [0.2393, -7.8974, 6.0239, -1.0232, 1.0037, 0.0464, -0.1587, -0.0479, -0.8684, 6.7761, 1.5653, -0.0317, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.21, "left_y": -0.08, "left_z": 0.025, "left_yaw": -1.36, "left_gripper": 1.0}, "note": "The can fills the wrist view just left of the jaw column and the overhead shows the gripper right above it. Descending to can-centre height with a small forward shift to centre the body between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe can now lies in front-left of the right gripper (visible in the right wrist camera, tilted ~20°), so I'm switching to the right arm: moving it over the can with a small clockwise yaw to align the jaws across it, while lifting the left arm clear.
move_to
right_x0.2900right_y0.0600right_z0.1200right_yaw-0.3300right_gripper1.0000left_x0.2500left_y-0.0500left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.1963, 1.7233, 0.812, -1.0504, 0.7326, 1.3003, 0.9985, -0.0212, 0.8295, 0.5991, -0.7338, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.1995 left_y=-0.0771 left_z=0.0302 left_yaw=-1.3559 left_pitch=-0.305 left_roll=-0.5799 left_gripper=0.9985 right_x=0.2347 right_y=0.0022 right_z=0.1066 right_yaw=0.0018 right_pitch=-0.376 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.5128, -6.5162, 5.2444, -0.4664, 0.5153, 0.1001, -0.1685, -0.0479, -1.3333, 6.7214, 1.4237, -0.0659, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.06, "right_z": 0.12, "right_yaw": -0.33, "right_gripper": 1.0, "left_x": 0.25, "left_y": -0.05, "left_z": 0.2, "left_yaw": 0.0}, "note": "The can now lies in front-left of the right gripper (visible in the right wrist camera, tilted ~20\u00b0), so I'm switching to the right arm: moving it over the can with a small clockwise yaw to align the jaws across it, while lifting the left arm clear."})
tool
executing move_to over 11 steps (1.1s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe can now runs vertically down the right wrist view, slightly left of the jaw column and extending under the fingertips. Nudging 1.5 cm left and descending to can-centre height to grasp.
move_to
right_x0.2800right_y0.0750right_z0.0300right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0795, 1.636, 0.8158, -0.9928, 0.6338, 1.2144, 0.9983, 0.4152, 1.2217, 0.8192, -0.7464, 0.3473, 0.5659, 0.9996] state[eef_state]: left_x=0.2044 left_y=-0.0851 left_z=0.0312 left_yaw=-1.4022 left_pitch=-0.4145 left_roll=-0.4727 left_gripper=0.9983 right_x=0.2747 right_y=0.0593 right_z=0.104 right_yaw=-0.2688 right_pitch=-0.4437 right_roll=-0.0412 right_gripper=0.9996 state[joint_eff]: [0.1299, -9.2513, 6.5846, -0.1685, 0.652, 0.1099, -0.0317, 0.2803, -4.2462, 8.7453, 1.2381, 0.3639, 0.2076, -0.0513] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.075, "right_z": 0.03, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The can now runs vertically down the right wrist view, slightly left of the jaw column and extending under the fingertips. Nudging 1.5 cm left and descending to can-centre height to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
The can is between the jaws in the right wrist view at grasp height. Closing.
agent noteThe can body fills the right wrist view between the jaws at 2.7 cm height. Closing the right gripper across its diameter.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0883, 1.5391, 0.857, -1.037, 0.6281, 0.9241, 0.9979, 0.474, 1.3884, 0.6479, -0.5236, 0.3672, 0.635, 0.9996] state[eef_state]: left_x=0.2159 left_y=-0.0815 left_z=0.0575 left_yaw=-1.1966 left_pitch=-0.479 left_roll=-0.5468 left_gripper=0.9979 right_x=0.2625 right_y=0.0674 right_z=0.0268 right_yaw=-0.3075 right_pitch=-0.5144 right_roll=-0.106 right_gripper=0.9996 state[joint_eff]: [-0.3077, -9.4701, 4.9573, -0.4811, 0.4274, 0.1197, -0.0562, 0.335, -4.3419, 6.0103, 1.0965, 0.2906, 0.1392, -0.0562] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
The can is between the jaws in the right wrist view at grasp height. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body fills the right wrist view between the jaws at 2.7 cm height. Closing the right gripper across its diameter."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteRight gripper settled at 0.71 (~6.7 cm), so the can is grasped. Lifting it high and starting to carry it toward the burner in the table centre, in a modest step to keep the grasp stable.
move_to
right_x0.3600right_y0.2000right_z0.2200right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6211, 0.8345, -1.0592, 0.6167, 1.0439, 0.9979, 0.4786, 1.4094, 0.6353, -0.4423, 0.3664, 0.6407, 0.7105] state[eef_state]: left_x=0.1976 left_y=-0.0831 left_z=0.0387 left_yaw=-1.3325 left_pitch=-0.4824 left_roll=-0.6114 left_gripper=0.9979 right_x=0.2727 right_y=0.0742 right_z=0.024 right_yaw=-0.2879 right_pitch=-0.4806 right_roll=-0.0644 right_gripper=0.7105 state[joint_eff]: [-0.1026, -6.8855, 5.6, -0.2027, 0.4469, 0.1587, -0.0171, -0.0889, -5.2581, 6.2564, 1.0965, 0.3053, 0.1538, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.2, "right_z": 0.22, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "Right gripper settled at 0.71 (~6.7 cm), so the can is grasped. Lifting it high and starting to carry it toward the burner in the table centre, in a modest step to keep the grasp stable."})
tool
executing move_to over 13 steps (1.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe overhead view shows the held can to the right of the burner at about the same depth; the burner edge appears at the left of the right wrist camera. Moving the can left over the burner centre while staying above the burner's height.
move_to
right_x0.4200right_y0.3400right_z0.2000right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.606, 1.0382, 0.9978, 0.675, 1.8771, 1.9064, -1.3262, 0.4042, 0.8272, 0.7076] state[eef_state]: left_x=0.1969 left_y=-0.0816 left_z=0.0375 left_yaw=-1.3321 left_pitch=-0.4945 left_roll=-0.6139 left_gripper=0.9978 right_x=0.3578 right_y=0.202 right_z=0.2072 right_yaw=-0.2654 right_pitch=-0.5005 right_roll=-0.06 right_gripper=0.7076 state[joint_eff]: [-0.0889, -5.6547, 4.6017, -0.2076, 0.4371, -0.0122, -0.0171, 0.212, -9.347, 7.3094, 0.6471, 0.3492, 0.2418, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.34, "right_z": 0.2, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "The overhead view shows the held can to the right of the burner at about the same depth; the burner edge appears at the left of the right wrist camera. Moving the can left over the burner centre while staying above the burner's height."})
tool
executing move_to over 12 steps (1.2s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteThe arm fell short (y 0.30, z 0.16) and the burner coil still shows on the left side of the wrist view, so the can is a few cm right of the burner centre. Shifting further left over the burner.
move_to
right_x0.4000right_y0.3600right_z0.1700right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0348, 0.9979, 0.7975, 2.434, 2.6282, -1.5887, 0.4088, 0.9699, 0.7076] state[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3308 left_pitch=-0.4971 left_roll=-0.6161 left_gripper=0.9979 right_x=0.39 right_y=0.3041 right_z=0.1613 right_yaw=-0.2842 right_pitch=-0.5433 right_roll=-0.085 right_gripper=0.7076 state[joint_eff]: [-0.0615, -5.5043, 4.5333, -0.2125, 0.3101, 0.0269, -0.0073, 0.2803, -12.1915, 8.212, 0.735, 0.525, 0.0952, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.36, "right_z": 0.17, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "The arm fell short (y 0.30, z 0.16) and the burner coil still shows on the left side of the wrist view, so the can is a few cm right of the burner centre. Shifting further left over the burner."})
tool
executing move_to over 8 steps (0.8s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe arm is near its reach limit with the tool pitched back, but the gripper now sits over the burner's right half with the can extending over the coil. Lowering the can toward the burner surface and watching for contact.
move_to
right_x0.3800right_y0.3400right_z0.0900right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0313, 0.9978, 0.8452, 2.479, 2.6148, -1.5917, 0.4004, 1.0149, 0.7076] state[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3291 left_pitch=-0.4981 left_roll=-0.6182 left_gripper=0.9978 right_x=0.3735 right_y=0.3227 right_z=0.136 right_yaw=-0.2968 right_pitch=-0.5755 right_roll=-0.1237 right_gripper=0.7076 state[joint_eff]: [-0.0889, -5.4769, 4.5607, -0.2515, 0.2808, -0.0024, -0.0171, 0.3897, -12.4786, 8.5128, 0.7399, 0.3541, 0.2173, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.34, "right_z": 0.09, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "The arm is near its reach limit with the tool pitched back, but the gripper now sits over the burner's right half with the can extending over the coil. Lowering the can toward the burner surface and watching for contact."})
tool
executing move_to over 8 steps (0.8s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe descent stopped at z 0.106 and the shoulder/elbow efforts dropped, indicating the can has touched down on the burner. Opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.6044, 1.0309, 0.9978, 0.8516, 2.4897, 2.513, -1.4963, 0.3973, 1.0218, 0.7076] state[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0374 left_yaw=-1.3287 left_pitch=-0.4982 left_roll=-0.618 left_gripper=0.9978 right_x=0.3754 right_y=0.3305 right_z=0.1062 right_yaw=-0.304 right_pitch=-0.5848 right_roll=-0.1377 right_gripper=0.7076 state[joint_eff]: [-0.1709, -5.559, 4.6564, -0.232, 0.315, -0.0513, -0.0073, 0.3624, -10.7556, 4.8068, 0.8864, 0.232, 0.0708, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped at z 0.106 and the shoulder/elbow efforts dropped, indicating the can has touched down on the burner. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteThe gripper reading is still 0.71 — the open command was clamped and didn't complete. Re-sending the open command to release the can on the burner.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.6041, 1.0313, 0.9979, 0.8532, 2.5027, 2.5072, -1.4822, 0.4004, 1.0214, 0.7075] state[eef_state]: left_x=0.1967 left_y=-0.0813 left_z=0.0372 left_yaw=-1.3293 left_pitch=-0.4986 left_roll=-0.6185 left_gripper=0.9979 right_x=0.3767 right_y=0.3324 right_z=0.099 right_yaw=-0.3061 right_pitch=-0.5839 right_roll=-0.1444 right_gripper=0.7075 state[joint_eff]: [-0.1299, -5.6684, 4.5607, -0.2271, 0.2808, -0.0073, -0.0073, -0.5128, -14.7761, 6.0786, 0.2906, 0.1392, -0.0269, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper reading is still 0.71 \u2014 the open command was clamped and didn't complete. Re-sending the open command to release the can on the burner."})
tool
executing move_to over 3 steps (0.3s)
step 205
assistant
agent noteThe gripper still reads 0.71 and is not opening while pressed onto the burner. Relieving the downward pressure slightly while commanding the jaws open again.
move_to
right_z0.1150right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6041, 1.0241, 0.9978, 0.8536, 2.5027, 2.5072, -1.4826, 0.4004, 1.0214, 0.7075] state[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3255 left_pitch=-0.5008 left_roll=-0.6224 left_gripper=0.9978 right_x=0.3765 right_y=0.3324 right_z=0.099 right_yaw=-0.3059 right_pitch=-0.5841 right_roll=-0.1448 right_gripper=0.7075 state[joint_eff]: [-0.0342, -5.5043, 4.6291, -0.2222, 0.2808, 0.0317, -0.0171, -0.253, -13.5316, 5.641, 0.4615, 0.1734, -0.0317, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.115, "right_gripper": 1.0}, "note": "The gripper still reads 0.71 and is not opening while pressed onto the burner. Relieving the downward pressure slightly while commanding the jaws open again."})
tool
executing move_to over 3 steps (0.3s)
step 208
assistant
agent noteThe gripper has opened (0.89) and the can remains visible resting on the burner in the wrist view. Retracting the right arm up and away to check the placement from the overhead camera.
move_to
right_x0.2800right_y0.1000right_z0.2500right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0588, 0.6041, 1.0233, 0.9978, 0.8536, 2.524, 2.5916, -1.552, 0.3958, 1.0134, 0.8943] state[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3249 left_pitch=-0.5009 left_roll=-0.6225 left_gripper=0.9978 right_x=0.3743 right_y=0.331 right_z=0.1092 right_yaw=-0.3029 right_pitch=-0.5915 right_roll=-0.1535 right_gripper=0.8943 state[joint_eff]: [-0.1983, -5.5863, 4.6974, -0.2173, 0.2515, -0.022, -0.0122, -0.1026, -13.053, 8.0068, 0.5739, 0.2613, 0.0415, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.25, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The gripper has opened (0.89) and the can remains visible resting on the burner in the wrist view. Retracting the right arm up and away to check the placement from the overhead camera."})
tool
executing move_to over 20 steps (2.0s)
step 228
assistant
agent noteThe overhead shows the can rolled off and now lies on the table just in front of the burner, pointing toward the bases along the x axis. Moving the right gripper above it (yaw 0 so the jaws close across its diameter) to re-grasp.
move_to
right_x0.2500right_y0.3400right_z0.1200right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5976, 1.0164, 0.9978, 0.4942, 1.4864, 1.6405, -1.4292, 0.2653, 0.3687, 0.999] state[eef_state]: left_x=0.1965 left_y=-0.0804 left_z=0.0366 left_yaw=-1.323 left_pitch=-0.5094 left_roll=-0.6262 left_gripper=0.9978 right_x=0.2849 right_y=0.105 right_z=0.242 right_yaw=-0.0404 right_pitch=-0.6016 right_roll=-0.1534 right_gripper=0.999 state[joint_eff]: [-0.0342, -5.4496, 4.7385, -0.2125, 0.3443, 0.0464, -0.0073, -0.212, -6.7214, 5.9145, 0.8669, 0.1099, -0.0317, -0.0952] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.34, "right_z": 0.12, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The overhead shows the can rolled off and now lies on the table just in front of the burner, pointing toward the bases along the x axis. Moving the right gripper above it (yaw 0 so the jaws close across its diameter) to re-grasp."})
tool
executing move_to over 20 steps (2.0s)
step 248
assistant
agent noteThe can runs vertically through the right wrist view with its body between the jaws, slightly left of the jaw column. Shifting 2 cm left and descending to can-centre height.
move_to
right_x0.2450right_y0.3500right_z0.0300right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5922, 1.0122, 0.9978, 1.0767, 2.0167, 1.7794, -1.2568, 0.3622, 0.8986, 0.999] state[eef_state]: left_x=0.1962 left_y=-0.0796 left_z=0.0361 left_yaw=-1.3219 left_pitch=-0.5158 left_roll=-0.6277 left_gripper=0.9978 right_x=0.2435 right_y=0.3277 right_z=0.1165 right_yaw=0.0041 right_pitch=-0.6366 right_roll=-0.1972 right_gripper=0.999 state[joint_eff]: [-0.0205, -5.6684, 4.7521, -0.2418, 0.3199, 0.0171, -0.0073, 0.2667, -9.7299, 8.2803, 0.5104, 0.2711, 0.2222, -0.1148] camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.245, "right_y": 0.35, "right_z": 0.03, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The can runs vertically through the right wrist view with its body between the jaws, slightly left of the jaw column. Shifting 2 cm left and descending to can-centre height."})
tool
executing move_to over 6 steps (0.6s)
step 254
assistant
agent noteThe can body is between the jaws at 3.7 cm height in the right wrist view. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5865, 1.0088, 0.9978, 1.1072, 2.1204, 1.6157, -1.0279, 0.3779, 0.9176, 0.999] state[eef_state]: left_x=0.1961 left_y=-0.0788 left_z=0.0355 left_yaw=-1.3209 left_pitch=-0.5222 left_roll=-0.6282 left_gripper=0.9978 right_x=0.2385 right_y=0.3393 right_z=0.0373 right_yaw=-0.0098 right_pitch=-0.6381 right_roll=-0.2405 right_gripper=0.999 state[joint_eff]: [-0.0068, -5.6547, 4.6701, -0.2076, 0.359, 0.0024, -0.0073, 0.2256, -10.0991, 5.8188, 0.4908, 0.3736, 0.1636, -0.1148] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body is between the jaws at 3.7 cm height in the right wrist view. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 264
assistant
agent noteGripper settled at 0.71, so the can is grasped again, pointing forward toward the burner. Lifting it up to clear the burner before moving forward over it.
move_to
right_x0.3200right_y0.3300right_z0.2000right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5819, 1.0088, 0.9978, 1.1137, 2.1365, 1.5955, -0.9958, 0.3935, 0.9215, 0.7126] state[eef_state]: left_x=0.1959 left_y=-0.0781 left_z=0.0351 left_yaw=-1.3217 left_pitch=-0.5266 left_roll=-0.6274 left_gripper=0.9978 right_x=0.2386 right_y=0.3397 right_z=0.0272 right_yaw=-0.0142 right_pitch=-0.6253 right_roll=-0.252 right_gripper=0.7126 state[joint_eff]: [-0.1299, -5.6547, 4.5197, -0.2076, 0.3199, -0.022, -0.0073, 0.5812, -13.4085, 5.094, 0.2808, 0.3834, 0.0708, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.33, "right_z": 0.2, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "Gripper settled at 0.71, so the can is grasped again, pointing forward toward the burner. Lifting it up to clear the burner before moving forward over it."})
tool
executing move_to over 12 steps (1.2s)
step 276
assistant
agent noteThe can is held pointing forward with its cap approaching the burner's near edge in the overhead view. Advancing ~10 cm so the can body is centred over the burner coil before lowering.
move_to
right_x0.4100right_y0.3300right_z0.1800right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5785, 1.0084, 0.9978, 0.9466, 2.2242, 2.3302, -1.5517, 0.3851, 0.7315, 0.7104] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0348 left_yaw=-1.3224 left_pitch=-0.53 left_roll=-0.6274 left_gripper=0.9978 right_x=0.312 right_y=0.3259 right_z=0.1754 right_yaw=0.004 right_pitch=-0.6109 right_roll=-0.2356 right_gripper=0.7104 state[joint_eff]: [-0.0752, -5.5043, 4.5333, -0.2076, 0.2857, -0.0171, -0.0122, -0.5402, -12.6564, 7.4735, 0.652, 0.3394, -0.1587, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.33, "right_z": 0.18, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "The can is held pointing forward with its cap approaching the burner's near edge in the overhead view. Advancing ~10 cm so the can body is centred over the burner coil before lowering."})
tool
executing move_to over 8 steps (0.8s)
step 284
assistant
agent noteThe wrist camera shows the burner coil directly beneath/behind the held can and the overhead shows the can body extending over the burner. Lowering the can onto the burner surface until contact.
move_to
right_x0.3900right_y0.3200right_z0.0900right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0592, 0.5781, 1.0084, 0.9978, 0.7952, 2.4332, 2.6156, -1.5986, 0.3584, 0.5758, 0.7104] state[eef_state]: left_x=0.1956 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3227 left_pitch=-0.5304 left_roll=-0.6277 left_gripper=0.9978 right_x=0.3824 right_y=0.3066 right_z=0.1547 right_yaw=-0.0122 right_pitch=-0.6331 right_roll=-0.2564 right_gripper=0.7104 state[joint_eff]: [-0.1436, -5.4906, 4.588, -0.2222, 0.2662, -0.0317, -0.0122, -0.4991, -11.9043, 7.665, 0.8425, 0.2418, 0.0269, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.32, "right_z": 0.09, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "The wrist camera shows the burner coil directly beneath/behind the held can and the overhead shows the can body extending over the burner. Lowering the can onto the burner surface until contact."})
tool
executing move_to over 8 steps (0.8s)
step 292
assistant
agent noteThe can reached 8 cm without clear contact yet; the overhead shows it lying across the burner's near edge. Lowering a bit more so the can rests on the burner before releasing.
move_to
right_z0.0600right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.008, 0.9978, 0.8131, 2.3802, 2.2253, -1.3052, 0.3698, 0.5652, 0.7076] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3223 left_pitch=-0.5305 left_roll=-0.6275 left_gripper=0.9978 right_x=0.3793 right_y=0.3132 right_z=0.0825 right_yaw=-0.0186 right_pitch=-0.6563 right_roll=-0.3109 right_gripper=0.7076 state[joint_eff]: [-0.1573, -5.6821, 4.5333, -0.2125, 0.2613, -0.0366, -0.0122, -0.2256, -14.5026, 5.641, 0.8767, 0.3346, 0.0708, 1.0427] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06, "right_gripper": 0.0}, "note": "The can reached 8 cm without clear contact yet; the overhead shows it lying across the burner's near edge. Lowering a bit more so the can rests on the burner before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 300
assistant
agent noteDescent stopped at 6.7 cm with shoulder and elbow effort dropping, so the can is resting on the burner. Opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9979, 0.849, 2.3219, 2.0594, -1.1934, 0.3866, 0.5644, 0.7034] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9979 right_x=0.3638 right_y=0.3179 right_z=0.0674 right_yaw=0.0097 right_pitch=-0.6413 right_roll=-0.3213 right_gripper=0.7034 state[joint_eff]: [-0.0479, -5.6, 4.6017, -0.232, 0.2613, -0.0562, -0.0122, -1.7162, -11.9726, 4.3419, 1.1013, 0.4957, 0.0562, 0.9158] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 300): [image omitted: streamed camera frame] camera 'left_cam' (step 300): [image omitted: streamed camera frame] camera 'right_cam' (step 300): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stopped at 6.7 cm with shoulder and elbow effort dropping, so the can is resting on the burner. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 303
assistant
agent noteThe gripper again didn't open while pressing down (still 0.70). Easing up 2 cm while commanding the jaws open, which worked last time.
move_to
right_z0.0850right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8677, 2.3016, 2.0056, -1.1656, 0.3962, 0.5644, 0.7025] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3553 right_y=0.3193 right_z=0.063 right_yaw=0.0195 right_pitch=-0.638 right_roll=-0.3345 right_gripper=0.7025 state[joint_eff]: [-0.0615, -5.5863, 4.506, -0.1978, 0.3199, -0.0269, -0.0171, -0.7863, -13.1761, 5.7504, 0.7546, 0.4225, 0.022, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.085, "right_gripper": 1.0}, "note": "The gripper again didn't open while pressing down (still 0.70). Easing up 2 cm while commanding the jaws open, which worked last time."})
tool
executing move_to over 3 steps (0.3s)
step 306
assistant
agent noteArm and gripper are both not responding at this pose (gripper still 0.70, z unchanged). Commanding a larger retreat upward and back together with the open command to unstick the controller and release the can.
move_to
right_x0.3400right_y0.3200right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8761, 2.3009, 2.0029, -1.1778, 0.4007, 0.5648, 0.7025] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3509 right_y=0.3191 right_z=0.0626 right_yaw=0.017 right_pitch=-0.6438 right_roll=-0.3513 right_gripper=0.7025 state[joint_eff]: [-0.1162, -5.7094, 4.5333, -0.2369, 0.2759, -0.0366, -0.0073, 0.2667, -15.0906, 8.6359, 0.3785, 0.4029, 0.0024, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.32, "right_z": 0.12, "right_gripper": 1.0}, "note": "Arm and gripper are both not responding at this pose (gripper still 0.70, z unchanged). Commanding a larger retreat upward and back together with the open command to unstick the controller and release the can."})
tool
executing move_to over 4 steps (0.4s)
step 310
assistant
agent noteThe gripper has opened and released the can, which lies with its cap onto the burner. Retracting the right arm up and away to expose the placement in the overhead view.
move_to
right_x0.2500right_y0.1500right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8894, 2.2978, 1.9831, -1.1877, 0.4137, 0.572, 0.9947] state[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3438 right_y=0.3169 right_z=0.0594 right_yaw=0.0029 right_pitch=-0.6496 right_roll=-0.3842 right_gripper=0.9947 state[joint_eff]: [-0.1026, -5.5179, 4.7658, -0.2222, 0.2662, -0.0513, -0.0073, 0.0068, -15.6103, 5.8051, 0.5201, 0.4615, 0.0464, -0.1978] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 310): [image omitted: streamed camera frame] camera 'left_cam' (step 310): [image omitted: streamed camera frame] camera 'right_cam' (step 310): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.15, "right_z": 0.25, "right_gripper": 1.0}, "note": "The gripper has opened and released the can, which lies with its cap onto the burner. Retracting the right arm up and away to expose the placement in the overhead view."})
tool
executing move_to over 14 steps (1.4s)
step 324
assistant
agent noteOut of LLM budget. The can was grasped three times but ended up lying on the table against the burner's near edge rather than on top of it: the burner sits at x≈0.44–0.48 from either base at the table centre line, and both arms hit reach/IK limits (pitch saturating at -0.6, z sagging) around x≈0.38 when carrying, so the can could not be advanced far enough to rest fully on the burner.
give_up
hindsight1) The burner is at the table centre line (left_y≈-0.32 / right_y≈+0.33) at x≈0.44–0.48, top surface ~6–7 cm high; carrying a can there needs the gripper at x≈0.45, but with a held object the IK saturates pitch at -0.6 and stalls around x≈0.38, z sagging 3–5 cm — so grasp the can near its far (cap) end / plan to place its far end well beyond centre, or approach with the tool pitched forward. 2) Objects within ~x<0.22 of a base are effectively ungraspable across their axis: yaw ±1.5 targets there are not tracked (only ~1.2–1.3 rad reached, roll drifts to -0.6) and the arm stalls for several calls. 3) The gripper often will not open while the arm is pressing down or stalled; commanding open together with a sizeable (>3 cm) upward/backward move releases it. 4) A can (~6.5 cm dia, ~15 cm long) reads ~0.64–0.71 when grasped. It slipped out during a long reach-limited carry to x≈0.46 — keep carries within x≤0.40 or use short steps. 5) The operator may reposition a dropped object mid-trial; re-read the top camera after any failure. 6) A can placed lying across the burner's rim rolls off onto the table; place it with its axis along x and centred at x≈0.45.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [0.0799, 1.6215, 0.8326, -1.0592, 0.5709, 1.0088, 0.9978, 0.7914, 1.5444, 1.7126, -1.5368, 0.4305, 0.4694, 0.999] state[eef_state]: left_x=0.1952 left_y=-0.0765 left_z=0.034 left_yaw=-1.3244 left_pitch=-0.5373 left_roll=-0.6266 left_gripper=0.9978 right_x=0.2542 right_y=0.1575 right_z=0.2503 right_yaw=0.0285 right_pitch=-0.5659 right_roll=-0.3263 right_gripper=0.999 state[joint_eff]: [-0.0615, -5.6957, 4.547, -0.2418, 0.3687, -0.0366, -0.0122, -0.3214, -5.0256, 5.5863, 0.779, 0.3248, -0.1294, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of LLM budget. The can was grasped three times but ended up lying on the table against the burner's near edge rather than on top of it: the burner sits at x\u22480.44\u20130.48 from either base at the table centre line, and both arms hit reach/IK limits (pitch saturating at -0.6, z sagging) around x\u22480.38 when carrying, so the can could not be advanced far enough to rest fully on the burner.", "hindsight": "1) The burner is at the table centre line (left_y\u2248-0.32 / right_y\u2248+0.33) at x\u22480.44\u20130.48, top surface ~6\u20137 cm high; carrying a can there needs the gripper at x\u22480.45, but with a held object the IK saturates pitch at -0.6 and stalls around x\u22480.38, z sagging 3\u20135 cm \u2014 so grasp the can near its far (cap) end / plan to place its far end well beyond centre, or approach with the tool pitched forward. 2) Objects within ~x<0.22 of a base are effectively ungraspable across their axis: yaw \u00b11.5 targets there are not tracked (only ~1.2\u20131.3 rad reached, roll drifts to -0.6) and the arm stalls for several calls. 3) The gripper often will not open while the arm is pressing down or stalled; commanding open together with a sizeable (>3 cm) upward/backward move releases it. 4) A can (~6.5 cm dia, ~15 cm long) reads ~0.64\u20130.71 when grasped. It slipped out during a long reach-limited carry to x\u22480.46 \u2014 keep carries within x\u22640.40 or use short steps. 5) The operator may reposition a dropped object mid-trial; re-read the top camera after any failure. 6) A can placed lying across the burner's rim rolls off onto the table; place it with its axis along x and centred at x\u22480.45."})
tool
give_up: Out of LLM budget. The can was grasped three times but ended up lying on the table against the burner's near edge rather than on top of it: the burner sits at x≈0.44–0.48 from either base at the table centre line, and both arms hit reach/IK limits (pitch saturating at -0.6, z sagging) around x≈0.38 when carrying, so the can could not be advanced far enough to rest fully 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 · 27.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0189, -0.0338, 0.9993, -0.0212, 0.7921, 0.6056, -0.4015, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2769, 1.9463, -0.0415, 0.2027, -0.0904, -0.4308, -1.3333, 9.7709, 2.0537, -0.0464, 0.0562, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2734f36c909f815d2262103a284cafb9a31bcfcc060035d35047ed323a8ea9c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604494365a89161e5132d348ed0fc055d3cb88216aa3b959888bf7d8cab997da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:3d491741c49c9937158650b84f920edeac971f052b7b99ab7aa470ee708bbc58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.877 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0189, -0.0338, 0.9993, -0.0212, 0.7921, 0.6056, -0.4015, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2769, 1.9463, -0.0415, 0.2027, -0.0904, -0.4308, -1.3333, 9.7709, 2.0537, -0.0464, 0.0562, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2734f36c909f815d2262103a284cafb9a31bcfcc060035d35047ed323a8ea9c4",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604494365a89161e5132d348ed0fc055d3cb88216aa3b959888bf7d8cab997da",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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      "source": {
        "data": "$blob:3d491741c49c9937158650b84f920edeac971f052b7b99ab7aa470ee708bbc58",
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016urwCfskgWAtTN3qS459N3",
      "input": {
        "note": "The can lies on its side ahead of the left gripper, angled from forward-left (cap) to back-right. Moving the left arm forward over it and yawing +45° so the jaws will close across the can's diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": 0.0,
          "left_yaw": 0.785,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016urwCfskgWAtTN3qS459N3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.395, 1.4448, 0.9119, -0.4606, -0.7467, -0.7563, 0.9993, -0.0212, 0.7975, 0.606, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.0158 left_z=0.1339 left_yaw=0.6007 left_pitch=-0.0887 left_roll=0.0565 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.169 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.1316, 6.9812, 0.6178, -0.7204, 0.0171, -0.0904, -0.1709, -1.4701, 7.0359, 2.0098, -0.0659, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0896213cb43f7a65ee0d1787af4b2c197eb53862bed62294059dc165eb46ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d31e017328a9ff0f63294b40d06fe4d599553ea93596de0d35e296d7dcbe265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8fe8a2d2dbb63f5d51ac32f399902bc5f03af246c7a354a5f6de833640f9e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 5.522 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0189, -0.0338, 0.9993, -0.0212, 0.7921, 0.6056, -0.4015, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2769, 1.9463, -0.0415, 0.2027, -0.0904, -0.4308, -1.3333, 9.7709, 2.0537, -0.0464, 0.0562, -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]: [-0.395, 1.4448, 0.9119, -0.4606, -0.7467, -0.7563, 0.9993, -0.0212, 0.7975, 0.606, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.0158 left_z=0.1339 left_yaw=0.6007 left_pitch=-0.0887 left_roll=0.0565 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.169 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.1316, 6.9812, 0.6178, -0.7204, 0.0171, -0.0904, -0.1709, -1.4701, 7.0359, 2.0098, -0.0659, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d0896213cb43f7a65ee0d1787af4b2c197eb53862bed62294059dc165eb46ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d31e017328a9ff0f63294b40d06fe4d599553ea93596de0d35e296d7dcbe265",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8fe8a2d2dbb63f5d51ac32f399902bc5f03af246c7a354a5f6de833640f9e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0QsKEAgRGAI4AUIIdGhpbmtpbmcSDLc9rvBwHucGG6akGRoMpAofS31yCtNTLVWhIjDOZNnVEbYA/oRYdtSkCQT/0o6lttr/bJTHJz8/7RMoeoHAOAqH0VZeNKCsEYRpNwcq7grBcvBlEYE0cLL8waVxy+30eWMipVcfADmih1hDZZkuS6zyhNigfkgdE8gxIf8FUVbdj9G8/t+8ftO7uUBwsbMJChOGLL+126bYJ2W9lTWyfJ9UVHIbCP03f6Q0fBiY/pvM7bBu1K6iSpp7SCBSWtmOuhBojde0kBmPHIxuJ9eGb9GeKGOWCvhpH/7wxLLSi+k0cick9lVHMoyRL7al/LP+pn3iiu3g6PA60Cx+j4g1rhCTOBpJd+AZjHzV3O0VjmSNfKW31tana+Dy87E8p8gOfgFZKJGNBOS5OfQBT5tcGR/RooAqRyV+in390UsDUymxxrulfKwYka9uOuxTU3kIxzrCc8+MStiTULNr4ge6YwO58w0KSOqn4Yi1UeqNv6NYM7PFlWU5RAfjuQQPje+rcIqfM3oFI52yFNR1Rx83IRhLdBLkwE1bKXMBJNd7T3aFtk6IXrlgAx/xE5u/XF6K4o1TMbISAgg/wYdMFeh3SVq1rDWO5C6lR4kxIbqfBt9p9pLB8Lw+/PerZrX7L2zqj+enBPkU6x7XGQR0ieN+FgwwFkV9hwACd3mqFEdFhlxIYj+rCKXdylA0yS/K0YzFngR3H+XBskuiwrKntGyyIvR5L6u+fVhcrhGNriDVkFCZPW0nekfjVlAkZsY0ywzzW16v9Kq4B3JtPIL1Xiuf75JZZZ8N+KjODO4gPPXMCgUSFf5KII/1Aysz6H+L+KmwZZRlpB8ORODBpbaZ94XrePHnG4zHGMkXo6h+IlqSNiNFvzpv9qslExqyavblqrATsozqmgeptRqYpL4p/WymeZWrR3CXZn1qJy13YXcWo10I2MzpnQoG9rzmdLl5mCu3BfiRLn2m+uZxaiO7N/zCrYR3QO0k7neGVFaSA03fMz93Td2HhFpAtVc+LgYODd1maWjTJaYg62ApuBkLHrnYz4k1odocjdimGUoMpzxj/It5bzylGccLuo/uhWTkk3QQQbLr01fXBO1hr0OIHxaZs3citwoT9vslSem706Qkp/xHr1KVoNU6h9bMMV/Vws8MRuuHKYnWibkEFGggYK4QouXxts+McXcoFzvhBDZdch2qmax+MBIJM5lHMVmBzrgPpFx02xH2yA5ZGMTHooGWgPAhNOeXKPG5nNtnCalzm3SFjjcgQYrafO1vFCd4GkJAltAdlBsIQZt4h/+8vZtdvqGmkZBEB/NcJLnUQxfhbtuWsDyC3Dc6JEBKl2WbCPJOhO0u1MJy4Cn16nojN70xCNcPwVNWg7aJVqjtMoIzQ0DN7pNpzbB1bNX47zgyLWeS5QL/hghxJASGWJpmFUmTdofyQv1ul7fWhXbAFRBlYDxTmo9eju0BP22WFNgG8fmkHUMETvqtVZ0sAR+F5FgOl2V38dUsCe8ikSJz4VPeh3f9H+9GFK7VCNM1FiL3WafjJZhUJZa3hguUGE3d4AshNChPs8qt3cg5fdO0SwciPG6TwwWEXg74xtHgrtnpnbjnp/6nmoP9IKnF6pVoeg9iixhmhshs9B38yO1/Rmw7VAjGOQbAvEsenfd/rqWvWfyaxR5Wp8Wha4DdbI/XYBDrDGJIX5uHOFhpwNaApak3wzT2bfZTwd0f1jgwZDExu8VuxATYKH6ylXm+Ua+mqwBhQXhe9D6tQzYU2Xt6X9s1lJEDSX4CUiLteiu4YWk8uq9lAF3Q6avLP2ybe4N6eGAVFAYdnnu+co8TFc5hhaLuS7yaowQWA+kl4YiSC/QbSQI/YLDp8Xtiy9XR4HUNDiy2r/w4brwFybGghzOLuDLzlzWf8pXPQKnOHGTCaFpV72yOqV7GlF5rdnnKbXLpnC45sCNQzVr+mjvA1D7Tal5qGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gRMVE4q6KUEP9E3Emh3mT",
      "input": {
        "note": "In the left wrist camera the can body now runs vertically along the jaw column, so the jaws will close across its diameter. Descending to can-center height (~3 cm) with the gripper open.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.02,
          "left_yaw": 0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018gRMVE4q6KUEP9E3Emh3mT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3981, 1.6958, 0.7246, -0.0738, -0.746, -0.7631, 0.9993, -0.0212, 0.7982, 0.6037, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=-0.0184 left_z=0.0328 left_yaw=0.6054 left_pitch=-0.1168 left_roll=0.0943 left_gripper=0.9993 right_x=0.2844 right_y=0.001 right_z=0.1635 right_yaw=-0.0001 right_pitch=-0.0614 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.188, 4.1368, 1.1355, -0.525, 0.0757, -0.0855, -0.0342, -1.0051, 7.159, 1.8437, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7c0cc89fac32c1a2cb7ad20a083f9c3b98d929ed72dcc52c3b024de6574a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a936a07b69aebe7bc895308cdcc41d1f5425daaaf05b7f37c38ec6c56d29769c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b72c56059a9fe7728a0344053ab40b749ccae2115547441fa76161e7fbfbee43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.374 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7918, 0.6037, -0.387, -0.0189, -0.0338, 0.9993, -0.0212, 0.7921, 0.6056, -0.4015, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.3744, 10.2769, 1.9463, -0.0415, 0.2027, -0.0904, -0.4308, -1.3333, 9.7709, 2.0537, -0.0464, 0.0562, -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]: [-0.395, 1.4448, 0.9119, -0.4606, -0.7467, -0.7563, 0.9993, -0.0212, 0.7975, 0.606, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.0158 left_z=0.1339 left_yaw=0.6007 left_pitch=-0.0887 left_roll=0.0565 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.169 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.1316, 6.9812, 0.6178, -0.7204, 0.0171, -0.0904, -0.1709, -1.4701, 7.0359, 2.0098, -0.0659, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3981, 1.6958, 0.7246, -0.0738, -0.746, -0.7631, 0.9993, -0.0212, 0.7982, 0.6037, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=-0.0184 left_z=0.0328 left_yaw=0.6054 left_pitch=-0.1168 left_roll=0.0943 left_gripper=0.9993 right_x=0.2844 right_y=0.001 right_z=0.1635 right_yaw=-0.0001 right_pitch=-0.0614 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.188, 4.1368, 1.1355, -0.525, 0.0757, -0.0855, -0.0342, -1.0051, 7.159, 1.8437, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7c0cc89fac32c1a2cb7ad20a083f9c3b98d929ed72dcc52c3b024de6574a93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a936a07b69aebe7bc895308cdcc41d1f5425daaaf05b7f37c38ec6c56d29769c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72c56059a9fe7728a0344053ab40b749ccae2115547441fa76161e7fbfbee43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The can fills the wrist view between the jaws, well aligned. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0189A4q12RgExhsVUEnUFPDK",
      "input": {
        "note": "The can body sits squarely between the jaws in the left wrist view at can-center height. Closing the gripper to grasp it across its diameter.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0189A4q12RgExhsVUEnUFPDK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.6997, 0.7219, -0.0429, -0.7681, -0.7635, 0.6368, -0.0212, 0.7986, 0.6025, -0.4782, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3657 left_y=-0.0171 left_z=0.0363 left_yaw=0.6151 left_pitch=-0.0877 left_roll=0.0834 left_gripper=0.6368 right_x=0.2807 right_y=0.0012 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0862 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.3778, 5.3538, 0.8474, -0.2076, -0.0122, 1.033, -0.2667, -1.2513, 7.0359, 1.8486, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e064696a38bba3fd2b0fbf19936984cd57e0b2fb0a535f75bd281c5d248c28df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db34a836791ac8602d9e6d1272191017223de21dd1e148f06ebbbbfde66f896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27443819b381352488dc004d553d0239c7708ab058fc3a807f72fbd25bf21acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 15.83 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]: [-0.395, 1.4448, 0.9119, -0.4606, -0.7467, -0.7563, 0.9993, -0.0212, 0.7975, 0.606, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3589 left_y=-0.0158 left_z=0.1339 left_yaw=0.6007 left_pitch=-0.0887 left_roll=0.0565 left_gripper=0.9993 right_x=0.2878 right_y=0.001 right_z=0.169 right_yaw=0.0002 right_pitch=-0.037 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -7.1316, 6.9812, 0.6178, -0.7204, 0.0171, -0.0904, -0.1709, -1.4701, 7.0359, 2.0098, -0.0659, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3981, 1.6958, 0.7246, -0.0738, -0.746, -0.7631, 0.9993, -0.0212, 0.7982, 0.6037, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=-0.0184 left_z=0.0328 left_yaw=0.6054 left_pitch=-0.1168 left_roll=0.0943 left_gripper=0.9993 right_x=0.2844 right_y=0.001 right_z=0.1635 right_yaw=-0.0001 right_pitch=-0.0614 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.188, 4.1368, 1.1355, -0.525, 0.0757, -0.0855, -0.0342, -1.0051, 7.159, 1.8437, -0.022, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.6997, 0.7219, -0.0429, -0.7681, -0.7635, 0.6368, -0.0212, 0.7986, 0.6025, -0.4782, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3657 left_y=-0.0171 left_z=0.0363 left_yaw=0.6151 left_pitch=-0.0877 left_roll=0.0834 left_gripper=0.6368 right_x=0.2807 right_y=0.0012 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0862 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.3778, 5.3538, 0.8474, -0.2076, -0.0122, 1.033, -0.2667, -1.2513, 7.0359, 1.8486, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e064696a38bba3fd2b0fbf19936984cd57e0b2fb0a535f75bd281c5d248c28df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5db34a836791ac8602d9e6d1272191017223de21dd1e148f06ebbbbfde66f896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27443819b381352488dc004d553d0239c7708ab058fc3a807f72fbd25bf21acb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper settled at 0.64 (~6 cm), consistent with the can's diameter. Lifting to verify the grasp.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qj6URi1RbiXvZqBopF1XAQ",
      "input": {
        "note": "Gripper reads 0.64 (~6 cm), matching the can diameter, so it appears grasped. Lifting to 15 cm to confirm the can comes with the jaws.",
        "targets": {
          "left_gripper": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Qj6URi1RbiXvZqBopF1XAQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.5097, 0.9565, -0.4988, -0.7521, -0.7708, 0.6359, -0.0212, 0.8005, 0.6018, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3639 left_y=-0.0185 left_z=0.1251 left_yaw=0.6128 left_pitch=-0.1156 left_roll=0.097 left_gripper=0.6359 right_x=0.2773 right_y=0.0013 right_z=0.1534 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.3487, 9.1966, 1.1795, -0.5153, 0.022, 1.033, -0.335, -1.3607, 6.9949, 1.8632, -0.0317, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b590b92b94f1a61dd265789d4a9006710f514ef48e9ba58a3dae9dc2323e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2799ae770ff3357465b988ad4206e3a2beba278c8c2b5ce18dc56e8e5d7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d29b32779bc5c584c51b68f79d3ccd355060beb3a21594b7297da65193e3f5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 12.72 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]: [-0.3981, 1.6958, 0.7246, -0.0738, -0.746, -0.7631, 0.9993, -0.0212, 0.7982, 0.6037, -0.4549, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3622 left_y=-0.0184 left_z=0.0328 left_yaw=0.6054 left_pitch=-0.1168 left_roll=0.0943 left_gripper=0.9993 right_x=0.2844 right_y=0.001 right_z=0.1635 right_yaw=-0.0001 right_pitch=-0.0614 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.188, 4.1368, 1.1355, -0.525, 0.0757, -0.0855, -0.0342, -1.0051, 7.159, 1.8437, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.6997, 0.7219, -0.0429, -0.7681, -0.7635, 0.6368, -0.0212, 0.7986, 0.6025, -0.4782, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3657 left_y=-0.0171 left_z=0.0363 left_yaw=0.6151 left_pitch=-0.0877 left_roll=0.0834 left_gripper=0.6368 right_x=0.2807 right_y=0.0012 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0862 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.3778, 5.3538, 0.8474, -0.2076, -0.0122, 1.033, -0.2667, -1.2513, 7.0359, 1.8486, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.5097, 0.9565, -0.4988, -0.7521, -0.7708, 0.6359, -0.0212, 0.8005, 0.6018, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3639 left_y=-0.0185 left_z=0.1251 left_yaw=0.6128 left_pitch=-0.1156 left_roll=0.097 left_gripper=0.6359 right_x=0.2773 right_y=0.0013 right_z=0.1534 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.3487, 9.1966, 1.1795, -0.5153, 0.022, 1.033, -0.335, -1.3607, 6.9949, 1.8632, -0.0317, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b590b92b94f1a61dd265789d4a9006710f514ef48e9ba58a3dae9dc2323e94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb2799ae770ff3357465b988ad4206e3a2beba278c8c2b5ce18dc56e8e5d7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d29b32779bc5c584c51b68f79d3ccd355060beb3a21594b7297da65193e3f5d",
        "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_011drKgQk5ve9At8AA8hpSbv",
      "input": {
        "note": "The can lifted with the gripper (it's gone from its table spot in the top view). Carrying it up and toward the burner in the table centre, staying high to clear the burner's ~8 cm height.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.45,
          "left_y": -0.22,
          "left_yaw": 0.6,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_011drKgQk5ve9At8AA8hpSbv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7258, 2.3688, 2.5145, -1.4609, -0.833, -1.2034, 0.6192, -0.0212, 0.8043, 0.601, -0.5312, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4559 left_y=-0.225 left_z=0.2086 left_yaw=0.5887 left_pitch=-0.1343 left_roll=0.0374 left_gripper=0.6192 right_x=0.2722 right_y=0.0013 right_z=0.1463 right_yaw=0.0001 right_pitch=-0.1465 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -13.0803, 7.0359, -0.0366, -0.7741, 0.0415, 0.105, -0.335, -1.3744, 7.2, 1.8632, -0.0366, -0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18eb7c4f4cef8903acdb326c1a71d97eb01f0bcafbe4e96cee6ba8d16494eccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f6e8ca94fa6ba3ba76b12d17b33c342ec455c7ef167effce7d4e0bf556f34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00a98091ee1e86c261ad7f91937a29b6de22a711a886747c541758960615cddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 7.866 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]: [-0.3988, 1.6997, 0.7219, -0.0429, -0.7681, -0.7635, 0.6368, -0.0212, 0.7986, 0.6025, -0.4782, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3657 left_y=-0.0171 left_z=0.0363 left_yaw=0.6151 left_pitch=-0.0877 left_roll=0.0834 left_gripper=0.6368 right_x=0.2807 right_y=0.0012 right_z=0.1584 right_yaw=0.0003 right_pitch=-0.0862 right_roll=0.0015 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -7.3778, 5.3538, 0.8474, -0.2076, -0.0122, 1.033, -0.2667, -1.2513, 7.0359, 1.8486, -0.0611, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3988, 1.5097, 0.9565, -0.4988, -0.7521, -0.7708, 0.6359, -0.0212, 0.8005, 0.6018, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3639 left_y=-0.0185 left_z=0.1251 left_yaw=0.6128 left_pitch=-0.1156 left_roll=0.097 left_gripper=0.6359 right_x=0.2773 right_y=0.0013 right_z=0.1534 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.3487, 9.1966, 1.1795, -0.5153, 0.022, 1.033, -0.335, -1.3607, 6.9949, 1.8632, -0.0317, -0.0562, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7258, 2.3688, 2.5145, -1.4609, -0.833, -1.2034, 0.6192, -0.0212, 0.8043, 0.601, -0.5312, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4559 left_y=-0.225 left_z=0.2086 left_yaw=0.5887 left_pitch=-0.1343 left_roll=0.0374 left_gripper=0.6192 right_x=0.2722 right_y=0.0013 right_z=0.1463 right_yaw=0.0001 right_pitch=-0.1465 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -13.0803, 7.0359, -0.0366, -0.7741, 0.0415, 0.105, -0.335, -1.3744, 7.2, 1.8632, -0.0366, -0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18eb7c4f4cef8903acdb326c1a71d97eb01f0bcafbe4e96cee6ba8d16494eccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f6e8ca94fa6ba3ba76b12d17b33c342ec455c7ef167effce7d4e0bf556f34c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00a98091ee1e86c261ad7f91937a29b6de22a711a886747c541758960615cddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MjsfHVySSMK6t2GtZFy8vP",
      "input": {
        "note": "The wrist camera shows the burner coil to the right of the held can, so the burner lies further to the arm's right. Shifting the can over toward the burner centre while staying high.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.49,
          "left_y": -0.31,
          "left_yaw": 0.6,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MjsfHVySSMK6t2GtZFy8vP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.775, 2.5946, 2.8037, -1.5749, -0.8322, -1.2747, 0.0094, -0.0212, 0.807, 0.601, -0.5629, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.2617 left_z=0.174 left_yaw=0.5854 left_pitch=-0.1453 left_roll=0.0327 left_gripper=0.0094 right_x=0.267 right_y=0.0014 right_z=0.1399 right_yaw=0.0002 right_pitch=-0.1808 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -11.8496, 7.1043, 0.6716, -0.6325, -0.0269, 0.7692, -0.1846, -1.4017, 6.9812, 1.8535, -0.0317, -0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43fa1b7b7a2d8e7514c6e46e2e2fcb826bde0485dff561d6b42c23c29126562a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331fff4ab4975ccbfc71aed4dde8d458a3397df7b0e8d48012da5f5bbd9aea7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19cc56b4c7820c10297ca42e0a9969b14f848033c7e2ffab46cb30227cc3f0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 12.68 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]: [-0.3988, 1.5097, 0.9565, -0.4988, -0.7521, -0.7708, 0.6359, -0.0212, 0.8005, 0.6018, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3639 left_y=-0.0185 left_z=0.1251 left_yaw=0.6128 left_pitch=-0.1156 left_roll=0.097 left_gripper=0.6359 right_x=0.2773 right_y=0.0013 right_z=0.1534 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -8.3487, 9.1966, 1.1795, -0.5153, 0.022, 1.033, -0.335, -1.3607, 6.9949, 1.8632, -0.0317, -0.0562, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7258, 2.3688, 2.5145, -1.4609, -0.833, -1.2034, 0.6192, -0.0212, 0.8043, 0.601, -0.5312, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4559 left_y=-0.225 left_z=0.2086 left_yaw=0.5887 left_pitch=-0.1343 left_roll=0.0374 left_gripper=0.6192 right_x=0.2722 right_y=0.0013 right_z=0.1463 right_yaw=0.0001 right_pitch=-0.1465 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -13.0803, 7.0359, -0.0366, -0.7741, 0.0415, 0.105, -0.335, -1.3744, 7.2, 1.8632, -0.0366, -0.0562, -0.0171]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.775, 2.5946, 2.8037, -1.5749, -0.8322, -1.2747, 0.0094, -0.0212, 0.807, 0.601, -0.5629, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.2617 left_z=0.174 left_yaw=0.5854 left_pitch=-0.1453 left_roll=0.0327 left_gripper=0.0094 right_x=0.267 right_y=0.0014 right_z=0.1399 right_yaw=0.0002 right_pitch=-0.1808 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -11.8496, 7.1043, 0.6716, -0.6325, -0.0269, 0.7692, -0.1846, -1.4017, 6.9812, 1.8535, -0.0317, -0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43fa1b7b7a2d8e7514c6e46e2e2fcb826bde0485dff561d6b42c23c29126562a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331fff4ab4975ccbfc71aed4dde8d458a3397df7b0e8d48012da5f5bbd9aea7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19cc56b4c7820c10297ca42e0a9969b14f848033c7e2ffab46cb30227cc3f0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwoKEAgRGAI4AUIIdGhpbmtpbmcSDNclgUxVhpWUC4XnfRoMTRdW5dWwMy0iQ5EgIjBy7VBNtezo8R6NgFGdGs4G9U9MvAOaWNUss6hQxrHNyEhUZ2rePQXACEb/dtoYYD4qzAkFdmcZrceiFOSXxi6ecuG0a7s+g14QRSd7GkuK7741f8mYHy164QpR80xJlTydIexUOf0GN+AdnyBJiM8x209nwJzQFfbw0UIkpbLkjg4NYKX5IYMBy91LEvD6QQbp4y65F714v2gZoeo6GozRa/b3KKgT8cVC8cpPsHxkVqPR12uooxs6uNLdsYzRXg19JOZ41PHU2nFkKRvxKvV5/rthieK9Uw6ZsDzy4s+mai1Mbo5/T+luKBMPZiTGtMf9iQm4Oxoo5Lk9/6GD+i4v+Keoho1aIbZop+oXhH69vbmVwQgwSo4SLa1uEXZBdMkZjF6Loiv3HBUqRvgywU5L+0lq4WfrVjsbPj+Tdfy5MkYX0vGjFxV3uwzdIq5SsWzdnJrVmGMJcEN8R9urVuShHk9IJXwzfy6WCSdFNVSVJRbZw9mrD6s5DI9qZxgpScixuc6M+kUM+JEsh53kJPkuWzWvPawnc0n8rROS5uVHZe2IqSMLakSfiJ7dStSwVedwhhZTITnNGYP6BVpFsifiNdif98IurS492S3i31jOF/s8twJ9ygpFy6FCHyBTvO2HzaIQFYq2Ja2Ai/W1EExZnjjz6QNKbxYggzAbZbyUUjbi4YXIs2hiWYsh7qky8RuU4Y4lvx5L+Q4/uOTBf/SZDfH4pea7IGA5EZ7YKI3HWIDanhh1F1T7zKCfu48WpGiGMJdVTdh8fZmtfn5ltK29hA2c/IdEGdV6FKQB0+9rj6QM/HcEl6Pi9eEagWuKqTE2WSR1uKjZC31EBkf7QSZoDoP9MH3ZoU63zFnhg1g1vhKt0aUEbBg3CbEhNEvkS6bnN9LvmtS//m8euvqjQ4r1Izq1otxyv+Zzt/8LuOqEW2pYi9M+2H+w0vgZTf71Hlv4c7JUDeBFtH+kt7rgorSP8ckdywMWtQjqrRA8v3ocoQZ8XZOrWOl0Xx4VddpWwowsqFgE0tdnuI4+sjro1dwQH/w0eLNG8bgpO9GgcIG2ZTeSMF7KgStRqYDYKXed9KskdXfcmzaVMyM3A4Tg7NkVzTs23vcPh1Xx0bo+rCfKOYSp8nIuemkAi8+m8IY6UQ0MA8aRBOUr4lQjdQAXxP2GhZnuEw4oG2pOCc2O7I7KvbkGQdYTH414raeZXroNvZEj46fgtUxBfjS+PpYvhJoZL3mBc01k5Y2+fjxjADInP++sRS9DM0jXmTULEklvmY8IQzyR6rdaARAvNAbaKvpFUGTRQgW9vKc88EZyLz44JaKLT0OHZa90L2M4XAsXEm3XHhMzJdfE+60T50OqXiLcv4UqJcWkTRpKkWf8bPE4UhkhbdsRzbsbLz1JLt5ucZavl2QTTOD84jXiFW/C7T/p9hHc/mCn453T2rF3oAX8yAHkWnbi+JaMXVjDuoOGoMV6LOhGnKG1QC8Xn+FuF6r9Y9zIpficK4PvyH8tXIGRXX7YQTC2B5J03AqVadC/C+GYwgsP6rSsB+lm+0FsjB2zYdXfa0fwW9ROTPK4kRuzPg5+nqGV1xFqeqtFtWDflDHVCpRdgaLWMQo/rQefs4cJkhXb3sQkmwNv6lbjQr6qcMK2lwlc7zYXwJgsoagC+Q3/mseyvsUacPPSJPJb9s90OXz+Q5NAqatFqRmEOiZbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SEZuiV3RTiPKS1pQndB2Vw",
      "input": {
        "note": "The gripper reads fully closed (0.01), so the can slipped out during the last move; the wrist camera shows an empty burner. Retracting the left arm up and back to get a clear overhead view of where the can landed.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01SEZuiV3RTiPKS1pQndB2Vw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3561, 1.055, 1.1034, -0.8116, -0.3382, -0.3099, 0.9975, -0.0212, 0.8112, 0.601, -0.598, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3054 left_y=-0.0473 left_z=0.25 left_yaw=0.0832 left_pitch=-0.1354 left_roll=0.014 left_gripper=0.9975 right_x=0.2609 right_y=0.0015 right_z=0.1328 right_yaw=0.0001 right_pitch=-0.2201 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -2.7692, 6.2017, 1.663, -0.1294, 0.2418, 0.0464, -0.1299, -0.9641, 7.1043, 1.8926, -0.0269, -0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c6027bb5a361d5e09a0541910a7425856408c32110f444bbe116cf51a0af77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2de59e2845561f068917ea98bdaf6976e0699bc51a5d1803d57325c1fe29bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f414eb2cbbcf1770949f4b2e8072cb6a80c7bd030269d4755f8a0ef95aa76fb",
        "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 · 9.399 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]: [-0.7258, 2.3688, 2.5145, -1.4609, -0.833, -1.2034, 0.6192, -0.0212, 0.8043, 0.601, -0.5312, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4559 left_y=-0.225 left_z=0.2086 left_yaw=0.5887 left_pitch=-0.1343 left_roll=0.0374 left_gripper=0.6192 right_x=0.2722 right_y=0.0013 right_z=0.1463 right_yaw=0.0001 right_pitch=-0.1465 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -13.0803, 7.0359, -0.0366, -0.7741, 0.0415, 0.105, -0.335, -1.3744, 7.2, 1.8632, -0.0366, -0.0562, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.775, 2.5946, 2.8037, -1.5749, -0.8322, -1.2747, 0.0094, -0.0212, 0.807, 0.601, -0.5629, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.2617 left_z=0.174 left_yaw=0.5854 left_pitch=-0.1453 left_roll=0.0327 left_gripper=0.0094 right_x=0.267 right_y=0.0014 right_z=0.1399 right_yaw=0.0002 right_pitch=-0.1808 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -11.8496, 7.1043, 0.6716, -0.6325, -0.0269, 0.7692, -0.1846, -1.4017, 6.9812, 1.8535, -0.0317, -0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3561, 1.055, 1.1034, -0.8116, -0.3382, -0.3099, 0.9975, -0.0212, 0.8112, 0.601, -0.598, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3054 left_y=-0.0473 left_z=0.25 left_yaw=0.0832 left_pitch=-0.1354 left_roll=0.014 left_gripper=0.9975 right_x=0.2609 right_y=0.0015 right_z=0.1328 right_yaw=0.0001 right_pitch=-0.2201 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -2.7692, 6.2017, 1.663, -0.1294, 0.2418, 0.0464, -0.1299, -0.9641, 7.1043, 1.8926, -0.0269, -0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c6027bb5a361d5e09a0541910a7425856408c32110f444bbe116cf51a0af77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2de59e2845561f068917ea98bdaf6976e0699bc51a5d1803d57325c1fe29bee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f414eb2cbbcf1770949f4b2e8072cb6a80c7bd030269d4755f8a0ef95aa76fb",
        "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_01RNzPHbzQPnyNfvCxMzwBcg",
      "input": {
        "note": "The overhead view shows the dropped can lying sideways near the left base, cap pointing left. Moving the left gripper above it and yawing 90° so the jaws close across the can's now left-right axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.19,
          "left_y": -0.07,
          "left_yaw": 1.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RNzPHbzQPnyNfvCxMzwBcg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5652, 1.6157, 1.2053, -1.5387, -0.7731, -1.8862, 0.9984, -0.0212, 0.8165, 0.6006, -0.6209, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2433 left_y=-0.004 left_z=0.1507 left_yaw=1.2418 left_pitch=-0.1635 left_roll=0.1681 left_gripper=0.9984 right_x=0.2568 right_y=0.0016 right_z=0.1275 right_yaw=0.0006 right_pitch=-0.2487 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.388, -6.5846, 6.5709, -0.398, -0.4078, -0.1099, -0.1783, -0.0752, -1.4154, 6.8855, 1.6679, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9aa82a67582f30bd353593dbf38cd799f5c9f1507ba6f91cc71dd525cf336da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663c437f14156487522c36d49afa63da199813fd5e5baadcb7d29663a60ebcb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cac3d6f5d06e7d24408c3857df5f280dd5708c18930cae6e2b1d7e84b5a84154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 9.65 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]: [-0.775, 2.5946, 2.8037, -1.5749, -0.8322, -1.2747, 0.0094, -0.0212, 0.807, 0.601, -0.5629, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.459 left_y=-0.2617 left_z=0.174 left_yaw=0.5854 left_pitch=-0.1453 left_roll=0.0327 left_gripper=0.0094 right_x=0.267 right_y=0.0014 right_z=0.1399 right_yaw=0.0002 right_pitch=-0.1808 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [-0.6496, -11.8496, 7.1043, 0.6716, -0.6325, -0.0269, 0.7692, -0.1846, -1.4017, 6.9812, 1.8535, -0.0317, -0.0171, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3561, 1.055, 1.1034, -0.8116, -0.3382, -0.3099, 0.9975, -0.0212, 0.8112, 0.601, -0.598, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3054 left_y=-0.0473 left_z=0.25 left_yaw=0.0832 left_pitch=-0.1354 left_roll=0.014 left_gripper=0.9975 right_x=0.2609 right_y=0.0015 right_z=0.1328 right_yaw=0.0001 right_pitch=-0.2201 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -2.7692, 6.2017, 1.663, -0.1294, 0.2418, 0.0464, -0.1299, -0.9641, 7.1043, 1.8926, -0.0269, -0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5652, 1.6157, 1.2053, -1.5387, -0.7731, -1.8862, 0.9984, -0.0212, 0.8165, 0.6006, -0.6209, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2433 left_y=-0.004 left_z=0.1507 left_yaw=1.2418 left_pitch=-0.1635 left_roll=0.1681 left_gripper=0.9984 right_x=0.2568 right_y=0.0016 right_z=0.1275 right_yaw=0.0006 right_pitch=-0.2487 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.388, -6.5846, 6.5709, -0.398, -0.4078, -0.1099, -0.1783, -0.0752, -1.4154, 6.8855, 1.6679, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9aa82a67582f30bd353593dbf38cd799f5c9f1507ba6f91cc71dd525cf336da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663c437f14156487522c36d49afa63da199813fd5e5baadcb7d29663a60ebcb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac3d6f5d06e7d24408c3857df5f280dd5708c18930cae6e2b1d7e84b5a84154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAoKEAgRGAI4AUIIdGhpbmtpbmcSDNWw62WAnMSNP/G28hoMQQ/zmnj0PYTgBIwxIjDbm0/ANscjbhkP2RyBd5asHmWQlaso04WLa6vP+qoe+8RJ50ntVN6j40b3I4h6SyQqyQnpdDIenmQ5DykxG21oKKY4LP8R8ISgLwbZLkFpi6hs6qux4Ao2xeIaGWOsgakhlUOZ9BMpcayWQSVfWTZOR3bRgC9hbkgZC9TmeylE054psNNA27e3EbANBorATMtXURUiQQDf3oEDztubuwo95c9qsGf0J5moLi/JDX+5/jCx73rgLChybpXYtJNw0EVrKCkHS1U3f3OLLhZGeuF7OcneIQu1bl6QEG2eGRV422/d7jCL4W46yl1hKNoyf5XmzOANY+o2TH77K6/sc0Pg1/3DqMV/hTQwnNNdqEQ6heqRp2gpQf3fD6znEkTuagnW3flNeAcHwXbyjOIO8jej8G9RpJTkIPpSeABYMZbMicGXTb1pS4vKScDZcsEgPMZVfFeXp46aSIWOMfNnWnFMtGaLtDdZAxJ3nckCz/af7iZXqkR0jAY0S/++gc+OTLIrdLdTvqypxCZBsjnh59f+eLvnyL4qSUXM9Jl7Wwx69hd8E5aX18xB8Lv2Y4RLJ1S+7LQLwuSGwawDHrcUBaR2tpnYZYovyjtt9jGWz0p0jCs0R62QcdepUtSuHmsyU/o4h0IMSmL8vvGosU1eWldhFal0EnX0595hZ0/aJondOK1kmq42V3yXBDJ7JzfLinfk6t1itKOpfkp1wg3MIO7OUvi7AwajsznhvMckBW7px/x12LU0xHvwMoJB8uuki0E1KzP1u6Ic7TOWSQofpO8mu3fSXxzBVd9zryOcOGxv2plWw6G9BQct/KPpAjzoumXyJgB1e1jYpLX6t04k/ldwFdcdwIcxSuhkzH9xwEyk4rk2XSXq/5ybpgu6y2rQ+l4t5VNbRktruxpkXTikiwWCLM9mJrN+wJUBVzuOL1G+figpL2BZ2uaw6G4jKe1qTAb1BBZZAYdhDw1iPbPUO39esOpxJB1m9ccb9L6lhEZ3HjsRanBngk/UTWzJqFbEbDIsN3nodKmaIjKNwZjKwqUnD6EmDuvcoOHH2ZFDcp2msTFMwkIBmgRPdq7DNNsESckff0plmYyfQZFT6zAwmNubH66LcLVVZU4EllkWcR/8VX+gBPzh+QgchiEQ0AHiAT4GEM1TfS02NtInlHLm+8cA6Whc68jCF1a3SfpYYm/J2cuMJfoqSB0kIfz+YTpRVPNg62pdrDzAfxSoDhRC/0UFcDlEGbD0at5DyrPobYG00/U/+7/3kYJA+khYME+RTpqiwF9lam1kDpJjcR46ofJshWXqldYm/30GYoBmulcVkCW3N6qXxmkiuVhpjnXs6NjJDnCwaqW4wBMtsrzkVUK3kS1tuy875UHtLSN7ml42I6hYOH6Mmsiuvy+i1D/cS9Ko2yfwkSA6dmnUIlmzIde3UWjexizpqvQojqM32fYedrxcmZzMlRqqxDkxFI3Df9GuWA2wYKRjM4EIzHx6Evokv8hRG8VLz4zXtkNQUvT8m5YF/uXjsDr+iI0EEmsDciXczfrPeSg8puw/ji588fms16B0rZB3N4KQgkENeqWcWH8uBjgwc8GeZRTxXxOz4LNq6jUxMn/dKhjnF7ziy7vgTVj+8hTpHf3iQdj4l35t0s7/f/IOZcWXQ+vr/sZ16K7h17hQNj4qLYdhH4qHVBxlVSx+kBnGudXuEw+AGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FRrZ9MgpbV5JWvGjUhSuoi",
      "input": {
        "note": "The arm stopped short (x 0.24, y 0.0) and the overhead shows the can still behind and to the right of the gripper, near the base. Retrying the approach a bit higher to help the IK fold in closer over the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.2,
          "left_y": -0.08,
          "left_yaw": 1.5,
          "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_01FRrZ9MgpbV5JWvGjUhSuoi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5774, 1.6157, 1.2053, -1.5528, -0.7715, -2.014, 0.9984, -0.0212, 0.8158, 0.6003, -0.6357, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2409 left_y=-0.0056 left_z=0.1515 left_yaw=1.3022 left_pitch=-0.1519 left_roll=0.0859 left_gripper=0.9984 right_x=0.254 right_y=0.0017 right_z=0.1251 right_yaw=0.0009 right_pitch=-0.2632 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.4479, 6.735, -0.5885, -0.4615, -0.0611, -0.1734, -0.212, -0.7453, 6.9538, 1.5653, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4beae18375bc06ffe4e4cd6dccb4ce3a3510865cbaf877b4aff334bf753fe2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056647e9cc2be43cbd87bec62b734eea121583261137416d2fdffca9a751b88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12e99aabff69d6d52681645368f159c1f97e46b4da9c2a4acf1b9bce19140a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 13.45 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]: [-0.3561, 1.055, 1.1034, -0.8116, -0.3382, -0.3099, 0.9975, -0.0212, 0.8112, 0.601, -0.598, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3054 left_y=-0.0473 left_z=0.25 left_yaw=0.0832 left_pitch=-0.1354 left_roll=0.014 left_gripper=0.9975 right_x=0.2609 right_y=0.0015 right_z=0.1328 right_yaw=0.0001 right_pitch=-0.2201 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -2.7692, 6.2017, 1.663, -0.1294, 0.2418, 0.0464, -0.1299, -0.9641, 7.1043, 1.8926, -0.0269, -0.0171, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5652, 1.6157, 1.2053, -1.5387, -0.7731, -1.8862, 0.9984, -0.0212, 0.8165, 0.6006, -0.6209, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2433 left_y=-0.004 left_z=0.1507 left_yaw=1.2418 left_pitch=-0.1635 left_roll=0.1681 left_gripper=0.9984 right_x=0.2568 right_y=0.0016 right_z=0.1275 right_yaw=0.0006 right_pitch=-0.2487 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.388, -6.5846, 6.5709, -0.398, -0.4078, -0.1099, -0.1783, -0.0752, -1.4154, 6.8855, 1.6679, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.5774, 1.6157, 1.2053, -1.5528, -0.7715, -2.014, 0.9984, -0.0212, 0.8158, 0.6003, -0.6357, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2409 left_y=-0.0056 left_z=0.1515 left_yaw=1.3022 left_pitch=-0.1519 left_roll=0.0859 left_gripper=0.9984 right_x=0.254 right_y=0.0017 right_z=0.1251 right_yaw=0.0009 right_pitch=-0.2632 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.4479, 6.735, -0.5885, -0.4615, -0.0611, -0.1734, -0.212, -0.7453, 6.9538, 1.5653, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4beae18375bc06ffe4e4cd6dccb4ce3a3510865cbaf877b4aff334bf753fe2f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056647e9cc2be43cbd87bec62b734eea121583261137416d2fdffca9a751b88f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12e99aabff69d6d52681645368f159c1f97e46b4da9c2a4acf1b9bce19140a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAoKEAgRGAI4AUIIdGhpbmtpbmcSDMw4wunYg7KalrhBkRoMT8yS9x40TIwcPOMkIjB41NrE6HUm8kuSQuBulPdO+EF558MBRStu/ept89ihkuX5w3HTTVafiNPB4rVflSUqvQk7zDx5qdyl4MuXHAO/c9qYDBFZaYs5OOtt3uOIctrW/t4BfmqDATiGL2Z+anu2x+pmMtHidjsNG9mrfF6ghkxD5846pQSy99K4TvL4Ei7W0O8nWKoTyJilci1NDSdmi1diaCP2LyoKBohGJxwPKJWaNjTst5CWT+Rc9KdBoBEfl+U2BZUu9k0o491/wfZfueZc1QSaKXV8GX2x9UOMwf4AaWCl04QrWBPpzo/Zy75y+DfrBSwx719eZMbT6jDts1alur2sM573JK54pA/9PFq7YeoCWCmN7ikDUyWW7oks5Wh6EhgRZxVA7JxUl9eDuzre/irrANxmzBLP3QPlcUUh0VLcW7x/lhmCoUqsyOV3sNEiaxQEVA45ax4BiZ5qkRzResb3WYr19rhDZkmp44zCj0o3JWG0yqigXgpzWG/bdwFHHnZ5crUjwlfO/DnXCcIEaVNvQ0DEQp7POpRS+J7NbirGckk43pAZb6MqxR5fYQhd1XkuYWOoyjpX5DF970lWrmjci/m5aJT4Y9oqe7YqiF+gYU2dOy/HKwvTGCdW3YfUyd/SDoG8LE04FXn8pYykH+dN68JFPim5h59Xy8nuQOmZlelZaKr4e0CgTbXmKq3fk8BG17au76U4ftP/XWswNV43CvywsiaP2KGZXfQXQfKdMl78HgyMltPDIgHIZxBII0SuhByWf6HBUa+kCNMkpXkP4ST3LfH1hX57qSHgT59g7NKWHjJVqLiKmfy8lkiOSb8VHV5G3QGR1m03ZBeVxAzqOD7rcQm0EGNaPJmtBulgc71LxwQ0BA2Lri8E0rJpDFMXkEBmqWEnOkWcUwMxxgFVNp2c1ira77UWaJ/wFk7Xum2MZNALQcfKVL6DLgQMWxX688/GolbEDI1eF6S5Zy5OT6ggPeYotznhn8AdICLtKEPTcqb8diITYZg3/tuyQP3MtKvOe6CP/3XO6cMrCsTfN/9P3CD3KpI5mF2xi7gN6gfXeoq/lbmt5mD8uFrEw6JWNcvfmxu0q9vaxPJ0zaAkWBcOJWdsbia3JdrG2+/mXtAjriRz/Qj1TnXCiWHE0lK2C2snwkrxec0WquIbCryLCWT+HLATflBd3df8JgG5kMlPhKnQ5vah0MrJnMbu1lD34ZwxaNd8U52q4pa1t0vJYF04rZgVkPzdyAN25VLzoeUFtksM3zk1q9rRZ8hDHfEUrJ4L4oWMJHFt6elljRfEWoPdG0IMofmqKWIhhnEJgnoNpUdAL+O2Y8q+dkSnoKqbeViLxLtXvkHCs/vPZLpeUCajE1vVhEkejG9AaHOe6ynaZ49kYwZGrIpy+QflLoHHESMvnuyCl2+x7X8BRMS2MDgDxiDH07Pl90mNQlKqi/CdfoyjNcg6KOlxAo9COqGhrSAdsUv5H2MxFGOL7Jn1Ptw/gYr0oScrict9uvpUrzjwXVvbS2YyaMUZf9xDkhyGYS/ZG9Dc9z7S/0B4Tvdu7rE51XoPbB3JqDOjMME8IQZ8AckFI54ctRWgZQJ8BW4jbzpgp2fjcYsFfQL26OV/RKKDvljyWyW0tgChGL9vIYxy8QNsBiRTLxnJR/5d/PZkrWkBPTu+YHPUuRlKO1Y/hTgt5KwD9MKPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011TZz9Qo7eXKqLLssg1WWsG",
      "input": {
        "note": "The left arm is stalled in a folded pose and won't track the low, near-base target. Raising it high and unwinding the yaw first, per the rig's advice for escaping a folded pose.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.25,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011TZz9Qo7eXKqLLssg1WWsG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5762, 1.0145, 1.2751, -1.2068, -0.5533, -0.87, 0.9985, -0.0212, 0.8181, 0.5999, -0.6613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.246 left_y=-0.0449 left_z=0.2787 left_yaw=0.3538 left_pitch=-0.1958 left_roll=-0.1612 left_gripper=0.9985 right_x=0.2491 right_y=0.0018 right_z=0.1203 right_yaw=0.0008 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.0991, 8.1026, 1.3748, -0.3492, 0.232, -0.1734, -0.0752, -1.2239, 6.7897, 1.6532, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aec09010a4225b97579e06a2cb5d47baf84b063b5b52bb7535a974b62c054ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c594f1e5567b35d0925779aa30e2b4b7513f778676586d80ddbf0de1cf6145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb83c72ebc8e626f013392da3e4fb2c123027b37773ad9d3a9dfad28067e0820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 17.55 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]: [-0.5652, 1.6157, 1.2053, -1.5387, -0.7731, -1.8862, 0.9984, -0.0212, 0.8165, 0.6006, -0.6209, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.2433 left_y=-0.004 left_z=0.1507 left_yaw=1.2418 left_pitch=-0.1635 left_roll=0.1681 left_gripper=0.9984 right_x=0.2568 right_y=0.0016 right_z=0.1275 right_yaw=0.0006 right_pitch=-0.2487 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-1.388, -6.5846, 6.5709, -0.398, -0.4078, -0.1099, -0.1783, -0.0752, -1.4154, 6.8855, 1.6679, -0.0171, -0.0464, -0.0122]",
      "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]: [-0.5774, 1.6157, 1.2053, -1.5528, -0.7715, -2.014, 0.9984, -0.0212, 0.8158, 0.6003, -0.6357, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2409 left_y=-0.0056 left_z=0.1515 left_yaw=1.3022 left_pitch=-0.1519 left_roll=0.0859 left_gripper=0.9984 right_x=0.254 right_y=0.0017 right_z=0.1251 right_yaw=0.0009 right_pitch=-0.2632 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.4479, 6.735, -0.5885, -0.4615, -0.0611, -0.1734, -0.212, -0.7453, 6.9538, 1.5653, -0.022, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5762, 1.0145, 1.2751, -1.2068, -0.5533, -0.87, 0.9985, -0.0212, 0.8181, 0.5999, -0.6613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.246 left_y=-0.0449 left_z=0.2787 left_yaw=0.3538 left_pitch=-0.1958 left_roll=-0.1612 left_gripper=0.9985 right_x=0.2491 right_y=0.0018 right_z=0.1203 right_yaw=0.0008 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.0991, 8.1026, 1.3748, -0.3492, 0.232, -0.1734, -0.0752, -1.2239, 6.7897, 1.6532, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aec09010a4225b97579e06a2cb5d47baf84b063b5b52bb7535a974b62c054ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c594f1e5567b35d0925779aa30e2b4b7513f778676586d80ddbf0de1cf6145",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb83c72ebc8e626f013392da3e4fb2c123027b37773ad9d3a9dfad28067e0820",
        "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_01QFMfVpHJh7p8HZSz73TBt4",
      "input": {
        "note": "The wrist camera now shows the can at the bottom of the frame, i.e. just toward the base from the gripper. Approaching it from above with the yaw turned the other way (-90°) so the jaws close across the can while the wrist has an easier configuration.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.19,
          "left_y": -0.05,
          "left_yaw": -1.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01QFMfVpHJh7p8HZSz73TBt4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.374, 1.4189, 1.0294, -1.5074, 0.73, 1.2957, 0.9985, -0.0212, 0.8227, 0.5999, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1949 left_y=-0.0462 left_z=0.1446 left_yaw=-1.1563 left_pitch=-0.3069 left_roll=-0.515 left_gripper=0.9985 right_x=0.2455 right_y=0.0019 right_z=0.1164 right_yaw=0.001 right_pitch=-0.3146 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.7795, 7.5692, -0.1343, 0.442, 0.2466, -0.1685, -0.0479, -1.3607, 6.735, 1.5507, -0.0269, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc1a3c865900022b2ee160fe3fec4b79c6d0427bddbad80bb56d1a895825ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e41d8abca9f419553d9acb18f9859f3fe704d66bfed2fbdb046e4d16eebc3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5450c60103d68534262f6e426401eabef5f35d5cd442282df83c5225a5d52d20",
        "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 · 11.19 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]: [-0.5774, 1.6157, 1.2053, -1.5528, -0.7715, -2.014, 0.9984, -0.0212, 0.8158, 0.6003, -0.6357, -0.0196, -0.0269, 0.9996]\nstate[eef_state]: left_x=0.2409 left_y=-0.0056 left_z=0.1515 left_yaw=1.3022 left_pitch=-0.1519 left_roll=0.0859 left_gripper=0.9984 right_x=0.254 right_y=0.0017 right_z=0.1251 right_yaw=0.0009 right_pitch=-0.2632 right_roll=0.0049 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -6.4479, 6.735, -0.5885, -0.4615, -0.0611, -0.1734, -0.212, -0.7453, 6.9538, 1.5653, -0.022, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5762, 1.0145, 1.2751, -1.2068, -0.5533, -0.87, 0.9985, -0.0212, 0.8181, 0.5999, -0.6613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.246 left_y=-0.0449 left_z=0.2787 left_yaw=0.3538 left_pitch=-0.1958 left_roll=-0.1612 left_gripper=0.9985 right_x=0.2491 right_y=0.0018 right_z=0.1203 right_yaw=0.0008 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.0991, 8.1026, 1.3748, -0.3492, 0.232, -0.1734, -0.0752, -1.2239, 6.7897, 1.6532, -0.0464, -0.0611, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.374, 1.4189, 1.0294, -1.5074, 0.73, 1.2957, 0.9985, -0.0212, 0.8227, 0.5999, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1949 left_y=-0.0462 left_z=0.1446 left_yaw=-1.1563 left_pitch=-0.3069 left_roll=-0.515 left_gripper=0.9985 right_x=0.2455 right_y=0.0019 right_z=0.1164 right_yaw=0.001 right_pitch=-0.3146 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.7795, 7.5692, -0.1343, 0.442, 0.2466, -0.1685, -0.0479, -1.3607, 6.735, 1.5507, -0.0269, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fc1a3c865900022b2ee160fe3fec4b79c6d0427bddbad80bb56d1a895825ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42e41d8abca9f419553d9acb18f9859f3fe704d66bfed2fbdb046e4d16eebc3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5450c60103d68534262f6e426401eabef5f35d5cd442282df83c5225a5d52d20",
        "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_01Uo1yVRgaANQc94kza6ALvq",
      "input": {
        "note": "The wrist camera shows the can slightly ahead and angled ~30° off the jaw axis; yaw only reached -1.16 so far. Shifting 4 cm to the arm's right over the can, completing the -90° yaw, and lowering to 10 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.2,
          "left_y": -0.09,
          "left_yaw": -1.57,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Uo1yVRgaANQc94kza6ALvq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.3214, 1.3785, 0.9604, -1.4357, 0.7216, 1.4563, 0.9985, -0.0212, 0.823, 0.5999, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1884 left_y=-0.0565 left_z=0.1321 left_yaw=-1.2812 left_pitch=-0.2782 left_roll=-0.359 left_gripper=0.9985 right_x=0.2448 right_y=0.0019 right_z=0.1157 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.7658, 4.9436, -0.0611, 0.5495, 0.0855, -0.1734, -0.1162, -1.1692, 6.9265, 1.4042, -0.0464, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ad55043bac5b1a5f211dd28100b327c3b41e28fc705ec028bc240f750a6a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a2f8476c993e7e24890e9c01b2c9d8938d4ee82d245dc2d1e7607c31e468ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee5711d888f74a536aa17a794a8b26ab445b3142dae2c84af688436933f20e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 19.74 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]: [-0.5762, 1.0145, 1.2751, -1.2068, -0.5533, -0.87, 0.9985, -0.0212, 0.8181, 0.5999, -0.6613, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.246 left_y=-0.0449 left_z=0.2787 left_yaw=0.3538 left_pitch=-0.1958 left_roll=-0.1612 left_gripper=0.9985 right_x=0.2491 right_y=0.0018 right_z=0.1203 right_yaw=0.0008 right_pitch=-0.2914 right_roll=0.0058 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -2.0991, 8.1026, 1.3748, -0.3492, 0.232, -0.1734, -0.0752, -1.2239, 6.7897, 1.6532, -0.0464, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.374, 1.4189, 1.0294, -1.5074, 0.73, 1.2957, 0.9985, -0.0212, 0.8227, 0.5999, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1949 left_y=-0.0462 left_z=0.1446 left_yaw=-1.1563 left_pitch=-0.3069 left_roll=-0.515 left_gripper=0.9985 right_x=0.2455 right_y=0.0019 right_z=0.1164 right_yaw=0.001 right_pitch=-0.3146 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.7795, 7.5692, -0.1343, 0.442, 0.2466, -0.1685, -0.0479, -1.3607, 6.735, 1.5507, -0.0269, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.3214, 1.3785, 0.9604, -1.4357, 0.7216, 1.4563, 0.9985, -0.0212, 0.823, 0.5999, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1884 left_y=-0.0565 left_z=0.1321 left_yaw=-1.2812 left_pitch=-0.2782 left_roll=-0.359 left_gripper=0.9985 right_x=0.2448 right_y=0.0019 right_z=0.1157 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.7658, 4.9436, -0.0611, 0.5495, 0.0855, -0.1734, -0.1162, -1.1692, 6.9265, 1.4042, -0.0464, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5ad55043bac5b1a5f211dd28100b327c3b41e28fc705ec028bc240f750a6a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a2f8476c993e7e24890e9c01b2c9d8938d4ee82d245dc2d1e7607c31e468ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee5711d888f74a536aa17a794a8b26ab445b3142dae2c84af688436933f20e2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+AoKEAgRGAI4AUIIdGhpbmtpbmcSDG7LlneLh7mHv3rWIBoM53XXxsO9FtM0ur7/IjDha8IuYa+Fj8NSgWcTkDmg5BKbeR4cADTuAt8C1f8p1Hx741f8UpGAg8sMZL35MukqlQqo9YXNnUH5ANnCCb7e2i+d5AEfrVh91X2+4VTs0V9AWPE/j7Pky3PzrEXqP9TFbteiGzYmhdfofDa7vU1nze8xgNM7/dZCaY9wp8imLu8klnfoHsKaOPpdkaJWeS3Cw5hLtLtWFVq2cgpo09vBC+r2RKqAOgWUM2vwmE3vGtNuHQ6jROZ8WAiaEV20w8pIOw7q7ZUkKDzoo5bq/we/TA37UZ/etoTzAcptSdDrPYy+cmMXLW7AYYBLaPPinuMohBQQZO0Uh/0ihaCIeskcBJ/EoioHrh3yrwDzY9HD9IsuzZCgF3cLxAfZpaWChdVxnMH4TqedPxbLasrBnxt+zsLsz1EvsEAtUV96iW12k0xeRcLgkboO1hFJwTdpDziNl50GEAlYsXS/FzseqJpUWhHpzAUNeKxvn6NpnukomWyoVq2t4qT9rlgnwUO2THNDJGw71/PT/EWapmggcAZKD/a8/hMx2fugxxpMk+lfw01eQghlYIlTEDmYq2DnX+rcIaN1IsBmj0/TkvPMtXe+eUNT9/qDZDbXAgd3RwpuT3WWaX+aLm6JNhtEPvUNZ+U7ddN3td8J9rUmfShRUC6IpQldHKCdLitjW8DY/YMjDIkS/KygyOWXf/B3R+uxEJ2ty2EQCTEPU8V+ZHOvoo80DEC0JpjL1WT229sWYFfVWaBPY2HL9eLw1iWyBF1Lu1JegjNJBkk1fK8XZu39FkPj0GpA3opC5VXJUQ4ES7micQAn9VsQs5pKwHNVzSaYInUFRdrIImBOBdj4YmNEO2CYNi4Psb6UxBrcKAjETgvK22wvCJBVM4zaUP83DbumfyLsAiw/Vzj/XVpZ2qyX/kjHm73GEBTt+bh9/GQnWR7sLt6zsqcNGqokSw6vACGuNXXMTQ0ecwkiFIIT9lm5HoHysn021jO1tevAglwwQIRZnlwTrSHaLJci5w772ILIzEfBwVmhtZdGzgxTHV5oB8Gc/Eu0bLaM1vZOUEHAq0dqTPzK1gW2/0ewHv+3qw41vte/lcNJ5OBt+9NOBWnmlZxcXzi0CMKpHsH8iaskBKQ5xC+C+h7ZN9hbvBPFiN5BVFOitgNnFMewCZiXlpSj0IKAqNGMKSCnm4Qoh0DfmWA6c7UKjyGCvL3XaqC9dwgBL9R6MPKOYZ5PccWrjWloh5Cyeqvmr/dADiBhDUUHin365NHjjVSYLtoGsjJ1Zz4XbGCcpoj6N9+2XpLyxpGFWDL9EB9NAVT4yQWJpDKAyyh5Xk7DY31JA8eiQEFLWSbPGwseE0NDXd+2GHSHoQmrcl10Nx9PcI9nGdweZ/MnorhGcCvR19cY2gXFgZ2JGw2omLPt4Z8oM1zaah2vYMndkXx5f3bFEb2Cye/byreMxAYJqzgjaGe4qF9FpbuE7lDtezN2nCn70Sd9FGi1rAqPbEJpfBWCJdDlKlyhf8Zf37knoCPdppCwazhlN/7K93QpDmOpx0W3uW5PvYN1qzh51dRRJyNJMARUVU2wr3WR0J9eg9mqLJayR4MSWj1TUqHGjEo4NCOXPpQkvM28ngFMowXYKeQBjrD9tlqPvHpsd3VJp73Z+QNXxKHf1s51kFkLOfILSvkI3nmZZlRjb4b9RZtpXcNMQdC36QJYHIWSrM77MEurGL3+BmRd1ggKru9hOjwbfwip1XKZECtrahffLGzBlp4NJACo82Yj+twPwnGQ2cn1uCgvkGpJB1gGpC4htsK435pogbKlJRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BER559T8DuXr64nVbHZf9m",
      "input": {
        "note": "The can now lies nearly along the jaw column in the wrist view but the arm only partially tracked (y -0.057, yaw -1.28). Continuing toward the same spot over the can, slightly lower, to finish alignment before descending to grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.2,
          "left_y": -0.09,
          "left_yaw": -1.57,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BER559T8DuXr64nVbHZf9m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.321, 1.3788, 0.96, -1.4162, 0.7219, 1.4418, 0.9985, -0.0212, 0.823, 0.5999, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1919 left_y=-0.0554 left_z=0.131 left_yaw=-1.2685 left_pitch=-0.281 left_roll=-0.3495 left_gripper=0.9985 right_x=0.2413 right_y=0.002 right_z=0.113 right_yaw=0.0015 right_pitch=-0.3368 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.8205, 5.012, -0.0073, 0.5983, 0.0611, -0.1734, -0.0479, -1.0325, 6.6803, 1.5751, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d719a3b6bf12ebdc6833f1080cbd491f567ce2475044874c73884c1ecde623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c608a316277d02bdbb97111191a4476102511f141cabe0f513589ec50f624c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61ad8bb5fb84542c23dcecc18e933fc3ee8c798fa865512ed18793eab13dab45",
        "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 · 9.462 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]: [0.374, 1.4189, 1.0294, -1.5074, 0.73, 1.2957, 0.9985, -0.0212, 0.8227, 0.5999, -0.68, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1949 left_y=-0.0462 left_z=0.1446 left_yaw=-1.1563 left_pitch=-0.3069 left_roll=-0.515 left_gripper=0.9985 right_x=0.2455 right_y=0.0019 right_z=0.1164 right_yaw=0.001 right_pitch=-0.3146 right_roll=0.0063 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -4.7795, 7.5692, -0.1343, 0.442, 0.2466, -0.1685, -0.0479, -1.3607, 6.735, 1.5507, -0.0269, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.3214, 1.3785, 0.9604, -1.4357, 0.7216, 1.4563, 0.9985, -0.0212, 0.823, 0.5999, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1884 left_y=-0.0565 left_z=0.1321 left_yaw=-1.2812 left_pitch=-0.2782 left_roll=-0.359 left_gripper=0.9985 right_x=0.2448 right_y=0.0019 right_z=0.1157 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.7658, 4.9436, -0.0611, 0.5495, 0.0855, -0.1734, -0.1162, -1.1692, 6.9265, 1.4042, -0.0464, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.321, 1.3788, 0.96, -1.4162, 0.7219, 1.4418, 0.9985, -0.0212, 0.823, 0.5999, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1919 left_y=-0.0554 left_z=0.131 left_yaw=-1.2685 left_pitch=-0.281 left_roll=-0.3495 left_gripper=0.9985 right_x=0.2413 right_y=0.002 right_z=0.113 right_yaw=0.0015 right_pitch=-0.3368 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.8205, 5.012, -0.0073, 0.5983, 0.0611, -0.1734, -0.0479, -1.0325, 6.6803, 1.5751, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2d719a3b6bf12ebdc6833f1080cbd491f567ce2475044874c73884c1ecde623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c608a316277d02bdbb97111191a4476102511f141cabe0f513589ec50f624c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ad8bb5fb84542c23dcecc18e933fc3ee8c798fa865512ed18793eab13dab45",
        "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_01HvSrEhBd1aaoJESuSX5HeF",
      "input": {
        "note": "The arm won't track further yaw here, but the can is only ~17° off the jaw axis, which is acceptable for a 6 cm cylinder. Keeping the current yaw, shifting a few cm so the can body sits on the jaw column, and descending to grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.23,
          "left_y": -0.07,
          "left_yaw": -1.27,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HvSrEhBd1aaoJESuSX5HeF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.2157, 1.6108, 0.8131, -1.1896, 0.7399, 1.3441, 0.9985, -0.0212, 0.8253, 0.5999, -0.7246, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1841 left_y=-0.0779 left_z=0.0592 left_yaw=-1.3623 left_pitch=-0.2856 left_roll=-0.576 left_gripper=0.9985 right_x=0.2367 right_y=0.002 right_z=0.1092 right_yaw=0.001 right_pitch=-0.3619 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.8974, 6.0239, -1.0232, 1.0037, 0.0464, -0.1587, -0.0479, -0.8684, 6.7761, 1.5653, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ade63347ae9b7ce371dec4a6793d254b77913a3489145a6e7c9ca94fb77c70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:863f8a41db646b6e0a553c7a99ad9d571f1dc367467f2cc9f558f5fe46004e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05eaf6c7f4d6f64de746cd9348392ed1ddc58ef6c02031bc639b5207d7af39ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 23.04 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]: [0.3214, 1.3785, 0.9604, -1.4357, 0.7216, 1.4563, 0.9985, -0.0212, 0.823, 0.5999, -0.6838, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1884 left_y=-0.0565 left_z=0.1321 left_yaw=-1.2812 left_pitch=-0.2782 left_roll=-0.359 left_gripper=0.9985 right_x=0.2448 right_y=0.0019 right_z=0.1157 right_yaw=0.0013 right_pitch=-0.3188 right_roll=0.0067 right_gripper=0.9996\nstate[joint_eff]: [0.1709, -4.7658, 4.9436, -0.0611, 0.5495, 0.0855, -0.1734, -0.1162, -1.1692, 6.9265, 1.4042, -0.0464, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.321, 1.3788, 0.96, -1.4162, 0.7219, 1.4418, 0.9985, -0.0212, 0.823, 0.5999, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1919 left_y=-0.0554 left_z=0.131 left_yaw=-1.2685 left_pitch=-0.281 left_roll=-0.3495 left_gripper=0.9985 right_x=0.2413 right_y=0.002 right_z=0.113 right_yaw=0.0015 right_pitch=-0.3368 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.8205, 5.012, -0.0073, 0.5983, 0.0611, -0.1734, -0.0479, -1.0325, 6.6803, 1.5751, -0.0464, -0.0366, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.2157, 1.6108, 0.8131, -1.1896, 0.7399, 1.3441, 0.9985, -0.0212, 0.8253, 0.5999, -0.7246, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1841 left_y=-0.0779 left_z=0.0592 left_yaw=-1.3623 left_pitch=-0.2856 left_roll=-0.576 left_gripper=0.9985 right_x=0.2367 right_y=0.002 right_z=0.1092 right_yaw=0.001 right_pitch=-0.3619 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.8974, 6.0239, -1.0232, 1.0037, 0.0464, -0.1587, -0.0479, -0.8684, 6.7761, 1.5653, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ade63347ae9b7ce371dec4a6793d254b77913a3489145a6e7c9ca94fb77c70a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:863f8a41db646b6e0a553c7a99ad9d571f1dc367467f2cc9f558f5fe46004e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05eaf6c7f4d6f64de746cd9348392ed1ddc58ef6c02031bc639b5207d7af39ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8QoKEAgRGAI4AUIIdGhpbmtpbmcSDLOEoACu0jACt/eM3xoMauYNYnGYNiauf2i2IjD0eO8NXaSyQKpXrdRWxI8TkUZIFIT/oKXISiZub9K5Mb0qTCEf57vijkUpCDP7LEoqjgqhOK9jDj4SrflXsLJz/sjEIolS6j3DmXzJT97XLI9s3pQWrIyVJ1tORFFWKY+nRW4kC+0fpUWazNtKpvEHuLsqZJuhoaKaIVzNk45CAbNpGQ5Wdentos3NVOPu9AZPkcazESF/IdfXhAh1jfWqvmo8Pi8oiy2pxQKy2kQgwy2aX8Txe20bJn4+7gymd9dwYLNxizUGdtwenfQliizE+7jSIviALTh8RvB6PcRZlY89sWl3rm4bvscBzoaBmx9H0PmNcjsd3+8INS6VVRtVBzpyokogOvyTHMmyQjuEzRdB2LeA48guyJI74DMKnufz+/ROa+EvQZj0DswalguuWT6rLWSFav/wEH3R9JQ3Pz4Y5W7fZ75s22pjDOIgHqgBt1OaPc3jz+KoUXz452nxyRjbPKCLQ2z1BIyOfrqAxasYq6vMMQZlMdyAnZAUtZTfibfCVAKYw0Goei4mI/TQOKHaJIf/5udeakg6SzNQ0D4LsHCGToWJ7gTbSiviYjmm2qUJ2D+Wm1qhQPZgFomWmkL9Ne1+mpkINIjzurzVutHkuEuipj3Z8fNF00Lo35NNMDMctCvtbtDoAxLCrW01fbMKqQoytLA6SBmLbhR/9X6Thb/wBsOA+1+L0gbr4HDnxDcFyZ54IvHFtNINWm+efs4OT+L65TZtMU5ngOyrxAAXdEjml5hezxY9bNxd6DJR4hEhPXIjhcB9NxoCxjzS+35ElY5zOpxecucYD41pJjvR+o4e0Br0bsC0oa6U3G2bdOJUc17eiazhtFKPyG9ZrI/E40xSh87WXYNgmKHiLYA2Y1WCI7EbP+iagFxugk0DhMcxjXKMuvUdeA3J5FuDtH7pp/Wo+RD4m28rBCU5CLUX8LIBxWtZPzUECXf23yLO6JTYvSlxqrmIX6JhGd1f7W0ILRCJXBQwkjqI3OWGJvhUWcR7pK7Pp/aqNiS7U2l1DA3SFO11sjs8ty7WAouwTAlV/ALIA8ip29kgEfSmltG2ny/fnNL472VaHQ6JX0xJ9tR4SQXm8Yjtg1Y1mk+Z3RxyasJDjEa5Pof7Ll9OWMMeSaNj9kFlnCCGa79iKG4kWxNiM+5nL02IVnaqA/GPwAklS+r913JCOV1vgJKBbUgu+Pj+RoK22XD448mOgHnZWfVStlBzHbvZ4fdh1o9DhBc0cg2Kbh3pPCSll6Ifntl6UhhE2KS3V0GhI9H9ZgLqHtjFgLehEJJc36qonB+SUJw0jgylkRRDF4Al0k0EaH+qABf7R1IUMWTTU1rkqMPoL11Faf8DKm/8g+cqNVOSMgPxbdlFxU11W4w7V+tUNyEzJ1G6qYVBnZmwsIcP+3dVJk8ZCa9QETqKL/9w7GoCh6YralwbjZpa7iKTXGWYwci9hOpd/DYFqqLYNWVyZ28Nuw3dZpeJEIGEDYgXF3HRlW5Kx7Nu2iVzcBvH1PKMuEluDiDZgM4LuyEBz2EvWW+MAVGnmPRx8O0WdX5dBAfTDh19/4JOSPIHlxTh7QXA8f2+2zbiHF9FkzArbH/P+VX05nvscg6hZLYBtvGWpD1jjTZxKqjtfCcwIMQPMugsySTWzgkSY5r+B49mxQWTz7KxlUdevQqsXHkWSYKnixYfqdF3rT9Q3h0+dL+POygCZYrZlVMQ1pQdtNq2HLruO+adyUgtduFCsxQFAPff785e/Jpp8WI5QvWdD6sJK6bBGjkIBGEaIC7A+KYd4JO5d7qHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016wvamMFUCqh6ZwkGjPe1tR",
      "input": {
        "note": "The can fills the wrist view just left of the jaw column and the overhead shows the gripper right above it. Descending to can-centre height with a small forward shift to centre the body between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.21,
          "left_y": -0.08,
          "left_yaw": -1.36,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016wvamMFUCqh6ZwkGjPe1tR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.1963, 1.7233, 0.812, -1.0504, 0.7326, 1.3003, 0.9985, -0.0212, 0.8295, 0.5991, -0.7338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1995 left_y=-0.0771 left_z=0.0302 left_yaw=-1.3559 left_pitch=-0.305 left_roll=-0.5799 left_gripper=0.9985 right_x=0.2347 right_y=0.0022 right_z=0.1066 right_yaw=0.0018 right_pitch=-0.376 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 5.2444, -0.4664, 0.5153, 0.1001, -0.1685, -0.0479, -1.3333, 6.7214, 1.4237, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182e65f035570f7bf5698d099452c890147eb2a22018bed23ccd1a430fb50365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:832bc71426ccd53139c9dd2368a499d128de4f6c8d32894a9c6b16c478485ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed9b5f9846cd3f87e1fc8f94495212313057a7ce511256fa2f6b0562b3e0d823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 7.806 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]: [0.321, 1.3788, 0.96, -1.4162, 0.7219, 1.4418, 0.9985, -0.0212, 0.823, 0.5999, -0.7017, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1919 left_y=-0.0554 left_z=0.131 left_yaw=-1.2685 left_pitch=-0.281 left_roll=-0.3495 left_gripper=0.9985 right_x=0.2413 right_y=0.002 right_z=0.113 right_yaw=0.0015 right_pitch=-0.3368 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -4.8205, 5.012, -0.0073, 0.5983, 0.0611, -0.1734, -0.0479, -1.0325, 6.6803, 1.5751, -0.0464, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [0.2157, 1.6108, 0.8131, -1.1896, 0.7399, 1.3441, 0.9985, -0.0212, 0.8253, 0.5999, -0.7246, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1841 left_y=-0.0779 left_z=0.0592 left_yaw=-1.3623 left_pitch=-0.2856 left_roll=-0.576 left_gripper=0.9985 right_x=0.2367 right_y=0.002 right_z=0.1092 right_yaw=0.001 right_pitch=-0.3619 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.8974, 6.0239, -1.0232, 1.0037, 0.0464, -0.1587, -0.0479, -0.8684, 6.7761, 1.5653, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.1963, 1.7233, 0.812, -1.0504, 0.7326, 1.3003, 0.9985, -0.0212, 0.8295, 0.5991, -0.7338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1995 left_y=-0.0771 left_z=0.0302 left_yaw=-1.3559 left_pitch=-0.305 left_roll=-0.5799 left_gripper=0.9985 right_x=0.2347 right_y=0.0022 right_z=0.1066 right_yaw=0.0018 right_pitch=-0.376 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 5.2444, -0.4664, 0.5153, 0.1001, -0.1685, -0.0479, -1.3333, 6.7214, 1.4237, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:182e65f035570f7bf5698d099452c890147eb2a22018bed23ccd1a430fb50365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:832bc71426ccd53139c9dd2368a499d128de4f6c8d32894a9c6b16c478485ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9b5f9846cd3f87e1fc8f94495212313057a7ce511256fa2f6b0562b3e0d823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FLzJZysbvieq5iqkztWwHe",
      "input": {
        "note": "The can now lies in front-left of the right gripper (visible in the right wrist camera, tilted ~20°), so I'm switching to the right arm: moving it over the can with a small clockwise yaw to align the jaws across it, while lifting the left arm clear.",
        "targets": {
          "left_x": 0.25,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.2,
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.06,
          "right_yaw": -0.33,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FLzJZysbvieq5iqkztWwHe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0795, 1.636, 0.8158, -0.9928, 0.6338, 1.2144, 0.9983, 0.4152, 1.2217, 0.8192, -0.7464, 0.3473, 0.5659, 0.9996]\nstate[eef_state]: left_x=0.2044 left_y=-0.0851 left_z=0.0312 left_yaw=-1.4022 left_pitch=-0.4145 left_roll=-0.4727 left_gripper=0.9983 right_x=0.2747 right_y=0.0593 right_z=0.104 right_yaw=-0.2688 right_pitch=-0.4437 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.2513, 6.5846, -0.1685, 0.652, 0.1099, -0.0317, 0.2803, -4.2462, 8.7453, 1.2381, 0.3639, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c54b8949e96d7bd88247df3cb9ed9e7b22c13dca9f8b1bd1c92d98b72e083a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f197ad02108ca14c79553d39527791e21a45f81deb867ee87a74a0e16374d011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2317d1d7a3624787d37d897524513a7ceb3e85052b9cd27cbc24bc8ceec080a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 23.41 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.2157, 1.6108, 0.8131, -1.1896, 0.7399, 1.3441, 0.9985, -0.0212, 0.8253, 0.5999, -0.7246, -0.0193, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1841 left_y=-0.0779 left_z=0.0592 left_yaw=-1.3623 left_pitch=-0.2856 left_roll=-0.576 left_gripper=0.9985 right_x=0.2367 right_y=0.002 right_z=0.1092 right_yaw=0.001 right_pitch=-0.3619 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -7.8974, 6.0239, -1.0232, 1.0037, 0.0464, -0.1587, -0.0479, -0.8684, 6.7761, 1.5653, -0.0317, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.1963, 1.7233, 0.812, -1.0504, 0.7326, 1.3003, 0.9985, -0.0212, 0.8295, 0.5991, -0.7338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1995 left_y=-0.0771 left_z=0.0302 left_yaw=-1.3559 left_pitch=-0.305 left_roll=-0.5799 left_gripper=0.9985 right_x=0.2347 right_y=0.0022 right_z=0.1066 right_yaw=0.0018 right_pitch=-0.376 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 5.2444, -0.4664, 0.5153, 0.1001, -0.1685, -0.0479, -1.3333, 6.7214, 1.4237, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0795, 1.636, 0.8158, -0.9928, 0.6338, 1.2144, 0.9983, 0.4152, 1.2217, 0.8192, -0.7464, 0.3473, 0.5659, 0.9996]\nstate[eef_state]: left_x=0.2044 left_y=-0.0851 left_z=0.0312 left_yaw=-1.4022 left_pitch=-0.4145 left_roll=-0.4727 left_gripper=0.9983 right_x=0.2747 right_y=0.0593 right_z=0.104 right_yaw=-0.2688 right_pitch=-0.4437 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.2513, 6.5846, -0.1685, 0.652, 0.1099, -0.0317, 0.2803, -4.2462, 8.7453, 1.2381, 0.3639, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9c54b8949e96d7bd88247df3cb9ed9e7b22c13dca9f8b1bd1c92d98b72e083a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f197ad02108ca14c79553d39527791e21a45f81deb867ee87a74a0e16374d011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2317d1d7a3624787d37d897524513a7ceb3e85052b9cd27cbc24bc8ceec080a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwkKEAgRGAI4AUIIdGhpbmtpbmcSDC7/sQn3yM5kQ8dMnxoMNKawrd5i6/h3QJUxIjBL+2Zbskf9IuOTgdEAFXcbtzWzTafbrrrDarXgQpfBs8mKl1CwadHmUcBftIotDUQqtAhM868tfSCyjEpPfWdBXV6tyWpmrCuX/ZQMj5nRIedMweDz1N0HqD0vhILNmJYT+PLUxF8MC9X/PF6zjK2rna1+chJSmOu24pJD15c7TLQ8hOHTU+A+rsFrWRL1Xh1Fi6Kk34IwcLhM0aFaCddvZoOnymWre3J99C8d9HDrHoa/iE23WUPcbORnyvW02Qc47M5p3RUHXDGxUrj0HjtQhrGYMgL7RMufOf4QWNcH2POgFQTGjgHNuNxF/21voGMIUqXesoPGxhIrAMyy1//Z54IMbiFs0xxz8y+D+1bBhvAqwzUK14NslCuHOX0AksNMc2xUWwMZrBsjxLYVUsXL9neidQH16ASxUGiecAH1A+wKLYGI5QfIcpbtuBZavAbURAgMMaMimGO+LWgRHXdxJMCdLIIm+Iiw/w4wX67LIB5XXQUEG4ZH3w5flgM9LvBZueeGlxh8gCGB0xfrN96fmmeM2IuaZpzjw0Z9EMllmUoh642T5VOGfWdhlS7LqAP7zx2FmgWyYfjn30IX3fkEuZOyhXczPgWrF1DlHRYjbFtL8qpRGrDeGGgfjkWn6kgWOkKpnsxDoiQ+0jrmMU8mEH93GmLbtdshzudk6k21h3G73zjnRnF3+8y+2l6I7PWfpXkTsmxT0MxiFLdOo9Uf535I1EHt8j6unQfHHQ1thP1R4J7w/lGrYfGVaAvZdAjXFhyqCUhZRdQ4RdcCPxBixL1irRa+bdUpeQ+nNbH7UvsyE8aNLTt2BjGXmel4qEGVIP3S8KgJvr/+X1sT/5j2tsFj2nbyEheozJrxWiCJMLrk8yGcVd50bfFWGSV1lHUBTGlm4CIXZMC4oseqf+Va+OBtvZnXvV1/V1yi9BY+gzT91LciBwRWSVx/B4NBiroJoRRgva8eP95l2XS4gQGXK2k7bVtLXM1+VQs5jGBVcc2pGgQtnwD0xpA2UeEUdVXrpvscDBb5oibOpZ9dKduDpmdj4/gBZQTAVio7juUAafVuJig1hH9p1as1Bg3jcbMKDQm/mmEqIxZcONp18ZqboVIZy7xsisNHet6ikOl0q/nwn8OXnwMggtPSGQJt4MYupPo7QAuT080nl0Fs34O8ECUdsylP3jsaflWYB+kbPjBQxALcgRw689+wtHVA+nyojfldW7ONZ7Ye+H6G+ksyUenrV2IjDGemHPIhsdzn3FQiFDhGc9lHy5HjtGsvhI8xpFwyfFbJRAedoxVKvSjlmN8ddbpVHecHOUFB2irLjnJfutuAs5usyAUSnsglBBMmGtY6+DXp9qzssQjYlRG2XAozXQ823IY27MssyLkTVUKzAgdeB+sXaOsW9HPqu0I/IBODJlUgYq1cDgjF0q3DhUTjvSIAqN9c+FfhACJJYf74uZnnIyp0wMPLjhKq7672sWhb7q93cMOlXcr8hUsw1Ga6vivX6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CDPCyKBgobWnKnCGkjw5h",
      "input": {
        "note": "The can now runs vertically down the right wrist view, slightly left of the jaw column and extending under the fingertips. Nudging 1.5 cm left and descending to can-centre height to grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.28,
          "right_y": 0.075,
          "right_yaw": -0.3,
          "right_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_013CDPCyKBgobWnKnCGkjw5h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0883, 1.5391, 0.857, -1.037, 0.6281, 0.9241, 0.9979, 0.474, 1.3884, 0.6479, -0.5236, 0.3672, 0.635, 0.9996]\nstate[eef_state]: left_x=0.2159 left_y=-0.0815 left_z=0.0575 left_yaw=-1.1966 left_pitch=-0.479 left_roll=-0.5468 left_gripper=0.9979 right_x=0.2625 right_y=0.0674 right_z=0.0268 right_yaw=-0.3075 right_pitch=-0.5144 right_roll=-0.106 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -9.4701, 4.9573, -0.4811, 0.4274, 0.1197, -0.0562, 0.335, -4.3419, 6.0103, 1.0965, 0.2906, 0.1392, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d932f754698f1ffaefb0334c52ef2fc2316bb1db2adbb41e0cae015a4e6a3b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203e0f39fd0f8f6ca0918c9cd06723501d68944c32d6b1f4fee5f6212a6e68e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35c8033edac17f5a0abe610c448bfb485a36f8364052a9326c4cb9c2065c2af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 12.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.1963, 1.7233, 0.812, -1.0504, 0.7326, 1.3003, 0.9985, -0.0212, 0.8295, 0.5991, -0.7338, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.1995 left_y=-0.0771 left_z=0.0302 left_yaw=-1.3559 left_pitch=-0.305 left_roll=-0.5799 left_gripper=0.9985 right_x=0.2347 right_y=0.0022 right_z=0.1066 right_yaw=0.0018 right_pitch=-0.376 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -6.5162, 5.2444, -0.4664, 0.5153, 0.1001, -0.1685, -0.0479, -1.3333, 6.7214, 1.4237, -0.0659, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0795, 1.636, 0.8158, -0.9928, 0.6338, 1.2144, 0.9983, 0.4152, 1.2217, 0.8192, -0.7464, 0.3473, 0.5659, 0.9996]\nstate[eef_state]: left_x=0.2044 left_y=-0.0851 left_z=0.0312 left_yaw=-1.4022 left_pitch=-0.4145 left_roll=-0.4727 left_gripper=0.9983 right_x=0.2747 right_y=0.0593 right_z=0.104 right_yaw=-0.2688 right_pitch=-0.4437 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.2513, 6.5846, -0.1685, 0.652, 0.1099, -0.0317, 0.2803, -4.2462, 8.7453, 1.2381, 0.3639, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0883, 1.5391, 0.857, -1.037, 0.6281, 0.9241, 0.9979, 0.474, 1.3884, 0.6479, -0.5236, 0.3672, 0.635, 0.9996]\nstate[eef_state]: left_x=0.2159 left_y=-0.0815 left_z=0.0575 left_yaw=-1.1966 left_pitch=-0.479 left_roll=-0.5468 left_gripper=0.9979 right_x=0.2625 right_y=0.0674 right_z=0.0268 right_yaw=-0.3075 right_pitch=-0.5144 right_roll=-0.106 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -9.4701, 4.9573, -0.4811, 0.4274, 0.1197, -0.0562, 0.335, -4.3419, 6.0103, 1.0965, 0.2906, 0.1392, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d932f754698f1ffaefb0334c52ef2fc2316bb1db2adbb41e0cae015a4e6a3b36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:203e0f39fd0f8f6ca0918c9cd06723501d68944c32d6b1f4fee5f6212a6e68e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c8033edac17f5a0abe610c448bfb485a36f8364052a9326c4cb9c2065c2af7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The can is between the jaws in the right wrist view at grasp height. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6gLC54UHvT7GyLjVDNuTd",
      "input": {
        "note": "The can body fills the right wrist view between the jaws at 2.7 cm height. Closing the right gripper across its diameter.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M6gLC54UHvT7GyLjVDNuTd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8345, -1.0592, 0.6167, 1.0439, 0.9979, 0.4786, 1.4094, 0.6353, -0.4423, 0.3664, 0.6407, 0.7105]\nstate[eef_state]: left_x=0.1976 left_y=-0.0831 left_z=0.0387 left_yaw=-1.3325 left_pitch=-0.4824 left_roll=-0.6114 left_gripper=0.9979 right_x=0.2727 right_y=0.0742 right_z=0.024 right_yaw=-0.2879 right_pitch=-0.4806 right_roll=-0.0644 right_gripper=0.7105\nstate[joint_eff]: [-0.1026, -6.8855, 5.6, -0.2027, 0.4469, 0.1587, -0.0171, -0.0889, -5.2581, 6.2564, 1.0965, 0.3053, 0.1538, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84612b1e6cdac00d04e6349fa6ae5fe1d8af930498f390028599ca7b09d68e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27852174d33ced4dc79f9e5db54ebd56ae2506d6f12edf60dba3c6db9a685ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee67c09a5b9d53473520a5c0b70562ade0ad677d952115e69f6a09aec0747a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.601 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0795, 1.636, 0.8158, -0.9928, 0.6338, 1.2144, 0.9983, 0.4152, 1.2217, 0.8192, -0.7464, 0.3473, 0.5659, 0.9996]\nstate[eef_state]: left_x=0.2044 left_y=-0.0851 left_z=0.0312 left_yaw=-1.4022 left_pitch=-0.4145 left_roll=-0.4727 left_gripper=0.9983 right_x=0.2747 right_y=0.0593 right_z=0.104 right_yaw=-0.2688 right_pitch=-0.4437 right_roll=-0.0412 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -9.2513, 6.5846, -0.1685, 0.652, 0.1099, -0.0317, 0.2803, -4.2462, 8.7453, 1.2381, 0.3639, 0.2076, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0883, 1.5391, 0.857, -1.037, 0.6281, 0.9241, 0.9979, 0.474, 1.3884, 0.6479, -0.5236, 0.3672, 0.635, 0.9996]\nstate[eef_state]: left_x=0.2159 left_y=-0.0815 left_z=0.0575 left_yaw=-1.1966 left_pitch=-0.479 left_roll=-0.5468 left_gripper=0.9979 right_x=0.2625 right_y=0.0674 right_z=0.0268 right_yaw=-0.3075 right_pitch=-0.5144 right_roll=-0.106 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -9.4701, 4.9573, -0.4811, 0.4274, 0.1197, -0.0562, 0.335, -4.3419, 6.0103, 1.0965, 0.2906, 0.1392, -0.0562]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8345, -1.0592, 0.6167, 1.0439, 0.9979, 0.4786, 1.4094, 0.6353, -0.4423, 0.3664, 0.6407, 0.7105]\nstate[eef_state]: left_x=0.1976 left_y=-0.0831 left_z=0.0387 left_yaw=-1.3325 left_pitch=-0.4824 left_roll=-0.6114 left_gripper=0.9979 right_x=0.2727 right_y=0.0742 right_z=0.024 right_yaw=-0.2879 right_pitch=-0.4806 right_roll=-0.0644 right_gripper=0.7105\nstate[joint_eff]: [-0.1026, -6.8855, 5.6, -0.2027, 0.4469, 0.1587, -0.0171, -0.0889, -5.2581, 6.2564, 1.0965, 0.3053, 0.1538, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b84612b1e6cdac00d04e6349fa6ae5fe1d8af930498f390028599ca7b09d68e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e27852174d33ced4dc79f9e5db54ebd56ae2506d6f12edf60dba3c6db9a685ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee67c09a5b9d53473520a5c0b70562ade0ad677d952115e69f6a09aec0747a8b",
        "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_01MJFDypyC8pjnhuUxpyp3Fo",
      "input": {
        "note": "Right gripper settled at 0.71 (~6.7 cm), so the can is grasped. Lifting it high and starting to carry it toward the burner in the table centre, in a modest step to keep the grasp stable.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.36,
          "right_y": 0.2,
          "right_yaw": -0.3,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MJFDypyC8pjnhuUxpyp3Fo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.606, 1.0382, 0.9978, 0.675, 1.8771, 1.9064, -1.3262, 0.4042, 0.8272, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0816 left_z=0.0375 left_yaw=-1.3321 left_pitch=-0.4945 left_roll=-0.6139 left_gripper=0.9978 right_x=0.3578 right_y=0.202 right_z=0.2072 right_yaw=-0.2654 right_pitch=-0.5005 right_roll=-0.06 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.6547, 4.6017, -0.2076, 0.4371, -0.0122, -0.0171, 0.212, -9.347, 7.3094, 0.6471, 0.3492, 0.2418, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64665d1f3ddfb7723deb16ff39cd14fa02c5285e532dc78bda680161e915fbf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae73728849afa0f2cb7fd582f3e81b226a527be3c19d2638f7c3fa266939e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1802e97aa02ad5afd7e29040c6b6669fdf666b1705f6c151f26394d32905a7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 8.316 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0883, 1.5391, 0.857, -1.037, 0.6281, 0.9241, 0.9979, 0.474, 1.3884, 0.6479, -0.5236, 0.3672, 0.635, 0.9996]\nstate[eef_state]: left_x=0.2159 left_y=-0.0815 left_z=0.0575 left_yaw=-1.1966 left_pitch=-0.479 left_roll=-0.5468 left_gripper=0.9979 right_x=0.2625 right_y=0.0674 right_z=0.0268 right_yaw=-0.3075 right_pitch=-0.5144 right_roll=-0.106 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -9.4701, 4.9573, -0.4811, 0.4274, 0.1197, -0.0562, 0.335, -4.3419, 6.0103, 1.0965, 0.2906, 0.1392, -0.0562]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8345, -1.0592, 0.6167, 1.0439, 0.9979, 0.4786, 1.4094, 0.6353, -0.4423, 0.3664, 0.6407, 0.7105]\nstate[eef_state]: left_x=0.1976 left_y=-0.0831 left_z=0.0387 left_yaw=-1.3325 left_pitch=-0.4824 left_roll=-0.6114 left_gripper=0.9979 right_x=0.2727 right_y=0.0742 right_z=0.024 right_yaw=-0.2879 right_pitch=-0.4806 right_roll=-0.0644 right_gripper=0.7105\nstate[joint_eff]: [-0.1026, -6.8855, 5.6, -0.2027, 0.4469, 0.1587, -0.0171, -0.0889, -5.2581, 6.2564, 1.0965, 0.3053, 0.1538, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.606, 1.0382, 0.9978, 0.675, 1.8771, 1.9064, -1.3262, 0.4042, 0.8272, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0816 left_z=0.0375 left_yaw=-1.3321 left_pitch=-0.4945 left_roll=-0.6139 left_gripper=0.9978 right_x=0.3578 right_y=0.202 right_z=0.2072 right_yaw=-0.2654 right_pitch=-0.5005 right_roll=-0.06 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.6547, 4.6017, -0.2076, 0.4371, -0.0122, -0.0171, 0.212, -9.347, 7.3094, 0.6471, 0.3492, 0.2418, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64665d1f3ddfb7723deb16ff39cd14fa02c5285e532dc78bda680161e915fbf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae73728849afa0f2cb7fd582f3e81b226a527be3c19d2638f7c3fa266939e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1802e97aa02ad5afd7e29040c6b6669fdf666b1705f6c151f26394d32905a7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AoKEAgRGAI4AUIIdGhpbmtpbmcSDOgmqj3QZrdQUk8olxoMn2tO9VYqXSi20lcfIjBjAHPRubsFz5yige/Bhi56jmPO+WSKIck9+guT5idgoX1j5vUF2nw21szhJG8+ClsqjQpZsluZy0BcZKJqXvW7OuSTzmWWe99zrEyNbwCzv5jnjY+VjnpMsRDesdU04EoBM2rfjata4cH16WY+W8ebdLBcrhMcbF6Fk2fuG/73/jeeI8mUWaNBHIQJyYwuHcE01aZOFQS23thMsTCxlkyEuu2BanrUAaO80dYrv/9IidPOGCuW5A0XlBfxfnYiBirjvh7funywmoBXTKvt3R5gTqUgkmL2dPoNzrEp9E+awxhKCs4F4+mccmZdqo450meVVnUQJDYqCbX6eE9wTkfxzsFdbyqVZTYLzkFObeDiZfJGKjNNowQCWPgIE1c9ZAVAPUUfGO1vLr2yg9bzcMMqbwSCxaG4P2KEvwciUQoktsRMkB2XKHVEvxG4MBbHteI4f+i5ads8VbM2+pOXj07vKl3URxbc/En5wbE/qufkSVPPqqSuDcRc0RKEPSkCPOGYU4M9oWJH7TWS17/8VtR8/HzEInzx/x71b3nO08JP4pws84knWyU9TV5Y6Kzy5CgpD1zwew55du/ls7f0fbJs1YSW4FeDxEkBed6UUs5MD7sH5Jwa2OeU+adUiEa5P9GzJhv055du+mYi1wi8v5HnHfJ+S54q7wnmxrh6VgXcXx34OXNx3sCBsvIbJ/I1EIzEDO/q2HULpIOrUavSdY3XrHSpo0iYuAxTGPQMO93OXStHF6qPvUe5iyNLSxE3vE5M3/6qLG5oLvKid4MxDmk3Gjzm3KVDwcJ/ZSlnEmW3mYyOFlmOE66XUlueisItglq+pAB8Mqfiuft1C+CYh8mTGMVVoEI6WqVpSNqZoua9CFNtb81ziTrL6q0uAj5IiaIA+jIScdsSvUwcoAiRstD2z5ySA9X86ZSzyrc6eqixgJQ4CyimBy3M6afafFUjaxNZZad+q3xdmtRJi0JwqEfLdfGX2T6LNMORe123hz/3KfztT67+TLIBEKViP/6fcYHP4fOK/GKHC9T06N0tPSMXfuBpJ06UB+9K07qR3mIQLO0j2QRwgDjrMGX97nPdP1pT8tND38noSXg216Rw4BsgBX4r/rZm5tZZu+E0hO29Qn7Exx2YaeepEmV3R2I+H5ciNY6TldknhDHk/sGTLat3zvG9M45JnUJJZ6OHMWpKiS+hQMHWe9ekQuV9z1/cNQNP31pt2DnEXhA0hB0LfCdkz1jTWtI2UZqNUtWDdaD8Y+j1h5yhiyxxO954w0DBmGXHgmEcl95HwjaWZxpZWgjPM2f0nwta6SR8FnjOPKJqSz7JfyMqoT3TnooIYkeg24pVmGxkrzegHOTuQ4KlMBH2qp3MU5ISQoOLjsv+gTzPE4QiQHcz07WlfIerMaAO0hwEks9zwcBJWbvOnygDUugkSjjosBtwtEl09Styq/ssKISNLWQSj62SBV6DVF2R4bpUfJskR6GPsq98hannYYiun6WIap+QxP7GXfb+73uLetaqki8eDN04VGNEahTMu1oAVEQ8XbfyXxyDdON0pN3uDfXVHQ/lNnyvGY9pLdsjtaBPiDjVZt2Cb3VskR9AmKAAphAWBTi9FxnIvElWr36ejtQrABt+mdsUzemHZSDOaM6YQKccbqA0jwZz+h3eclcSmqj+9vxwb9KnQHGBzca+ZMcknS4CfVWE98WjlYlSolUYMr5WTTLlamRWi7UO7RunutE3zJHWyOFiSzD8li/36zMxHSXLWBVa+OS6N3MIxFsKvRw2KjGml94ivb7mtgwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bod62AFBtFocMSVwzTdk6M",
      "input": {
        "note": "The overhead view shows the held can to the right of the burner at about the same depth; the burner edge appears at the left of the right wrist camera. Moving the can left over the burner centre while staying above the burner's height.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.34,
          "right_yaw": -0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Bod62AFBtFocMSVwzTdk6M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0348, 0.9979, 0.7975, 2.434, 2.6282, -1.5887, 0.4088, 0.9699, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3308 left_pitch=-0.4971 left_roll=-0.6161 left_gripper=0.9979 right_x=0.39 right_y=0.3041 right_z=0.1613 right_yaw=-0.2842 right_pitch=-0.5433 right_roll=-0.085 right_gripper=0.7076\nstate[joint_eff]: [-0.0615, -5.5043, 4.5333, -0.2125, 0.3101, 0.0269, -0.0073, 0.2803, -12.1915, 8.212, 0.735, 0.525, 0.0952, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be3dc0ba40fabe9cdcc2460acb1ec268e81f3d93421e0cc421641f11d7c59fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0c057a7f06a321bb0455e0592087c1255028dd7ef0d9fc6066b201d553bb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:819f37a17139a145e8034c4ef60e48028c17f220875d6cec78cfd9f1cd5ac456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 9.957 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8345, -1.0592, 0.6167, 1.0439, 0.9979, 0.4786, 1.4094, 0.6353, -0.4423, 0.3664, 0.6407, 0.7105]\nstate[eef_state]: left_x=0.1976 left_y=-0.0831 left_z=0.0387 left_yaw=-1.3325 left_pitch=-0.4824 left_roll=-0.6114 left_gripper=0.9979 right_x=0.2727 right_y=0.0742 right_z=0.024 right_yaw=-0.2879 right_pitch=-0.4806 right_roll=-0.0644 right_gripper=0.7105\nstate[joint_eff]: [-0.1026, -6.8855, 5.6, -0.2027, 0.4469, 0.1587, -0.0171, -0.0889, -5.2581, 6.2564, 1.0965, 0.3053, 0.1538, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.606, 1.0382, 0.9978, 0.675, 1.8771, 1.9064, -1.3262, 0.4042, 0.8272, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0816 left_z=0.0375 left_yaw=-1.3321 left_pitch=-0.4945 left_roll=-0.6139 left_gripper=0.9978 right_x=0.3578 right_y=0.202 right_z=0.2072 right_yaw=-0.2654 right_pitch=-0.5005 right_roll=-0.06 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.6547, 4.6017, -0.2076, 0.4371, -0.0122, -0.0171, 0.212, -9.347, 7.3094, 0.6471, 0.3492, 0.2418, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0348, 0.9979, 0.7975, 2.434, 2.6282, -1.5887, 0.4088, 0.9699, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3308 left_pitch=-0.4971 left_roll=-0.6161 left_gripper=0.9979 right_x=0.39 right_y=0.3041 right_z=0.1613 right_yaw=-0.2842 right_pitch=-0.5433 right_roll=-0.085 right_gripper=0.7076\nstate[joint_eff]: [-0.0615, -5.5043, 4.5333, -0.2125, 0.3101, 0.0269, -0.0073, 0.2803, -12.1915, 8.212, 0.735, 0.525, 0.0952, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7be3dc0ba40fabe9cdcc2460acb1ec268e81f3d93421e0cc421641f11d7c59fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb0c057a7f06a321bb0455e0592087c1255028dd7ef0d9fc6066b201d553bb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:819f37a17139a145e8034c4ef60e48028c17f220875d6cec78cfd9f1cd5ac456",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAkKEAgRGAI4AUIIdGhpbmtpbmcSDJ4B8LwAQ0apew7upxoM1LXqGogMHxIDT7CoIjCCTaPcIuXBeDjsvhosG3UToZD+RyBoJjwSGTPaL+zOokBX0Gt9dInVDncwqCZaAfoq5QgEQoygapgAJcCrofLko9R9o7ehK+b1/SgngM7JdVAPkUbGSsjDjTeZ1m9p2V/422/x+wcdTh7f8oOX6pZxmJYXio5CTiUaJfGq+xJsAtWj6jUnyN5P0eFK+Et7+I+93Ro8wCHyn9d1H7ceTr7uegmzUIOo0qht79C+8Nup44KOzGfdE0NnTUtnQ5+sU0XBSDzIOzjNPwCmopHVxpTKUtMa6PWj391NbiERyJj7QJLtjShc9ehm2LFGja1G/eMOP5aOMg1fsK6otoDG7eUvsrjwEk1gezXgR6ZBQO4ubqXFifhL0HsDUkEHs1nY8snCx7aPn2W3n/tpLX0DBd+hOVnsHT/peGMySu2sg+8ILm/8gHO4CEE2qhyQ0bFssWLcW7pM0wpuDnp8AUEYNenFyKjIgW/95zFXNxv1E9568gi/v/+kGA+gjMPtgL51DPvKNDUsFTjotth/PyMQdVlnoyauGOEwQRFVSyFq02HBnTw0iOrSTDfsf49bCQ+gA+byxIPgVQBxg4aowfLLrHeP9uAWvP9k+bk4naN9GHj6SEF2H0VWHqgWKgxZW7dXN/0TFm2w3kFgZf6xBLEIbaQsrdcMtgASnms46+T9aYcjOyPa4WtYPuO+R/PY958lnMn2a9Xw7EeOQXH9QuT+6i5RIHXo2gn0Ec3Z6G+ZRnP+Fc7VhCMoWcURguVcsttmNMainOO6BDz6a4y8IOT7HrRPFFlDdDaFoqPc2fbVd5rF2KdmVOkKH182NREcYDhiaePWqdZHr3hmZ4IiW4DLqs7gS1MT4qbvyafilpkS2CSKqBKWUNlnjBZJPRSzl+IEbA7fJv+3AMwfXfhSTifTVG90tb3j5Hnm2D2f0M0pGm+XfEkDEZy7eSLrMJlSyKiPdopjykmZ49NEv03XDScqSTOkjMP3tlzOtRRFPuhWNs0kr87TPgONyQtk8VtONv3jQUKBDLyWi2ar2NbYPTgMADH6TnDgqkI6gD6sO50/KzEzH31inGPL3cnIN4FJh0zi116mmobfPX37oc5buXLoyLFOnYQfeggSjftrhuhOaFC2VjGosyy5RBC0T1zCzD29ySMFNxikLWzl7g1+4s7fN6RP9KbIR5J3I6IFVmfyMO7z0vyuh4ZsCNvlPhn1lQVOS8tNgECp6b2/ox7iW9+T71YwWJdocVqnm2cddQti5jCu2nX3SgTwVP+/ko9xVXEEXK5x4pqHFNBO67fpTUs5FE4PMSm5Lnx082q1t2gW712Xq5vpfFiNFjzgtVUNxNpxL1XtwkMTzVzZ3qUlrPoYrK23zn8nYhZdiUXBpvviaiN6iWC29tmcg7+lRziziUBnhKhy8lab40JHnpsRyXZN7/7FDsWKEZ54WaPjwqEbX2yxxzvPBcaLUvV4A9mVwEfg3zmBZpBUg9ZZ7EApDdK4hs90SIYN8l8i964xh7x8nY/dten7hn7Aiu+vCXieEOjSGcofCnVmdcWDDF48gqYY435vCj0HlQYV20cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ULX9ha5pLvgVgQggo3PurB",
      "input": {
        "note": "The arm fell short (y 0.30, z 0.16) and the burner coil still shows on the left side of the wrist view, so the can is a few cm right of the burner centre. Shifting further left over the burner.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4,
          "right_y": 0.36,
          "right_yaw": -0.3,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01ULX9ha5pLvgVgQggo3PurB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0313, 0.9978, 0.8452, 2.479, 2.6148, -1.5917, 0.4004, 1.0149, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3291 left_pitch=-0.4981 left_roll=-0.6182 left_gripper=0.9978 right_x=0.3735 right_y=0.3227 right_z=0.136 right_yaw=-0.2968 right_pitch=-0.5755 right_roll=-0.1237 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.4769, 4.5607, -0.2515, 0.2808, -0.0024, -0.0171, 0.3897, -12.4786, 8.5128, 0.7399, 0.3541, 0.2173, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53ebf1292cb6f972b5b59329a4514cead641c28ba247d94be52a36e4752e141a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bd45a56bafd5efe731a90ca938faa0542987ec99a16ed681627a1658628238",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02f6a9c00e0222eb93d93e50e1839e88fa9c81fa5c3811e274d1527baa12b27c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 6.804 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.606, 1.0382, 0.9978, 0.675, 1.8771, 1.9064, -1.3262, 0.4042, 0.8272, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0816 left_z=0.0375 left_yaw=-1.3321 left_pitch=-0.4945 left_roll=-0.6139 left_gripper=0.9978 right_x=0.3578 right_y=0.202 right_z=0.2072 right_yaw=-0.2654 right_pitch=-0.5005 right_roll=-0.06 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.6547, 4.6017, -0.2076, 0.4371, -0.0122, -0.0171, 0.212, -9.347, 7.3094, 0.6471, 0.3492, 0.2418, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0348, 0.9979, 0.7975, 2.434, 2.6282, -1.5887, 0.4088, 0.9699, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3308 left_pitch=-0.4971 left_roll=-0.6161 left_gripper=0.9979 right_x=0.39 right_y=0.3041 right_z=0.1613 right_yaw=-0.2842 right_pitch=-0.5433 right_roll=-0.085 right_gripper=0.7076\nstate[joint_eff]: [-0.0615, -5.5043, 4.5333, -0.2125, 0.3101, 0.0269, -0.0073, 0.2803, -12.1915, 8.212, 0.735, 0.525, 0.0952, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0313, 0.9978, 0.8452, 2.479, 2.6148, -1.5917, 0.4004, 1.0149, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3291 left_pitch=-0.4981 left_roll=-0.6182 left_gripper=0.9978 right_x=0.3735 right_y=0.3227 right_z=0.136 right_yaw=-0.2968 right_pitch=-0.5755 right_roll=-0.1237 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.4769, 4.5607, -0.2515, 0.2808, -0.0024, -0.0171, 0.3897, -12.4786, 8.5128, 0.7399, 0.3541, 0.2173, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53ebf1292cb6f972b5b59329a4514cead641c28ba247d94be52a36e4752e141a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bd45a56bafd5efe731a90ca938faa0542987ec99a16ed681627a1658628238",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f6a9c00e0222eb93d93e50e1839e88fa9c81fa5c3811e274d1527baa12b27c",
        "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_01MH7NZKJ4pxiUnYFhPG3ckQ",
      "input": {
        "note": "The arm is near its reach limit with the tool pitched back, but the gripper now sits over the burner's right half with the can extending over the coil. Lowering the can toward the burner surface and watching for contact.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.38,
          "right_y": 0.34,
          "right_yaw": -0.3,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MH7NZKJ4pxiUnYFhPG3ckQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.6044, 1.0309, 0.9978, 0.8516, 2.4897, 2.513, -1.4963, 0.3973, 1.0218, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0374 left_yaw=-1.3287 left_pitch=-0.4982 left_roll=-0.618 left_gripper=0.9978 right_x=0.3754 right_y=0.3305 right_z=0.1062 right_yaw=-0.304 right_pitch=-0.5848 right_roll=-0.1377 right_gripper=0.7076\nstate[joint_eff]: [-0.1709, -5.559, 4.6564, -0.232, 0.315, -0.0513, -0.0073, 0.3624, -10.7556, 4.8068, 0.8864, 0.232, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e807bc892e00935a31d96f65fad0ad75f1cb765520ea788e19e6c7247a67ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcfc7023287c4e6976bfca7ed36257d3f1741e0c05b47c7f62ff71ae2027db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca8016b949f41a4880d398401f80e8ee102fb2811473ab85053365733e90c833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.378 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0348, 0.9979, 0.7975, 2.434, 2.6282, -1.5887, 0.4088, 0.9699, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3308 left_pitch=-0.4971 left_roll=-0.6161 left_gripper=0.9979 right_x=0.39 right_y=0.3041 right_z=0.1613 right_yaw=-0.2842 right_pitch=-0.5433 right_roll=-0.085 right_gripper=0.7076\nstate[joint_eff]: [-0.0615, -5.5043, 4.5333, -0.2125, 0.3101, 0.0269, -0.0073, 0.2803, -12.1915, 8.212, 0.735, 0.525, 0.0952, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0313, 0.9978, 0.8452, 2.479, 2.6148, -1.5917, 0.4004, 1.0149, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3291 left_pitch=-0.4981 left_roll=-0.6182 left_gripper=0.9978 right_x=0.3735 right_y=0.3227 right_z=0.136 right_yaw=-0.2968 right_pitch=-0.5755 right_roll=-0.1237 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.4769, 4.5607, -0.2515, 0.2808, -0.0024, -0.0171, 0.3897, -12.4786, 8.5128, 0.7399, 0.3541, 0.2173, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.6044, 1.0309, 0.9978, 0.8516, 2.4897, 2.513, -1.4963, 0.3973, 1.0218, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0374 left_yaw=-1.3287 left_pitch=-0.4982 left_roll=-0.618 left_gripper=0.9978 right_x=0.3754 right_y=0.3305 right_z=0.1062 right_yaw=-0.304 right_pitch=-0.5848 right_roll=-0.1377 right_gripper=0.7076\nstate[joint_eff]: [-0.1709, -5.559, 4.6564, -0.232, 0.315, -0.0513, -0.0073, 0.3624, -10.7556, 4.8068, 0.8864, 0.232, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e807bc892e00935a31d96f65fad0ad75f1cb765520ea788e19e6c7247a67ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bcfc7023287c4e6976bfca7ed36257d3f1741e0c05b47c7f62ff71ae2027db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca8016b949f41a4880d398401f80e8ee102fb2811473ab85053365733e90c833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQgKEAgRGAI4AUIIdGhpbmtpbmcSDF8ClwSo6hfG1TIrMxoMkuvng2+GxXGXwEP5IjBF9y/TNAnZ/MPdorjgBO6ejTn5xao3V4BFybgG11VimMDgDgD4DfrxNt3I8/Lo5BYqqgf/kKnw0MqlPBQxxYOpR7unZhf2SnjgaVQA320HCp+UckeMKHcIXz/3Sm+C2YjTSFmgVx1FZKO7Zg70WCIkLt8Vf0EaEtPDXefLpKTZYSJjg4AX5qGFqV3X01x3QWWSfJm0BW57HppicHQc79pcTOogaZA/wN+u/7Q0SNk6WkoXlN6B60GKYbWRA75U0asm0b+//Pc57lOpYdFBMNRyRSybjG7YGjgvf609kAnRJUxURTaChaKcoWJxXtR41kpvo+yggMatciU7mdXhlN3WiyffcEYOA0Ha9A/T5fQGV4Il8WV6RXU1XzrFqTuGxY3gjApYZt2Ok8xcGErjp2t6f69iQLGYoTtJZjGp/imK/Kfp+vhf2zZenMmrM3RqJ7dk2PsLKLyt3YBTjQk4PyrXhXgLHAxxpjRvEuzYt0tEGGiENLdn15k7LwICX67ZzjFdtwbE+22GVhfr2CZ8t+XIoKM415LxKe3TysQWSOCjRVV5S19bmpxWBSc5wp2PVGjrJiyHZxiD3Kug+cioLQ4WCK/trIby1VFJEuFsacPcpJxmsAkMsErM/TvEILumwoZKC3E2wxV8TNvIQxkSiSwGrf4RAwcJcYI57rFsY4eVTI7NZkfVHIuo47GFFwheVRBtyC1Xx20RyFtC8jf0muJ4vdKs9sNMPPVSbtjWkzJTAk+egnH8ApBp+4aJas7YOpEeki+V7rGC9s9HKxMsRg6RZ2IsRSWdEgyYpVSOBi8mFaQ+FzGyUTnx/K8G5xOPScpXfhkKU1eK/mF91VHn74p0od6TYgREmM9wMn9MpfbT/i5o5LSZV/9/LkSVzDTjE8KNchseUX0WjmwFEAcWWlgQYJy3CveEcZCyTI0ciYbxvr6bNhdNNakUfWeBsuyo2fqsFQOFDfVy/1pmKAAM9GUI7YVmA/ZBqEVnMg3bp8kyFTXvbRhWcnr9rdonwTkwn6abPqtqbrXx/GP1T/EWGaRuDx9f2OLIqZsAS6G8VNrIfwPSB7kbgGg1Ja//COlQRuNORr9dqIkZtGkqYI+Q/EnuCM3sfe2F9AFNPnIpoZBPuIt8McigMmhuwRtD+84cRyUt+RuevCbPptX30Mb5IRK6Y/ToPHRUKzJI1lZ2ZORkfLSh5IcsgdNiUVlOVI7geDl5Ayd9jGhT8jDGtag2Ym/dyThT8uM02N1VcvOIFLaPsTy2/Me/jHHPiBHHdwipCMI670+FZgIoh7lw1BpnWFe4lLAd6hAOhdhzxFpBlxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0132Qph8EKtMLTM7NdkVQ4CM",
      "input": {
        "note": "The descent stopped at z 0.106 and the shoulder/elbow efforts dropped, indicating the can has touched down on the burner. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0132Qph8EKtMLTM7NdkVQ4CM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.6041, 1.0313, 0.9979, 0.8532, 2.5027, 2.5072, -1.4822, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1967 left_y=-0.0813 left_z=0.0372 left_yaw=-1.3293 left_pitch=-0.4986 left_roll=-0.6185 left_gripper=0.9979 right_x=0.3767 right_y=0.3324 right_z=0.099 right_yaw=-0.3061 right_pitch=-0.5839 right_roll=-0.1444 right_gripper=0.7075\nstate[joint_eff]: [-0.1299, -5.6684, 4.5607, -0.2271, 0.2808, -0.0073, -0.0073, -0.5128, -14.7761, 6.0786, 0.2906, 0.1392, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5a8443da0147c40233c887f91555118b9ec9f9f7ee7319f1c46ce9259319c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a9c0542974d29bbffabb84895c0c98dc83bb633c0c334bf005bcd09b6bc607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f926e04915dde1e53283ff2e91407b652ca1f452e1974167680d6421e35f9b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 7.528 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6044, 1.0313, 0.9978, 0.8452, 2.479, 2.6148, -1.5917, 0.4004, 1.0149, 0.7076]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3291 left_pitch=-0.4981 left_roll=-0.6182 left_gripper=0.9978 right_x=0.3735 right_y=0.3227 right_z=0.136 right_yaw=-0.2968 right_pitch=-0.5755 right_roll=-0.1237 right_gripper=0.7076\nstate[joint_eff]: [-0.0889, -5.4769, 4.5607, -0.2515, 0.2808, -0.0024, -0.0171, 0.3897, -12.4786, 8.5128, 0.7399, 0.3541, 0.2173, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.6044, 1.0309, 0.9978, 0.8516, 2.4897, 2.513, -1.4963, 0.3973, 1.0218, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0374 left_yaw=-1.3287 left_pitch=-0.4982 left_roll=-0.618 left_gripper=0.9978 right_x=0.3754 right_y=0.3305 right_z=0.1062 right_yaw=-0.304 right_pitch=-0.5848 right_roll=-0.1377 right_gripper=0.7076\nstate[joint_eff]: [-0.1709, -5.559, 4.6564, -0.232, 0.315, -0.0513, -0.0073, 0.3624, -10.7556, 4.8068, 0.8864, 0.232, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.6041, 1.0313, 0.9979, 0.8532, 2.5027, 2.5072, -1.4822, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1967 left_y=-0.0813 left_z=0.0372 left_yaw=-1.3293 left_pitch=-0.4986 left_roll=-0.6185 left_gripper=0.9979 right_x=0.3767 right_y=0.3324 right_z=0.099 right_yaw=-0.3061 right_pitch=-0.5839 right_roll=-0.1444 right_gripper=0.7075\nstate[joint_eff]: [-0.1299, -5.6684, 4.5607, -0.2271, 0.2808, -0.0073, -0.0073, -0.5128, -14.7761, 6.0786, 0.2906, 0.1392, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc5a8443da0147c40233c887f91555118b9ec9f9f7ee7319f1c46ce9259319c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43a9c0542974d29bbffabb84895c0c98dc83bb633c0c334bf005bcd09b6bc607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f926e04915dde1e53283ff2e91407b652ca1f452e1974167680d6421e35f9b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQYKEAgRGAI4AUIIdGhpbmtpbmcSDLDi5VtVPAm28VPoHxoMX7n0e3oRKuumhwOlIjCyfFyqn1ewTK2MiEEiWqnPa2Us9nMlxxe8f20fvvkk9l1ZutVoiCt/u+56dC9YHi8q5gWHdHur770QWLmvqi6ObN9f4tbplap0gTUPUSAL35RLWsJT6GSeZ0sTT5R7qI6ND98LzOXIkyRz76VFSu22mRF17PvZsoGangaOEef1jwkvjLCiHQgerIbDIfSMyy/kPLoqemlgbak8A3YcY6udaWW8Dv9gyDJrrwgL0ybYbmTbAHxzIoICCkm7aPmRkOt7hn1oH4LlbeCd2SsmVdNuL3qv0/Y3e4Mw5jdMVVpR/Srj3zBbZgAyOIi+rVzluJj76axzW7OUJTw1yCw7GXEsUYHdXSOuf2O6BFc2aXFvmikVfg4ISP351A/a1bBQh2e1j/xFsYlpPdQSJJa2VRz8HQl/JZ9ff3T9WHr5aeXAX/sV9f5LU2KzRxioJZzZxjOg9e+HGmPXM1xlieuG7qstK4H8omdwL6wCcu0hEpmWvrYYjwcmf78k/xRQJE27jfqbj7FATs+e+Mps6tTdVK3ZdwtUOQdqmyXqCyQHCiJ83n4lqvysF8i9VhnYlEAf4/ZC3M3+6H9kGiPFu7mBRy8A9URH+0rIVL1vHx9twhWQDcPzr+Cf4LtExTB60UzsM13makWnLSq65VbF7vTIR7MtG9hLDAA+bTU6LrTOTLuSvagVtaC53WdYQPSd7vGyZNSpUz9oUAgh6/f5AAlqrMhKILKS6fHL38mlruYqbv+HVvfmINrL5ujCk1KQb2HbYMAZFkvOI6PhsLA63XvVOMTZIKFEIssnBpDS8Y0ZLlukddzL14NPRnDosmvg1T/sXnzASsbgIujcPex/ZivReQGP4ZpqiEEGAD3V+ys5sNe5wDNs7Melo7xim27PCz9NVpeGumpkhTlMQPJDqJpDU7l9deUat7jIbREHv0yQnIkZLAGJuAxE+LXwkYIYM1rJsKrh1r4Hh9plf23MxWKcuJkZS/++aDtNRHRXTLapq19LkBz48CMOKrR5sM423/OJTYcxPPK7eNQL8MvNLJui8lmHFS10WHkYktqtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JaW7KsgeaWpGcPoNDq8Af7",
      "input": {
        "note": "The gripper reading is still 0.71 — the open command was clamped and didn't complete. Re-sending the open command to release the can on the burner.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JaW7KsgeaWpGcPoNDq8Af7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6041, 1.0241, 0.9978, 0.8536, 2.5027, 2.5072, -1.4826, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3255 left_pitch=-0.5008 left_roll=-0.6224 left_gripper=0.9978 right_x=0.3765 right_y=0.3324 right_z=0.099 right_yaw=-0.3059 right_pitch=-0.5841 right_roll=-0.1448 right_gripper=0.7075\nstate[joint_eff]: [-0.0342, -5.5043, 4.6291, -0.2222, 0.2808, 0.0317, -0.0171, -0.253, -13.5316, 5.641, 0.4615, 0.1734, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea18e4dd5d1258c4ac2c75fd8b8f4dbe998d876fb6b101d9990478aea8939dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69d5d6c79adbd1188f0697660e096cbc1f0244ad587c21e62eaa751836ab775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e972eee058b50d7cb053884585c07237542dc33bbe03b6077d340d3c8d167aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.865 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6211, 0.8337, -1.0592, 0.6044, 1.0309, 0.9978, 0.8516, 2.4897, 2.513, -1.4963, 0.3973, 1.0218, 0.7076]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0374 left_yaw=-1.3287 left_pitch=-0.4982 left_roll=-0.618 left_gripper=0.9978 right_x=0.3754 right_y=0.3305 right_z=0.1062 right_yaw=-0.304 right_pitch=-0.5848 right_roll=-0.1377 right_gripper=0.7076\nstate[joint_eff]: [-0.1709, -5.559, 4.6564, -0.232, 0.315, -0.0513, -0.0073, 0.3624, -10.7556, 4.8068, 0.8864, 0.232, 0.0708, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.6041, 1.0313, 0.9979, 0.8532, 2.5027, 2.5072, -1.4822, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1967 left_y=-0.0813 left_z=0.0372 left_yaw=-1.3293 left_pitch=-0.4986 left_roll=-0.6185 left_gripper=0.9979 right_x=0.3767 right_y=0.3324 right_z=0.099 right_yaw=-0.3061 right_pitch=-0.5839 right_roll=-0.1444 right_gripper=0.7075\nstate[joint_eff]: [-0.1299, -5.6684, 4.5607, -0.2271, 0.2808, -0.0073, -0.0073, -0.5128, -14.7761, 6.0786, 0.2906, 0.1392, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6041, 1.0241, 0.9978, 0.8536, 2.5027, 2.5072, -1.4826, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3255 left_pitch=-0.5008 left_roll=-0.6224 left_gripper=0.9978 right_x=0.3765 right_y=0.3324 right_z=0.099 right_yaw=-0.3059 right_pitch=-0.5841 right_roll=-0.1448 right_gripper=0.7075\nstate[joint_eff]: [-0.0342, -5.5043, 4.6291, -0.2222, 0.2808, 0.0317, -0.0171, -0.253, -13.5316, 5.641, 0.4615, 0.1734, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea18e4dd5d1258c4ac2c75fd8b8f4dbe998d876fb6b101d9990478aea8939dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b69d5d6c79adbd1188f0697660e096cbc1f0244ad587c21e62eaa751836ab775",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e972eee058b50d7cb053884585c07237542dc33bbe03b6077d340d3c8d167aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwgKEAgRGAI4AUIIdGhpbmtpbmcSDJGXJDSn+lMV0TOqpBoMX7aR1x135WC4JS26IjDeTG85f8YB2neKlNL4S8R2pckrijB1maWs6JZ85wIcwwj/Nw0tuNAJnChx2sBEyiIq3AfGvzLVlNCzXYPw4Wx/+CsHD7A1eUDJ7x9uo+gACQV1HbeTDSw3YzxR8klWwl6l3W4yJOXn3xlULYHoQUIUUs2jtyb3rzmfkVbsJFs++aYQoumvTm+mjCiOwqv15Bshr3QvpqpQaqN6k66GDn9p9mPdPXKQyt1mDJGi9xbpkJd43eV/vt6og7maPrIazH9o/7jAD5dF0sSKVrhpcfakrZLZ0W6176yAkCYrjjjVVa0oyrxBDgTTKaBnFLNcHkckx7Jt4atU7ICQURWZ2JdBr/+SiWIH4mXlF2CIf95rnVLFN1tvyMTlQnMqFTkoFrcxSF4ShW87Kt4rxMTi/HoFyvZUJXLdFTffNZiikrsvGHyCP6Zo43D/UEd0Hx2ZNTluWI6DnHCh7jEC2bNhPBX12iGgWSF8FCGZSh0I8QQH+FCm/YQFY9/ZjRm8bUrCXm90c7g6IuM2miAzYuUvru7pRA+OpBDUG7urWK7EtqgFMdzvH71E8Xh5R2mF4OhE3inWlPYJ/J8l+R3DPgIsWri5cid320ZMkEBGR3rRaRfiWR31SENH0/Uu631NedpSrWR26OGqd9acCVR3CZyOfF+BcfZuou0MzyjwAavX/3PqQTC72HHSWefPevX8GDDu0n5ojom5JVRh3iInyexVX+BSkrWB6uObeGg/uqTWstCtm2qg+262vzI3tz4ATNU8GlqzPXcvxSoyWFAViElu+81V6vdSegnVqRkY0t2MBvdwaPFMUpAnDQedBjPd7oSdH/Hl6h4ibdkeIJG8/piqxCfnnlEePEoxI1i4hTGIQAsD5jllfHJPU8VugirTumSttYIaqWfWwspXfjtxKwcZM/REwKaZQecCHYiXOBOs+He+BcyHE9VIFlf5AIB6vSaYmQvrOKkzxAiuSBXPPnBeMl5LJsadCLORBRToAV0Dd66gsCBQQ6ntkrLPPq5k96J4M9/Ta1ngfzftfhP8KQF/tdVDs42oJ0woghikw7qEgSvjBI2EK06nKOyuFulc4ZL0hzOecBp+KMSZWVmLaSZ3G/c8KsoIb3JkrF0rj8HhYdWfpYLLjnY7zKrHon6MchSTyFBf9ZZHTA6ma4/d24Vwie7J7o30C1jB5oo/Nx2xrM7w1Y4nSp4NwZD+Diz452pWdquaYL3iuUHd7idGgWiyetNWPsSFeGo7TCZU4m/B/SpbAk+57pjFipRkRsiZOs834egEhdHGKp9xi37xPmr+E2sZRcT+mivQIY9Yc+bxR9k/MWim149qPZTV5AKLQ9+iUTkL2KlFz5q9tzReCVtfsX5E3pXTC6ZUW7lAtew09E6+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S1s7V1XrZUDNKT8WBUFugM",
      "input": {
        "note": "The gripper still reads 0.71 and is not opening while pressed onto the burner. Relieving the downward pressure slightly while commanding the jaws open again.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.115
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01S1s7V1XrZUDNKT8WBUFugM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0588, 0.6041, 1.0233, 0.9978, 0.8536, 2.524, 2.5916, -1.552, 0.3958, 1.0134, 0.8943]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3249 left_pitch=-0.5009 left_roll=-0.6225 left_gripper=0.9978 right_x=0.3743 right_y=0.331 right_z=0.1092 right_yaw=-0.3029 right_pitch=-0.5915 right_roll=-0.1535 right_gripper=0.8943\nstate[joint_eff]: [-0.1983, -5.5863, 4.6974, -0.2173, 0.2515, -0.022, -0.0122, -0.1026, -13.053, 8.0068, 0.5739, 0.2613, 0.0415, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63121a982937461e44d0a18bea4fc576442fc46aedf1159d772fa17176082a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d730dd6deefbbcc00acef63b63bbe70827d8239802b8d64f5e30b3bc58956c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57c4435689370afb0058036a0b48dd0f2e85a0a1225a548fb812d014d8622959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 14.82 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.6041, 1.0313, 0.9979, 0.8532, 2.5027, 2.5072, -1.4822, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1967 left_y=-0.0813 left_z=0.0372 left_yaw=-1.3293 left_pitch=-0.4986 left_roll=-0.6185 left_gripper=0.9979 right_x=0.3767 right_y=0.3324 right_z=0.099 right_yaw=-0.3061 right_pitch=-0.5839 right_roll=-0.1444 right_gripper=0.7075\nstate[joint_eff]: [-0.1299, -5.6684, 4.5607, -0.2271, 0.2808, -0.0073, -0.0073, -0.5128, -14.7761, 6.0786, 0.2906, 0.1392, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6041, 1.0241, 0.9978, 0.8536, 2.5027, 2.5072, -1.4826, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3255 left_pitch=-0.5008 left_roll=-0.6224 left_gripper=0.9978 right_x=0.3765 right_y=0.3324 right_z=0.099 right_yaw=-0.3059 right_pitch=-0.5841 right_roll=-0.1448 right_gripper=0.7075\nstate[joint_eff]: [-0.0342, -5.5043, 4.6291, -0.2222, 0.2808, 0.0317, -0.0171, -0.253, -13.5316, 5.641, 0.4615, 0.1734, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0588, 0.6041, 1.0233, 0.9978, 0.8536, 2.524, 2.5916, -1.552, 0.3958, 1.0134, 0.8943]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3249 left_pitch=-0.5009 left_roll=-0.6225 left_gripper=0.9978 right_x=0.3743 right_y=0.331 right_z=0.1092 right_yaw=-0.3029 right_pitch=-0.5915 right_roll=-0.1535 right_gripper=0.8943\nstate[joint_eff]: [-0.1983, -5.5863, 4.6974, -0.2173, 0.2515, -0.022, -0.0122, -0.1026, -13.053, 8.0068, 0.5739, 0.2613, 0.0415, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63121a982937461e44d0a18bea4fc576442fc46aedf1159d772fa17176082a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d730dd6deefbbcc00acef63b63bbe70827d8239802b8d64f5e30b3bc58956c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c4435689370afb0058036a0b48dd0f2e85a0a1225a548fb812d014d8622959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgRGAI4AUIIdGhpbmtpbmcSDOUu68JB+Jgukksg8RoMW9gQKKh6oFsma6/GIjDpBvhvEa1beLH4IPU2aGTubTAY+4+ktGeyv2W5mVD7vqpM65witeXNfP1QLnZgfQ8q0AZeDn+fH1AeBRnmt23D45rD7zzB5fmFGSTyhrj/I8/soH8GK/PXMxYtuOH4URg+Bi7uLu3Ui83T8KnYedSO4QLiHUTx4R3itDkfU9R0WN5xjU2PAqu3hr9ivF2V6rpGDiYBqQ7AKK+3eZ1mBrASE9C+jJ9nzNm5tO77x6Jx5MQ/Cp6Cs/ijWiszT3QAGjJwDxxonM0tZo2qDZ6ksHNPXgs/xDEA7kOcni/zkVR5jPzi8Mjc8yuAwP2izaDpUgZ5jqAhfRLCA17Hy8zCrAINdLp4Qm36jM6kGNw3ISDSc4jy6dlL/a0BvNjqgcp77BIK+1wlP4BnZYMh4SosJ88TAh/mSBa+8LALU0Xox6GaOcCtB8M8u8GklRRJMjf/yAuYXT2esp5h060wcEXRG1fMh8XF1Z4h6unavJvl88om2SuzSBk7ZoNVRgxQMCkkKke11uf35Xutlsm+0d07TbqHAQMGeL0qB6rmdEqs2mFPnu9Ql8VYaIqXQKxFj7QhfcPOLHJlfNECbIhHGsjNoij5rpbB3XPZPCrGDr/4pxW9LTxZGaVSMu9NUzwx3Laidiap51wgdU6Zt111uEQWJjbg5cEy2gMykBZZNhWHbcCT0o0S9ECiVM7WIvNI4/IVduLqDM3WKVAXL7oTpsNuwAyTDcK6GAxh+sYCLFJqGBNJvtlaVT6306GTebiKvKEygI6JvENxYsQ4LhvsJMG7+A/smuGBBbt4aetCAO81k5wVlwKWzxbczxml/LLGoekDiUTJKPVhuDEze7eLUzh7xq97/+Jp06IpdiYsTGkq31bYIYOvLRBebmBpH9q1DaFTl41K5nraskDHrfAw8nOLngrWKpAgdi2tYxrTQ9sUQPMycNol4BaUWJ0qhKB2fjW1O5vntg7wUByJ0/is8K4YYmkX0p2WU/UlDrnieO7dVb2TpzjbZ8rXLzfUtKpNaoL69si1X998a8907Zu++3OCyIjdQ0ftpZo66zDs8TsD4IhvERg7xqw7L6QfrsxDq0CxTADKXZoZG9vpOmtOfxd7qaVT2KrjcRo2feVmoI3bxRrxltH7gbQmUDFm8AMZfcbfWU7iPi5MfwziUzWycDceotIJSQSGz47HKFxmggQqY2JjCS8aPhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019isTZHCpPcnfzpcVvADJxR",
      "input": {
        "note": "The gripper has opened (0.89) and the can remains visible resting on the burner in the wrist view. Retracting the right arm up and away to check the placement from the overhead camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.28,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_019isTZHCpPcnfzpcVvADJxR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5976, 1.0164, 0.9978, 0.4942, 1.4864, 1.6405, -1.4292, 0.2653, 0.3687, 0.999]\nstate[eef_state]: left_x=0.1965 left_y=-0.0804 left_z=0.0366 left_yaw=-1.323 left_pitch=-0.5094 left_roll=-0.6262 left_gripper=0.9978 right_x=0.2849 right_y=0.105 right_z=0.242 right_yaw=-0.0404 right_pitch=-0.6016 right_roll=-0.1534 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.4496, 4.7385, -0.2125, 0.3443, 0.0464, -0.0073, -0.212, -6.7214, 5.9145, 0.8669, 0.1099, -0.0317, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15dba1225e9127e9e1211d090a522bb3e9dd54dff0b12f2e61ff32baf2318595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d8f2654a18c1bb2cdc909a166c051db7b6d353373c5c4cac5e4305e76e9f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b4ff77649aa636f0279d687589aaa71771dff8edfa9ff0d32e4504de81f10c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 6.722 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0592, 0.6041, 1.0241, 0.9978, 0.8536, 2.5027, 2.5072, -1.4826, 0.4004, 1.0214, 0.7075]\nstate[eef_state]: left_x=0.1968 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3255 left_pitch=-0.5008 left_roll=-0.6224 left_gripper=0.9978 right_x=0.3765 right_y=0.3324 right_z=0.099 right_yaw=-0.3059 right_pitch=-0.5841 right_roll=-0.1448 right_gripper=0.7075\nstate[joint_eff]: [-0.0342, -5.5043, 4.6291, -0.2222, 0.2808, 0.0317, -0.0171, -0.253, -13.5316, 5.641, 0.4615, 0.1734, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0588, 0.6041, 1.0233, 0.9978, 0.8536, 2.524, 2.5916, -1.552, 0.3958, 1.0134, 0.8943]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3249 left_pitch=-0.5009 left_roll=-0.6225 left_gripper=0.9978 right_x=0.3743 right_y=0.331 right_z=0.1092 right_yaw=-0.3029 right_pitch=-0.5915 right_roll=-0.1535 right_gripper=0.8943\nstate[joint_eff]: [-0.1983, -5.5863, 4.6974, -0.2173, 0.2515, -0.022, -0.0122, -0.1026, -13.053, 8.0068, 0.5739, 0.2613, 0.0415, -0.0024]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5976, 1.0164, 0.9978, 0.4942, 1.4864, 1.6405, -1.4292, 0.2653, 0.3687, 0.999]\nstate[eef_state]: left_x=0.1965 left_y=-0.0804 left_z=0.0366 left_yaw=-1.323 left_pitch=-0.5094 left_roll=-0.6262 left_gripper=0.9978 right_x=0.2849 right_y=0.105 right_z=0.242 right_yaw=-0.0404 right_pitch=-0.6016 right_roll=-0.1534 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.4496, 4.7385, -0.2125, 0.3443, 0.0464, -0.0073, -0.212, -6.7214, 5.9145, 0.8669, 0.1099, -0.0317, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15dba1225e9127e9e1211d090a522bb3e9dd54dff0b12f2e61ff32baf2318595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03d8f2654a18c1bb2cdc909a166c051db7b6d353373c5c4cac5e4305e76e9f8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4ff77649aa636f0279d687589aaa71771dff8edfa9ff0d32e4504de81f10c7",
        "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_01KJjabmbVVXiD1bjAm9BxnU",
      "input": {
        "note": "The overhead shows the can rolled off and now lies on the table just in front of the burner, pointing toward the bases along the x axis. Moving the right gripper above it (yaw 0 so the jaws close across its diameter) to re-grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.25,
          "right_y": 0.34,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01KJjabmbVVXiD1bjAm9BxnU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5922, 1.0122, 0.9978, 1.0767, 2.0167, 1.7794, -1.2568, 0.3622, 0.8986, 0.999]\nstate[eef_state]: left_x=0.1962 left_y=-0.0796 left_z=0.0361 left_yaw=-1.3219 left_pitch=-0.5158 left_roll=-0.6277 left_gripper=0.9978 right_x=0.2435 right_y=0.3277 right_z=0.1165 right_yaw=0.0041 right_pitch=-0.6366 right_roll=-0.1972 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -5.6684, 4.7521, -0.2418, 0.3199, 0.0171, -0.0073, 0.2667, -9.7299, 8.2803, 0.5104, 0.2711, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345bfa352f5802fe8d95991b59fa9a98ea725187120b2623ea6f9d9ea777f58d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b45a4cbd84267b855a3f1f966875b5484f574418c0f16899818662fef717873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d78d29990d09c027eee0ac44a1009f176edd7ad38ba67c23dab30828229dcae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.361 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8337, -1.0588, 0.6041, 1.0233, 0.9978, 0.8536, 2.524, 2.5916, -1.552, 0.3958, 1.0134, 0.8943]\nstate[eef_state]: left_x=0.1969 left_y=-0.0813 left_z=0.0373 left_yaw=-1.3249 left_pitch=-0.5009 left_roll=-0.6225 left_gripper=0.9978 right_x=0.3743 right_y=0.331 right_z=0.1092 right_yaw=-0.3029 right_pitch=-0.5915 right_roll=-0.1535 right_gripper=0.8943\nstate[joint_eff]: [-0.1983, -5.5863, 4.6974, -0.2173, 0.2515, -0.022, -0.0122, -0.1026, -13.053, 8.0068, 0.5739, 0.2613, 0.0415, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5976, 1.0164, 0.9978, 0.4942, 1.4864, 1.6405, -1.4292, 0.2653, 0.3687, 0.999]\nstate[eef_state]: left_x=0.1965 left_y=-0.0804 left_z=0.0366 left_yaw=-1.323 left_pitch=-0.5094 left_roll=-0.6262 left_gripper=0.9978 right_x=0.2849 right_y=0.105 right_z=0.242 right_yaw=-0.0404 right_pitch=-0.6016 right_roll=-0.1534 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.4496, 4.7385, -0.2125, 0.3443, 0.0464, -0.0073, -0.212, -6.7214, 5.9145, 0.8669, 0.1099, -0.0317, -0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5922, 1.0122, 0.9978, 1.0767, 2.0167, 1.7794, -1.2568, 0.3622, 0.8986, 0.999]\nstate[eef_state]: left_x=0.1962 left_y=-0.0796 left_z=0.0361 left_yaw=-1.3219 left_pitch=-0.5158 left_roll=-0.6277 left_gripper=0.9978 right_x=0.2435 right_y=0.3277 right_z=0.1165 right_yaw=0.0041 right_pitch=-0.6366 right_roll=-0.1972 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -5.6684, 4.7521, -0.2418, 0.3199, 0.0171, -0.0073, 0.2667, -9.7299, 8.2803, 0.5104, 0.2711, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345bfa352f5802fe8d95991b59fa9a98ea725187120b2623ea6f9d9ea777f58d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b45a4cbd84267b855a3f1f966875b5484f574418c0f16899818662fef717873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d78d29990d09c027eee0ac44a1009f176edd7ad38ba67c23dab30828229dcae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQgKEAgRGAI4AUIIdGhpbmtpbmcSDAwnQ9WgnEns/oca+xoMtwYxa2Mcn/BvNvPPIjBrRLNIAMwOWo5WAsWuIKtXCQtHzAfRTjdGHVljUfxMvqE/XkVYzE8F/ZcqWcctYAEq4gfJeBMMQuUShjWZbnAzcsoqze18CORZT+DQ/4DanmR5lO/raMn+VQNhfdxgeXbwzQY/dhHkmdVHQTsn5xISGHALauH0OtsJ9oqqFRUE9vsniR8uIq6qRK3KmyY8j4UyS0CaKsuZL/FVevyQocyehDl6eVpNrLhrShgtg3zRH8AoQ7LI3z9kXTGw3yd7JKmyGzUbUSPPpXpLWDVCfBh6VmZsfo1Gg0/SS9mERwM7l8Muq5VNTXcYqSKoKPRomYxLUIJ32paF/MqHaBrZCQSlZ3fzEUbdNyMPO+1tRonYCsmw/stQj8OwHJxrqEapblzTcjHMnFmhbkZaaArjkuhztm5peTAY+qbaiIexnp5K3kppq48Wryyv8bTf7rbHb22CEFmA879dEs6ItM5jM8zHowymnR3DWZsSz7CkBe2vv0oMETXN7HvwYcV+ASr61YW/WaEAfzENym8M3WqiQMRgmte1LYCUkG+db/zbT1MGjJXJKu+jPWOjJjEA76i48SjC772ldlVi0aNaAuafwnlT81cRoCa9uw6lsW9KhE+UUqdQIlD8JzWyqpfAv9BsEytB7P8bvM0/wwbjIICPrwEy/qzglwVhBhbB8kS19RLrWSY9I3jk0oKZbOZzjsYrpvtbZ8tn4tMqPnOVSh6bH5mJQ4puULtwZNbLwDazMiJmqyVghYxinoukdDe3ua6sD2dpdGUue2BmSQZYGyjhBwIC2bG/Rvl2IWfgVxBaou8DWtrTFDNeEMenI3mmU4mxjpUGCvuFhldx9k2fa2t2en3poDFMWaPAacMC7HGsP/PE+oGbakditXb7qzfnKJOStvF8Wo1/jiCCe+2fOaEogakYORB3VNNJBh56ydeCABqzXxvbZGBe+AZdjuhkzNrMirVLj1qwvT/foWcuaucCJEMvTcnb5hfHd/TzRF6BGIRPxsZgKVLlBE5DdSJMvYRWDsDDqsEVK69HObfZxO2JFpDt1ggwWVRcOQdaAZNk8d+WA5rwdZe4DxjbLliRjaunND5Rns601/Gkyp26mJrvspSp6GrzR6hmjTzE+kN7eBPgO420tWNvQW/KOu+stOKi1sTBWthcz0CvQy0iXYTjiA8zN5sc2qfJpxeRZIT3NF3NqO0nxj7AW28VOkn7wk7ZlRwrlQXIH/SjzmEqUT8ySih6T3NLKf/CV8Nq3uMHiGZjqXQRpXRTY17uspc//5Q1XfJZq2GuVrULfqxyDMA4jSB8ThUk3/aELGG6NXEAcSNHl/1hrxmY3ODyg5YzmdvUzRfzdr2kq+nZFUqnCh3W0xO2SmnrfKUnhImCX/IhOQrmDZCxK6s1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E8fho6VvdYw9QWQzGzqxx6",
      "input": {
        "note": "The can runs vertically through the right wrist view with its body between the jaws, slightly left of the jaw column. Shifting 2 cm left and descending to can-centre height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.245,
          "right_y": 0.35,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01E8fho6VvdYw9QWQzGzqxx6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5865, 1.0088, 0.9978, 1.1072, 2.1204, 1.6157, -1.0279, 0.3779, 0.9176, 0.999]\nstate[eef_state]: left_x=0.1961 left_y=-0.0788 left_z=0.0355 left_yaw=-1.3209 left_pitch=-0.5222 left_roll=-0.6282 left_gripper=0.9978 right_x=0.2385 right_y=0.3393 right_z=0.0373 right_yaw=-0.0098 right_pitch=-0.6381 right_roll=-0.2405 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 4.6701, -0.2076, 0.359, 0.0024, -0.0073, 0.2256, -10.0991, 5.8188, 0.4908, 0.3736, 0.1636, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9397285fd505ff6628414d95c2c5adc9c8aeefa9316e9da425db49e5b249d6ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57ff009acc9eac531ea5500aab1872cdad3e4413b274bd9af4b8da510cd9b693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e3ad5fb0c88b5b0f5782e32ef2dab6d45128b3e9a9b233771aea66dded2e409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 12.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5976, 1.0164, 0.9978, 0.4942, 1.4864, 1.6405, -1.4292, 0.2653, 0.3687, 0.999]\nstate[eef_state]: left_x=0.1965 left_y=-0.0804 left_z=0.0366 left_yaw=-1.323 left_pitch=-0.5094 left_roll=-0.6262 left_gripper=0.9978 right_x=0.2849 right_y=0.105 right_z=0.242 right_yaw=-0.0404 right_pitch=-0.6016 right_roll=-0.1534 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -5.4496, 4.7385, -0.2125, 0.3443, 0.0464, -0.0073, -0.212, -6.7214, 5.9145, 0.8669, 0.1099, -0.0317, -0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5922, 1.0122, 0.9978, 1.0767, 2.0167, 1.7794, -1.2568, 0.3622, 0.8986, 0.999]\nstate[eef_state]: left_x=0.1962 left_y=-0.0796 left_z=0.0361 left_yaw=-1.3219 left_pitch=-0.5158 left_roll=-0.6277 left_gripper=0.9978 right_x=0.2435 right_y=0.3277 right_z=0.1165 right_yaw=0.0041 right_pitch=-0.6366 right_roll=-0.1972 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -5.6684, 4.7521, -0.2418, 0.3199, 0.0171, -0.0073, 0.2667, -9.7299, 8.2803, 0.5104, 0.2711, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5865, 1.0088, 0.9978, 1.1072, 2.1204, 1.6157, -1.0279, 0.3779, 0.9176, 0.999]\nstate[eef_state]: left_x=0.1961 left_y=-0.0788 left_z=0.0355 left_yaw=-1.3209 left_pitch=-0.5222 left_roll=-0.6282 left_gripper=0.9978 right_x=0.2385 right_y=0.3393 right_z=0.0373 right_yaw=-0.0098 right_pitch=-0.6381 right_roll=-0.2405 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 4.6701, -0.2076, 0.359, 0.0024, -0.0073, 0.2256, -10.0991, 5.8188, 0.4908, 0.3736, 0.1636, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9397285fd505ff6628414d95c2c5adc9c8aeefa9316e9da425db49e5b249d6ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57ff009acc9eac531ea5500aab1872cdad3e4413b274bd9af4b8da510cd9b693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e3ad5fb0c88b5b0f5782e32ef2dab6d45128b3e9a9b233771aea66dded2e409",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016V5txHHCFiMYmYAw2EazpV",
      "input": {
        "note": "The can body is between the jaws at 3.7 cm height in the right wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016V5txHHCFiMYmYAw2EazpV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5819, 1.0088, 0.9978, 1.1137, 2.1365, 1.5955, -0.9958, 0.3935, 0.9215, 0.7126]\nstate[eef_state]: left_x=0.1959 left_y=-0.0781 left_z=0.0351 left_yaw=-1.3217 left_pitch=-0.5266 left_roll=-0.6274 left_gripper=0.9978 right_x=0.2386 right_y=0.3397 right_z=0.0272 right_yaw=-0.0142 right_pitch=-0.6253 right_roll=-0.252 right_gripper=0.7126\nstate[joint_eff]: [-0.1299, -5.6547, 4.5197, -0.2076, 0.3199, -0.022, -0.0073, 0.5812, -13.4085, 5.094, 0.2808, 0.3834, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a886c0064b111277d757d998e5617e8e0ce21b2c97e3d66d9de72b7489c1fb4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c350984639d9ae14e9a58ee3c3db214c4fd2995953beefadd3d673e0d74a671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:773dff6135a8fc8cdb1e1b0c514d11280b6c80f8d886396082e505524e0c8c51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.12 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5922, 1.0122, 0.9978, 1.0767, 2.0167, 1.7794, -1.2568, 0.3622, 0.8986, 0.999]\nstate[eef_state]: left_x=0.1962 left_y=-0.0796 left_z=0.0361 left_yaw=-1.3219 left_pitch=-0.5158 left_roll=-0.6277 left_gripper=0.9978 right_x=0.2435 right_y=0.3277 right_z=0.1165 right_yaw=0.0041 right_pitch=-0.6366 right_roll=-0.1972 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -5.6684, 4.7521, -0.2418, 0.3199, 0.0171, -0.0073, 0.2667, -9.7299, 8.2803, 0.5104, 0.2711, 0.2222, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5865, 1.0088, 0.9978, 1.1072, 2.1204, 1.6157, -1.0279, 0.3779, 0.9176, 0.999]\nstate[eef_state]: left_x=0.1961 left_y=-0.0788 left_z=0.0355 left_yaw=-1.3209 left_pitch=-0.5222 left_roll=-0.6282 left_gripper=0.9978 right_x=0.2385 right_y=0.3393 right_z=0.0373 right_yaw=-0.0098 right_pitch=-0.6381 right_roll=-0.2405 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 4.6701, -0.2076, 0.359, 0.0024, -0.0073, 0.2256, -10.0991, 5.8188, 0.4908, 0.3736, 0.1636, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5819, 1.0088, 0.9978, 1.1137, 2.1365, 1.5955, -0.9958, 0.3935, 0.9215, 0.7126]\nstate[eef_state]: left_x=0.1959 left_y=-0.0781 left_z=0.0351 left_yaw=-1.3217 left_pitch=-0.5266 left_roll=-0.6274 left_gripper=0.9978 right_x=0.2386 right_y=0.3397 right_z=0.0272 right_yaw=-0.0142 right_pitch=-0.6253 right_roll=-0.252 right_gripper=0.7126\nstate[joint_eff]: [-0.1299, -5.6547, 4.5197, -0.2076, 0.3199, -0.022, -0.0073, 0.5812, -13.4085, 5.094, 0.2808, 0.3834, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a886c0064b111277d757d998e5617e8e0ce21b2c97e3d66d9de72b7489c1fb4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c350984639d9ae14e9a58ee3c3db214c4fd2995953beefadd3d673e0d74a671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773dff6135a8fc8cdb1e1b0c514d11280b6c80f8d886396082e505524e0c8c51",
        "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_01D3wgRY4dDotadEYrfPkQdx",
      "input": {
        "note": "Gripper settled at 0.71, so the can is grasped again, pointing forward toward the burner. Lifting it up to clear the burner before moving forward over it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.32,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01D3wgRY4dDotadEYrfPkQdx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5785, 1.0084, 0.9978, 0.9466, 2.2242, 2.3302, -1.5517, 0.3851, 0.7315, 0.7104]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0348 left_yaw=-1.3224 left_pitch=-0.53 left_roll=-0.6274 left_gripper=0.9978 right_x=0.312 right_y=0.3259 right_z=0.1754 right_yaw=0.004 right_pitch=-0.6109 right_roll=-0.2356 right_gripper=0.7104\nstate[joint_eff]: [-0.0752, -5.5043, 4.5333, -0.2076, 0.2857, -0.0171, -0.0122, -0.5402, -12.6564, 7.4735, 0.652, 0.3394, -0.1587, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263d9ec845b24ca998c8480d170294b648dd2147eaa74b74695bdf38380cbe04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3cfd044953ae6a5a322d3fd556ef5cd02112c3b2338bc39aa68ad9fc8585ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2eb264a25190248eeba966de406022c3eeeed5ab81a4f7182f7539653d0a702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 7.289 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5865, 1.0088, 0.9978, 1.1072, 2.1204, 1.6157, -1.0279, 0.3779, 0.9176, 0.999]\nstate[eef_state]: left_x=0.1961 left_y=-0.0788 left_z=0.0355 left_yaw=-1.3209 left_pitch=-0.5222 left_roll=-0.6282 left_gripper=0.9978 right_x=0.2385 right_y=0.3393 right_z=0.0373 right_yaw=-0.0098 right_pitch=-0.6381 right_roll=-0.2405 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -5.6547, 4.6701, -0.2076, 0.359, 0.0024, -0.0073, 0.2256, -10.0991, 5.8188, 0.4908, 0.3736, 0.1636, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5819, 1.0088, 0.9978, 1.1137, 2.1365, 1.5955, -0.9958, 0.3935, 0.9215, 0.7126]\nstate[eef_state]: left_x=0.1959 left_y=-0.0781 left_z=0.0351 left_yaw=-1.3217 left_pitch=-0.5266 left_roll=-0.6274 left_gripper=0.9978 right_x=0.2386 right_y=0.3397 right_z=0.0272 right_yaw=-0.0142 right_pitch=-0.6253 right_roll=-0.252 right_gripper=0.7126\nstate[joint_eff]: [-0.1299, -5.6547, 4.5197, -0.2076, 0.3199, -0.022, -0.0073, 0.5812, -13.4085, 5.094, 0.2808, 0.3834, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5785, 1.0084, 0.9978, 0.9466, 2.2242, 2.3302, -1.5517, 0.3851, 0.7315, 0.7104]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0348 left_yaw=-1.3224 left_pitch=-0.53 left_roll=-0.6274 left_gripper=0.9978 right_x=0.312 right_y=0.3259 right_z=0.1754 right_yaw=0.004 right_pitch=-0.6109 right_roll=-0.2356 right_gripper=0.7104\nstate[joint_eff]: [-0.0752, -5.5043, 4.5333, -0.2076, 0.2857, -0.0171, -0.0122, -0.5402, -12.6564, 7.4735, 0.652, 0.3394, -0.1587, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263d9ec845b24ca998c8480d170294b648dd2147eaa74b74695bdf38380cbe04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3cfd044953ae6a5a322d3fd556ef5cd02112c3b2338bc39aa68ad9fc8585ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2eb264a25190248eeba966de406022c3eeeed5ab81a4f7182f7539653d0a702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wcKEAgRGAI4AUIIdGhpbmtpbmcSDDshm7dq31TBswA8RRoM4AEGC/1PBWO/jiTdIjD8gwiBE+Oiw/cDnkvJ4V+86ZdAG1GS8VJZAD2EMFKNdU241nO2EHFchOimIR+iR9kqgAfExT0vx/Mz3Q5LkyK4KaH/hij/l0kiSweQrssLUTpSvWhbYpQagB529npIeuKDeDp5+zX/pDJAqO/FxlSV/4SgPnyDR8kOS/GV7J1gZVij2vUD3KWurA5JdLwXfo3pORNwA+a8EpMHxP7rIIZkUuvA1DV7077fQ8AD6aVq/PZQMoB1Wo6ThauhSERrBIolsFGV4grexxiZzAJ0nl9Ll3npYvyUN6DU9x/5QXJunhGZNfqSZ01WH/hEq93b1og0o9eumpZ0GjG/OrWAtAFThGQ9NtHeth0XqIlPGai3nC9YQfSWOg+w1xEfxb2nL+XP7lDyHhxLfCFUumpcjPmLKvOmT1u5eHh2CCNz27aRp6DNI2HncHZU/1WZTf+ejGg6rqAtK7h3Dlv/+KaBoOqA7CcxsK3CD6VDKOrJprHnzFh3e/xyp9DSX6dLjf3muU2Ra1tlVovZ4DrT9KA9etBznyPbgAYjXKolOFf+FCkrHsrAuKPW+P3oxWUvS7b2kz1UxfFz1zbEtSpIqto86NRjmc9T08exksFWpMBbKueMEd7EshrRuID3VvNK4pIdJfjbj7FihaEcKDJ9pGhkOz6UrYTA1dxGc9CCVTibT7VeScbgQoeiARTeWdwej5EqK7d9BhPwb6KLVvtbHSq25m6ZFGp9C5vzauv9LTuudPTa1RHz718Vtvku9uq60EmuIIofqrg/GRUQomI/6bA0HZhWFbGDq12QvPtqFk+qhsvtwZDSkdkRzHSrGdGo+xBixuLGArOq++pfrTANOObm/GdD/ZB8crP+kb7mEHgd+9vNDNAKs6d8NwlHRTkcTXQutrye4YtQscJq1HNyUfd8lydTiv1NPl3pPAMjbImUDd9bIFjeVGdlHhPMbBcAWke8xrMrNUE9uNc8RsyYTvbFZKPC6QybbxkAOCCnM1OeRH+krceSWGk1Ma0G8wfMJbk4Xf1giH//hyOj/Rm5d/VIw7NaAFHwCNWDZukByqeBh1P7q1PHRhLHjAsIGdUkAlZP+Ys30rwZOgDxTcn8LDlmN0DNgSY9Qr+1zRwlQKjXIdy4seGE4nfG3qNKdbpYiCUiaYj3z6/QZ0qHrcZ7J65pAzSNWzbR84smRHv6yvIAxjzQWuXC3ufousTKuH79Dmkn4WSnilYRk7PLxqjkDS+c/b1iIJFZ0REvO2/3R+0PxLMMJBV2KxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4MkTibpLW3D1HXecSVuRj",
      "input": {
        "note": "The can is held pointing forward with its cap approaching the burner's near edge in the overhead view. Advancing ~10 cm so the can body is centred over the burner coil before lowering.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.41,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01K4MkTibpLW3D1HXecSVuRj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0592, 0.5781, 1.0084, 0.9978, 0.7952, 2.4332, 2.6156, -1.5986, 0.3584, 0.5758, 0.7104]\nstate[eef_state]: left_x=0.1956 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3227 left_pitch=-0.5304 left_roll=-0.6277 left_gripper=0.9978 right_x=0.3824 right_y=0.3066 right_z=0.1547 right_yaw=-0.0122 right_pitch=-0.6331 right_roll=-0.2564 right_gripper=0.7104\nstate[joint_eff]: [-0.1436, -5.4906, 4.588, -0.2222, 0.2662, -0.0317, -0.0122, -0.4991, -11.9043, 7.665, 0.8425, 0.2418, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a786b15c2344b179e479a8e3275634d9b2811dc98a4710b944bb7d8d3cbf187e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a6c346ff699e302e8c157c73774a43c5cbe856e1d313080ac1ef25b846d7edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b753ff7eb12f65e36d5fccd683d1707649171c933e00d529677f86e1f40e1a75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.996 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0588, 0.5819, 1.0088, 0.9978, 1.1137, 2.1365, 1.5955, -0.9958, 0.3935, 0.9215, 0.7126]\nstate[eef_state]: left_x=0.1959 left_y=-0.0781 left_z=0.0351 left_yaw=-1.3217 left_pitch=-0.5266 left_roll=-0.6274 left_gripper=0.9978 right_x=0.2386 right_y=0.3397 right_z=0.0272 right_yaw=-0.0142 right_pitch=-0.6253 right_roll=-0.252 right_gripper=0.7126\nstate[joint_eff]: [-0.1299, -5.6547, 4.5197, -0.2076, 0.3199, -0.022, -0.0073, 0.5812, -13.4085, 5.094, 0.2808, 0.3834, 0.0708, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5785, 1.0084, 0.9978, 0.9466, 2.2242, 2.3302, -1.5517, 0.3851, 0.7315, 0.7104]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0348 left_yaw=-1.3224 left_pitch=-0.53 left_roll=-0.6274 left_gripper=0.9978 right_x=0.312 right_y=0.3259 right_z=0.1754 right_yaw=0.004 right_pitch=-0.6109 right_roll=-0.2356 right_gripper=0.7104\nstate[joint_eff]: [-0.0752, -5.5043, 4.5333, -0.2076, 0.2857, -0.0171, -0.0122, -0.5402, -12.6564, 7.4735, 0.652, 0.3394, -0.1587, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0592, 0.5781, 1.0084, 0.9978, 0.7952, 2.4332, 2.6156, -1.5986, 0.3584, 0.5758, 0.7104]\nstate[eef_state]: left_x=0.1956 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3227 left_pitch=-0.5304 left_roll=-0.6277 left_gripper=0.9978 right_x=0.3824 right_y=0.3066 right_z=0.1547 right_yaw=-0.0122 right_pitch=-0.6331 right_roll=-0.2564 right_gripper=0.7104\nstate[joint_eff]: [-0.1436, -5.4906, 4.588, -0.2222, 0.2662, -0.0317, -0.0122, -0.4991, -11.9043, 7.665, 0.8425, 0.2418, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a786b15c2344b179e479a8e3275634d9b2811dc98a4710b944bb7d8d3cbf187e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a6c346ff699e302e8c157c73774a43c5cbe856e1d313080ac1ef25b846d7edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b753ff7eb12f65e36d5fccd683d1707649171c933e00d529677f86e1f40e1a75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwkKEAgRGAI4AUIIdGhpbmtpbmcSDF/hN7P2VvBbS8T9aBoMNuYBFL7UPap+MLJQIjDzSG1ixGAAvmxDO2W11Dyvoo7gRWSqCkl64L6QIh6SWj0hewm1xHWc9pBuNsYSGcoq5AjuDhy+abVOaW7quoZDji8u2E7v6gALJBO5L4vkJc0RI1vVmSJ9fKvYQw8yLGIX7erTtcSStAAFZEs8YJj0HCGtuG3IH1hsEjsXVlyVAQOBrVLJE/19ZtPi84PLC9vcidFz8wy+2Xd1WeikQkvitmtviK+BaRRx9i50hkI0HS7wm6Rmt3dZxMvSDzUdxHg87cKdtaL8W2YCEK22nDMc7rkioUBWfMNAUuNaC8VsX7Nzfe/aFe4VTeE3JibfTGikwi3XE74udu7Nej/qpl34aL0ivHhGoecb/jDC7F95xlzQ6//SIPTpjr5/KnZ/cVEl1lQYBTo5IubtzL1ofzVQXFMPvDDSFQK5oioSUFg/f5nPsg4Ig4Go5QOiBG9Fvhl7SIGJvg4IvErObz+xYxamRJJlpKPhtfsjwrNPiIOf6sLS5umwxLqD79TNAJX7sCJ2YwgSVWTFSL0hFFYypGY/32Q6y/YrUXBZ8aOOvL77YyfCJpqMC7R0H9Oj+uv6Ibfo/XtNMiAq2OFUbPsed4IRp/VrRAxEhKyvRuf/CaMW6QU9gPJnnxfZ9mjkp4t1LJIjGVpCjprfbzqYiXfr+NY10kIidQntjChBa9QVFr0YiBCYOsVSCyyCUpKFWRtplf7tjwBGg8Pa8CqqUv90yYZzNT8weWRVqFaLcERrDMH7xFlksI5yjo/0mORwhEG7JLiD4Cxlj5ING4PBQEX4+zbdH6LA+sI9uOKgpp1H2zq+zjPKmMNeoueJoPn3TaAWaE70dNAnVD6oMqCyPwKpCUNBlEKU28apzQhNKOMx9oJIWANgkYXLUv8690ygXauG+OZZUHek1f+Na1Hz1m3UgaD2jM6FXaPUn91RRjKUJN4Qp0+J+M59HfOpJtVFt0tdvvMr/0IgD+4cMZ/q/dj2khsozCWmb/2jhoYEsHdGhsc6R/aSVFSWzbCX5sZ0nt1zuKw+3KzKqApc7dRyeXMVO2M9VIkyOnbEWU4fr4w/w/adA5jZ3EEipYZOAbJj7XH87dC5cMe4Af5U28MfiJTIG4O6f+3/+nfosD/mtGMzgZWQq9pqguEidUFQjcuEtMNv7cOMwBPt4oWs/KZt6nVej2gNUbdzDP3kCFbCwNKWRd1oV//Fnx17yu1CRGpRxBPhlFRMOk7U48WWeblGmO+ndxmNZFTaLgdRgtLUX61bx2piJZLmPCSZWfw58swHgf11DkhwZ0bX6EVxglFzFi9HyazDu061IkJqcqHG0591jNKKHgAHJcsLQK5cEHEB3hUseUbVWj1sSsXTqQIhxWsNd/8wUxoojPh738LontNz+fM+hVGQgi1ZY3v1U8NBs9jr/xnrjf1Cn7EgN8dAkRwUf/TuSYV+9SFjZsMNFoJDSQ5v0zlkfrt24gMT+R4c3xkEdMCXlEdIFxAX+C5a8UVVYMzH1I2HqdP0KeaHb/DebprX6VAlkA7rOQeF6PR6R3x/Q2epX8H/o8X7bzJu2Smj9x0X1NXyUd33JhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GpxEESdQjsJv3Mg7dJ1dNd",
      "input": {
        "note": "The wrist camera shows the burner coil directly beneath/behind the held can and the overhead shows the can body extending over the burner. Lowering the can onto the burner surface until contact.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.39,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01GpxEESdQjsJv3Mg7dJ1dNd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.008, 0.9978, 0.8131, 2.3802, 2.2253, -1.3052, 0.3698, 0.5652, 0.7076]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3223 left_pitch=-0.5305 left_roll=-0.6275 left_gripper=0.9978 right_x=0.3793 right_y=0.3132 right_z=0.0825 right_yaw=-0.0186 right_pitch=-0.6563 right_roll=-0.3109 right_gripper=0.7076\nstate[joint_eff]: [-0.1573, -5.6821, 4.5333, -0.2125, 0.2613, -0.0366, -0.0122, -0.2256, -14.5026, 5.641, 0.8767, 0.3346, 0.0708, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8328dd52a849da46e7286a3083c5b4fe0b97666456b04003891e55245e28a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eaba6b896ac12fa0a76350e70e20c234172f608d7c442983f2bd918225ee32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3e4fe07a34cf59cf406d4f8acb93ee7a0f8494e8db97fd1256807961038b2f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 7.622 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8333, -1.0592, 0.5785, 1.0084, 0.9978, 0.9466, 2.2242, 2.3302, -1.5517, 0.3851, 0.7315, 0.7104]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0348 left_yaw=-1.3224 left_pitch=-0.53 left_roll=-0.6274 left_gripper=0.9978 right_x=0.312 right_y=0.3259 right_z=0.1754 right_yaw=0.004 right_pitch=-0.6109 right_roll=-0.2356 right_gripper=0.7104\nstate[joint_eff]: [-0.0752, -5.5043, 4.5333, -0.2076, 0.2857, -0.0171, -0.0122, -0.5402, -12.6564, 7.4735, 0.652, 0.3394, -0.1587, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0592, 0.5781, 1.0084, 0.9978, 0.7952, 2.4332, 2.6156, -1.5986, 0.3584, 0.5758, 0.7104]\nstate[eef_state]: left_x=0.1956 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3227 left_pitch=-0.5304 left_roll=-0.6277 left_gripper=0.9978 right_x=0.3824 right_y=0.3066 right_z=0.1547 right_yaw=-0.0122 right_pitch=-0.6331 right_roll=-0.2564 right_gripper=0.7104\nstate[joint_eff]: [-0.1436, -5.4906, 4.588, -0.2222, 0.2662, -0.0317, -0.0122, -0.4991, -11.9043, 7.665, 0.8425, 0.2418, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.008, 0.9978, 0.8131, 2.3802, 2.2253, -1.3052, 0.3698, 0.5652, 0.7076]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3223 left_pitch=-0.5305 left_roll=-0.6275 left_gripper=0.9978 right_x=0.3793 right_y=0.3132 right_z=0.0825 right_yaw=-0.0186 right_pitch=-0.6563 right_roll=-0.3109 right_gripper=0.7076\nstate[joint_eff]: [-0.1573, -5.6821, 4.5333, -0.2125, 0.2613, -0.0366, -0.0122, -0.2256, -14.5026, 5.641, 0.8767, 0.3346, 0.0708, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8328dd52a849da46e7286a3083c5b4fe0b97666456b04003891e55245e28a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eaba6b896ac12fa0a76350e70e20c234172f608d7c442983f2bd918225ee32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4fe07a34cf59cf406d4f8acb93ee7a0f8494e8db97fd1256807961038b2f67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AgKEAgRGAI4AUIIdGhpbmtpbmcSDHHPoZe1KfNDv5cHbhoMnI0VJtoGr/U1ORDLIjAITp6mWK5OYgyw53zKyR0wB81hX8GxJrommJSElnsmq7PBFNrvMOmuU+zL6HjlsnIqiQglfq7yJvnkKFj4BtPwe5naL9mLQdqzEjehsNloA8OYb4Uu4sruoLkOmNXz75G8W8AcVOol/85hj8XdbCXzSXXuY9fw2lwEqVfbWl7jhQoM8aCbyuX3un5l+MBCWqD3y5CfuX/P2XJBMcwV1CBva6kp76o2tikbgODRc2rRIDNH1PW2JufScvkyYRoUe1yBAGk5whyHpwtTFoZTxKgS8Rw0NIFMubda2OE6UFloZA4GXmKDyAL0BBzUwImmEZfeCk1Zs+x/5Wo/mFjtn07+bbQLs85RyJ8G2qH2HCeGqRDrhPwSSxfE5DqbjYat/nnKSad4FTXuuiJt42ycn5fxaG2MWn9NxPZMU8xtDMpwifOZbLFWQheOJhA2qZO1O/xA0p8ONEM2M2pW9beqWmFtZ+bg7l6LjyCvTjwLDmypnrOUwC6XcqsWjf+k7vkJ5W18dgHEAk6IOKoJ3Nyl4mjTsii0A/vOZbIjTbT+CF9icsWQK+Sg9ej5manoe2zyDwoVEUKoUQpcC85EpyWcWB35NJZIOUpcVi2PVhEPzb0FaS5XlGCDYiGQnELjqV7MbH4vM8sAoemxb9yAdLzWJnhF7nK/a7LeLM2Y6ypz+NP3k/ZuDo2xb/tZQHV0MOuz8PDsqlvNkdvdYk6F85GqCkVVOKsm0ctg8NvrU4AGWAvsw9TNl9woOsMS6BLqNvOAaX4/UUOU/3rYrp127+CwgQCUoc96wRjUUTkOVbJkLPZOxHq+BuONjjbtwCXBlmNBiX2u+wIFsQHqzpg8QcQewE58klSDOBjyw7CrfNsz6vd0ZIOO/KawaZ4dZiHLHi3QwxBCH1obbhhpFGBiUTOZhQpEPhLLfI40iwn6CrZllaSOf+XZQVsIQ/7yZwbA+ZkECjow7j3pcgSXrU46KaqDnM/YUh9ZhvGcMEVfQ2tkUdH9Xs5DqF5PCOcCseIUSPX65pfRzDR9Cip/rPoK84KCkcS+4Ngh1EiXLxGwE7vYTCkarOgKcx2XAHNci6Etk8KlAET6yovvntqP3ZzcmnJzqgSttNvvp1sdRrsfFIBe4QFwfZH0SJ7riDzSLOORLvnhHKnpLVlyNG2+zHol6JrV+qx5tIEt2OkTwXEZhTb563l/4od+1ApvBdqmtUr8pLz92HFC+QvqZV7aOwnctL4u3SfISIcnjb/PGcd6mYdqvTS+jkckC3PlYUlNINSv3xWMVCseL1J2OZ7gh074jsxUKk6VfXmK9pybCIl3eH8W89h/Z5FFCBg+q69C0id+fJrg6dt+qbZpYy/JGDd//WZBLkNPPqk734ZbS5wHp5eyyv0CksE9DtJF1hBGUDTS8iLJgLKAUwkqrp7dyFM4pj11WFAkLjmujgMBQI3CORjjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVEQLZMhqXnrPZchkSfpu1",
      "input": {
        "note": "The can reached 8 cm without clear contact yet; the overhead shows it lying across the burner's near edge. Lowering a bit more so the can rests on the burner before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YVEQLZMhqXnrPZchkSfpu1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9979, 0.849, 2.3219, 2.0594, -1.1934, 0.3866, 0.5644, 0.7034]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9979 right_x=0.3638 right_y=0.3179 right_z=0.0674 right_yaw=0.0097 right_pitch=-0.6413 right_roll=-0.3213 right_gripper=0.7034\nstate[joint_eff]: [-0.0479, -5.6, 4.6017, -0.232, 0.2613, -0.0562, -0.0122, -1.7162, -11.9726, 4.3419, 1.1013, 0.4957, 0.0562, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17193aef8c073c352b7c0d834dc58ca137501af32c05a6a5184b224635cefee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6bbf143bbf611e496eebd31a7b3cd42d6b526f8f77beab2b55870c4c6ee39db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:afc2d2d7ad100a79465ca4fdd04bab9b1eba993b91ff3eb7f402bc4bffff3f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 5.158 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0592, 0.5781, 1.0084, 0.9978, 0.7952, 2.4332, 2.6156, -1.5986, 0.3584, 0.5758, 0.7104]\nstate[eef_state]: left_x=0.1956 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3227 left_pitch=-0.5304 left_roll=-0.6277 left_gripper=0.9978 right_x=0.3824 right_y=0.3066 right_z=0.1547 right_yaw=-0.0122 right_pitch=-0.6331 right_roll=-0.2564 right_gripper=0.7104\nstate[joint_eff]: [-0.1436, -5.4906, 4.588, -0.2222, 0.2662, -0.0317, -0.0122, -0.4991, -11.9043, 7.665, 0.8425, 0.2418, 0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.008, 0.9978, 0.8131, 2.3802, 2.2253, -1.3052, 0.3698, 0.5652, 0.7076]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3223 left_pitch=-0.5305 left_roll=-0.6275 left_gripper=0.9978 right_x=0.3793 right_y=0.3132 right_z=0.0825 right_yaw=-0.0186 right_pitch=-0.6563 right_roll=-0.3109 right_gripper=0.7076\nstate[joint_eff]: [-0.1573, -5.6821, 4.5333, -0.2125, 0.2613, -0.0366, -0.0122, -0.2256, -14.5026, 5.641, 0.8767, 0.3346, 0.0708, 1.0427]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9979, 0.849, 2.3219, 2.0594, -1.1934, 0.3866, 0.5644, 0.7034]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9979 right_x=0.3638 right_y=0.3179 right_z=0.0674 right_yaw=0.0097 right_pitch=-0.6413 right_roll=-0.3213 right_gripper=0.7034\nstate[joint_eff]: [-0.0479, -5.6, 4.6017, -0.232, 0.2613, -0.0562, -0.0122, -1.7162, -11.9726, 4.3419, 1.1013, 0.4957, 0.0562, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17193aef8c073c352b7c0d834dc58ca137501af32c05a6a5184b224635cefee7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6bbf143bbf611e496eebd31a7b3cd42d6b526f8f77beab2b55870c4c6ee39db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 300):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afc2d2d7ad100a79465ca4fdd04bab9b1eba993b91ff3eb7f402bc4bffff3f15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAkKEAgRGAI4AUIIdGhpbmtpbmcSDJ7hlNp7J0d1FYz9MxoMTofTar5k/xV84STfIjC8xy9rM1MQ2qM5AXtKV2063K0AJcZH9wTqDsyh7VTtVLItDBan/47R0US/8+fZcbEqrQhtLdu2LE7gur0spYNfSX1XoOAv5STXJAtwobpn/2hTsqLzXPRn5wF5fQjwg5WVYC1lXRNFm/6ZctOWONPbqZOehp+lMdJ+tb1cRLWWXo/V64ZEEZtk0nbO3cf/WqBjZcAPi9AUTMhrrIF3O1Hv9qtLNBFlpyQqpcfKKphQu52gMZW12/k3er/euw/Ju5JmnlNup28U8pX9Ot6mXGf96Ho60BXDoUQ5FzfzB0gu3dHgDjge2J3lcE9ORPWue2CDE1jsg3iz31K5pePIt6xPAbn52jetBc0MpKr2zbKhneO6sbAprUD3PUm6bsAGUITiukyb+hQMGDtsG5z39gmNENoZMj8FtLc1nvefZo7D61ZEhokUlWpo7cUY/JM6t25QkNzKWrZOwlVq57hq7RQsos7380thpgEMZpWWvI3hhUKBfB9aWyGjlm7YM52YPQQ1K77Rx2j6W4wK816XQ8pvcR4hNNT2TBylci2llrfpmxuBOzkz17Y5IXdaYwnwdlWrsOO0UFKlYQEnPqvD0Etth1Eo90BYqLY7xRf/uSnhLmVU2V9W1cXNrLQs9SpsUPApfQ/cp/cbyPqU43wNz+P6rJ2uBgCx9KJDmKdUxm+CxokZfEGrbKL2GAPWRC6fLb+2QV7YS7QV2GeUSfYvU1udnnnw7H6mruPermjCkqh5ofdejY8jR8NCGBHvLyjQZ+is/Zntu/43BEztMI6NhJfwB8OEVzs2lE8C/8hwvGzXYZx9mQIMBJbh7trA791n8FZ4SKWMwnJxW3aF5pXP9/JYi9agP8ZVtK30kIkCRsrJcFkic30Hz/gGCqbherC4rn85J01F/0Gpj6B0kLCSRq1xrBONGnHXh1SPdx8h7zkxIn/0L4iioViNhYijgz4HNTeNOc4Iaf/5UR+goYKjFbcE4qKbU8RbOtmouAtxeDQbhOLc3LGUz04ovI2V0NHYUu2Iyg7pqEqxFH3WPcqBDoJmZ0gv2R/96MmstTC6AN7hCxKA4xWFYsco6yMaDTeZlDQ/psrIqoaW+sFasCkAPSFEtjTPIJZV4ADaMpHiDvSdQiz96/ExEHPglDL0WJvcw91zYquGvtJEYw18qDSMDArsz18kem7w5Sa5+hpa8kPvXHYe9FjEZEJoH54VmDx4h8NyB8aBeQgtPFTGtLpebKzKHUtQ8e7+OxZBSq6P+BpqD+mf7F24ri3kM9PijA0iBgcAuj9QK29p/00CKYKaXQTYZtS2OLBc31ImRgPOiypfuG/6+49TIzO0dohRa9xImWfXkWAAsoqVHSdLNbn6VA7qhEms1b4q939ETW1EZQug62pg6sgVTJGqNfgPCwFHHYC8BU94p+mvYURxzkvxtam7o91GaIdiYoExm76/I56OlmeYx7a1CTIPRqy49qtRk590+aNBxt0XYkh9yEvhrAIsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KEX37LY6pipZBZMcthVMLj",
      "input": {
        "note": "Descent stopped at 6.7 cm with shoulder and elbow effort dropping, so the can is resting on the burner. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KEX37LY6pipZBZMcthVMLj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8677, 2.3016, 2.0056, -1.1656, 0.3962, 0.5644, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3553 right_y=0.3193 right_z=0.063 right_yaw=0.0195 right_pitch=-0.638 right_roll=-0.3345 right_gripper=0.7025\nstate[joint_eff]: [-0.0615, -5.5863, 4.506, -0.1978, 0.3199, -0.0269, -0.0171, -0.7863, -13.1761, 5.7504, 0.7546, 0.4225, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ecb921ae63e2affe599321041c814a0552b276d64c56967907814c451bb4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c589070f5371c6990f7d6c6faa6644da90891831e1db43baa3ed10028a8bfef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e76c24df37246868177333686371f13bd33d22b6aff50babe0e956a02ab6bb5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 7.402 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.008, 0.9978, 0.8131, 2.3802, 2.2253, -1.3052, 0.3698, 0.5652, 0.7076]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3223 left_pitch=-0.5305 left_roll=-0.6275 left_gripper=0.9978 right_x=0.3793 right_y=0.3132 right_z=0.0825 right_yaw=-0.0186 right_pitch=-0.6563 right_roll=-0.3109 right_gripper=0.7076\nstate[joint_eff]: [-0.1573, -5.6821, 4.5333, -0.2125, 0.2613, -0.0366, -0.0122, -0.2256, -14.5026, 5.641, 0.8767, 0.3346, 0.0708, 1.0427]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9979, 0.849, 2.3219, 2.0594, -1.1934, 0.3866, 0.5644, 0.7034]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9979 right_x=0.3638 right_y=0.3179 right_z=0.0674 right_yaw=0.0097 right_pitch=-0.6413 right_roll=-0.3213 right_gripper=0.7034\nstate[joint_eff]: [-0.0479, -5.6, 4.6017, -0.232, 0.2613, -0.0562, -0.0122, -1.7162, -11.9726, 4.3419, 1.1013, 0.4957, 0.0562, 0.9158]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8677, 2.3016, 2.0056, -1.1656, 0.3962, 0.5644, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3553 right_y=0.3193 right_z=0.063 right_yaw=0.0195 right_pitch=-0.638 right_roll=-0.3345 right_gripper=0.7025\nstate[joint_eff]: [-0.0615, -5.5863, 4.506, -0.1978, 0.3199, -0.0269, -0.0171, -0.7863, -13.1761, 5.7504, 0.7546, 0.4225, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ecb921ae63e2affe599321041c814a0552b276d64c56967907814c451bb4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c589070f5371c6990f7d6c6faa6644da90891831e1db43baa3ed10028a8bfef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e76c24df37246868177333686371f13bd33d22b6aff50babe0e956a02ab6bb5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQYKEAgRGAI4AUIIdGhpbmtpbmcSDKCoMNZ6+qAAWKJerxoMAdqKuh8WYY0mAchrIjA0+aFp9Ea1EqNtWDgDlCYOi82V8P8/S2zYZu4PVIoDx9ljf35CENymJ6FxEQXQ7pgq0gWcZWc+uYsliTGcbzqKFPn9H7DTygMk7XuWh457TgMreVtRk2YBcxiPhbwBnytYtrrz/HahjoLWxZmIfwzvxIIkiVW4S+zX3AreD8ZqHEkhKPrs2MIHZ9jptgX4mrxRo2+rHPHTtIpN5e4OfrWE2UcbKLHjliIzsrshxj3wdWr1N/Ami9KPhKJBbT+utnIisMKNAz9Xub6/oQUWeOiL2taTisffGf5h1g6io0Hb58vefXoPnKZQCmd3dTPjWy2eV+6qaefA4mqVta1s2SbQ4pVS1DGkjzVG5qQREx0J4tftIU1t4Pu2u8dWHXIjVY3jDsTDcc78b12ERsQEL1o+pI2FOsrJDdbZw2yxmVa8nMmMU9TbV58qql/VJwp5naWUeOvJtszuuvsYRGqGY1+XAPbJ5JLSfHquL2sJ83oVw9Uyt93GHHpjPNIQHqUiJ2fCJxoT2s9BWuwDyDXKtNf9Z9F2cpAjTvMpmE6gk24CHcdwL5pKyPlJYR3zHvrO7Pbg0qUi18tv9kKvIcVeZWAOcmUjNRgxRGy8USrObVQM1lLkvZTvOf6jcuiWjyg+SjWjqMztp7qNYROMvFjShd3fWPrHN7FA42/b4im7fHvLDoHz87oJH2Zqn0i0AniW0rsEH3QPD56gCrbU/XZznKX+MpGRZ6pVVUJZ3pIZ7DP7pjIGAxBaVg3r5rhkLkGJcU+bKPPRenjhzgSR2jHrwHbYwSaT+UHx2JPXf82DSmRzVfpms7O5RjInCYVYfZDGqgDFMUqjrI/E3h5tPbherd8r35Td0VVrGpuVyiQnuRptCqbX0IW6Yyo5a/RACvL3Q8qOiFPBPHevLVykjHegPmFMfEGdC6kX2fzG3NtJYe7v3NllNcxaTxt9vUgSyG6iEBbg0V+10/dS7XDsTzMn7yaUX371dhrakebTAyob73boy8KQcV9TGsd3FJ++NkI7zKIgCo162BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSPk1moJ4otGdYCmpmQx1c",
      "input": {
        "note": "The gripper again didn't open while pressing down (still 0.70). Easing up 2 cm while commanding the jaws open, which worked last time.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VSPk1moJ4otGdYCmpmQx1c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8761, 2.3009, 2.0029, -1.1778, 0.4007, 0.5648, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3509 right_y=0.3191 right_z=0.0626 right_yaw=0.017 right_pitch=-0.6438 right_roll=-0.3513 right_gripper=0.7025\nstate[joint_eff]: [-0.1162, -5.7094, 4.5333, -0.2369, 0.2759, -0.0366, -0.0073, 0.2667, -15.0906, 8.6359, 0.3785, 0.4029, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4af2233ed43cb34ce7f27f426bb640177c6d1e369b338ff0de74746bac059f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c559da563ad677cb84129a8e72f86fd12a536437e94e219c922c5acc1919215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d473205a874552ede180da758b67bea89e7b03b42ee16317a624fe4d0b1cf462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 7.15 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9979, 0.849, 2.3219, 2.0594, -1.1934, 0.3866, 0.5644, 0.7034]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9979 right_x=0.3638 right_y=0.3179 right_z=0.0674 right_yaw=0.0097 right_pitch=-0.6413 right_roll=-0.3213 right_gripper=0.7034\nstate[joint_eff]: [-0.0479, -5.6, 4.6017, -0.232, 0.2613, -0.0562, -0.0122, -1.7162, -11.9726, 4.3419, 1.1013, 0.4957, 0.0562, 0.9158]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8677, 2.3016, 2.0056, -1.1656, 0.3962, 0.5644, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3553 right_y=0.3193 right_z=0.063 right_yaw=0.0195 right_pitch=-0.638 right_roll=-0.3345 right_gripper=0.7025\nstate[joint_eff]: [-0.0615, -5.5863, 4.506, -0.1978, 0.3199, -0.0269, -0.0171, -0.7863, -13.1761, 5.7504, 0.7546, 0.4225, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8761, 2.3009, 2.0029, -1.1778, 0.4007, 0.5648, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3509 right_y=0.3191 right_z=0.0626 right_yaw=0.017 right_pitch=-0.6438 right_roll=-0.3513 right_gripper=0.7025\nstate[joint_eff]: [-0.1162, -5.7094, 4.5333, -0.2369, 0.2759, -0.0366, -0.0073, 0.2667, -15.0906, 8.6359, 0.3785, 0.4029, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4af2233ed43cb34ce7f27f426bb640177c6d1e369b338ff0de74746bac059f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c559da563ad677cb84129a8e72f86fd12a536437e94e219c922c5acc1919215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d473205a874552ede180da758b67bea89e7b03b42ee16317a624fe4d0b1cf462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggkKEAgRGAI4AUIIdGhpbmtpbmcSDAAlUlhJ920B7eRTrxoMFEHoapQCzbfQ2tEKIjCs0Mk1Kl5Zple6wzjKpHHUJtZ2J1Txx+fcmg2vQ2KDxlQ1bdwTaTSFK6sfc6nt51Iqnwic3CF++QoT8YzD93g8GWj9bT0YFgu/X3A+9eDc1G4d88928kzuICUinT4t3Cko2iBAcilKa+vH/cYPvwSHkZlT3e+amyUSHFuVf8oMWpthyFLvDKP5Kb+5ea4zu7QpNoqOr39QMILluUw4012yNegZxLDbOsDZ1dzJSnzegQ6q2zZ2dUePP+jaOfglS0TTX/YG9bkajd5zajMvBoqTEe1oRxsAMh6JSTm/8ueQE8cv49JpugT1G9GWy/dk8/kq/HSKrkP1FT+0CqIwWHi2iHXz8xJnndaea2yguwcpgbzOhuGlJhdavzDc8vxurRQVrZzkzZQXUQWLZMxy4gKc4D3RKsKOAzZXoSEXZ0XTIToo8i/8p5ST13hHNEeROxOx1FHiTbEKQQChRutWMylATrlAJXEcmgMDfm8epI1AphubcJK1WxqhzmrEFVb1sOJxnK2nF9k6UEO4CcfXg6Ea9l245YoHnlle3KlAb4fvluRsqLxEZn0c+bnsFjBudSrGEEkXTROfzovkQXMB7WrmhGlPD09wkH7rQZgdNqX13t0BrLVKBd+vWq1X6KL9m1Rp4TLKR67OOxaE7SMXVqMsaAylm8hPWtIYYUA60DT32po16I+h19exdpLHl9Hd4N2QewZofRHYsCW65rewuVWmhiTAgPaR4Cy1zbOaGq47yenWNqzenHMdYmel/wyG/5YdmTher+dsPZZN43UWpm0448/iKsAQN69ijWaT4Hrk00Od0yXX9/pMz7aPeepKY/lR+z7fs5y76OxuHsaVtThC0gSulwjoeYcEUBGYQAMxGInpU57PB+ZmM1eimobmZSJq74TGovCQxHjJ/Zxmy/21QoZdLKr1XTc1F5hFYtLYkc4QnDIg2Uv9pBkGiBi50subaWS7T1oqcWk3Nli6JRdueq4+I8EcLzh+QEZRQSZBzcMqBVVe0vyMIoHH+IrVABpTzl4iHCTyBADAM4g8I4WnZPUNy0hO3ovnaf4t70UhIliJdLOM/IUgYohnJZY+0BKj/DH+w4DEtT/ocw/095tu2iXpky7IgQUgDN31AgEB2UkUhYum8ntvZN7YH8OGaYnpBUIXymUcHikTmx9JZr+Kv/+AOs3xj+cpXTuJyS9WAp7opmbWLKqNTB9/iYW1QbCpqUgSmFANv/kEKfVIeOl82xBja2tCFK2P0byWC7HsAaMOn53XpWwpNivo2cLFcmoJAgYOYZr+nEc0maed8NhhrneWrJYSqFMVL5tJtC9Vycb2uuY0NttH3DkOmWy2YPZxwbRVbJ86uBVccJ+yUsNcMPfzKwJQpMBuSunpCImjz8REP22TV8hNVl2T8a4A6x2EYdTdlZrRwd+AaQeNtwOCZNKk+HSU/6vBJeotbu21pAQ+xdJ28JAJmfX8Og6xB3LuhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmKSYoVCe72Qpit6o4z518",
      "input": {
        "note": "Arm and gripper are both not responding at this pose (gripper still 0.70, z unchanged). Commanding a larger retreat upward and back together with the open command to unstick the controller and release the can.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.32,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DmKSYoVCe72Qpit6o4z518",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8894, 2.2978, 1.9831, -1.1877, 0.4137, 0.572, 0.9947]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3438 right_y=0.3169 right_z=0.0594 right_yaw=0.0029 right_pitch=-0.6496 right_roll=-0.3842 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -5.5179, 4.7658, -0.2222, 0.2662, -0.0513, -0.0073, 0.0068, -15.6103, 5.8051, 0.5201, 0.4615, 0.0464, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88307e7c0502e3d33dc6d8ddd7cfec42bbb9afcc353d3bd81c1333441bb83272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13daecba1b6398e2e2542b25f4b71798b0491b769bf708fa744f08d36add855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4357f4ae775facf4eba6023d7767dd00dd283513146bcaa4360a13eddf4fe3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 16.47 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8677, 2.3016, 2.0056, -1.1656, 0.3962, 0.5644, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3553 right_y=0.3193 right_z=0.063 right_yaw=0.0195 right_pitch=-0.638 right_roll=-0.3345 right_gripper=0.7025\nstate[joint_eff]: [-0.0615, -5.5863, 4.506, -0.1978, 0.3199, -0.0269, -0.0171, -0.7863, -13.1761, 5.7504, 0.7546, 0.4225, 0.022, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8761, 2.3009, 2.0029, -1.1778, 0.4007, 0.5648, 0.7025]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3509 right_y=0.3191 right_z=0.0626 right_yaw=0.017 right_pitch=-0.6438 right_roll=-0.3513 right_gripper=0.7025\nstate[joint_eff]: [-0.1162, -5.7094, 4.5333, -0.2369, 0.2759, -0.0366, -0.0073, 0.2667, -15.0906, 8.6359, 0.3785, 0.4029, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.833, -1.0588, 0.5781, 1.0084, 0.9978, 0.8894, 2.2978, 1.9831, -1.1877, 0.4137, 0.572, 0.9947]\nstate[eef_state]: left_x=0.1957 left_y=-0.0776 left_z=0.0347 left_yaw=-1.3225 left_pitch=-0.5304 left_roll=-0.6273 left_gripper=0.9978 right_x=0.3438 right_y=0.3169 right_z=0.0594 right_yaw=0.0029 right_pitch=-0.6496 right_roll=-0.3842 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -5.5179, 4.7658, -0.2222, 0.2662, -0.0513, -0.0073, 0.0068, -15.6103, 5.8051, 0.5201, 0.4615, 0.0464, -0.1978]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88307e7c0502e3d33dc6d8ddd7cfec42bbb9afcc353d3bd81c1333441bb83272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e13daecba1b6398e2e2542b25f4b71798b0491b769bf708fa744f08d36add855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 310):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4357f4ae775facf4eba6023d7767dd00dd283513146bcaa4360a13eddf4fe3b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7QcKEAgRGAI4AUIIdGhpbmtpbmcSDG7M9hS/37PxFuL3GBoMj3M+SqLJXg1zakmjIjDpOh2l8WgBZkhOEM7zLs8DWMryN4xXd+hdxDA5c3y6zSW1XfWpqxIAz4Xnc3XtFaoqigdnpffxSIXis8ROVK17ZsVXt9g4nTvisa/NlKwzLXzqcGWAHQv5ZTwlJ9sjrQN9HFV2pp/WT64EnnuOjdlJz6BOIjxuf9ttunBByTADu9b0okI6e8lF22mx7+sUj6pJ8mzpE6L/yHJSKC0Es1bilQq7ugkD7fZAh+SCKBYmW60WZDVOeLJRSlZfXJPDe7hlMkO5iDgi9mpWY5wUSGslMt+8pD4QKplh/AFZIT+7LLrQllkUnt1hcojSwnf6qv055pzfizh0paRDUGBOHRDyaI+IqoFlzDXAY3LIExe80t3Lg3lO9cSBq7vtMXgwdkOmvTy/NkgFLIW5afUFF3Y9r1bgvrhr7qV9BuDAEKnPFlxez+js2etXF8Eq+2a0zfS4HZx0MwFjTZHaz+MauDCpGJTT5j8kFU2shwMYdnoztBNHm+uDyIyw9jElz6KllNZsmyvHQV0HPg/N1ymyr7aUu8LGgSdFFcIvWXiya6EmErZF5pQCIDjWl0k+nDKGB7/no3nRrXWqp9R8pdcw9gijOBiXOpkJy1AiK3QIufrP/cWBhkZ/auYXArumd32HV5M27odvlTpbITrR7c4wEZCvR0qLNvucsLGaHnN4u8yH3uFO5Uj5hcUBSK7kAqDMLL3BkLgslzFrQlrG5Ot8YepQL6jWcTUa9VlIMlJxJYe4XqJ/tcrg0PAEWzB034nZroW6XnbjC3ytHI6qgMquBdMWYHtqhY8lLMLI5dgTSavEpQdADTuuYA2PgPb+Hj/i+iO6Psz4we+1IRFvG0nLqbzHuCJWoGpAKEsmzbMcb+rDFsK1mtRzQV2Vdk19S48QSlZCd+J+kMyYbK1/KtsLpLjcycucEiziXzDt3ASbbWBNlTY97o4kLkwQ8eJozQBXGElJ/TmSGwH81qS5zs0DrTDXj95pbrcpEYO8p9OQoISE7M62QwanenH9Sn1yrL+Srda2sLBdSA2bgf5vNL87aaCJ3rhHtMVadxf5tgVR+cGCDlviSUjEf7s3nqPBefaWErykgAffTWlQsiJdAEooY7vhb379uJTAljS0XaBC3H5DFCik7RZEXZtRrXKFBNJolT+dMdy1POhOgOYtzx9GXXfmQCmKXBD2xsWcjOtwq9M2bHU51nliCVXEaYWvFF2rJatRJWOP7M36ET62BUA9A92XG3xDxfNa4gWet0Pj8LsQV8TjKc3wzl+aJ0gO5XsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wx1XbUj4ZtzZA1KKDEzgRZ",
      "input": {
        "note": "The gripper has opened and released the can, which lies with its cap onto the burner. Retracting the right arm up and away to expose the placement in the overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.25,
          "right_y": 0.15,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Wx1XbUj4ZtzZA1KKDEzgRZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [0.0799, 1.6215, 0.8326, -1.0592, 0.5709, 1.0088, 0.9978, 0.7914, 1.5444, 1.7126, -1.5368, 0.4305, 0.4694, 0.999]\nstate[eef_state]: left_x=0.1952 left_y=-0.0765 left_z=0.034 left_yaw=-1.3244 left_pitch=-0.5373 left_roll=-0.6266 left_gripper=0.9978 right_x=0.2542 right_y=0.1575 right_z=0.2503 right_yaw=0.0285 right_pitch=-0.5659 right_roll=-0.3263 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -5.6957, 4.547, -0.2418, 0.3687, -0.0366, -0.0122, -0.3214, -5.0256, 5.5863, 0.779, 0.3248, -0.1294, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf140569f54c031b3f5fa1ab3a425a7780a867578feaf16aac74646532dfe822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b53638c77c081db6deaacb6f55f194ec0b1c55dbe3f583fb096e4096f3595ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0a6bb1785276fa0efd6f6b71158c977767ce057eba13457411778898c23a740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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