adhoc - adhoc_af96a3f9.json

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: 399.3 s
total steps: 244

operator

scenes

trials

errored

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

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

user

Goal: put the can on the burner

step 0

assistant

I'll grasp the lying can with the left arm, since it's on the left side of the table, then carry it to the burner in the centre.

agent noteThe spray can lies on its side to the front-right of the left gripper, angled with its cap toward the far-left; the burner is at table centre. Moving the left arm above the can and yawing so the jaws close across its diameter.

move_to

left_x0.3400left_y-0.0800left_z0.1500left_yaw0.6000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3874, -0.0189, -0.0338, 0.998, -0.0212, 0.7925, 0.6064, -0.3996, -0.02, -0.0128, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.5949, -1.4017, 10.3043, 1.9463, -0.0513, 0.149, -0.2125, -0.4308, -1.388, 9.6479, 2.0049, -0.0513, -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

I'll grasp the lying can with the left arm, since it's on the left side of the table, then carry it to the burner in the centre.

move_to({"targets": {"left_x": 0.34, "left_y": -0.08, "left_z": 0.15, "left_yaw": 0.6, "left_gripper": 1.0}, "note": "The spray can lies on its side to the front-right of the left gripper, angled with its cap toward the far-left; the burner is at table centre. Moving the left arm above the can and yawing so the jaws close across its diameter."})

tool

executing move_to over 8 steps (0.8s)

step 8

assistant

agent noteThe can is now on the jaw column in the wrist view, slightly forward of the fingertips and tilted a little. Advancing ~3 cm along the tool direction, adding a bit of yaw, and descending to 6 cm above the table before the final grasp descent.

move_to

left_x0.3650left_y-0.0750left_z0.0600left_yaw0.6500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.6453, 1.4593, 0.9363, -0.54, -0.8265, -0.8928, 0.9981, -0.0212, 0.7956, 0.6064, -0.4332, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.34 left_y=-0.0888 left_z=0.1383 left_yaw=0.473 left_pitch=-0.0585 left_roll=0.0416 left_gripper=0.9981 right_x=0.2878 right_y=0.001 right_z=0.1698 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [-0.1436, -7.0496, 7.5556, 0.7253, -0.7106, -0.0904, -0.2173, -0.0752, -1.3607, 7.0085, 1.9902, -0.0269, -0.0611, -0.0122] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.075, "left_z": 0.06, "left_yaw": 0.65, "left_gripper": 1.0}, "note": "The can is now on the jaw column in the wrist view, slightly forward of the fingertips and tilted a little. Advancing ~3 cm along the tool direction, adding a bit of yaw, and descending to 6 cm above the table before the final grasp descent."})

tool

executing move_to over 6 steps (0.6s)

step 14

assistant

agent noteThe can body fills the gap between the jaws in the wrist view, aligned with the closing axis. Descending to can-centre height before closing.

move_to

left_x0.3576left_y-0.0760left_z0.0200left_yaw0.6200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5953, 1.7298, 0.9123, -0.3912, -0.8608, -1.0275, 0.9981, -0.0212, 0.7986, 0.6037, -0.4549, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3576 left_y=-0.076 left_z=0.0619 left_yaw=0.6213 left_pitch=-0.0823 left_roll=0.0805 left_gripper=0.9981 right_x=0.2844 right_y=0.0011 right_z=0.1634 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.002 right_gripper=0.9996 state[joint_eff]: [0.4718, -7.3368, 6.188, 0.9206, -0.5592, -0.1099, -0.2125, -0.0752, -1.3744, 7.1863, 1.8584, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3576, "left_y": -0.076, "left_z": 0.02, "left_yaw": 0.62, "left_gripper": 1.0}, "note": "The can body fills the gap between the jaws in the wrist view, aligned with the closing axis. Descending to can-centre height before closing."})

tool

executing move_to over 3 steps (0.3s)

step 17

assistant

Descent stopped at z≈0.03 (contact with can top likely, or nearly at centre height). Closing the gripper.

agent noteGripper is at ~3 cm height straddling the can body. Closing the jaws to grasp the can across its diameter.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5938, 1.8126, 0.8604, -0.268, -0.8589, -1.0336, 0.9981, -0.0212, 0.7986, 0.6037, -0.4576, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3568 left_y=-0.0752 left_z=0.0295 left_yaw=0.6263 left_pitch=-0.0876 left_roll=0.0858 left_gripper=0.9981 right_x=0.284 right_y=0.001 right_z=0.1629 right_yaw=-0.0007 right_pitch=-0.0668 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.2256, -7.8701, 4.4786, 0.9206, -0.5055, -0.0073, -0.2076, -0.0068, -1.1829, 7.159, 1.7021, -0.0415, -0.0513, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

Descent stopped at z≈0.03 (contact with can top likely, or nearly at centre height). Closing the gripper.

move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper is at ~3 cm height straddling the can body. Closing the jaws to grasp the can across its diameter."})

tool

executing move_to over 10 steps (1.0s)

step 27

assistant

Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.

agent noteGripper reads 0.70, matching a ~6.6 cm can diameter, so the grasp looks good. Lifting the can to carrying height to confirm it comes along.

move_to

left_z0.1800

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5949, 1.8393, 0.8387, -0.2626, -0.8509, -1.0336, 0.6992, -0.0212, 0.8017, 0.6029, -0.4782, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3491 left_y=-0.0715 left_z=0.015 left_yaw=0.6263 left_pitch=-0.1095 left_roll=0.1239 left_gripper=0.6992 right_x=0.2809 right_y=0.0011 right_z=0.1578 right_yaw=-0.0007 right_pitch=-0.0912 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.2393, -9.7983, 6.4615, 0.735, -0.5104, -0.0171, 1.033, -0.0889, -1.3197, 7.0222, 1.8535, -0.0317, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.

move_to({"targets": {"left_z": 0.18}, "note": "Gripper reads 0.70, matching a ~6.6 cm can diameter, so the grasp looks good. Lifting the can to carrying height to confirm it comes along."})

tool

executing move_to over 11 steps (1.1s)

step 38

assistant

agent noteThe can is lifted in the left gripper and no longer on the table. Carrying it high toward the burner coil near table centre, slightly forward and well to the left arm's right.

move_to

left_x0.4200left_y-0.2900left_z0.2200left_yaw0.3000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5949, 1.6108, 1.2152, -0.8864, -0.8238, -1.0424, 0.6992, -0.0212, 0.8017, 0.6018, -0.4999, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3511 left_y=-0.0768 left_z=0.1547 left_yaw=0.6242 left_pitch=-0.1396 left_roll=0.1258 left_gripper=0.6992 right_x=0.2773 right_y=0.0013 right_z=0.1531 right_yaw=-0.0003 right_pitch=-0.114 right_roll=0.003 right_gripper=0.9996 state[joint_eff]: [-0.0615, -9.347, 8.3897, 0.6716, -0.7253, 0.0562, 0.7399, -0.0752, -1.0188, 7.0085, 1.8193, -0.0366, -0.0415, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.29, "left_z": 0.22, "left_yaw": 0.3}, "note": "The can is lifted in the left gripper and no longer on the table. Carrying it high toward the burner coil near table centre, slightly forward and well to the left arm's right."})

tool

executing move_to over 19 steps (1.9s)

step 57

assistant

agent noteThe can hovers over the burner body; the burner's red indicator light shows to the right in the wrist view, so the coil centre is a few cm further right. Shifting right and lowering toward the burner top.

move_to

left_x0.4300left_y-0.3200left_z0.1200left_yaw0.3000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.857, 2.2627, 2.3325, -1.314, -0.7803, -1.0012, 0.7005, -0.0212, 0.8036, 0.6018, -0.5232, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.4183 left_y=-0.2877 left_z=0.2071 left_yaw=0.3187 left_pitch=-0.1672 left_roll=0.1061 left_gripper=0.7005 right_x=0.2736 right_y=0.0013 right_z=0.1483 right_yaw=-0.0004 right_pitch=-0.1392 right_roll=0.0038 right_gripper=0.9996 state[joint_eff]: [-0.5675, -12.5607, 8.0752, 0.4567, -0.7057, 0.2076, 0.906, -0.1846, -1.2239, 6.8855, 1.8193, -0.0659, -0.0269, -0.0122] 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": 0.43, "left_y": -0.32, "left_z": 0.12, "left_yaw": 0.3}, "note": "The can hovers over the burner body; the burner's red indicator light shows to the right in the wrist view, so the coil centre is a few cm further right. Shifting right and lowering toward the burner top."})

tool

executing move_to over 6 steps (0.6s)

step 63

assistant

agent noteThe can is now directly over the burner coil in both views. Lowering it until it touches down on the burner surface.

move_to

left_x0.4241left_y-0.3107left_z0.0600left_yaw0.3000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8726, 2.3497, 2.1506, -1.1, -0.7589, -1.0046, 0.7042, -0.0212, 0.8055, 0.6018, -0.5537, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4241 left_y=-0.3107 left_z=0.1194 left_yaw=0.3068 left_pitch=-0.2068 left_roll=0.1472 left_gripper=0.7042 right_x=0.2686 right_y=0.0014 right_z=0.1422 right_yaw=-0.0001 right_pitch=-0.1716 right_roll=0.0042 right_gripper=0.9996 state[joint_eff]: [-0.841, -13.2308, 5.7368, 0.9548, -0.5885, -0.0659, 0.8718, -0.0615, -1.3197, 7.0769, 1.8242, -0.0366, -0.0464, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4241, "left_y": -0.3107, "left_z": 0.06, "left_yaw": 0.3}, "note": "The can is now directly over the burner coil in both views. Lowering it until it touches down on the burner surface."})

tool

executing move_to over 4 steps (0.4s)

step 67

assistant

Descent stopped at z≈0.08 with shoulder effort dropping — the can has touched down on the burner. Releasing.

agent noteThe descent stalled at 8 cm with shoulder effort dropping, meaning the can is resting on the burner coil. Opening the gripper to release it.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8787, 2.3482, 1.9755, -0.9218, -0.7914, -1.0027, 0.7057, -0.0212, 0.8055, 0.6018, -0.5758, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4237 left_y=-0.3087 left_z=0.0801 left_yaw=0.3098 left_pitch=-0.1764 left_roll=0.1563 left_gripper=0.7057 right_x=0.2648 right_y=0.0015 right_z=0.1383 right_yaw=-0.0 right_pitch=-0.1937 right_roll=0.0047 right_gripper=0.9996 state[joint_eff]: [0.2667, -11.9179, 4.0, 0.7204, 0.1636, 0.1148, 0.7595, -0.1846, -0.9915, 6.8718, 1.7753, -0.0269, -0.0366, -0.0073] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

Descent stopped at z≈0.08 with shoulder effort dropping — the can has touched down on the burner. Releasing.

move_to({"targets": {"left_gripper": 1.0}, "note": "The descent stalled at 8 cm with shoulder effort dropping, meaning the can is resting on the burner coil. Opening the gripper to release it."})

tool

executing move_to over 3 steps (0.3s)

step 70

assistant

Gripper open; now lifting the arm clear and returning it home so the overhead view can confirm the placement.

agent noteThe can has been released on the burner. Raising the left arm and moving it back to its home pose to clear the view and verify the placement.

move_to

left_x0.2900left_y0.0000left_z0.2000left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8791, 2.3489, 1.964, -0.8978, -0.7883, -1.0046, 0.9957, -0.0212, 0.8055, 0.6018, -0.6003, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.4246 left_y=-0.3107 left_z=0.0772 left_yaw=0.3075 left_pitch=-0.1745 left_roll=0.1426 left_gripper=0.9957 right_x=0.2605 right_y=0.0015 right_z=0.1341 right_yaw=-0.0002 right_pitch=-0.2182 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.1026, -13.4496, 7.0359, 0.7155, -0.4762, -0.0317, -0.1099, -0.0889, -1.0188, 7.0222, 1.8388, -0.0415, -0.0464, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

Gripper open; now lifting the arm clear and returning it home so the overhead view can confirm the placement.

move_to({"targets": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.2, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can has been released on the burner. Raising the left arm and moving it back to its home pose to clear the view and verify the placement."})

tool

executing move_to over 28 steps (2.8s)

step 98

assistant

agent noteThe can rolled off the burner and now stands upright on the table between the left arm and the burner. Moving the left gripper high above the standing can to line up a regrasp around its body.

move_to

left_x0.2400left_y-0.1000left_z0.2800left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.1379, 0.9459, 0.8623, -0.6788, -0.2268, -0.0544, 0.9969, -0.0212, 0.8097, 0.5999, -0.6201, -0.0193, -0.012, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.003 left_z=0.1983 left_yaw=0.0694 left_pitch=-0.1694 left_roll=0.1332 left_gripper=0.9969 right_x=0.2567 right_y=0.0016 right_z=0.1289 right_yaw=-0.0004 right_pitch=-0.2441 right_roll=0.0052 right_gripper=0.9996 state[joint_eff]: [0.1983, -2.4957, 6.8718, 1.7509, -0.0611, 0.149, -0.3346, -0.0889, -1.4838, 6.9402, 1.6484, -0.0317, -0.0171, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_y": -0.1, "left_z": 0.28, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can rolled off the burner and now stands upright on the table between the left arm and the burner. Moving the left gripper high above the standing can to line up a regrasp around its body."})

tool

executing move_to over 10 steps (1.0s)

step 108

assistant

agent noteIn the wrist view the standing can sits about 4 cm right of the jaw column and slightly forward. Shifting right/forward and lowering to just above the can's top to check alignment before straddling it.

move_to

left_x0.2600left_y-0.1450left_z0.2300left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7952, 1.0637, 1.2541, -1.1549, -0.572, -0.5056, 0.9969, -0.0212, 0.8116, 0.5999, -0.6373, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2428 left_y=-0.1059 left_z=0.2685 left_yaw=-0.0509 left_pitch=-0.1939 left_roll=0.1307 left_gripper=0.9969 right_x=0.2536 right_y=0.0017 right_z=0.1256 right_yaw=-0.0 right_pitch=-0.2632 right_roll=0.0059 right_gripper=0.9996 state[joint_eff]: [-0.335, -2.1402, 7.9248, 1.1013, -0.486, 0.0464, -0.3346, -0.0615, -1.2786, 7.0222, 1.5946, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.26, "left_y": -0.145, "left_z": 0.23, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "In the wrist view the standing can sits about 4 cm right of the jaw column and slightly forward. Shifting right/forward and lowering to just above the can's top to check alignment before straddling it."})

tool

executing move_to over 4 steps (0.4s)

step 112

assistant

agent noteThe can top still appears ~3 cm right of the jaw column in the wrist view, and the overhead shows the gripper just behind-left of the can. Shifting further right and lowering so the open jaws start to straddle the can body.

move_to

left_x0.2650left_y-0.1700left_z0.1600left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8787, 1.2034, 1.1847, -1.0863, -0.6239, -0.6216, 0.9969, -0.0212, 0.8116, 0.5999, -0.6575, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2527 left_y=-0.1375 left_z=0.2232 left_yaw=-0.0141 left_pitch=-0.2491 left_roll=0.1829 left_gripper=0.9969 right_x=0.2498 right_y=0.0018 right_z=0.1224 right_yaw=0.0001 right_pitch=-0.2834 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [-0.4444, -4.7658, 6.5709, 1.1893, -0.525, -0.0855, -0.3346, -0.1573, -1.1145, 6.735, 1.6532, -0.0122, -0.0464, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.265, "left_y": -0.17, "left_z": 0.16, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can top still appears ~3 cm right of the jaw column in the wrist view, and the overhead shows the gripper just behind-left of the can. Shifting further right and lowering so the open jaws start to straddle the can body."})

tool

executing move_to over 5 steps (0.5s)

step 117

assistant

agent noteThe arm did not descend or shift — a fingertip is probably resting on the can's cap, with the can still showing right of the jaw column. Lifting clear and moving ~4 cm further right before trying again.

move_to

left_x0.2600left_y-0.1850left_z0.2600left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8886, 1.2171, 1.1767, -1.0504, -0.6262, -0.6594, 0.9969, -0.0212, 0.812, 0.5999, -0.6762, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.256 left_y=-0.1453 left_z=0.2207 left_yaw=-0.0044 left_pitch=-0.235 left_roll=0.1464 left_gripper=0.9969 right_x=0.2462 right_y=0.0018 right_z=0.1194 right_yaw=0.0002 right_pitch=-0.3025 right_roll=0.0068 right_gripper=0.9996 state[joint_eff]: [-0.3214, -4.6427, 6.6256, 1.2576, -0.5348, 0.0317, -0.3297, -0.0342, -0.8957, 6.7214, 1.5751, -0.0269, -0.0611, -0.0073] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.26, "left_y": -0.185, "left_z": 0.26, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The arm did not descend or shift \u2014 a fingertip is probably resting on the can's cap, with the can still showing right of the jaw column. Lifting clear and moving ~4 cm further right before trying again."})

tool

executing move_to over 4 steps (0.4s)

step 121

assistant

agent noteThe left arm is not tracking its targets at all — it seems stuck in an awkward IK pose. Pulling it back toward the base and up to free it before re-approaching the can.

move_to

left_x0.2200left_y-0.1000left_z0.3000left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8886, 1.2152, 1.1767, -1.0496, -0.6266, -0.6598, 0.9969, -0.0212, 0.8154, 0.5999, -0.6842, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.256 left_y=-0.1452 left_z=0.2213 left_yaw=-0.0045 left_pitch=-0.233 left_roll=0.1443 left_gripper=0.9969 right_x=0.2447 right_y=0.0019 right_z=0.1173 right_yaw=0.0003 right_pitch=-0.3139 right_roll=0.0071 right_gripper=0.9996 state[joint_eff]: [-0.0752, -4.6427, 6.8308, 1.2967, -0.5885, -0.0122, -0.3297, -0.0479, -0.9504, 6.8308, 1.4432, -0.0317, -0.0366, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.22, "left_y": -0.1, "left_z": 0.3, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm is not tracking its targets at all \u2014 it seems stuck in an awkward IK pose. Pulling it back toward the base and up to free it before re-approaching the can."})

tool

executing move_to over 6 steps (0.6s)

step 127

assistant

agent noteThe arm is free again; the can still shows about 5 cm right of the jaw column in the wrist view. Moving right to centre it, staying just above the can's cap height (~21 cm).

move_to

left_x0.2400left_y-0.1700left_z0.2500left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8886, 1.1294, 1.4334, -1.3525, -0.6182, -0.6674, 0.9969, -0.0212, 0.8165, 0.5999, -0.7017, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.2271 left_y=-0.1115 left_z=0.2959 left_yaw=-0.0123 left_pitch=-0.2129 left_roll=0.1026 left_gripper=0.9969 right_x=0.2413 right_y=0.002 right_z=0.1144 right_yaw=0.0006 right_pitch=-0.3326 right_roll=0.0081 right_gripper=0.9996 state[joint_eff]: [-0.0342, -2.0171, 6.8581, 1.0183, -0.4225, 0.0171, -0.3346, -0.1846, -1.0462, 6.8855, 1.5458, -0.0464, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_y": -0.17, "left_z": 0.25, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The arm is free again; the can still shows about 5 cm right of the jaw column in the wrist view. Moving right to centre it, staying just above the can's cap height (~21 cm)."})

tool

executing move_to over 6 steps (0.6s)

step 133

assistant

agent noteThe can is now nearly on the jaw column, just ~2 cm right, and reaches the bottom edge so it is under the fingertips. Shifting slightly right and descending to mid-body height so the open jaws straddle the can.

move_to

left_x0.2350left_y-0.1900left_z0.1200left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0096, 1.2671, 1.3445, -1.2472, -0.6533, -0.7994, 0.9969, -0.0212, 0.8173, 0.5999, -0.7219, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2338 left_y=-0.1634 left_z=0.2492 left_yaw=-0.0166 left_pitch=-0.2511 left_roll=0.1283 left_gripper=0.9969 right_x=0.2373 right_y=0.002 right_z=0.1113 right_yaw=0.0006 right_pitch=-0.3536 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [-0.5675, -3.3299, 5.3812, 1.0916, -0.5934, -0.1099, -0.3346, -0.1709, -1.1145, 6.7487, 1.5311, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.235, "left_y": -0.19, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can is now nearly on the jaw column, just ~2 cm right, and reaches the bottom edge so it is under the fingertips. Shifting slightly right and descending to mid-body height so the open jaws straddle the can."})

tool

executing move_to over 9 steps (0.9s)

step 142

assistant

agent noteThe whole can, cap included, is still visible in the wrist view, so it is several cm forward of the fingertips rather than between them; the overhead confirms the can sits ahead of the gripper. Advancing ~5 cm forward at mid-body height to bring the can between the jaws.

move_to

left_x0.2800left_y-0.1900left_z0.1200left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-1.0641, 1.346, 0.9112, -0.8413, -0.6662, -0.8776, 0.9969, -0.0208, 0.8173, 0.5999, -0.7361, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.2292 left_y=-0.1807 left_z=0.1208 left_yaw=0.004 left_pitch=-0.2888 left_roll=0.1755 left_gripper=0.9969 right_x=0.2345 right_y=0.0022 right_z=0.1092 right_yaw=0.0009 right_pitch=-0.3677 right_roll=0.0085 right_gripper=0.9996 state[joint_eff]: [-0.5675, -4.6838, 6.3521, 0.9402, -0.5495, -0.149, -0.3346, -0.0479, -1.0051, 6.6667, 1.4383, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.19, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The whole can, cap included, is still visible in the wrist view, so it is several cm forward of the fingertips rather than between them; the overhead confirms the can sits ahead of the gripper. Advancing ~5 cm forward at mid-body height to bring the can between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 146

assistant

agent noteThe can now sits large and centred between the jaw wedges in the wrist view but its body is still visible down to the bottom edge, so it is just ahead of the fingertips. Advancing another 3 cm to bring the body between the jaws.

move_to

left_x0.3000left_y-0.1850left_z0.1100left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9249, 1.4536, 0.9581, -0.7425, -0.6228, -0.7586, 0.9969, -0.0212, 0.8188, 0.5999, -0.7467, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2674 left_y=-0.1777 left_z=0.1088 left_yaw=0.0462 left_pitch=-0.3164 left_roll=0.1988 left_gripper=0.9969 right_x=0.2323 right_y=0.0022 right_z=0.1074 right_yaw=0.0012 right_pitch=-0.3799 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [0.3214, -5.6684, 8.759, 0.8523, -0.442, 0.1636, -0.3346, -0.0752, -1.1556, 6.8581, 1.3993, -0.0611, -0.0562, -0.0122] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": -0.185, "left_z": 0.11, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The can now sits large and centred between the jaw wedges in the wrist view but its body is still visible down to the bottom edge, so it is just ahead of the fingertips. Advancing another 3 cm to bring the body between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 149

assistant

agent noteThe arm only advanced 0.5 cm and the tool has drifted to -0.32 rad pitch (tips tilted back), so the gripper body is probably butting against the can's cap. Lifting straight up and squaring the tool to vertical before re-approaching.

move_to

left_x0.2750left_y-0.1850left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9112, 1.4643, 0.9642, -0.7147, -0.606, -0.7105, 0.9969, -0.0212, 0.8219, 0.5999, -0.7475, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2727 left_y=-0.1816 left_z=0.108 left_yaw=0.018 left_pitch=-0.3211 left_roll=0.201 left_gripper=0.9969 right_x=0.2321 right_y=0.0021 right_z=0.1066 right_yaw=0.0009 right_pitch=-0.3837 right_roll=0.0087 right_gripper=0.9996 state[joint_eff]: [-0.1573, -5.7641, 8.7316, 1.0085, -0.4029, 0.1343, -0.3297, -0.0889, -1.1966, 6.7214, 1.3016, -0.0415, -0.0708, -0.0122] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.275, "left_y": -0.185, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm only advanced 0.5 cm and the tool has drifted to -0.32 rad pitch (tips tilted back), so the gripper body is probably butting against the can's cap. Lifting straight up and squaring the tool to vertical before re-approaching."})

tool

executing move_to over 11 steps (1.1s)

step 160

assistant

agent noteWith the tool vertical, the can now sits on the jaw column at the bottom edge of the wrist view, right under the fingertips. Advancing 2 cm and descending so the open jaws straddle the can body.

move_to

left_x0.2900left_y-0.1850left_z0.0800left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9859, 1.2057, 0.9352, -0.6312, -0.7319, -0.7265, 0.9969, -0.0212, 0.8249, 0.5999, -0.7685, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2686 left_y=-0.1854 left_z=0.1931 left_yaw=-0.0209 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9969 right_x=0.2278 right_y=0.0023 right_z=0.1031 right_yaw=0.0014 right_pitch=-0.4077 right_roll=0.0096 right_gripper=0.9996 state[joint_eff]: [-0.0479, -2.7556, 6.5299, 1.4676, -0.4078, 0.0904, -0.3346, -0.0752, -1.2376, 6.5983, 1.5018, -0.0366, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.185, "left_z": 0.08, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "With the tool vertical, the can now sits on the jaw column at the bottom edge of the wrist view, right under the fingertips. Advancing 2 cm and descending so the open jaws straddle the can body."})

tool

executing move_to over 8 steps (0.8s)

step 168

assistant

agent noteThe can with its straw nozzle is still fully in view below the camera and centred on the jaw column, so it stands a few cm ahead of the open jaws. Sliding forward 4 cm at body height so the jaws close around it.

move_to

left_x0.3200left_y-0.1800left_z0.0750left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.9398, 1.4017, 0.5827, -0.1017, -0.7372, -0.6731, 0.9969, -0.0212, 0.8249, 0.5999, -0.7883, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.2807 left_y=-0.1768 left_z=0.0745 left_yaw=0.0004 left_pitch=-0.0559 left_roll=0.0583 left_gripper=0.9969 right_x=0.2237 right_y=0.0024 right_z=0.1005 right_yaw=0.0016 right_pitch=-0.4275 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [0.6085, -5.1761, 5.8051, 1.6484, -0.4078, 0.0513, -0.3297, -0.0889, -0.9641, 6.5846, 1.4139, -0.0806, -0.0171, -0.0122] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.32, "left_y": -0.18, "left_z": 0.075, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can with its straw nozzle is still fully in view below the camera and centred on the jaw column, so it stands a few cm ahead of the open jaws. Sliding forward 4 cm at body height so the jaws close around it."})

tool

executing move_to over 4 steps (0.4s)

step 172

assistant

agent noteThe arm stopped just short of its target with the can body looming at the bottom of the wrist view between the jaw wedges, suggesting the can is now inside the jaws. Closing the gripper to test the grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8337, 1.486, 0.5636, 0.0662, -0.688, -0.5972, 0.9969, -0.0212, 0.8288, 0.5999, -0.7933, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3067 left_y=-0.1657 left_z=0.0601 left_yaw=0.0302 left_pitch=-0.0482 left_roll=0.0455 left_gripper=0.9969 right_x=0.2226 right_y=0.0023 right_z=0.0991 right_yaw=0.0014 right_pitch=-0.4363 right_roll=0.01 right_gripper=0.9996 state[joint_eff]: [0.335, -5.2855, 8.0342, 1.6093, -0.2076, 0.149, -0.3346, -0.1846, -1.3333, 6.5709, 1.2479, -0.0513, -0.0708, -0.0073] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The arm stopped just short of its target with the can body looming at the bottom of the wrist view between the jaw wedges, suggesting the can is now inside the jaws. Closing the gripper to test the grasp."})

tool

executing move_to over 10 steps (1.0s)

step 182

assistant

agent noteThe close was empty (0.01): the can's nozzle is visible just beyond the closed jaw tips, so the can stands a few cm ahead. Opening the jaws before advancing.

move_to

left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8242, 1.5017, 0.5701, 0.1196, -0.6659, -0.5613, 0.0096, -0.0212, 0.8288, 0.5991, -0.8139, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3136 left_y=-0.173 left_z=0.063 left_yaw=0.0036 left_pitch=-0.032 left_roll=0.0308 left_gripper=0.0096 right_x=0.218 right_y=0.0024 right_z=0.0962 right_yaw=0.0016 right_pitch=-0.4577 right_roll=0.0105 right_gripper=0.9996 state[joint_eff]: [-0.1299, -6.0376, 7.1453, 1.5849, -0.2369, 0.0513, 0.7839, -0.1026, -0.9915, 6.7487, 1.3602, -0.022, -0.0611, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 1.0}, "note": "The close was empty (0.01): the can's nozzle is visible just beyond the closed jaw tips, so the can stands a few cm ahead. Opening the jaws before advancing."})

tool

executing move_to over 10 steps (1.0s)

step 192

assistant

agent noteWith the jaws open the white can is visible bottom-centre between the jaw wedges, just ahead of the fingertips. Advancing ~4 cm at body height so the can ends up between the jaws.

move_to

left_x0.3500left_y-0.1800left_z0.0600left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.8238, 1.5017, 0.5694, 0.1116, -0.6662, -0.5644, 0.9952, -0.0212, 0.8288, 0.5991, -0.8349, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3127 left_y=-0.1717 left_z=0.0617 left_yaw=0.0061 left_pitch=-0.0376 left_roll=0.0349 left_gripper=0.9952 right_x=0.2135 right_y=0.0026 right_z=0.0936 right_yaw=0.0022 right_pitch=-0.4786 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [-0.0889, -5.4769, 5.6137, 1.4969, -0.2857, -0.0073, -0.0073, -0.0889, -0.9778, 6.5299, 1.3846, -0.0366, -0.0708, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.18, "left_z": 0.06, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "With the jaws open the white can is visible bottom-centre between the jaw wedges, just ahead of the fingertips. Advancing ~4 cm at body height so the can ends up between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 195

assistant

agent noteThe can's nozzle now sits at the very bottom edge between the open jaws, so the body should be inside the jaw span. Closing to grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.754, 1.6142, 0.5964, 0.1925, -0.6312, -0.5259, 0.9969, -0.0212, 0.8314, 0.5991, -0.8467, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.333 left_y=-0.1648 left_z=0.0426 left_yaw=0.0303 left_pitch=-0.0604 left_roll=0.0517 left_gripper=0.9969 right_x=0.2109 right_y=0.0026 right_z=0.0917 right_yaw=0.002 right_pitch=-0.4931 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [0.0342, -6.9675, 8.0479, 1.9023, -0.232, 0.1197, -0.3297, -0.1983, -0.8274, 6.612, 1.3553, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The can's nozzle now sits at the very bottom edge between the open jaws, so the body should be inside the jaw span. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 205

assistant

agent noteThe close was empty again and the can has been knocked over; the two cameras disagree on which side of the gripper it now lies. Lifting and opening to get a clear look at where the can ended up.

move_to

left_x0.3200left_y-0.1600left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7521, 1.6249, 0.6014, 0.2066, -0.6407, -0.532, 0.0095, -0.0212, 0.8314, 0.5991, -0.8562, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.336 left_y=-0.1648 left_z=0.0434 left_yaw=0.042 left_pitch=-0.0494 left_roll=0.0457 left_gripper=0.0095 right_x=0.2088 right_y=0.0026 right_z=0.0906 right_yaw=0.0021 right_pitch=-0.5027 right_roll=0.0117 right_gripper=0.9996 state[joint_eff]: [-0.3761, -7.2957, 5.1761, 1.2967, -0.2027, 0.0562, 0.7692, -0.0479, -0.8957, 6.7214, 1.2039, -0.0464, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_x": 0.32, "left_y": -0.16, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The close was empty again and the can has been knocked over; the two cameras disagree on which side of the gripper it now lies. Lifting and opening to get a clear look at where the can ended up."})

tool

executing move_to over 10 steps (1.0s)

step 215

assistant

agent noteThe can now lies on its side just behind the fingertips toward the base, its axis running roughly left-right. Moving back over the can's body and yawing the tool 90° so the jaws close across its diameter.

move_to

left_x0.2900left_y-0.1250left_z0.1200left_yaw1.5000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.7616, 1.2938, 0.7036, -0.1783, -0.6285, -0.5255, 0.9954, -0.0212, 0.8349, 0.5972, -0.8783, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.3187 left_y=-0.1555 left_z=0.1316 left_yaw=0.0189 left_pitch=-0.0214 left_roll=0.0106 left_gripper=0.9954 right_x=0.2034 right_y=0.0028 right_z=0.0868 right_yaw=0.0025 right_pitch=-0.5301 right_roll=0.0124 right_gripper=0.9996 state[joint_eff]: [-0.5538, -5.6547, 9.1829, 1.6239, -0.2173, 0.1148, -0.0611, -0.1709, -1.2376, 6.6256, 1.2869, -0.0513, -0.0317, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.125, "left_z": 0.12, "left_yaw": 1.5, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The can now lies on its side just behind the fingertips toward the base, its axis running roughly left-right. Moving back over the can's body and yawing the tool 90\u00b0 so the jaws close across its diameter."})

tool

executing move_to over 10 steps (1.0s)

step 225

assistant

agent noteThe yaw move dragged the grasp point far off target; the overhead now shows the can lying just base-ward of the gripper with its axis pointing forward, so yaw 0 is right. Returning to yaw 0 and positioning above the can's body to check in the wrist view.

move_to

left_x0.2900left_y-0.0400left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.4564, 2.0583, 1.5646, -1.4334, -0.8993, -2.0258, 0.9969, -0.0208, 0.8379, 0.5964, -0.9012, -0.0196, -0.0116, 0.9996] state[eef_state]: left_x=0.3541 left_y=-0.0158 left_z=0.1136 left_yaw=1.3759 left_pitch=-0.0468 left_roll=0.0081 left_gripper=0.9969 right_x=0.1981 right_y=0.0029 right_z=0.0836 right_yaw=0.003 right_pitch=-0.5568 right_roll=0.0133 right_gripper=0.9996 state[joint_eff]: [-3.0017, -9.5248, 6.8444, -0.6618, -0.3443, -0.0757, -0.3297, -0.0752, -0.7453, 6.4615, 1.3065, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.29, "left_y": -0.04, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The yaw move dragged the grasp point far off target; the overhead now shows the can lying just base-ward of the gripper with its axis pointing forward, so yaw 0 is right. Returning to yaw 0 and positioning above the can's body to check in the wrist view."})

tool

executing move_to over 9 steps (0.9s)

step 234

assistant

agent noteOverhead shows the can lying with its axis pointing forward about 4–5 cm to the right of the gripper and slightly closer to the base. Moving over the can's body and descending to its centre height with jaws open.

move_to

left_x0.2600left_y-0.0600left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.3405, 0.8768, 0.403, -0.2855, -0.453, -0.7483, 0.9969, -0.0208, 0.8413, 0.5953, -0.9234, -0.0196, -0.012, 0.9996] state[eef_state]: left_x=0.2746 left_y=-0.0114 left_z=0.0991 left_yaw=0.4276 left_pitch=-0.1145 left_roll=-0.2618 left_gripper=0.9969 right_x=0.1927 right_y=0.0031 right_z=0.0804 right_yaw=0.0037 right_pitch=-0.5835 right_roll=0.0139 right_gripper=0.9996 state[joint_eff]: [-0.1709, -0.6359, 6.6256, 1.8437, 0.022, 0.2076, -0.3297, 0.0068, -1.0325, 6.612, 1.199, -0.0366, -0.0562, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.26, "left_y": -0.06, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Overhead shows the can lying with its axis pointing forward about 4\u20135 cm to the right of the gripper and slightly closer to the base. Moving over the can's body and descending to its centre height with jaws open."})

tool

executing move_to over 5 steps (0.5s)

step 239

assistant

agent noteOverhead shows the open jaws still ~3–4 cm left of the lying can's body. Shifting right onto the can at grasp height.

move_to

left_x0.2400left_y-0.0900left_z0.0200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5091, 1.0031, 0.083, 0.1513, -0.424, -0.4206, 0.9969, -0.0212, 0.8425, 0.5953, -0.9272, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.247 left_y=-0.0505 left_z=0.0155 left_yaw=0.0596 left_pitch=-0.1107 left_roll=-0.0161 left_gripper=0.9969 right_x=0.1918 right_y=0.0031 right_z=0.0798 right_yaw=0.0035 right_pitch=-0.5885 right_roll=0.0147 right_gripper=0.9996 state[joint_eff]: [0.0068, -2.0444, 5.3538, 1.7118, -0.2808, 0.105, -0.3297, -0.0752, -0.9641, 6.3932, 1.0037, -0.0317, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.24, "left_y": -0.09, "left_z": 0.02, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Overhead shows the open jaws still ~3\u20134 cm left of the lying can's body. Shifting right onto the can at grasp height."})

tool

executing move_to over 4 steps (0.4s)

step 243

assistant

agent noteOut of LLM budget. The can was grasped and placed on the burner once but rolled off the coil (a lying cylinder does not stay on the domed coil); subsequent regrasp attempts of the upright can failed because the arm stalled at folded/awkward IK poses near the base and pushed the can around.

give_up

hindsight1) A cylindrical can laid on its side rolls off the burner coil — place it upright (regrasp it standing, or set it down vertically) rather than lying. 2) Yaw changes of ~1.5 rad are executed by the IK with large excursions of the grasp point (it moved ~15 cm off target); avoid big yaw moves near objects or do them high up and re-command position afterwards. 3) Working close to the base (x < 0.3) the arm stalls frequently (folded limit) and refuses lateral moves at low z; approach objects near the base from higher up and from farther out. 4) Pitch drifts to ~-0.3 rad when uncommanded; explicitly command left_pitch/left_roll = 0 in every move or the wrist camera view is misleading and the gripper body bumps object tops. 5) In the wrist view with tool vertical, a standing object that appears fully visible bottom-centre is still 5–8 cm forward of the fingertips; an empty close showing the object just beyond the closed tips means advance ~4–5 cm, not 2. 6) In this scene the can started lying at roughly left (x≈0.35, y≈-0.08) with axis yawed ~+0.6 rad; the burner coil centre is at about left (x≈0.42, y≈-0.31), top surface such that a lying can's grasp point contacted at z≈0.08.

Raw transcript

user

Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.5232, 1.0431, 0.049, 0.3145, -0.432, -0.3439, 0.9969, -0.0212, 0.8425, 0.5953, -0.9268, -0.02, -0.0116, 0.9996] state[eef_state]: left_x=0.2556 left_y=-0.0579 left_z=0.0227 left_yaw=0.0066 left_pitch=-0.0317 left_roll=0.003 left_gripper=0.9969 right_x=0.1919 right_y=0.0031 right_z=0.0799 right_yaw=0.0035 right_pitch=-0.5881 right_roll=0.0147 right_gripper=0.9996 state[joint_eff]: [-0.2803, -1.894, 5.9556, 1.873, -0.2515, 0.1245, -0.3297, -0.0752, -0.8821, 6.3658, 0.9499, -0.0562, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM budget. The can was grasped and placed on the burner once but rolled off the coil (a lying cylinder does not stay on the domed coil); subsequent regrasp attempts of the upright can failed because the arm stalled at folded/awkward IK poses near the base and pushed the can around.", "hindsight": "1) A cylindrical can laid on its side rolls off the burner coil \u2014 place it upright (regrasp it standing, or set it down vertically) rather than lying. 2) Yaw changes of ~1.5 rad are executed by the IK with large excursions of the grasp point (it moved ~15 cm off target); avoid big yaw moves near objects or do them high up and re-command position afterwards. 3) Working close to the base (x < 0.3) the arm stalls frequently (folded limit) and refuses lateral moves at low z; approach objects near the base from higher up and from farther out. 4) Pitch drifts to ~-0.3 rad when uncommanded; explicitly command left_pitch/left_roll = 0 in every move or the wrist camera view is misleading and the gripper body bumps object tops. 5) In the wrist view with tool vertical, a standing object that appears fully visible bottom-centre is still 5\u20138 cm forward of the fingertips; an empty close showing the object just beyond the closed tips means advance ~4\u20135 cm, not 2. 6) In this scene the can started lying at roughly left (x\u22480.35, y\u2248-0.08) with axis yawed ~+0.6 rad; the burner coil centre is at about left (x\u22480.42, y\u2248-0.31), top surface such that a lying can's grasp point contacted at z\u22480.08."})

tool

give_up: Out of LLM budget. The can was grasped and placed on the burner once but rolled off the coil (a lying cylinder does not stay on the domed coil); subsequent regrasp attempts of the upright can failed because the arm stalled at folded/awkward IK poses near the base and pushed the can around.

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)

[
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"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.",
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]

call 0 attempt 0 · /messages · status 200 · 28.26 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, 0.7921, 0.6037, -0.3874, -0.0189, -0.0338, 0.998, -0.0212, 0.7925, 0.6064, -0.3996, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.3043, 1.9463, -0.0513, 0.149, -0.2125, -0.4308, -1.388, 9.6479, 2.0049, -0.0513, -0.0562, -0.0513]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
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    {
      "text": "camera 'left_cam' (step 0):",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 13.55 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, 0.7921, 0.6037, -0.3874, -0.0189, -0.0338, 0.998, -0.0212, 0.7925, 0.6064, -0.3996, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.3043, 1.9463, -0.0513, 0.149, -0.2125, -0.4308, -1.388, 9.6479, 2.0049, -0.0513, -0.0562, -0.0513]",
      "type": "text"
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    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
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    {
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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        "data": "$blob:fc1a096532d16676cf94bb834e4d010d94cff93c79bc1e2c9a58448166759266",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll grasp the lying can with the left arm, since it's on the left side of the table, then carry it to the burner in the centre.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SKxaAFHSWjQ4vEWkSiaFFY",
      "input": {
        "note": "The spray can lies on its side to the front-right of the left gripper, angled with its cap toward the far-left; the burner is at table centre. Moving the left arm above the can and yawing so the jaws close across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.08,
          "left_yaw": 0.6,
          "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_01SKxaAFHSWjQ4vEWkSiaFFY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.6453, 1.4593, 0.9363, -0.54, -0.8265, -0.8928, 0.9981, -0.0212, 0.7956, 0.6064, -0.4332, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.0888 left_z=0.1383 left_yaw=0.473 left_pitch=-0.0585 left_roll=0.0416 left_gripper=0.9981 right_x=0.2878 right_y=0.001 right_z=0.1698 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.0496, 7.5556, 0.7253, -0.7106, -0.0904, -0.2173, -0.0752, -1.3607, 7.0085, 1.9902, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfbaae13f072bfb7d3150eb6a8b6f11d8f76db9e0d44fdcffa704c20634bed6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce2eaa0772d2a8452dad6d1c245e50da7ce16676e667eae788d51c286859bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee14d2b7d0e0481d505ba3db62adbc6171271922e34354c595214a009dcc00cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 6.502 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, 0.7921, 0.6037, -0.3874, -0.0189, -0.0338, 0.998, -0.0212, 0.7925, 0.6064, -0.3996, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.3043, 1.9463, -0.0513, 0.149, -0.2125, -0.4308, -1.388, 9.6479, 2.0049, -0.0513, -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]: [-0.6453, 1.4593, 0.9363, -0.54, -0.8265, -0.8928, 0.9981, -0.0212, 0.7956, 0.6064, -0.4332, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.0888 left_z=0.1383 left_yaw=0.473 left_pitch=-0.0585 left_roll=0.0416 left_gripper=0.9981 right_x=0.2878 right_y=0.001 right_z=0.1698 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.0496, 7.5556, 0.7253, -0.7106, -0.0904, -0.2173, -0.0752, -1.3607, 7.0085, 1.9902, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfbaae13f072bfb7d3150eb6a8b6f11d8f76db9e0d44fdcffa704c20634bed6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce2eaa0772d2a8452dad6d1c245e50da7ce16676e667eae788d51c286859bfa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee14d2b7d0e0481d505ba3db62adbc6171271922e34354c595214a009dcc00cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSig4KEAgRGAI4AUIIdGhpbmtpbmcSDH7oTgo2JRYxWtrkXRoMiQDudPmlxV7+S/NqIjAee23Yqa4SC4O4SFzDjbDxidNfVTwOBy5fFNszTydTUl7aTd3FoC/vgktOifUr7Joqpw3gskkK20mFeqfwfCZSgP9sJHEQeXAN9YkeRezHPyayll6AWeXIBYBrGU2uWqOFifVJYo5auDnKxUhGfh8NaMnIgtXa5uSs9jUHM/sicUCWVi+qzahi6Y2o9ST6bxdnKvueESYTLBmR1LpTjIriFHGtcdpbiCWoYOE0xcFe5FwblXaOgHT+12kTTG/MzxVz8hUoeejxUuIi2lWpFK/nSFPFh3z3LE3YgdZx4mLiCAR8BEVqH7qWtIiTuK/2Q2nbEJYMXDuzIjTUNuhA6UF1gxwt7g7oFqsysL+MHqobTcuCQtuyY/NDKthxdAoxZHNVF7CJ5d762eS6Psv9kI6Cdl3VieI+Xz5IsndV0yvwCPUWCDx0X5dsJ3yx/xE1jlZ2I762CZ9NWcH1EWF1a2ejaQgizkISvsaaCCPJWezh5BAjGrJtcGiIMROJWfWj1jVCuoi1g+6zpPlMyTKwAnZeWEU594/eKhoppU7m4YVTSn5HILv8buUSwutRXYNCFURvPDEcRLGFabgWS396lCnN39pBPJArszmNoRhch2/JmBX1orYW8iv/WSwelJsCZqikCmPZoxuqjm8cHma/PpsnfkQdn6d+B3FqhHsjORtSNFK49HRJCbK3P/G2rvLASkpHe63VjESdnj+jurfe+BmOkmat/EbEMd3bq6q8ee6Wuamdy7a/vQsZ2QtUy4TI31QtTKR5o9CaYqzFeEK1WJzazZ8R21DsL/UldIsq5hn4vyteZDsEUj/Tx3RBMyX67HqhvXcfi0wbScFeynJ2JeWukUe70b4xisC8SWOrCcqwJP2CpnDUbqrXCysPLHgYmwBk+id5HyLUD4fN+t8dNBx6vCn68WB8r76UI3XV2GpGMVwyqqA8wjBv9QIFb84hYjmDD/UvJvVihca8PsaTuy0yvEOYeTug0JODu71tRsypdYz5sc3Z7t3nbenonhJHWIevV25/DBZKMVtODVk32FezYZ37OjQIJoKKoiosbcPWxwqy6iqMQhZ3q2ZvQRsr+FpMOgfAAfFkPL2LZHUJ/gCEbS8Wyfqn7i3LgLm7OkBOgmGgtox4tnBcGz+hq+Cpn2KlqKoN8AmUfSeHlyhDbM6/GZZ+WMfVO3YoOhwgLd4hUIgrA1CkagV67kPaTRaD+bXvY4j+xIvp3eOMbEXMDjvFvt42PzFJaNyMIWPsGE+mo4MMMH/MUWZT5bCbAvYleVpuBDJJDh9Slnaov85BxX9HrzDWZxzhu5q8Ek/n1jrRMrSW+0Ugu2XJrXA2LlNSPHS+UVd3AwYSO1J1KltgyaBi8IYh525nhSqph/NmMGJtpVjozQJQBK8aBX0URfnI1iJxO1YgAEjHFW5aRr6ggdmT0OkkCMZ4kOqul9Jp+O4vyZhT0GWIYMwWGXZa+UY4sp7BtkxzeQtjS8UK+i8zq86rmoY+KcTLBQTIw3pbd4uLSb92QdE+nACTLNWeqdjfpsFhlo6s8k6tDNBKei2V30C00xe13TjDyX7OY45lTE0BR/jasHL7D0o40fwiWPhgdSuG3jvzjmaqKIabR9vZ5Xuuxd9+Q+Dk6DvelD/U/ZVzYYyPnCnaObrHP2DCq/gcKVMhBXkzFOAGLKGWfjbvbCV5UxhwPdRYUBEYvWM99IYooh3wiHNZeN4kGiafuu3AQ7IeTaPg6i0JDXfyOZ3CiBni8wL5snVWsbh4R9+V0ILoG7rIWcRxm/+xkMuC8+limbBdKXlqu0N7R7vRaqeIO9iQlUDpT4oAPwto3AfvIgdYdhpyaiFUBMaemYL+3vgYgVaIqIjFiumsUUmmeKKbNvOvorA/7y7sIkGiWz1rKBFIhG0/ivWNXan4qIpuXKiYNH+m4e492sisjf1jvFjYb9YBBe1kG4cZqfs43T2El3up0k7syoSf22fTj4J8sBSiws4X0ep147bK/kLgNx82K3lwBu+zBBzXT/UCY6lPpaEtZ4JK85h7GiDr5ogduqpo0VQP0PKpRf8M+T7otMx6gyiQ0YyNIvdo5cXgcRWnBRzAu3X8k5x3cvtUVh5Ent452eOu1LOh1gpbyn4UmPqVB1//QFYm4k40VDcZTJfLVBfjeqlM9hp2wW/bDiSyqWN/u69npBNE1dqImTcmIQAtjBgEagsfCs9xN2rZLiL9eHaS6vWBCFDqaV8Rv5eNCnXjhi/EfD5UchP16Uxq6wf1uW4sPyU3uCYQDFNc1wrpdvgt93+CgS+dawdW3Ysf3rtYB8GYjTP+Ah4OhQX6dTvwdXFm7qHC7WiTt5Eh5hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QVyi2Z4wSrokzqQ9bYUZN",
      "input": {
        "note": "The can is now on the jaw column in the wrist view, slightly forward of the fingertips and tilted a little. Advancing ~3 cm along the tool direction, adding a bit of yaw, and descending to 6 cm above the table before the final grasp descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.365,
          "left_y": -0.075,
          "left_yaw": 0.65,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017QVyi2Z4wSrokzqQ9bYUZN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5953, 1.7298, 0.9123, -0.3912, -0.8608, -1.0275, 0.9981, -0.0212, 0.7986, 0.6037, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.076 left_z=0.0619 left_yaw=0.6213 left_pitch=-0.0823 left_roll=0.0805 left_gripper=0.9981 right_x=0.2844 right_y=0.0011 right_z=0.1634 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.3368, 6.188, 0.9206, -0.5592, -0.1099, -0.2125, -0.0752, -1.3744, 7.1863, 1.8584, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e6daba6be87876c7e9e5b771c75eae7581ed0caa30a8b24ca699d52128d066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95301636e73bfd5a412f1cff44c470b0bca41c94a8d7faebf4f5e9b14692c324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:895108fe0e487971b52385b262ba8ac712f765ea913e5340d1e49ac94d656d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 5.095 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, 0.7921, 0.6037, -0.3874, -0.0189, -0.0338, 0.998, -0.0212, 0.7925, 0.6064, -0.3996, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0013 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.998 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.5949, -1.4017, 10.3043, 1.9463, -0.0513, 0.149, -0.2125, -0.4308, -1.388, 9.6479, 2.0049, -0.0513, -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]: [-0.6453, 1.4593, 0.9363, -0.54, -0.8265, -0.8928, 0.9981, -0.0212, 0.7956, 0.6064, -0.4332, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.0888 left_z=0.1383 left_yaw=0.473 left_pitch=-0.0585 left_roll=0.0416 left_gripper=0.9981 right_x=0.2878 right_y=0.001 right_z=0.1698 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.0496, 7.5556, 0.7253, -0.7106, -0.0904, -0.2173, -0.0752, -1.3607, 7.0085, 1.9902, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5953, 1.7298, 0.9123, -0.3912, -0.8608, -1.0275, 0.9981, -0.0212, 0.7986, 0.6037, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.076 left_z=0.0619 left_yaw=0.6213 left_pitch=-0.0823 left_roll=0.0805 left_gripper=0.9981 right_x=0.2844 right_y=0.0011 right_z=0.1634 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.3368, 6.188, 0.9206, -0.5592, -0.1099, -0.2125, -0.0752, -1.3744, 7.1863, 1.8584, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e6daba6be87876c7e9e5b771c75eae7581ed0caa30a8b24ca699d52128d066",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95301636e73bfd5a412f1cff44c470b0bca41c94a8d7faebf4f5e9b14692c324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895108fe0e487971b52385b262ba8ac712f765ea913e5340d1e49ac94d656d8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStQcKEAgRGAI4AUIIdGhpbmtpbmcSDBA5/I3Q4XvV4ZE59RoM21ZDQLs/HGWBxxzFIjAw+9ZoLKmyCF7VFkAGbIVBLl6j7SmgHZyKhOJTCs0Swa1wGe4gzdYPS2SNX8rF3P4q0gY6/jSEbtpuTlxV6uYAMijEHnV1j6C8HEUoZO2a/AIziMBqa/kT74Uyj+EwlMAOnPqU/H1CsZo5WFAZ7n17+ZyhqTXs0n477uxq0BYF2A+gVybyx1cWEVeHGnvVlNovwIMN10Y/yI2I6+QxRG0kwr3qLIiJ+jEKj3XnXXa9x63KJNNUZCYc9yaQeclLU3LUC6id1bY67GPzBdP6D0aCNc8kqjPEKv4Mi3BRAoS1aFqNtpWg68U+4ekQbQiTzM9ezL6R9YGE8EoJDJryyhxC6w5DLLXM6Hoss4uAIfZTdweUNgOcTH2C8CaksLyXzE+b4yH9IEPPPsLWDCHOh5vPMjGHmJIRW3rZ6kdjo5sTV4quRlS75YpJVLLWXu8INNmZVzHGv004LRzl6+PM1OLk4NxVspe9KM+82eIZUIOixOQiLvMK8676IT38mgQ3av0ITHOgXpkT4X03LEbFGLiHKnEy4SvwRkN3X8JIQ+8TWy1t5ZXGIOk+W+IwzhPZqn/+86dcJjok3eM5Hm5pQ6FzcbB/peQFPdoFO73cfW3we43A25MuFjsUvdoZ5jxngr9trjGfxNAfRgbKeJ2weKR/sf/rwW9ui8OWiEWtzVC+kAU1kYg1LhPFeQzLydtD335q4WF+8kxCIRNy2zZzvESu92Qqc4uvCyHHKtWdmTsUXpufEsGVAK4mRINGI/ca+ZL7T9GGjEO/zwn5ePAKp6ipH+euTey7WDIacFj9afY//OCL80NpGLKQvupWep1XqkSZIlMHoiSW6q7gJ++wTVm0lp0FFdRKEO9oLDUsA/2G5kxEIsxPfsw+ovnng2ZF3RY2zMwXT5URp0gb7z9AlmFrTNlEA3JZoSVi1SyWgXVh5OyqAWlZZRLp1yyoNHLjf8X1d1xqcow9fNShu0HJ/829T2p5tKUmugsi9ySXsQxGjFtoVecW1kskDTy6w8ypJRYLS28dvkoY+1Hcas/dIjNotMrkqwn2yQ8Oxbu2luP5BgebN2xCR62ZspuBL0rmpBu2VI1HbyIBVK8eGKlEr4eZkfaAzmjzpTPe2YJ9UHIqxjbFIOjUHiEFSJz40PqfHIvLUlNLzzkI4P8CVai2Amk6wMla3KS/SzHzsLQyMMnKIeDXFO54GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVNDPskgCbgdRFvcLtw46r",
      "input": {
        "note": "The can body fills the gap between the jaws in the wrist view, aligned with the closing axis. Descending to can-centre height before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3576,
          "left_y": -0.076,
          "left_yaw": 0.62,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TVNDPskgCbgdRFvcLtw46r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5938, 1.8126, 0.8604, -0.268, -0.8589, -1.0336, 0.9981, -0.0212, 0.7986, 0.6037, -0.4576, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3568 left_y=-0.0752 left_z=0.0295 left_yaw=0.6263 left_pitch=-0.0876 left_roll=0.0858 left_gripper=0.9981 right_x=0.284 right_y=0.001 right_z=0.1629 right_yaw=-0.0007 right_pitch=-0.0668 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8701, 4.4786, 0.9206, -0.5055, -0.0073, -0.2076, -0.0068, -1.1829, 7.159, 1.7021, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1b3b3e6ea3d18e411e7432c5e5244af77ee2f87a071959216dd7d6cac3b377b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd27c5173b7292145c9a4ac3cc3c37c07c1ec290ececa4a2675028697afa97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a0a8651628af76769e438485da382e878916c70143cde2cbad3a854701ec710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 4.398 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]: [-0.6453, 1.4593, 0.9363, -0.54, -0.8265, -0.8928, 0.9981, -0.0212, 0.7956, 0.6064, -0.4332, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.34 left_y=-0.0888 left_z=0.1383 left_yaw=0.473 left_pitch=-0.0585 left_roll=0.0416 left_gripper=0.9981 right_x=0.2878 right_y=0.001 right_z=0.1698 right_yaw=-0.0004 right_pitch=-0.0366 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -7.0496, 7.5556, 0.7253, -0.7106, -0.0904, -0.2173, -0.0752, -1.3607, 7.0085, 1.9902, -0.0269, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5953, 1.7298, 0.9123, -0.3912, -0.8608, -1.0275, 0.9981, -0.0212, 0.7986, 0.6037, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.076 left_z=0.0619 left_yaw=0.6213 left_pitch=-0.0823 left_roll=0.0805 left_gripper=0.9981 right_x=0.2844 right_y=0.0011 right_z=0.1634 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.3368, 6.188, 0.9206, -0.5592, -0.1099, -0.2125, -0.0752, -1.3744, 7.1863, 1.8584, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.5938, 1.8126, 0.8604, -0.268, -0.8589, -1.0336, 0.9981, -0.0212, 0.7986, 0.6037, -0.4576, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3568 left_y=-0.0752 left_z=0.0295 left_yaw=0.6263 left_pitch=-0.0876 left_roll=0.0858 left_gripper=0.9981 right_x=0.284 right_y=0.001 right_z=0.1629 right_yaw=-0.0007 right_pitch=-0.0668 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8701, 4.4786, 0.9206, -0.5055, -0.0073, -0.2076, -0.0068, -1.1829, 7.159, 1.7021, -0.0415, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1b3b3e6ea3d18e411e7432c5e5244af77ee2f87a071959216dd7d6cac3b377b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdd27c5173b7292145c9a4ac3cc3c37c07c1ec290ececa4a2675028697afa97e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0a8651628af76769e438485da382e878916c70143cde2cbad3a854701ec710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Descent stopped at z≈0.03 (contact with can top likely, or nearly at centre height). Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MkyUVrNayJ5iE72ahi37ur",
      "input": {
        "note": "Gripper is at ~3 cm height straddling the can body. Closing the jaws to grasp the can 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_01MkyUVrNayJ5iE72ahi37ur",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5949, 1.8393, 0.8387, -0.2626, -0.8509, -1.0336, 0.6992, -0.0212, 0.8017, 0.6029, -0.4782, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0715 left_z=0.015 left_yaw=0.6263 left_pitch=-0.1095 left_roll=0.1239 left_gripper=0.6992 right_x=0.2809 right_y=0.0011 right_z=0.1578 right_yaw=-0.0007 right_pitch=-0.0912 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -9.7983, 6.4615, 0.735, -0.5104, -0.0171, 1.033, -0.0889, -1.3197, 7.0222, 1.8535, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7627035c422648ec09fc639421f1fc9202514ece7a41049296019a7f316e022c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd289c5f07be1740455fb63ad5e374cb96ce9e2b87b97550ab6ce2f4d212ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b964beae87fe517c2270e5ef4c9082f68dae4bc192059ce4d701e6bb614a477c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 10.13 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]: [-0.5953, 1.7298, 0.9123, -0.3912, -0.8608, -1.0275, 0.9981, -0.0212, 0.7986, 0.6037, -0.4549, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3576 left_y=-0.076 left_z=0.0619 left_yaw=0.6213 left_pitch=-0.0823 left_roll=0.0805 left_gripper=0.9981 right_x=0.2844 right_y=0.0011 right_z=0.1634 right_yaw=-0.0004 right_pitch=-0.0641 right_roll=0.002 right_gripper=0.9996\nstate[joint_eff]: [0.4718, -7.3368, 6.188, 0.9206, -0.5592, -0.1099, -0.2125, -0.0752, -1.3744, 7.1863, 1.8584, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.5938, 1.8126, 0.8604, -0.268, -0.8589, -1.0336, 0.9981, -0.0212, 0.7986, 0.6037, -0.4576, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3568 left_y=-0.0752 left_z=0.0295 left_yaw=0.6263 left_pitch=-0.0876 left_roll=0.0858 left_gripper=0.9981 right_x=0.284 right_y=0.001 right_z=0.1629 right_yaw=-0.0007 right_pitch=-0.0668 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8701, 4.4786, 0.9206, -0.5055, -0.0073, -0.2076, -0.0068, -1.1829, 7.159, 1.7021, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.5949, 1.8393, 0.8387, -0.2626, -0.8509, -1.0336, 0.6992, -0.0212, 0.8017, 0.6029, -0.4782, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0715 left_z=0.015 left_yaw=0.6263 left_pitch=-0.1095 left_roll=0.1239 left_gripper=0.6992 right_x=0.2809 right_y=0.0011 right_z=0.1578 right_yaw=-0.0007 right_pitch=-0.0912 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -9.7983, 6.4615, 0.735, -0.5104, -0.0171, 1.033, -0.0889, -1.3197, 7.0222, 1.8535, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7627035c422648ec09fc639421f1fc9202514ece7a41049296019a7f316e022c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fd289c5f07be1740455fb63ad5e374cb96ce9e2b87b97550ab6ce2f4d212ff1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b964beae87fe517c2270e5ef4c9082f68dae4bc192059ce4d701e6bb614a477c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Gripper settled at 0.70 (≈6.6 cm) — consistent with a can diameter. Lifting to verify.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRU5LPMb3TN9r7Mesgeg9j",
      "input": {
        "note": "Gripper reads 0.70, matching a ~6.6 cm can diameter, so the grasp looks good. Lifting the can to carrying height to confirm it comes along.",
        "targets": {
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BRU5LPMb3TN9r7Mesgeg9j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5949, 1.6108, 1.2152, -0.8864, -0.8238, -1.0424, 0.6992, -0.0212, 0.8017, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3511 left_y=-0.0768 left_z=0.1547 left_yaw=0.6242 left_pitch=-0.1396 left_roll=0.1258 left_gripper=0.6992 right_x=0.2773 right_y=0.0013 right_z=0.1531 right_yaw=-0.0003 right_pitch=-0.114 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.347, 8.3897, 0.6716, -0.7253, 0.0562, 0.7399, -0.0752, -1.0188, 7.0085, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daaf2594c4b1cc6a60a1254bc31c4eb80ffcefac00060f4864071a90fb41f955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e07d20094a0d4c19e2868fec454124bf8f93edfddc2e2595cf2219167ccc119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89f40ed1d4af77a95cd685c4747cf79ddf2285d36f1a11ba792610249076981b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.743 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]: [-0.5938, 1.8126, 0.8604, -0.268, -0.8589, -1.0336, 0.9981, -0.0212, 0.7986, 0.6037, -0.4576, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3568 left_y=-0.0752 left_z=0.0295 left_yaw=0.6263 left_pitch=-0.0876 left_roll=0.0858 left_gripper=0.9981 right_x=0.284 right_y=0.001 right_z=0.1629 right_yaw=-0.0007 right_pitch=-0.0668 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -7.8701, 4.4786, 0.9206, -0.5055, -0.0073, -0.2076, -0.0068, -1.1829, 7.159, 1.7021, -0.0415, -0.0513, -0.0122]",
      "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]: [-0.5949, 1.8393, 0.8387, -0.2626, -0.8509, -1.0336, 0.6992, -0.0212, 0.8017, 0.6029, -0.4782, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0715 left_z=0.015 left_yaw=0.6263 left_pitch=-0.1095 left_roll=0.1239 left_gripper=0.6992 right_x=0.2809 right_y=0.0011 right_z=0.1578 right_yaw=-0.0007 right_pitch=-0.0912 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -9.7983, 6.4615, 0.735, -0.5104, -0.0171, 1.033, -0.0889, -1.3197, 7.0222, 1.8535, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5949, 1.6108, 1.2152, -0.8864, -0.8238, -1.0424, 0.6992, -0.0212, 0.8017, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3511 left_y=-0.0768 left_z=0.1547 left_yaw=0.6242 left_pitch=-0.1396 left_roll=0.1258 left_gripper=0.6992 right_x=0.2773 right_y=0.0013 right_z=0.1531 right_yaw=-0.0003 right_pitch=-0.114 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.347, 8.3897, 0.6716, -0.7253, 0.0562, 0.7399, -0.0752, -1.0188, 7.0085, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daaf2594c4b1cc6a60a1254bc31c4eb80ffcefac00060f4864071a90fb41f955",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e07d20094a0d4c19e2868fec454124bf8f93edfddc2e2595cf2219167ccc119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89f40ed1d4af77a95cd685c4747cf79ddf2285d36f1a11ba792610249076981b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uhDBS1Ro4jdCXMsBGqe5C",
      "input": {
        "note": "The can is lifted in the left gripper and no longer on the table. Carrying it high toward the burner coil near table centre, slightly forward and well to the left arm's right.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.29,
          "left_yaw": 0.3,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_014uhDBS1Ro4jdCXMsBGqe5C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.857, 2.2627, 2.3325, -1.314, -0.7803, -1.0012, 0.7005, -0.0212, 0.8036, 0.6018, -0.5232, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2877 left_z=0.2071 left_yaw=0.3187 left_pitch=-0.1672 left_roll=0.1061 left_gripper=0.7005 right_x=0.2736 right_y=0.0013 right_z=0.1483 right_yaw=-0.0004 right_pitch=-0.1392 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.5607, 8.0752, 0.4567, -0.7057, 0.2076, 0.906, -0.1846, -1.2239, 6.8855, 1.8193, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f40f4ed0b84e11e88153d49a6d48c942ae5503e8a7ae23ba32ff3938f5553eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7442896e2b997d9fb3a03a84c0153874a5d36e7cb37d0a42a347671a5664629a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3069a747ea2e57bd3cd5839de4cca3467c2a65d97ae744700b1afbfa89aba6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 7.203 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]: [-0.5949, 1.8393, 0.8387, -0.2626, -0.8509, -1.0336, 0.6992, -0.0212, 0.8017, 0.6029, -0.4782, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3491 left_y=-0.0715 left_z=0.015 left_yaw=0.6263 left_pitch=-0.1095 left_roll=0.1239 left_gripper=0.6992 right_x=0.2809 right_y=0.0011 right_z=0.1578 right_yaw=-0.0007 right_pitch=-0.0912 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -9.7983, 6.4615, 0.735, -0.5104, -0.0171, 1.033, -0.0889, -1.3197, 7.0222, 1.8535, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5949, 1.6108, 1.2152, -0.8864, -0.8238, -1.0424, 0.6992, -0.0212, 0.8017, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3511 left_y=-0.0768 left_z=0.1547 left_yaw=0.6242 left_pitch=-0.1396 left_roll=0.1258 left_gripper=0.6992 right_x=0.2773 right_y=0.0013 right_z=0.1531 right_yaw=-0.0003 right_pitch=-0.114 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.347, 8.3897, 0.6716, -0.7253, 0.0562, 0.7399, -0.0752, -1.0188, 7.0085, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.857, 2.2627, 2.3325, -1.314, -0.7803, -1.0012, 0.7005, -0.0212, 0.8036, 0.6018, -0.5232, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2877 left_z=0.2071 left_yaw=0.3187 left_pitch=-0.1672 left_roll=0.1061 left_gripper=0.7005 right_x=0.2736 right_y=0.0013 right_z=0.1483 right_yaw=-0.0004 right_pitch=-0.1392 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.5607, 8.0752, 0.4567, -0.7057, 0.2076, 0.906, -0.1846, -1.2239, 6.8855, 1.8193, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f40f4ed0b84e11e88153d49a6d48c942ae5503e8a7ae23ba32ff3938f5553eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7442896e2b997d9fb3a03a84c0153874a5d36e7cb37d0a42a347671a5664629a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3069a747ea2e57bd3cd5839de4cca3467c2a65d97ae744700b1afbfa89aba6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YKuxJy1Lj4zf27TSBHCtyh",
      "input": {
        "note": "The can hovers over the burner body; the burner's red indicator light shows to the right in the wrist view, so the coil centre is a few cm further right. Shifting right and lowering toward the burner top.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.32,
          "left_yaw": 0.3,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YKuxJy1Lj4zf27TSBHCtyh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8726, 2.3497, 2.1506, -1.1, -0.7589, -1.0046, 0.7042, -0.0212, 0.8055, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3107 left_z=0.1194 left_yaw=0.3068 left_pitch=-0.2068 left_roll=0.1472 left_gripper=0.7042 right_x=0.2686 right_y=0.0014 right_z=0.1422 right_yaw=-0.0001 right_pitch=-0.1716 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -13.2308, 5.7368, 0.9548, -0.5885, -0.0659, 0.8718, -0.0615, -1.3197, 7.0769, 1.8242, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e90ca0628b0b8b7fe5d78d25f866c451a13cb96d14b375d3d44dfec41d0682a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aede7f5d14be113d1bae9dfc3b38d7bf3ded539bc5a77d902f0354a0589fd36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b83116c6cac9601fbbc64c32bbd2121ca92c5c6e0e4be653a1a893300409eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 4.716 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]: [-0.5949, 1.6108, 1.2152, -0.8864, -0.8238, -1.0424, 0.6992, -0.0212, 0.8017, 0.6018, -0.4999, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3511 left_y=-0.0768 left_z=0.1547 left_yaw=0.6242 left_pitch=-0.1396 left_roll=0.1258 left_gripper=0.6992 right_x=0.2773 right_y=0.0013 right_z=0.1531 right_yaw=-0.0003 right_pitch=-0.114 right_roll=0.003 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -9.347, 8.3897, 0.6716, -0.7253, 0.0562, 0.7399, -0.0752, -1.0188, 7.0085, 1.8193, -0.0366, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.857, 2.2627, 2.3325, -1.314, -0.7803, -1.0012, 0.7005, -0.0212, 0.8036, 0.6018, -0.5232, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2877 left_z=0.2071 left_yaw=0.3187 left_pitch=-0.1672 left_roll=0.1061 left_gripper=0.7005 right_x=0.2736 right_y=0.0013 right_z=0.1483 right_yaw=-0.0004 right_pitch=-0.1392 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.5607, 8.0752, 0.4567, -0.7057, 0.2076, 0.906, -0.1846, -1.2239, 6.8855, 1.8193, -0.0659, -0.0269, -0.0122]",
      "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]: [-0.8726, 2.3497, 2.1506, -1.1, -0.7589, -1.0046, 0.7042, -0.0212, 0.8055, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3107 left_z=0.1194 left_yaw=0.3068 left_pitch=-0.2068 left_roll=0.1472 left_gripper=0.7042 right_x=0.2686 right_y=0.0014 right_z=0.1422 right_yaw=-0.0001 right_pitch=-0.1716 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -13.2308, 5.7368, 0.9548, -0.5885, -0.0659, 0.8718, -0.0615, -1.3197, 7.0769, 1.8242, -0.0366, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e90ca0628b0b8b7fe5d78d25f866c451a13cb96d14b375d3d44dfec41d0682a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aede7f5d14be113d1bae9dfc3b38d7bf3ded539bc5a77d902f0354a0589fd36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b83116c6cac9601fbbc64c32bbd2121ca92c5c6e0e4be653a1a893300409eec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoQgKEAgRGAI4AUIIdGhpbmtpbmcSDAQPOeXPNbl4V7r7VhoMzIcHNpBQxfIY0Y0LIjA2RMaH59PyESHVXWlylkKA7qnDq1p9TJNKVDqAigudEog+uID7Tq/LTOB3SvfC23Uqvgd+dtAwqV2tNFy9l4LGV6nqqXbcGAfhlgJ6FMV4j5V67bYGaoGuFLmc+WgLzocZU8BhPwaaLDvvDdQoYPYB0gMTAlyBh2mbtaiBUybf4yu0DAcywFnbMtc1xl58+l9v9z7W2rXmwCZ4DLrXWKdxPTlHetGwmG6IdxDHeqzgdQRJjOL9XaUoxjdKAtNsLeNYY/2VNGwQ+dNhEvUkVYrXOwpxnVg4akCmkEjqkbKBi+RgYvIimTe2rlX28O7dGX6OXYosPjZSkzY9czA3yDJ4V3yWlrF44P/f+0pZ/mksPrnYmnri52fjITqe9pqwwe29r+X7bRsMlcnLpXvWmhTCLivUuKafuGwNnG0ZkkCIoOMtbSx7tLzmMkS+42pgEdB0hs6TrMCFvde/UWRQ+4/GtUzYcknesW/aSuU/DeLFWZyhudjeMigWRIIZT0tXVHd02FBX5xI+/WdaAAuXGJVUmK9EgTlVF9xUuDD+i4A/iHE75gi1WdTq2imNEAM8Kh+LgnQWvvA19gbXKNuTzDR2C+P5R/FtcHPn8jEVPj7nye4mzCPQ6ejLKefKPPTA3+vcGKrEJqlyxTGRMMiA5qCwPzfOg5Tm7Jo7D9QZKxKgHMWLdLo8+Ow7eY5zdKr3oHW2h5dtmpVEjXs4YBn4kcEX9Rgj2jyHU8e2FJ4j2ykAGJC7v8hzjlzCa81rN3lqMLd65NQsCm3EtCvQp+d38IhBKcR8lgKynjfNS+e1z3Ok3Kzf7qEQzHlZAtDcHtuykVxw264sUG27phSPBPKBcwHIYdNFUHGNvJsXefnwAmKDhMcZd28TRtGRf1FtojBvifsKkQS4djpTCY3xlPxyNxcivrkZZTdR0IC6L6ZhjJtZWjGHIdPvZyOzgtFcMsdPa7mxVDPPPySXalAhpLBjTOJyLZYMQw/W46s4a97br2ejIVoCp1d7wAjhhV27mYuPMWE5BfISUYf6H6zYW+UkmcY38OoxZM9xebPtNyIy7zev1OgryaKl5m0HhdnpY45f46zE/ogrGdsjr3aelD9BL2etQHy/n4aGR1qbaR7lhL6/+oFdFJu72IF0ZCd1BxOpPXN2kuNKpILKnoyraGq3BABvoA/csaasUAo6mYQA1qXp0RlEyPqH5nsXYs6N0NsRKSaygGXpplCoM16c2x4TKqXNr37qdq8kn+CFV3IoSZeHCwjtRC6uT3MOixuqGxtP8e6/e8QtXhKJNXiM5QF6lhb9vDZCgQuRuFM4H+1YtAHo7djABWySrU2UBenLPkIwzVvWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3smxyZXsGxvzdmMKVGzPL",
      "input": {
        "note": "The can is now directly over the burner coil in both views. Lowering it until it touches down on the burner surface.",
        "targets": {
          "left_x": 0.4241,
          "left_y": -0.3107,
          "left_yaw": 0.3,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Q3smxyZXsGxvzdmMKVGzPL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8787, 2.3482, 1.9755, -0.9218, -0.7914, -1.0027, 0.7057, -0.0212, 0.8055, 0.6018, -0.5758, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.3087 left_z=0.0801 left_yaw=0.3098 left_pitch=-0.1764 left_roll=0.1563 left_gripper=0.7057 right_x=0.2648 right_y=0.0015 right_z=0.1383 right_yaw=-0.0 right_pitch=-0.1937 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.9179, 4.0, 0.7204, 0.1636, 0.1148, 0.7595, -0.1846, -0.9915, 6.8718, 1.7753, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb394744fb981b9ceb21347ea480ecd9445f6f537720a4f6bdf90bfe86b0fda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fac60da26c899e8bf0a7af7b8ef518c701ca71b3ba7afd547f088eaee313e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fff7d4ec99a233dc8e737632f6f9e53bb72ec21f9784e96c526233e7db7c44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 5.316 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]: [-0.857, 2.2627, 2.3325, -1.314, -0.7803, -1.0012, 0.7005, -0.0212, 0.8036, 0.6018, -0.5232, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2877 left_z=0.2071 left_yaw=0.3187 left_pitch=-0.1672 left_roll=0.1061 left_gripper=0.7005 right_x=0.2736 right_y=0.0013 right_z=0.1483 right_yaw=-0.0004 right_pitch=-0.1392 right_roll=0.0038 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -12.5607, 8.0752, 0.4567, -0.7057, 0.2076, 0.906, -0.1846, -1.2239, 6.8855, 1.8193, -0.0659, -0.0269, -0.0122]",
      "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]: [-0.8726, 2.3497, 2.1506, -1.1, -0.7589, -1.0046, 0.7042, -0.0212, 0.8055, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3107 left_z=0.1194 left_yaw=0.3068 left_pitch=-0.2068 left_roll=0.1472 left_gripper=0.7042 right_x=0.2686 right_y=0.0014 right_z=0.1422 right_yaw=-0.0001 right_pitch=-0.1716 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -13.2308, 5.7368, 0.9548, -0.5885, -0.0659, 0.8718, -0.0615, -1.3197, 7.0769, 1.8242, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.8787, 2.3482, 1.9755, -0.9218, -0.7914, -1.0027, 0.7057, -0.0212, 0.8055, 0.6018, -0.5758, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.3087 left_z=0.0801 left_yaw=0.3098 left_pitch=-0.1764 left_roll=0.1563 left_gripper=0.7057 right_x=0.2648 right_y=0.0015 right_z=0.1383 right_yaw=-0.0 right_pitch=-0.1937 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.9179, 4.0, 0.7204, 0.1636, 0.1148, 0.7595, -0.1846, -0.9915, 6.8718, 1.7753, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb394744fb981b9ceb21347ea480ecd9445f6f537720a4f6bdf90bfe86b0fda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fac60da26c899e8bf0a7af7b8ef518c701ca71b3ba7afd547f088eaee313e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fff7d4ec99a233dc8e737632f6f9e53bb72ec21f9784e96c526233e7db7c44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Descent stopped at z≈0.08 with shoulder effort dropping — the can has touched down on the burner. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M7WZSsxuEz6wWkT3tfrVwD",
      "input": {
        "note": "The descent stalled at 8 cm with shoulder effort dropping, meaning the can is resting on the burner coil. Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01M7WZSsxuEz6wWkT3tfrVwD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8791, 2.3489, 1.964, -0.8978, -0.7883, -1.0046, 0.9957, -0.0212, 0.8055, 0.6018, -0.6003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.3107 left_z=0.0772 left_yaw=0.3075 left_pitch=-0.1745 left_roll=0.1426 left_gripper=0.9957 right_x=0.2605 right_y=0.0015 right_z=0.1341 right_yaw=-0.0002 right_pitch=-0.2182 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -13.4496, 7.0359, 0.7155, -0.4762, -0.0317, -0.1099, -0.0889, -1.0188, 7.0222, 1.8388, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a82115e53484b7c0abee737352878fda908463bc9649d73a4f176b6ad4c13c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8aaa7b1bb26e60e71c0ceab2278c55493a892bd2253f21df37e8b0ce42286ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d2fe7b9a822e674d436a8c325bf75d04909b4232af31e2896b6260eba4c20bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 10.14 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]: [-0.8726, 2.3497, 2.1506, -1.1, -0.7589, -1.0046, 0.7042, -0.0212, 0.8055, 0.6018, -0.5537, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4241 left_y=-0.3107 left_z=0.1194 left_yaw=0.3068 left_pitch=-0.2068 left_roll=0.1472 left_gripper=0.7042 right_x=0.2686 right_y=0.0014 right_z=0.1422 right_yaw=-0.0001 right_pitch=-0.1716 right_roll=0.0042 right_gripper=0.9996\nstate[joint_eff]: [-0.841, -13.2308, 5.7368, 0.9548, -0.5885, -0.0659, 0.8718, -0.0615, -1.3197, 7.0769, 1.8242, -0.0366, -0.0464, -0.0073]",
      "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]: [-0.8787, 2.3482, 1.9755, -0.9218, -0.7914, -1.0027, 0.7057, -0.0212, 0.8055, 0.6018, -0.5758, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.3087 left_z=0.0801 left_yaw=0.3098 left_pitch=-0.1764 left_roll=0.1563 left_gripper=0.7057 right_x=0.2648 right_y=0.0015 right_z=0.1383 right_yaw=-0.0 right_pitch=-0.1937 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.9179, 4.0, 0.7204, 0.1636, 0.1148, 0.7595, -0.1846, -0.9915, 6.8718, 1.7753, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8791, 2.3489, 1.964, -0.8978, -0.7883, -1.0046, 0.9957, -0.0212, 0.8055, 0.6018, -0.6003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.3107 left_z=0.0772 left_yaw=0.3075 left_pitch=-0.1745 left_roll=0.1426 left_gripper=0.9957 right_x=0.2605 right_y=0.0015 right_z=0.1341 right_yaw=-0.0002 right_pitch=-0.2182 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -13.4496, 7.0359, 0.7155, -0.4762, -0.0317, -0.1099, -0.0889, -1.0188, 7.0222, 1.8388, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a82115e53484b7c0abee737352878fda908463bc9649d73a4f176b6ad4c13c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8aaa7b1bb26e60e71c0ceab2278c55493a892bd2253f21df37e8b0ce42286ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d2fe7b9a822e674d436a8c325bf75d04909b4232af31e2896b6260eba4c20bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Gripper open; now lifting the arm clear and returning it home so the overhead view can confirm the placement.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TWEmSvA2RCZ3RCLkFP7ykg",
      "input": {
        "note": "The can has been released on the burner. Raising the left arm and moving it back to its home pose to clear the view and verify the placement.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01TWEmSvA2RCZ3RCLkFP7ykg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1379, 0.9459, 0.8623, -0.6788, -0.2268, -0.0544, 0.9969, -0.0212, 0.8097, 0.5999, -0.6201, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.003 left_z=0.1983 left_yaw=0.0694 left_pitch=-0.1694 left_roll=0.1332 left_gripper=0.9969 right_x=0.2567 right_y=0.0016 right_z=0.1289 right_yaw=-0.0004 right_pitch=-0.2441 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -2.4957, 6.8718, 1.7509, -0.0611, 0.149, -0.3346, -0.0889, -1.4838, 6.9402, 1.6484, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3feb41c35b4884d62fd0c243fe798ca7a588709a1445891d9502e465c2a6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad56d393c84a5996cc22d93333b371ebb2146583e5b5816924575b9ba0289e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:558b329e0725fbf806892102167a82f7c4d61ac660ff1a25f17dc5cfdb189d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 13.36 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]: [-0.8787, 2.3482, 1.9755, -0.9218, -0.7914, -1.0027, 0.7057, -0.0212, 0.8055, 0.6018, -0.5758, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4237 left_y=-0.3087 left_z=0.0801 left_yaw=0.3098 left_pitch=-0.1764 left_roll=0.1563 left_gripper=0.7057 right_x=0.2648 right_y=0.0015 right_z=0.1383 right_yaw=-0.0 right_pitch=-0.1937 right_roll=0.0047 right_gripper=0.9996\nstate[joint_eff]: [0.2667, -11.9179, 4.0, 0.7204, 0.1636, 0.1148, 0.7595, -0.1846, -0.9915, 6.8718, 1.7753, -0.0269, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8791, 2.3489, 1.964, -0.8978, -0.7883, -1.0046, 0.9957, -0.0212, 0.8055, 0.6018, -0.6003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.3107 left_z=0.0772 left_yaw=0.3075 left_pitch=-0.1745 left_roll=0.1426 left_gripper=0.9957 right_x=0.2605 right_y=0.0015 right_z=0.1341 right_yaw=-0.0002 right_pitch=-0.2182 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -13.4496, 7.0359, 0.7155, -0.4762, -0.0317, -0.1099, -0.0889, -1.0188, 7.0222, 1.8388, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1379, 0.9459, 0.8623, -0.6788, -0.2268, -0.0544, 0.9969, -0.0212, 0.8097, 0.5999, -0.6201, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.003 left_z=0.1983 left_yaw=0.0694 left_pitch=-0.1694 left_roll=0.1332 left_gripper=0.9969 right_x=0.2567 right_y=0.0016 right_z=0.1289 right_yaw=-0.0004 right_pitch=-0.2441 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -2.4957, 6.8718, 1.7509, -0.0611, 0.149, -0.3346, -0.0889, -1.4838, 6.9402, 1.6484, -0.0317, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a3feb41c35b4884d62fd0c243fe798ca7a588709a1445891d9502e465c2a6f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cad56d393c84a5996cc22d93333b371ebb2146583e5b5816924575b9ba0289e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:558b329e0725fbf806892102167a82f7c4d61ac660ff1a25f17dc5cfdb189d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YFtdx1dTtpKtQZdHwoiiEL",
      "input": {
        "note": "The can rolled off the burner and now stands upright on the table between the left arm and the burner. Moving the left gripper high above the standing can to line up a regrasp around its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.24,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YFtdx1dTtpKtQZdHwoiiEL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7952, 1.0637, 1.2541, -1.1549, -0.572, -0.5056, 0.9969, -0.0212, 0.8116, 0.5999, -0.6373, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2428 left_y=-0.1059 left_z=0.2685 left_yaw=-0.0509 left_pitch=-0.1939 left_roll=0.1307 left_gripper=0.9969 right_x=0.2536 right_y=0.0017 right_z=0.1256 right_yaw=-0.0 right_pitch=-0.2632 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.1402, 7.9248, 1.1013, -0.486, 0.0464, -0.3346, -0.0615, -1.2786, 7.0222, 1.5946, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea01286329890a3a7ebfaaac4f5edfc8821bf17d27cddad998cf732f5fca355c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ca69c9e2e96588c2433a846c8634511c4f91e08331c44bf96474a60f062cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e910d0cc56a5e3f5a4236d80377b38d7181057923a097b373ba17a0a2e7866fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 10.17 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]: [-0.8791, 2.3489, 1.964, -0.8978, -0.7883, -1.0046, 0.9957, -0.0212, 0.8055, 0.6018, -0.6003, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4246 left_y=-0.3107 left_z=0.0772 left_yaw=0.3075 left_pitch=-0.1745 left_roll=0.1426 left_gripper=0.9957 right_x=0.2605 right_y=0.0015 right_z=0.1341 right_yaw=-0.0002 right_pitch=-0.2182 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -13.4496, 7.0359, 0.7155, -0.4762, -0.0317, -0.1099, -0.0889, -1.0188, 7.0222, 1.8388, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.1379, 0.9459, 0.8623, -0.6788, -0.2268, -0.0544, 0.9969, -0.0212, 0.8097, 0.5999, -0.6201, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.003 left_z=0.1983 left_yaw=0.0694 left_pitch=-0.1694 left_roll=0.1332 left_gripper=0.9969 right_x=0.2567 right_y=0.0016 right_z=0.1289 right_yaw=-0.0004 right_pitch=-0.2441 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -2.4957, 6.8718, 1.7509, -0.0611, 0.149, -0.3346, -0.0889, -1.4838, 6.9402, 1.6484, -0.0317, -0.0171, -0.0122]",
      "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]: [-0.7952, 1.0637, 1.2541, -1.1549, -0.572, -0.5056, 0.9969, -0.0212, 0.8116, 0.5999, -0.6373, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2428 left_y=-0.1059 left_z=0.2685 left_yaw=-0.0509 left_pitch=-0.1939 left_roll=0.1307 left_gripper=0.9969 right_x=0.2536 right_y=0.0017 right_z=0.1256 right_yaw=-0.0 right_pitch=-0.2632 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.1402, 7.9248, 1.1013, -0.486, 0.0464, -0.3346, -0.0615, -1.2786, 7.0222, 1.5946, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea01286329890a3a7ebfaaac4f5edfc8821bf17d27cddad998cf732f5fca355c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ca69c9e2e96588c2433a846c8634511c4f91e08331c44bf96474a60f062cd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e910d0cc56a5e3f5a4236d80377b38d7181057923a097b373ba17a0a2e7866fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S4CU6pYwi5UMeSsan1aH3X",
      "input": {
        "note": "In the wrist view the standing can sits about 4 cm right of the jaw column and slightly forward. Shifting right/forward and lowering to just above the can's top to check alignment before straddling it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.26,
          "left_y": -0.145,
          "left_yaw": 0.0,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01S4CU6pYwi5UMeSsan1aH3X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8787, 1.2034, 1.1847, -1.0863, -0.6239, -0.6216, 0.9969, -0.0212, 0.8116, 0.5999, -0.6575, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2527 left_y=-0.1375 left_z=0.2232 left_yaw=-0.0141 left_pitch=-0.2491 left_roll=0.1829 left_gripper=0.9969 right_x=0.2498 right_y=0.0018 right_z=0.1224 right_yaw=0.0001 right_pitch=-0.2834 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -4.7658, 6.5709, 1.1893, -0.525, -0.0855, -0.3346, -0.1573, -1.1145, 6.735, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5cc16f713397ca4790a1de58357bfe4d0f17bb5131dd188a0147f6da40f370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e38c091ef26082ee645c8e9d5facb6020eefc20012c6dd8dc15817a0017c90f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c150f6996dcb9e56c15db7c42b2ad4de757e6d381f7f622b11c1d453732e8d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.03 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]: [-0.1379, 0.9459, 0.8623, -0.6788, -0.2268, -0.0544, 0.9969, -0.0212, 0.8097, 0.5999, -0.6201, -0.0193, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.003 left_z=0.1983 left_yaw=0.0694 left_pitch=-0.1694 left_roll=0.1332 left_gripper=0.9969 right_x=0.2567 right_y=0.0016 right_z=0.1289 right_yaw=-0.0004 right_pitch=-0.2441 right_roll=0.0052 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -2.4957, 6.8718, 1.7509, -0.0611, 0.149, -0.3346, -0.0889, -1.4838, 6.9402, 1.6484, -0.0317, -0.0171, -0.0122]",
      "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]: [-0.7952, 1.0637, 1.2541, -1.1549, -0.572, -0.5056, 0.9969, -0.0212, 0.8116, 0.5999, -0.6373, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2428 left_y=-0.1059 left_z=0.2685 left_yaw=-0.0509 left_pitch=-0.1939 left_roll=0.1307 left_gripper=0.9969 right_x=0.2536 right_y=0.0017 right_z=0.1256 right_yaw=-0.0 right_pitch=-0.2632 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.1402, 7.9248, 1.1013, -0.486, 0.0464, -0.3346, -0.0615, -1.2786, 7.0222, 1.5946, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.8787, 1.2034, 1.1847, -1.0863, -0.6239, -0.6216, 0.9969, -0.0212, 0.8116, 0.5999, -0.6575, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2527 left_y=-0.1375 left_z=0.2232 left_yaw=-0.0141 left_pitch=-0.2491 left_roll=0.1829 left_gripper=0.9969 right_x=0.2498 right_y=0.0018 right_z=0.1224 right_yaw=0.0001 right_pitch=-0.2834 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -4.7658, 6.5709, 1.1893, -0.525, -0.0855, -0.3346, -0.1573, -1.1145, 6.735, 1.6532, -0.0122, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad5cc16f713397ca4790a1de58357bfe4d0f17bb5131dd188a0147f6da40f370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e38c091ef26082ee645c8e9d5facb6020eefc20012c6dd8dc15817a0017c90f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c150f6996dcb9e56c15db7c42b2ad4de757e6d381f7f622b11c1d453732e8d1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DfW395LLF7cD6ChADZTKsK",
      "input": {
        "note": "The can top still appears ~3 cm right of the jaw column in the wrist view, and the overhead shows the gripper just behind-left of the can. Shifting further right and lowering so the open jaws start to straddle the can body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.265,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01DfW395LLF7cD6ChADZTKsK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8886, 1.2171, 1.1767, -1.0504, -0.6262, -0.6594, 0.9969, -0.0212, 0.812, 0.5999, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1453 left_z=0.2207 left_yaw=-0.0044 left_pitch=-0.235 left_roll=0.1464 left_gripper=0.9969 right_x=0.2462 right_y=0.0018 right_z=0.1194 right_yaw=0.0002 right_pitch=-0.3025 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -4.6427, 6.6256, 1.2576, -0.5348, 0.0317, -0.3297, -0.0342, -0.8957, 6.7214, 1.5751, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:718675c674597f0470065a44682dae2cd1b2c872d353998b15a991734e02a903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2970cdd2e9d00f25ccd6c1e29c740ef0b4929ee9c16c0731349f734a6d63cd59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46cc4e87befdf7c9127244e43034d43c2210a73d4a3801b7c532737fedc13e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.519 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]: [-0.7952, 1.0637, 1.2541, -1.1549, -0.572, -0.5056, 0.9969, -0.0212, 0.8116, 0.5999, -0.6373, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2428 left_y=-0.1059 left_z=0.2685 left_yaw=-0.0509 left_pitch=-0.1939 left_roll=0.1307 left_gripper=0.9969 right_x=0.2536 right_y=0.0017 right_z=0.1256 right_yaw=-0.0 right_pitch=-0.2632 right_roll=0.0059 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.1402, 7.9248, 1.1013, -0.486, 0.0464, -0.3346, -0.0615, -1.2786, 7.0222, 1.5946, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.8787, 1.2034, 1.1847, -1.0863, -0.6239, -0.6216, 0.9969, -0.0212, 0.8116, 0.5999, -0.6575, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2527 left_y=-0.1375 left_z=0.2232 left_yaw=-0.0141 left_pitch=-0.2491 left_roll=0.1829 left_gripper=0.9969 right_x=0.2498 right_y=0.0018 right_z=0.1224 right_yaw=0.0001 right_pitch=-0.2834 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -4.7658, 6.5709, 1.1893, -0.525, -0.0855, -0.3346, -0.1573, -1.1145, 6.735, 1.6532, -0.0122, -0.0464, -0.0122]",
      "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]: [-0.8886, 1.2171, 1.1767, -1.0504, -0.6262, -0.6594, 0.9969, -0.0212, 0.812, 0.5999, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1453 left_z=0.2207 left_yaw=-0.0044 left_pitch=-0.235 left_roll=0.1464 left_gripper=0.9969 right_x=0.2462 right_y=0.0018 right_z=0.1194 right_yaw=0.0002 right_pitch=-0.3025 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -4.6427, 6.6256, 1.2576, -0.5348, 0.0317, -0.3297, -0.0342, -0.8957, 6.7214, 1.5751, -0.0269, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:718675c674597f0470065a44682dae2cd1b2c872d353998b15a991734e02a903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2970cdd2e9d00f25ccd6c1e29c740ef0b4929ee9c16c0731349f734a6d63cd59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46cc4e87befdf7c9127244e43034d43c2210a73d4a3801b7c532737fedc13e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwsKEAgRGAI4AUIIdGhpbmtpbmcSDIdtK2rBBvgPRETAShoMIvbF/bYJgVE+F+4rIjDpHaoheYdLZaxNxTz7KhkDPQLjGLdu2ttXbbRsKAbbYyXOsR565QloxfslXmTZ7wcqzAo9M+SGLOQp/TCrtfXhyg3raUXG0+DflRCoE/hqWnaeUIodSg2rREmuPplapAd/mcDlQQnyk+dBu4EkDSjE4zJTg3yjweCKJiRwEWAjUWtR2VEIMPn6wGlBEdvWo/iygQnI+qvBoSgJe+OsgoNBuxqMEAPMWTG+ypU6sMRlmuNnlxCjZyqrBSEXanWg4jSbqvtbo/1tsyfeHEDjraFso6hMTnGkzYT35IBOCrWNuTZ3wHCb7X1sQSpMzwXADy3UKzRurQzguKfT9Pbq9lAcDNoFoHD9EG2stXbb4iEuanSeN1qPV8q6s7/VCE0WwwgS/d637skyxToqtTcX7scNDdMQvDHRfdSgiZyEf7HwFQF82iiZpWdVect75KqTku0O3PFYOfT9Sc+7UcQQVmYNmTjhTf8zG0geoxw7NOJ7nYUn4phDUQvwbB2EQV19b53vF6lcvt8S+EPdG/Usw3FNpRmdOMP10yihSUL+AMpWBIe/iHnGANitD8EhhqdPodSU0JSF9NAROKBK9VWhb1+7qGD9eOjxPRMKlHcc1sbVT6+juy2QfUz6T61yR8TKQKnU+H24K4rT9E97gSiQ0NoFWJdeeGxYwy9MHLDJJ+/eLLnJzeFcFlS+Ckof6D8ygHXswzfDDQEngsGmErwJ/UU9bdGplC9Sr4XidilwgtX4lLy1Re4Tt+yPtvXOJXG+E3qMIDg0m0gqjzgK8MpDHretSCzoH12SOHNenUVzv/Dqt2TbG0VdQRDivYHXqH0Lbse1hc+7qc+82x85o8O+niuO91nS8WpRopgI5RfvX0Jw+rpZji0ldD3UESFwj8Ex30NflkXBCf+1XCEWOo3avUiGT1Edgka4c2zVfkHh8HrbCphFpP4l/Oih19OLOjE/1DoCnptxAKLEzneimPsH8EkEEgMn+qtEtqXy/kRbH2K435wA1Ghd337GwoVutbsjcVQ7T41tjZbQFerpiLuqAyed0GKgGVDty9j0LO6RFUcvfh9E9mZ4ogwh8T52HA/k3topGmTD9a6UcZjg+U0rXn2PxHwKJPicBNFsKFeY4T2CfOiocUCjkeKh3VXt1OpXNwcHq/BAltghVOzfLPqdKZJGF/A1YhBz4+yHf24t0amMPWI5Gorj0EhcPFb5+6Pevp18Nct0ZXDxwyTkvd/hNuGOronDXLWLx151zdiUPA88r8BMRs1TSDrV+dLN6L1csvgjzb/qOgSLNUhqT9moj/VgaT8idTrj2NKxaIcUcO8Pv/Awk0QhQb4FJX3UunmCNAleMFqS2+VdRxx7eZ8d6VpBbUmHvb4EOKI+8DO7YYmf58iMfXHv6nmMBwoAKEos/tI1xJjuGb6TRsyEcE/AuwLwhLYl+dgWUO+eVIrqHiMSdUxO7yofcz2qncwOc9NoJiFiUiGYNh+UPojl3RPKC47YpL9Snaxp88Xk0ISB8W5VHFjGxcXvI+oKRxpBNY57OrnrUAFIvtkETZ+cRv8hGbZSwZPjJIqy2nKMfO7WH3255JqfLrFzLXYo3uJ3+D1Alqk0cS6Ni91pZfN6A7c+m4B/cd/iN0FqTcYo03e+yPnyP2Lqxvpkq15cRAAmuhf/MQnwaSTb7h5GKSN0GdJJ5lgfv+FcuxQMSvFdD/dGX3xIgI8VKEtFdvy7RCbZJbyclLEr0hL9Gv5zrFjMR6n9e6BasR5xUsXTQ0R/UAibYjzRREDILmDG0E4pD2StAR12yrM3ZbQh3Dyk5mR2b5sX6T8YH+KWqDZQ2MA3OwFGwip25QFRGGlTsYwfhlWjG6U6REbksb+jhyMPPWpajcBzUjoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014njSFGK9VZKpBb5qkxC5Hh",
      "input": {
        "note": "The arm did not descend or shift — a fingertip is probably resting on the can's cap, with the can still showing right of the jaw column. Lifting clear and moving ~4 cm further right before trying again.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.26,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014njSFGK9VZKpBb5qkxC5Hh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8886, 1.2152, 1.1767, -1.0496, -0.6266, -0.6598, 0.9969, -0.0212, 0.8154, 0.5999, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1452 left_z=0.2213 left_yaw=-0.0045 left_pitch=-0.233 left_roll=0.1443 left_gripper=0.9969 right_x=0.2447 right_y=0.0019 right_z=0.1173 right_yaw=0.0003 right_pitch=-0.3139 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.6427, 6.8308, 1.2967, -0.5885, -0.0122, -0.3297, -0.0479, -0.9504, 6.8308, 1.4432, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf57059535a7a3fecbc0db0ddf04557a8063d2afbaa310e1802b8769b17f31e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8665bc7d51a2babf1303d8b44d9df5b8db0dcba251699bcf9954f794fdc1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84ea4305d01772a2613e312c025a4ff6f01ff510017443bd42c1bc5479f97f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 13.07 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]: [-0.8787, 1.2034, 1.1847, -1.0863, -0.6239, -0.6216, 0.9969, -0.0212, 0.8116, 0.5999, -0.6575, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2527 left_y=-0.1375 left_z=0.2232 left_yaw=-0.0141 left_pitch=-0.2491 left_roll=0.1829 left_gripper=0.9969 right_x=0.2498 right_y=0.0018 right_z=0.1224 right_yaw=0.0001 right_pitch=-0.2834 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -4.7658, 6.5709, 1.1893, -0.525, -0.0855, -0.3346, -0.1573, -1.1145, 6.735, 1.6532, -0.0122, -0.0464, -0.0122]",
      "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]: [-0.8886, 1.2171, 1.1767, -1.0504, -0.6262, -0.6594, 0.9969, -0.0212, 0.812, 0.5999, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1453 left_z=0.2207 left_yaw=-0.0044 left_pitch=-0.235 left_roll=0.1464 left_gripper=0.9969 right_x=0.2462 right_y=0.0018 right_z=0.1194 right_yaw=0.0002 right_pitch=-0.3025 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -4.6427, 6.6256, 1.2576, -0.5348, 0.0317, -0.3297, -0.0342, -0.8957, 6.7214, 1.5751, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.8886, 1.2152, 1.1767, -1.0496, -0.6266, -0.6598, 0.9969, -0.0212, 0.8154, 0.5999, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1452 left_z=0.2213 left_yaw=-0.0045 left_pitch=-0.233 left_roll=0.1443 left_gripper=0.9969 right_x=0.2447 right_y=0.0019 right_z=0.1173 right_yaw=0.0003 right_pitch=-0.3139 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.6427, 6.8308, 1.2967, -0.5885, -0.0122, -0.3297, -0.0479, -0.9504, 6.8308, 1.4432, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf57059535a7a3fecbc0db0ddf04557a8063d2afbaa310e1802b8769b17f31e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8665bc7d51a2babf1303d8b44d9df5b8db0dcba251699bcf9954f794fdc1ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ea4305d01772a2613e312c025a4ff6f01ff510017443bd42c1bc5479f97f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQgKEAgRGAI4AUIIdGhpbmtpbmcSDCT1cwNRe1UgfKQtUxoMt3FWJVFclJpKeOuGIjACuisLbnd9rf9QgDKyGS39gRSIMpzT6vsaNp8u2nyuIyntWSt6+1pSmy+JCzFvqLQqrgdyAqLn7Bu+RIs/KunP0jkuLKAjsWw8npvlEQfh6rY858+MpHORDV6LAS1rezkAN2S56gg39LgDPrXJmvPUL3Tc5pmPDaTKf7RA6asnlUnQqwsBSUCec32zUqUY5RLNLGeh0Oa/RKf8IqvpWd64x6FcEP5yQ88nqEiZYIIX5LVtsnIRclQjVBz/OCkh3U94cwafHsF6khhH7ADl1yT/zqbkrZEXi14wLGOSrMwF2+wYI8tUxLLPYbkNj028y9SlWeSinlgprMRrv75eYWhB4TpiJX5L9ZJeC+xniGx5opQpO8iFGyHUckWXTz2dUyKBJBvH1Wsabh6Xrz2SG86iOrbXULpMGnt3TFPIZD7UqTPA0jPk1LQAiz9L+i0GfnXtMT211dug7QrlMcWIhPbI3F9gwXhE+rH2saYYAw0vwSSETmgoeaOPI22RyxLK63+VhwBu/K6s7HlSUdriuus2q2xScvbYXQA7w/LS04ATtxlaA3mzI2AB+rDm0cjtN3MtCW2+dMV5pCMZn42SsyAVMLdWFrSoZFUgUOA5gjomw2F69JxGSk782Q57+M4XPDG1Ac65HVVncpoTW6uOTgJPBPA7mO2dOcHxqaETAOmyx+Ef2ab6TDPTIejI9kYl50gOBqgWaUmogQRH/maKEf2+qCa38CLhM9Ysnitgn+AqRXiXDoQ0DFilbouMLOhSv24+3BeQe+PNJ/qcaaNKp2R/diSZYV6m6Gk6FjiTFTEeKiz75XgYpyQm5aWvAcHNXNXyKRW+YH2NSXGSEv6ttZcufUstFlzHNQAG+8a1D/weKxi/w4IRUGStFHCpdoqgRlydsXl3gemdlm+lkNJLos0NwAKPTQHStQ1HSwOH1JeyFamxKejNY/P1+uE0pw6t5KId6YSx9xp7A8xo1qeTCKVapCkGVw39xtLDl0Xuh79FIYxrmr3GqriQxGIaSpL03SRme9bXZmPTGTgl/krp+Lp/bzVf7VcupIH+6Ne5guNIkP0c2rvNAANGfSnmXXt5IOR91zNskCIw2fcTRR3GOoM4eFriwZv/JAdVkTIFqmaGZRDIDkYUm9sm9GeUFIDxYiHFesPLLeP/Bp8hf5EkPUJFyCEYHeT5IG7ECPaWrCwdZwY32bgPTd8vXbt2nfmRU8CVc/MbE0wo21OB2bkNcRHkyJrCrAVOIu+XMAd3Brog2H4pzE78H8Vhla1iwIhZAa+dMJWxaBRmenkx1vQpf5QFVuxnho3RhHAZoJk3s4S40WQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SpRY9vih4azCtoYL8BZNV5",
      "input": {
        "note": "The left arm is not tracking its targets at all — it seems stuck in an awkward IK pose. Pulling it back toward the base and up to free it before re-approaching the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.22,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SpRY9vih4azCtoYL8BZNV5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8886, 1.1294, 1.4334, -1.3525, -0.6182, -0.6674, 0.9969, -0.0212, 0.8165, 0.5999, -0.7017, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2271 left_y=-0.1115 left_z=0.2959 left_yaw=-0.0123 left_pitch=-0.2129 left_roll=0.1026 left_gripper=0.9969 right_x=0.2413 right_y=0.002 right_z=0.1144 right_yaw=0.0006 right_pitch=-0.3326 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.0171, 6.8581, 1.0183, -0.4225, 0.0171, -0.3346, -0.1846, -1.0462, 6.8855, 1.5458, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06be78ac227e69b99bbfc04e804498f65810edaa2ee62e97f3fc495365001ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322ea4b7620bb3c044a01605ecc67c1321e1d3031c93961e4a3522ca0e56a316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00306e1a027f86044e86ddd7f5a583b884872e2647f4eea1a0d5a782bb815c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 10.88 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]: [-0.8886, 1.2171, 1.1767, -1.0504, -0.6262, -0.6594, 0.9969, -0.0212, 0.812, 0.5999, -0.6762, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1453 left_z=0.2207 left_yaw=-0.0044 left_pitch=-0.235 left_roll=0.1464 left_gripper=0.9969 right_x=0.2462 right_y=0.0018 right_z=0.1194 right_yaw=0.0002 right_pitch=-0.3025 right_roll=0.0068 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -4.6427, 6.6256, 1.2576, -0.5348, 0.0317, -0.3297, -0.0342, -0.8957, 6.7214, 1.5751, -0.0269, -0.0611, -0.0073]",
      "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]: [-0.8886, 1.2152, 1.1767, -1.0496, -0.6266, -0.6598, 0.9969, -0.0212, 0.8154, 0.5999, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1452 left_z=0.2213 left_yaw=-0.0045 left_pitch=-0.233 left_roll=0.1443 left_gripper=0.9969 right_x=0.2447 right_y=0.0019 right_z=0.1173 right_yaw=0.0003 right_pitch=-0.3139 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.6427, 6.8308, 1.2967, -0.5885, -0.0122, -0.3297, -0.0479, -0.9504, 6.8308, 1.4432, -0.0317, -0.0366, -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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8886, 1.1294, 1.4334, -1.3525, -0.6182, -0.6674, 0.9969, -0.0212, 0.8165, 0.5999, -0.7017, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2271 left_y=-0.1115 left_z=0.2959 left_yaw=-0.0123 left_pitch=-0.2129 left_roll=0.1026 left_gripper=0.9969 right_x=0.2413 right_y=0.002 right_z=0.1144 right_yaw=0.0006 right_pitch=-0.3326 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.0171, 6.8581, 1.0183, -0.4225, 0.0171, -0.3346, -0.1846, -1.0462, 6.8855, 1.5458, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06be78ac227e69b99bbfc04e804498f65810edaa2ee62e97f3fc495365001ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322ea4b7620bb3c044a01605ecc67c1321e1d3031c93961e4a3522ca0e56a316",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00306e1a027f86044e86ddd7f5a583b884872e2647f4eea1a0d5a782bb815c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C6k258EYyuEScwUWYbjkeu",
      "input": {
        "note": "The arm is free again; the can still shows about 5 cm right of the jaw column in the wrist view. Moving right to centre it, staying just above the can's cap height (~21 cm).",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.24,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01C6k258EYyuEScwUWYbjkeu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0096, 1.2671, 1.3445, -1.2472, -0.6533, -0.7994, 0.9969, -0.0212, 0.8173, 0.5999, -0.7219, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2338 left_y=-0.1634 left_z=0.2492 left_yaw=-0.0166 left_pitch=-0.2511 left_roll=0.1283 left_gripper=0.9969 right_x=0.2373 right_y=0.002 right_z=0.1113 right_yaw=0.0006 right_pitch=-0.3536 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -3.3299, 5.3812, 1.0916, -0.5934, -0.1099, -0.3346, -0.1709, -1.1145, 6.7487, 1.5311, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe559bdab3ac3cb2173e6b08cd4931230eb99ae08d97ae6c75b91c95a35abc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb0e8775217405139ae8b562cd12caa1e4b2d134d127e1fd45abb00bdd5fa3e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cead5ff4853ac8da2d0e3ff13b96fbec10badcf1f778788550e2bc08191c1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 15.14 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]: [-0.8886, 1.2152, 1.1767, -1.0496, -0.6266, -0.6598, 0.9969, -0.0212, 0.8154, 0.5999, -0.6842, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.256 left_y=-0.1452 left_z=0.2213 left_yaw=-0.0045 left_pitch=-0.233 left_roll=0.1443 left_gripper=0.9969 right_x=0.2447 right_y=0.0019 right_z=0.1173 right_yaw=0.0003 right_pitch=-0.3139 right_roll=0.0071 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -4.6427, 6.8308, 1.2967, -0.5885, -0.0122, -0.3297, -0.0479, -0.9504, 6.8308, 1.4432, -0.0317, -0.0366, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8886, 1.1294, 1.4334, -1.3525, -0.6182, -0.6674, 0.9969, -0.0212, 0.8165, 0.5999, -0.7017, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2271 left_y=-0.1115 left_z=0.2959 left_yaw=-0.0123 left_pitch=-0.2129 left_roll=0.1026 left_gripper=0.9969 right_x=0.2413 right_y=0.002 right_z=0.1144 right_yaw=0.0006 right_pitch=-0.3326 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.0171, 6.8581, 1.0183, -0.4225, 0.0171, -0.3346, -0.1846, -1.0462, 6.8855, 1.5458, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0096, 1.2671, 1.3445, -1.2472, -0.6533, -0.7994, 0.9969, -0.0212, 0.8173, 0.5999, -0.7219, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2338 left_y=-0.1634 left_z=0.2492 left_yaw=-0.0166 left_pitch=-0.2511 left_roll=0.1283 left_gripper=0.9969 right_x=0.2373 right_y=0.002 right_z=0.1113 right_yaw=0.0006 right_pitch=-0.3536 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -3.3299, 5.3812, 1.0916, -0.5934, -0.1099, -0.3346, -0.1709, -1.1145, 6.7487, 1.5311, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfe559bdab3ac3cb2173e6b08cd4931230eb99ae08d97ae6c75b91c95a35abc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb0e8775217405139ae8b562cd12caa1e4b2d134d127e1fd45abb00bdd5fa3e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cead5ff4853ac8da2d0e3ff13b96fbec10badcf1f778788550e2bc08191c1f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2wkKEAgRGAI4AUIIdGhpbmtpbmcSDJ07fZDpuX/F8bppDxoMcF4suFp2jO/Mnn56IjAQ266p97oKsMVR8P2Zd9tSFLG2ajKPc0gFyqeMwkCbD72DeHVc8uFvuEstA+/cbEAq+AipjsIEjDcDQThp+402AUQuTosF8mmSF2YjhiJAuWyYP4ypw0NiUtJMPcSt8fUWwSAUdn0H+kFUj5hjSLT5VY/JieHkLGGovXT+PiIbLe1lOn/4GliCtxYGS6ShDjYl0YxRwg7yAkJlnIZ+cbHBpiGoLHRR6eHor8K8UcQQFDnlead8zMmf7HguBPiuTiXP23s3j9K9X4FOZLR9qcZ0PA80BBmUDbCe/2ZKfaY0VrqlN/ppOKPGB43ni85FYDn3CNdlk1dxOq8SEkN7TDfkxpPRy5xT8b+n2x5ckTuUaa4kISrsLLLZsZTJ/PDkcZqpNIMLAFyE4v+BCyGFQo2gzBUH/e0pZq6AsGTutwHYGML2uj4Q3EyoJpG8asu9KzB9qzV5RezQgZVO0oA57IDhCiriCHoo7xYU6PyTV2S26QYdBdMiLOHWP9wGwrKidXmud07iN04WlxZicaxH3d5uTyBBEU5YZo+3iU5VkzT89ZeDR3A7LSuueQTNzU8vNpGpYLeBVMLUoSgFm2uMNsiCx5IGn53VVXOBAH1wfxEExCBtsFd2dhJeBYJt3mqf1YU/MPUiUTyugjDkg2szZgM1R1kfyFzXIdyJr5OE59Ec6wrGf7lCwV/LSkBcKzni/JdZgtPMwX/cpwpmnWCq1fWaA3YHDhAbg4FiNXIXoL2vTikUlvJkFUBtyiFZkUZyEnwMehIX+bu82n1TdklbqeGxnjFQXbynMHQIyr6RTZaoHUD9pEiX/XQfjG0eDwkvlFPKxcIcHcChMhcrj8RCKp7+PaALu5mQvfCxdANh1c+TPaIx3F2fFA8oNnoNoGFTjZkqxCXd6w0o3ka/zkJPOB/eDw7e1z+sKxXZfcTWUa845jyw+6V35VuP91hACKeh3vqFgkwL9SyxPWMjJ6jhjHjh31GGSE4H510HE8yHthKJP6dIXxTof2fr10w8gcombYIo2kJAiEPcH1jvcVNYfvbzbxad6o+q7OLC1M8FCWlPnjFQuxHk5UxF6ZV0QbzhXWyHTrHj8w2Q0xPFnCfiqv1M1QpRjlGDFw0L4HKQ0oW3e9za6uiIfkTrf9Ds59Hxtajg7kxbUXbQsvHR38WpuQOqMSl3ojn3K4aNo1ynb2E3Bd6GLVxuei/E++9fyRzHKrvenwfQRJqLlvr8D0Cut1tLV8aahQeAk7+2D0jVhawbrKY22KPgwEqMVxjf7d81AufI7sBNlNz9P9XShzEdkql/EKmZtB8oOx+Ww4Dtwm8fvK8a+lsFGwknMHHzRARCgVBPybU4UYqvECb08j452LPLAESRTkjwGRhoVf9jJk3Diffne3tdEDBIwZhnPdQLEneC+OVAGLVGxto8pwnhrnkom00ot1UP+xHV1KvXW6b9e+m2+LJ1y4qXnL/aZ8Ap/pxf4aA8hIUiUIsIVb+TL6jfdDjEpKyPQh+xjKDBiJ3GgFTMuIxD5rL/v+7phdN73Y7HMwIlPj1uvgdVsFCDni77eIZRNMohfM/V4do1QtRnihpcm1n1UC4xrTUOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XskPzYv8kLUwFHApnVpmx1",
      "input": {
        "note": "The can is now nearly on the jaw column, just ~2 cm right, and reaches the bottom edge so it is under the fingertips. Shifting slightly right and descending to mid-body height so the open jaws straddle the can.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.235,
          "left_y": -0.19,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01XskPzYv8kLUwFHApnVpmx1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0641, 1.346, 0.9112, -0.8413, -0.6662, -0.8776, 0.9969, -0.0208, 0.8173, 0.5999, -0.7361, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2292 left_y=-0.1807 left_z=0.1208 left_yaw=0.004 left_pitch=-0.2888 left_roll=0.1755 left_gripper=0.9969 right_x=0.2345 right_y=0.0022 right_z=0.1092 right_yaw=0.0009 right_pitch=-0.3677 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -4.6838, 6.3521, 0.9402, -0.5495, -0.149, -0.3346, -0.0479, -1.0051, 6.6667, 1.4383, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487de47ac1cf47b47e95496c85e39958813806406dbc9d88c013d23bac06684c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf8246d301856cdedab520b6099b3441ffcb83a3e923905b7a5d3fb23df150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f075217b625e8d5b9650c511c6dafbf8187f996b2d351e544de8042176a77260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 13.37 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]: [-0.8886, 1.1294, 1.4334, -1.3525, -0.6182, -0.6674, 0.9969, -0.0212, 0.8165, 0.5999, -0.7017, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2271 left_y=-0.1115 left_z=0.2959 left_yaw=-0.0123 left_pitch=-0.2129 left_roll=0.1026 left_gripper=0.9969 right_x=0.2413 right_y=0.002 right_z=0.1144 right_yaw=0.0006 right_pitch=-0.3326 right_roll=0.0081 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -2.0171, 6.8581, 1.0183, -0.4225, 0.0171, -0.3346, -0.1846, -1.0462, 6.8855, 1.5458, -0.0464, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0096, 1.2671, 1.3445, -1.2472, -0.6533, -0.7994, 0.9969, -0.0212, 0.8173, 0.5999, -0.7219, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2338 left_y=-0.1634 left_z=0.2492 left_yaw=-0.0166 left_pitch=-0.2511 left_roll=0.1283 left_gripper=0.9969 right_x=0.2373 right_y=0.002 right_z=0.1113 right_yaw=0.0006 right_pitch=-0.3536 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -3.3299, 5.3812, 1.0916, -0.5934, -0.1099, -0.3346, -0.1709, -1.1145, 6.7487, 1.5311, -0.0317, -0.0366, -0.0122]",
      "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]: [-1.0641, 1.346, 0.9112, -0.8413, -0.6662, -0.8776, 0.9969, -0.0208, 0.8173, 0.5999, -0.7361, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2292 left_y=-0.1807 left_z=0.1208 left_yaw=0.004 left_pitch=-0.2888 left_roll=0.1755 left_gripper=0.9969 right_x=0.2345 right_y=0.0022 right_z=0.1092 right_yaw=0.0009 right_pitch=-0.3677 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -4.6838, 6.3521, 0.9402, -0.5495, -0.149, -0.3346, -0.0479, -1.0051, 6.6667, 1.4383, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:487de47ac1cf47b47e95496c85e39958813806406dbc9d88c013d23bac06684c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1baf8246d301856cdedab520b6099b3441ffcb83a3e923905b7a5d3fb23df150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f075217b625e8d5b9650c511c6dafbf8187f996b2d351e544de8042176a77260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RZ3FbLgYYnVHn6vZyHEjg1",
      "input": {
        "note": "The whole can, cap included, is still visible in the wrist view, so it is several cm forward of the fingertips rather than between them; the overhead confirms the can sits ahead of the gripper. Advancing ~5 cm forward at mid-body height to bring the can between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.19,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RZ3FbLgYYnVHn6vZyHEjg1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9249, 1.4536, 0.9581, -0.7425, -0.6228, -0.7586, 0.9969, -0.0212, 0.8188, 0.5999, -0.7467, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2674 left_y=-0.1777 left_z=0.1088 left_yaw=0.0462 left_pitch=-0.3164 left_roll=0.1988 left_gripper=0.9969 right_x=0.2323 right_y=0.0022 right_z=0.1074 right_yaw=0.0012 right_pitch=-0.3799 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -5.6684, 8.759, 0.8523, -0.442, 0.1636, -0.3346, -0.0752, -1.1556, 6.8581, 1.3993, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323b156d1af47c3c4ed4607f504a7f87cfb4c6f44abda49d0a19a445dfce92b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d71cc9555eee9280a8c606f7dba3e3959b43278a33ea7ccef7abab9ec75837c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5c1309a6c2de1b0d70b4a16d0aecf2009e1c42750d90b3e5909b9bec22669ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 16.24 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-1.0096, 1.2671, 1.3445, -1.2472, -0.6533, -0.7994, 0.9969, -0.0212, 0.8173, 0.5999, -0.7219, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2338 left_y=-0.1634 left_z=0.2492 left_yaw=-0.0166 left_pitch=-0.2511 left_roll=0.1283 left_gripper=0.9969 right_x=0.2373 right_y=0.002 right_z=0.1113 right_yaw=0.0006 right_pitch=-0.3536 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -3.3299, 5.3812, 1.0916, -0.5934, -0.1099, -0.3346, -0.1709, -1.1145, 6.7487, 1.5311, -0.0317, -0.0366, -0.0122]",
      "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]: [-1.0641, 1.346, 0.9112, -0.8413, -0.6662, -0.8776, 0.9969, -0.0208, 0.8173, 0.5999, -0.7361, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2292 left_y=-0.1807 left_z=0.1208 left_yaw=0.004 left_pitch=-0.2888 left_roll=0.1755 left_gripper=0.9969 right_x=0.2345 right_y=0.0022 right_z=0.1092 right_yaw=0.0009 right_pitch=-0.3677 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -4.6838, 6.3521, 0.9402, -0.5495, -0.149, -0.3346, -0.0479, -1.0051, 6.6667, 1.4383, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.9249, 1.4536, 0.9581, -0.7425, -0.6228, -0.7586, 0.9969, -0.0212, 0.8188, 0.5999, -0.7467, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2674 left_y=-0.1777 left_z=0.1088 left_yaw=0.0462 left_pitch=-0.3164 left_roll=0.1988 left_gripper=0.9969 right_x=0.2323 right_y=0.0022 right_z=0.1074 right_yaw=0.0012 right_pitch=-0.3799 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -5.6684, 8.759, 0.8523, -0.442, 0.1636, -0.3346, -0.0752, -1.1556, 6.8581, 1.3993, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323b156d1af47c3c4ed4607f504a7f87cfb4c6f44abda49d0a19a445dfce92b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d71cc9555eee9280a8c606f7dba3e3959b43278a33ea7ccef7abab9ec75837c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c1309a6c2de1b0d70b4a16d0aecf2009e1c42750d90b3e5909b9bec22669ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AF3rUvVC1jpqrBDGTghtDM",
      "input": {
        "note": "The can now sits large and centred between the jaw wedges in the wrist view but its body is still visible down to the bottom edge, so it is just ahead of the fingertips. Advancing another 3 cm to bring the body between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AF3rUvVC1jpqrBDGTghtDM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9112, 1.4643, 0.9642, -0.7147, -0.606, -0.7105, 0.9969, -0.0212, 0.8219, 0.5999, -0.7475, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2727 left_y=-0.1816 left_z=0.108 left_yaw=0.018 left_pitch=-0.3211 left_roll=0.201 left_gripper=0.9969 right_x=0.2321 right_y=0.0021 right_z=0.1066 right_yaw=0.0009 right_pitch=-0.3837 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.7641, 8.7316, 1.0085, -0.4029, 0.1343, -0.3297, -0.0889, -1.1966, 6.7214, 1.3016, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e1197e985cf860eba8feae7e921b2fd1647f62f1ff5e7dcd105506073a6cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a4fe60ac42e831b624a76bd1a9fbb0c7b1ce045fcdb17abed1cd770a3c2c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bcca141bb00dd30dcd04b167ea7f47faec50d2f2b9ab51607b38228355ce806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 9.79 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]: [-1.0641, 1.346, 0.9112, -0.8413, -0.6662, -0.8776, 0.9969, -0.0208, 0.8173, 0.5999, -0.7361, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2292 left_y=-0.1807 left_z=0.1208 left_yaw=0.004 left_pitch=-0.2888 left_roll=0.1755 left_gripper=0.9969 right_x=0.2345 right_y=0.0022 right_z=0.1092 right_yaw=0.0009 right_pitch=-0.3677 right_roll=0.0085 right_gripper=0.9996\nstate[joint_eff]: [-0.5675, -4.6838, 6.3521, 0.9402, -0.5495, -0.149, -0.3346, -0.0479, -1.0051, 6.6667, 1.4383, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.9249, 1.4536, 0.9581, -0.7425, -0.6228, -0.7586, 0.9969, -0.0212, 0.8188, 0.5999, -0.7467, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2674 left_y=-0.1777 left_z=0.1088 left_yaw=0.0462 left_pitch=-0.3164 left_roll=0.1988 left_gripper=0.9969 right_x=0.2323 right_y=0.0022 right_z=0.1074 right_yaw=0.0012 right_pitch=-0.3799 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -5.6684, 8.759, 0.8523, -0.442, 0.1636, -0.3346, -0.0752, -1.1556, 6.8581, 1.3993, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9112, 1.4643, 0.9642, -0.7147, -0.606, -0.7105, 0.9969, -0.0212, 0.8219, 0.5999, -0.7475, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2727 left_y=-0.1816 left_z=0.108 left_yaw=0.018 left_pitch=-0.3211 left_roll=0.201 left_gripper=0.9969 right_x=0.2321 right_y=0.0021 right_z=0.1066 right_yaw=0.0009 right_pitch=-0.3837 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.7641, 8.7316, 1.0085, -0.4029, 0.1343, -0.3297, -0.0889, -1.1966, 6.7214, 1.3016, -0.0415, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e1197e985cf860eba8feae7e921b2fd1647f62f1ff5e7dcd105506073a6cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a4fe60ac42e831b624a76bd1a9fbb0c7b1ce045fcdb17abed1cd770a3c2c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcca141bb00dd30dcd04b167ea7f47faec50d2f2b9ab51607b38228355ce806",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7RMKEAgRGAI4AUIIdGhpbmtpbmcSDL51WoYzZ0XUGzYx3BoMFVwoEO8mp9FKLtGxIjAETzhdwKXfan/SC/S8fFJA4Fhi8QT6pgIUOHx9Dp6bXjWQpozmEXCQOnV1MuOtCNAqihMIUpvcLZV+vL0gSabx4gpGIdQFKY+/D+zxayE2FKKg7f9qTeoW23gARQNVJY/9f1qwM5GpOvJ4cbyXs+sd7SZdiM5SjS9vSgLAE6KqdGUM3oFgUQp03rIpIBc5T99/xn81VWImNoTyJjCDfMHYLptCo7aRvEPQjC4TE2fLSgyjH5BBnGsiuwHYngl3AL5WF2zgvzSX7llHXXf0QSfG2dKhqv+k0bEcl8RvUA5TJakIrV4n3CNcQT+uEHCZJFMudDUIM++pG/Mn+FgPpia+hIEYb04tySgNUW9T0/tHS70tLblAddETirOuhePrDcGZX6J4t/lEJfQc0x9PXCQvJhVu8s9E63a8If654GWT83N4b95l7qJ51g+lRxbLvaKMA/xWSf3fqRW0uxgGwRT6Quyn63+e853JNdS5K48ueizU0uZeO9oxFHfFFB/ump4zgS3oVN8XASABqvUosRjZwpMEnSa25cIh5GklJz9YPWaj221w8QfUExHxy6kvjH3Yv78F9WutWfGs70POMvVrcSXcWGKZ9p2qRoEa1n5I+9soANzKtBb3jdDkeD9nKcl8FdikCzQLuoNOn/6xjZ78e2F0xkl78bgNFqyDBx4BcgC+diNILRptUP6JLbvG9+Sk+490FZ+RLHNd7M34jAZvHJx3UUTtQZjaxjxSnwHV6M6TYo+7dmpK09pcbywAHnwQxeRY/Sr7ZwaqrdyM0sCZ2TEkbYy8mCoOojN0RmRZJR5hFnkWQf5OO/61YI5m44Gyyen5rNDU+D1bTJ+kzeGy7VtUoX1biIYXbKWSfxsCF4640vYl+v8lj+JHCezIoqgOoCEVE0i28avf8OPXDJ23DGPnGE159aZjTmWhS2klD+bPcAmqBRmn0zNal/pN6sUHWdZ401d1izxMeFzRQJ/XWXYlDl9lh881QEpqkpDxvIqfaKoKAcK3YRVmOBI/eF2s4sNy1hC31SCuze89vaGucCeXKONmiym6HXEA1Y2WtMcOe+GiKcdCTyilIHCC6rYs3STZM8JnSrFX/0sosdjBJDuqKeszAZqIhFUgyhWx/khG6B7P49T8cGuVtWI+4T5iFOlexcHQH3dHYFjuvPJOhI8x1UF9nHUo3DF1DfZk/A3mNuJtX/zmhtxEbvGkW0Xx/1VcLbL71EzQzKdr0DSvqBOzC6K87584Xfbk4sFEz5BWAuEZuZ08Hd1gX+/CVx3nGHszDnsl0pzeMhaUiYfDcXztyQKcFvmS4ISPWhs1XwjjTd3jZ2jQpyGEKtPwob6/jz2PC1I/8HgHBEdrNs4FbCskT6nj+5ke9AnwUe535poS08Iy+KbsEXxrG6v2MyiKMeelRyb1ARheBeMTcso/XcQZ/wOKZGknPHD6Gw/9VvYexCUG7hzrBcPD0JoXZ7A6Uhp6aCL4N1CP8Qvuc8hcgq6xHI2yn7N2gdo+tVaWiG+NcpGnK532NCP9K4Yyj2tcxRP8NJduBQGQPqLspc7qO75LdkhaN0F6HEHga4nwI+M40i7uoinunkMqBIsXWLGnBcxCAFWWEooYySV0x/QM9atW2EHvArTi5JcbID3oEuznuPj3NKTtuxNDTEksCl6wpmFb6FfejslY6fwVvOtRwlCvW2f9eP8CgDCLzDQkINPvf4v5N0smh5/bPtoFMCMI4I6tMVwN74NKDNaVDLJkVk7PvdG50pSPp51LMOuXqKYpql/d8bLyYeOqTAc8w78rn8hryaE0+m7TKqpOydFqhFs2qbP8xdt4Qet3EiDdta+A5oiW5bLuZanaunawWusA1ENlpHX/48KCX8ojGFLsumTgYpNpQ0924OnlsDRChskX3wVH8QROYibpfLHXKhOh/K+1doBPg67CWLY2GeppOXzJa0AYHLbcRlgr7bNxMGYsJCQW8At8TgFYLA8woaUwEgMSGzAXAMUu+aXtsLkGGGJxNCnUdNEHcJFYGv4x0ZVeAB7jnwZp5K8Gl00aJsBrSU/8josqVzHQ03F2CE2GzO5dHqhDM0m9dVGqqp4INNFnqMOt+rsHk13CPKCdKCG79DvrV9SlquVLeQmaKpjph1/49OT65uLCsVW7APFBKHRQtXVka0GgqVNqUBiEw9/CCNR8kSkoaykmAF6g19Nld+64tvTac8vj2R6/2m/i3iMYQWe44cgVQWxuxt9sOLmpzYZ/hswMFfz8FosDpAGNJZc2pfM9hA8joLU8ggdnTYk/l3SrSvcOgTNO1lF50ggGw1muQETYcRHuiA/CO9yOhfdCbUPmFIZvdMpYLvfnHx+Fok93Khe2F4DwaNx2FUh1uvqS8odX0/hDltgvme5o9+8/Nhk3awU+TacSRVKiRc2qXDOEf39GINSu3SCeO9nB1C1jQBQ924x7tejP9fRUdgRCL3bwFMtt2RkZpKnx1ZL03Uzud7QIYWqpChefYhXqsXf887oISd5dNtUhE7RUunlkqSDUWrZ7Ho6HCu5SMpYn0KHYdbrVM3Y9HUFtSwBDDy8Q7n4TwHtG1LRNQbB2iG60B4/9K8P1K2nwozC5s6swLJzyszNWbGmLm6VLdxymca9n6mcNU/U3Bk0meUK1ybUef07EqHL3fcxl2lVyEOD23iQQci3VivIRR6spCzKNHZnUHvmiV275Y1L6isLI3M4mgYcYtT5ZMRZd90BXq571GpbuX6YTCdwGfQXuMO2MNyytBcaT+9C4oV+gJrnyIOKpcSYi7J+Iysq5u/LhmvPuIeYXk5EI7ihcFcwDpWh7PoNRePi8DBlyGWcMACpw+0vthrScu37m79cpbQVn7cWMEaY4K16m101BFjrz2QNYb8TcdRi6pwz4o/3MNR7HFQUQPZRbg0SkXD0Bgm7b1H8wu7IuzDHDuAoKsZb1gI3WsW6Bly/K09lSr7g/tilUKVkXi/NxX/eC/+C99xQ1g+Olrim1wo4aZ10olHvBLljZ39DNFkBB/uLzNzFCKD+KRqyNWsY3j/DDLH0Ti9c1PewgvH02MRlJSmzu+qAJWEzGenvWAgLdvFNH1Tvk3Ru9MRWWAByMenEp4/7dsvGuOIfpDv/v1vTX3z7QnR7suQrknL0+lO18Rjl/6ZO25MN5TnfbZWrohZQPjDLlb2CfkBFPV24xHE622xG7L8i2TMFx/+rf04jk6SC6StzPsFsQs4fwXSrncF5mzmZewv63ykmXIquo1T+GuhUHQ/ZTTVU2cM7+D3z6r73qAeQrdhHQkhqTCefFyYvwMwqNOyO4i/JRAwM3WCtx+WHimBAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0116zFR58NeHYASCD5D4hYDe",
      "input": {
        "note": "The arm only advanced 0.5 cm and the tool has drifted to -0.32 rad pitch (tips tilted back), so the gripper body is probably butting against the can's cap. Lifting straight up and squaring the tool to vertical before re-approaching.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.275,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_0116zFR58NeHYASCD5D4hYDe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9859, 1.2057, 0.9352, -0.6312, -0.7319, -0.7265, 0.9969, -0.0212, 0.8249, 0.5999, -0.7685, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2686 left_y=-0.1854 left_z=0.1931 left_yaw=-0.0209 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9969 right_x=0.2278 right_y=0.0023 right_z=0.1031 right_yaw=0.0014 right_pitch=-0.4077 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -2.7556, 6.5299, 1.4676, -0.4078, 0.0904, -0.3346, -0.0752, -1.2376, 6.5983, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca312e0a918892f95c604e6d0e6d2688008f4a2b7aa28267b0d2e046807acd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01119b5e80abac54872b676c8d915a69b0213922840954a67b5cc080b03ded9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13ec7c8d4045305c31304959bf8492a9d86e8a73cdf89b5a054df872c6c8c17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 12.47 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]: [-0.9249, 1.4536, 0.9581, -0.7425, -0.6228, -0.7586, 0.9969, -0.0212, 0.8188, 0.5999, -0.7467, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2674 left_y=-0.1777 left_z=0.1088 left_yaw=0.0462 left_pitch=-0.3164 left_roll=0.1988 left_gripper=0.9969 right_x=0.2323 right_y=0.0022 right_z=0.1074 right_yaw=0.0012 right_pitch=-0.3799 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [0.3214, -5.6684, 8.759, 0.8523, -0.442, 0.1636, -0.3346, -0.0752, -1.1556, 6.8581, 1.3993, -0.0611, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9112, 1.4643, 0.9642, -0.7147, -0.606, -0.7105, 0.9969, -0.0212, 0.8219, 0.5999, -0.7475, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2727 left_y=-0.1816 left_z=0.108 left_yaw=0.018 left_pitch=-0.3211 left_roll=0.201 left_gripper=0.9969 right_x=0.2321 right_y=0.0021 right_z=0.1066 right_yaw=0.0009 right_pitch=-0.3837 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.7641, 8.7316, 1.0085, -0.4029, 0.1343, -0.3297, -0.0889, -1.1966, 6.7214, 1.3016, -0.0415, -0.0708, -0.0122]",
      "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]: [-0.9859, 1.2057, 0.9352, -0.6312, -0.7319, -0.7265, 0.9969, -0.0212, 0.8249, 0.5999, -0.7685, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2686 left_y=-0.1854 left_z=0.1931 left_yaw=-0.0209 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9969 right_x=0.2278 right_y=0.0023 right_z=0.1031 right_yaw=0.0014 right_pitch=-0.4077 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -2.7556, 6.5299, 1.4676, -0.4078, 0.0904, -0.3346, -0.0752, -1.2376, 6.5983, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca312e0a918892f95c604e6d0e6d2688008f4a2b7aa28267b0d2e046807acd57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01119b5e80abac54872b676c8d915a69b0213922840954a67b5cc080b03ded9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ec7c8d4045305c31304959bf8492a9d86e8a73cdf89b5a054df872c6c8c17e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2ggKEAgRGAI4AUIIdGhpbmtpbmcSDJh1nYRz4w0LUeAHfRoMuD88HpgqFDOPdmTjIjDNDQXNHzWQhcE5CAMCbnU2GF/mHX0kjI89kjqIBFiU+FXc9ujoiVaYVxRQ5riuOCUq9wfLuCHma4QUCijdg/KzUZh1/R2rF3vGIENUu2yaFncAU2Di71H2eNE18NhzMy1yLhZc0RbxtU0IPvN24/oEZmWqhf0WuX106g2v7DsZz3ehqeABCU5OCtI20nQ4asSAHmaXe0fDY7TnjBq6aJ/y/egcApbvQiVSzEJryrdppYx6fbjq1XrZV7m4bQE/H1Qq1sKhXl9eF3iYtNfnxLr+FELe6m/sm7it4E8TFtIrPtkh6fD8u/QFF28NmmVrZaPunGgdNrEO8z49csnQaow2PUakqizp7hg2M81ZI8yRibWyCwAAhCDOjZHiCFpl1Be0EGF7QSBkn5ACXxVvCo0tSoUqMUsNRTM9yDAj0l3uTWhuRAfLqC/TyV2w269MmYeKVPqRRLYVw0QArekIcVRxWFtEBWoikHhb8KYrm2yQvWqT204lPQh5pnLk/f82F6+T3eCN7e0XKeV4IboEeF0qW5wQZgjx0P2vYuK3in7/iWOUWQ+Z7/coD0oe8/oowfNQrQY117pGIb788KdUuCfpaIKGR1isjP/FgKt9DiCwPkgKkq1pS2GD5A+56P53c6Pdakg0eGUZKxAIvMF33LS6G6qcVu7VcFHTKafmbV6SaJIOcrRuhepnVsR8/cy1qSj51OUoRcZZGTs2Emv2l6ZMQgHFn7Ui5P39b5AyXTR/UjrM3V59B8005GgDv+wu+TT+zqMgtYzrKPpvbZCeJAcaYCZ9z5WipZJfCYsN23Y4WQTU/skITZxjg6P1/5Q/oF482w5sAZ/bNaq4GBhsbzRI49oEUulJpSSLzp7XHMBPTIUo2UTs8sDugN3o2f9pKulzvZyWWz0IZGmQ9P5FnrGBX0GVTOQ1IwT7bhThzeAO90huOS3GGNwtwaIeGHGmAqroMU6I5bIfIl80z/U6WSZgHmngUgRqmEVcvxKsMRQU8wjyksPcAWtK40bV+l/WzZq5wJNEZBJ62PxeC7LnE10S4BkL9y2ptKmrjRcT2iN7ff2hFRAXvUwE8jTIid6KHlq7lscfchwAV+5nJMgeoO6TtC2nOilC93psx2fzWgWt5NAlH5KnNLJLjUTV4ByexGlFGwZKrpi0w5fPCTdgwN7h41o+ovX05HQ9S4r9DeqpaiNI8RBz2ZqXekv2K43pd69D/pZOekTmLNXuqq4hmDPafnMNFRtYLotPPm97chIIBdZs4JAaQEkM1otqRr8lJ+weiGEBId6DJALdRiM6R1iEQI1cIsZjhxGZSjyiLWDeIUnXQgaVP+WSD8bn9jHzBSOkjjoaHCI7c+ulSY0tiHcJdkv043DgofpFH2E82vgcODQCEbTxW+grvTPPMhGtLVbz30C/Ey4vEteJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BR3t75uDDwoCwVvAm7StUf",
      "input": {
        "note": "With the tool vertical, the can now sits on the jaw column at the bottom edge of the wrist view, right under the fingertips. Advancing 2 cm and descending so the open jaws straddle the can body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": -0.185,
          "left_yaw": 0.0,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01BR3t75uDDwoCwVvAm7StUf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9398, 1.4017, 0.5827, -0.1017, -0.7372, -0.6731, 0.9969, -0.0212, 0.8249, 0.5999, -0.7883, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2807 left_y=-0.1768 left_z=0.0745 left_yaw=0.0004 left_pitch=-0.0559 left_roll=0.0583 left_gripper=0.9969 right_x=0.2237 right_y=0.0024 right_z=0.1005 right_yaw=0.0016 right_pitch=-0.4275 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -5.1761, 5.8051, 1.6484, -0.4078, 0.0513, -0.3297, -0.0889, -0.9641, 6.5846, 1.4139, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b10695296e28a9f65afa9c66539d0c3962bfd027672110c340f9b314af048a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3c6f0b607edc6f94195b20db86b3abafe70015000b95a9a0dc6a644aa57fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ec2314c1374e04630136fedb4afdaeea4d86d21f7f66aeda5dff084868363f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 9.714 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]: [-0.9112, 1.4643, 0.9642, -0.7147, -0.606, -0.7105, 0.9969, -0.0212, 0.8219, 0.5999, -0.7475, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2727 left_y=-0.1816 left_z=0.108 left_yaw=0.018 left_pitch=-0.3211 left_roll=0.201 left_gripper=0.9969 right_x=0.2321 right_y=0.0021 right_z=0.1066 right_yaw=0.0009 right_pitch=-0.3837 right_roll=0.0087 right_gripper=0.9996\nstate[joint_eff]: [-0.1573, -5.7641, 8.7316, 1.0085, -0.4029, 0.1343, -0.3297, -0.0889, -1.1966, 6.7214, 1.3016, -0.0415, -0.0708, -0.0122]",
      "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]: [-0.9859, 1.2057, 0.9352, -0.6312, -0.7319, -0.7265, 0.9969, -0.0212, 0.8249, 0.5999, -0.7685, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2686 left_y=-0.1854 left_z=0.1931 left_yaw=-0.0209 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9969 right_x=0.2278 right_y=0.0023 right_z=0.1031 right_yaw=0.0014 right_pitch=-0.4077 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -2.7556, 6.5299, 1.4676, -0.4078, 0.0904, -0.3346, -0.0752, -1.2376, 6.5983, 1.5018, -0.0366, -0.0415, -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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.9398, 1.4017, 0.5827, -0.1017, -0.7372, -0.6731, 0.9969, -0.0212, 0.8249, 0.5999, -0.7883, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2807 left_y=-0.1768 left_z=0.0745 left_yaw=0.0004 left_pitch=-0.0559 left_roll=0.0583 left_gripper=0.9969 right_x=0.2237 right_y=0.0024 right_z=0.1005 right_yaw=0.0016 right_pitch=-0.4275 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -5.1761, 5.8051, 1.6484, -0.4078, 0.0513, -0.3297, -0.0889, -0.9641, 6.5846, 1.4139, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7b10695296e28a9f65afa9c66539d0c3962bfd027672110c340f9b314af048a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc3c6f0b607edc6f94195b20db86b3abafe70015000b95a9a0dc6a644aa57fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ec2314c1374e04630136fedb4afdaeea4d86d21f7f66aeda5dff084868363f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jz6SdfWMKsBzAeyHKEbi7m",
      "input": {
        "note": "The can with its straw nozzle is still fully in view below the camera and centred on the jaw column, so it stands a few cm ahead of the open jaws. Sliding forward 4 cm at body height so the jaws close around it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.18,
          "left_yaw": 0.0,
          "left_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jz6SdfWMKsBzAeyHKEbi7m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 1.486, 0.5636, 0.0662, -0.688, -0.5972, 0.9969, -0.0212, 0.8288, 0.5999, -0.7933, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3067 left_y=-0.1657 left_z=0.0601 left_yaw=0.0302 left_pitch=-0.0482 left_roll=0.0455 left_gripper=0.9969 right_x=0.2226 right_y=0.0023 right_z=0.0991 right_yaw=0.0014 right_pitch=-0.4363 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [0.335, -5.2855, 8.0342, 1.6093, -0.2076, 0.149, -0.3346, -0.1846, -1.3333, 6.5709, 1.2479, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9783c496e9ecffd815096894224784d58522dc980179e1da2c65c41f6dc2efff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8ea57965996f7c08100b8db896c2384f48dd4d542c11dcedad1aae26adeb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f136b2e0453b7cc12294deccbf4fdbe9f4f5cb6515357a2d5707c8456efc0fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 8.946 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]: [-0.9859, 1.2057, 0.9352, -0.6312, -0.7319, -0.7265, 0.9969, -0.0212, 0.8249, 0.5999, -0.7685, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2686 left_y=-0.1854 left_z=0.1931 left_yaw=-0.0209 left_pitch=-0.0473 left_roll=-0.003 left_gripper=0.9969 right_x=0.2278 right_y=0.0023 right_z=0.1031 right_yaw=0.0014 right_pitch=-0.4077 right_roll=0.0096 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -2.7556, 6.5299, 1.4676, -0.4078, 0.0904, -0.3346, -0.0752, -1.2376, 6.5983, 1.5018, -0.0366, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9398, 1.4017, 0.5827, -0.1017, -0.7372, -0.6731, 0.9969, -0.0212, 0.8249, 0.5999, -0.7883, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2807 left_y=-0.1768 left_z=0.0745 left_yaw=0.0004 left_pitch=-0.0559 left_roll=0.0583 left_gripper=0.9969 right_x=0.2237 right_y=0.0024 right_z=0.1005 right_yaw=0.0016 right_pitch=-0.4275 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -5.1761, 5.8051, 1.6484, -0.4078, 0.0513, -0.3297, -0.0889, -0.9641, 6.5846, 1.4139, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 1.486, 0.5636, 0.0662, -0.688, -0.5972, 0.9969, -0.0212, 0.8288, 0.5999, -0.7933, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3067 left_y=-0.1657 left_z=0.0601 left_yaw=0.0302 left_pitch=-0.0482 left_roll=0.0455 left_gripper=0.9969 right_x=0.2226 right_y=0.0023 right_z=0.0991 right_yaw=0.0014 right_pitch=-0.4363 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [0.335, -5.2855, 8.0342, 1.6093, -0.2076, 0.149, -0.3346, -0.1846, -1.3333, 6.5709, 1.2479, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9783c496e9ecffd815096894224784d58522dc980179e1da2c65c41f6dc2efff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8ea57965996f7c08100b8db896c2384f48dd4d542c11dcedad1aae26adeb6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f136b2e0453b7cc12294deccbf4fdbe9f4f5cb6515357a2d5707c8456efc0fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LqYnR5WLwkTmDSKJcguSca",
      "input": {
        "note": "The arm stopped just short of its target with the can body looming at the bottom of the wrist view between the jaw wedges, suggesting the can is now inside the jaws. Closing the gripper to test the grasp.",
        "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_01LqYnR5WLwkTmDSKJcguSca",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8242, 1.5017, 0.5701, 0.1196, -0.6659, -0.5613, 0.0096, -0.0212, 0.8288, 0.5991, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.173 left_z=0.063 left_yaw=0.0036 left_pitch=-0.032 left_roll=0.0308 left_gripper=0.0096 right_x=0.218 right_y=0.0024 right_z=0.0962 right_yaw=0.0016 right_pitch=-0.4577 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.0376, 7.1453, 1.5849, -0.2369, 0.0513, 0.7839, -0.1026, -0.9915, 6.7487, 1.3602, -0.022, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4294f2a9ceae138e847fd49b7f72e088765fc08d6806b8a6bda1cb5f92ebcc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8921ceb59dd947f0205f2a10cf3ada135ae7bbab2006f9a4dc2ff6e8f59274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b19cf537ec061133ad1cd7f8898a4095b6d4ae606ba64b21fd993b2e1c09c1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 8.436 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]: [-0.9398, 1.4017, 0.5827, -0.1017, -0.7372, -0.6731, 0.9969, -0.0212, 0.8249, 0.5999, -0.7883, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2807 left_y=-0.1768 left_z=0.0745 left_yaw=0.0004 left_pitch=-0.0559 left_roll=0.0583 left_gripper=0.9969 right_x=0.2237 right_y=0.0024 right_z=0.1005 right_yaw=0.0016 right_pitch=-0.4275 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [0.6085, -5.1761, 5.8051, 1.6484, -0.4078, 0.0513, -0.3297, -0.0889, -0.9641, 6.5846, 1.4139, -0.0806, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8337, 1.486, 0.5636, 0.0662, -0.688, -0.5972, 0.9969, -0.0212, 0.8288, 0.5999, -0.7933, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3067 left_y=-0.1657 left_z=0.0601 left_yaw=0.0302 left_pitch=-0.0482 left_roll=0.0455 left_gripper=0.9969 right_x=0.2226 right_y=0.0023 right_z=0.0991 right_yaw=0.0014 right_pitch=-0.4363 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [0.335, -5.2855, 8.0342, 1.6093, -0.2076, 0.149, -0.3346, -0.1846, -1.3333, 6.5709, 1.2479, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.8242, 1.5017, 0.5701, 0.1196, -0.6659, -0.5613, 0.0096, -0.0212, 0.8288, 0.5991, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.173 left_z=0.063 left_yaw=0.0036 left_pitch=-0.032 left_roll=0.0308 left_gripper=0.0096 right_x=0.218 right_y=0.0024 right_z=0.0962 right_yaw=0.0016 right_pitch=-0.4577 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.0376, 7.1453, 1.5849, -0.2369, 0.0513, 0.7839, -0.1026, -0.9915, 6.7487, 1.3602, -0.022, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4294f2a9ceae138e847fd49b7f72e088765fc08d6806b8a6bda1cb5f92ebcc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8921ceb59dd947f0205f2a10cf3ada135ae7bbab2006f9a4dc2ff6e8f59274",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b19cf537ec061133ad1cd7f8898a4095b6d4ae606ba64b21fd993b2e1c09c1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HVEBmFjxoiQvCDjEP1NwD",
      "input": {
        "note": "The close was empty (0.01): the can's nozzle is visible just beyond the closed jaw tips, so the can stands a few cm ahead. Opening the jaws before advancing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016HVEBmFjxoiQvCDjEP1NwD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8238, 1.5017, 0.5694, 0.1116, -0.6662, -0.5644, 0.9952, -0.0212, 0.8288, 0.5991, -0.8349, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3127 left_y=-0.1717 left_z=0.0617 left_yaw=0.0061 left_pitch=-0.0376 left_roll=0.0349 left_gripper=0.9952 right_x=0.2135 right_y=0.0026 right_z=0.0936 right_yaw=0.0022 right_pitch=-0.4786 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.4769, 5.6137, 1.4969, -0.2857, -0.0073, -0.0073, -0.0889, -0.9778, 6.5299, 1.3846, -0.0366, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1f46d2947a8ada18ddcc9bee60a968f56d992297169c5144e04db560ea2ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7384fe3f97e26fa527b0db007ff2b2ccc1a1b6081a5138ac2a088172dc2c56d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a85ebe6f1ff9df508abfc4aff04ef58f32eb4d30d79297dd8cee31127c9858b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 9.168 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]: [-0.8337, 1.486, 0.5636, 0.0662, -0.688, -0.5972, 0.9969, -0.0212, 0.8288, 0.5999, -0.7933, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3067 left_y=-0.1657 left_z=0.0601 left_yaw=0.0302 left_pitch=-0.0482 left_roll=0.0455 left_gripper=0.9969 right_x=0.2226 right_y=0.0023 right_z=0.0991 right_yaw=0.0014 right_pitch=-0.4363 right_roll=0.01 right_gripper=0.9996\nstate[joint_eff]: [0.335, -5.2855, 8.0342, 1.6093, -0.2076, 0.149, -0.3346, -0.1846, -1.3333, 6.5709, 1.2479, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.8242, 1.5017, 0.5701, 0.1196, -0.6659, -0.5613, 0.0096, -0.0212, 0.8288, 0.5991, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.173 left_z=0.063 left_yaw=0.0036 left_pitch=-0.032 left_roll=0.0308 left_gripper=0.0096 right_x=0.218 right_y=0.0024 right_z=0.0962 right_yaw=0.0016 right_pitch=-0.4577 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.0376, 7.1453, 1.5849, -0.2369, 0.0513, 0.7839, -0.1026, -0.9915, 6.7487, 1.3602, -0.022, -0.0611, -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 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.8238, 1.5017, 0.5694, 0.1116, -0.6662, -0.5644, 0.9952, -0.0212, 0.8288, 0.5991, -0.8349, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3127 left_y=-0.1717 left_z=0.0617 left_yaw=0.0061 left_pitch=-0.0376 left_roll=0.0349 left_gripper=0.9952 right_x=0.2135 right_y=0.0026 right_z=0.0936 right_yaw=0.0022 right_pitch=-0.4786 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.4769, 5.6137, 1.4969, -0.2857, -0.0073, -0.0073, -0.0889, -0.9778, 6.5299, 1.3846, -0.0366, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a1f46d2947a8ada18ddcc9bee60a968f56d992297169c5144e04db560ea2ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7384fe3f97e26fa527b0db007ff2b2ccc1a1b6081a5138ac2a088172dc2c56d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a85ebe6f1ff9df508abfc4aff04ef58f32eb4d30d79297dd8cee31127c9858b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgggKEAgRGAI4AUIIdGhpbmtpbmcSDE56KwSVlWulriaf+BoM0VdQk9N1lPHettXuIjCudpD/nn/PmxElc+ddSN/sN1463WvKcZxg0F5xRD6ARv5p6HclZTnBIeTEAqehUNYqnwdIAVz9mct+5+PHOw2lEIjslvCt1qhs5VdH9iAuY/5s+LsLyqHPKNYtU5o1HfTebKj1FY7pDMphELqzCUZPG+qUlH8B2rgnhFjyoueb33esl2BnrLRiiCaEojiV8IeP9rC2NPZt06fLPA4l5C+7je0EZLKQBOZ98By9JCedrVqDfTT2lhwE2SLZScMzxyKDRGIp3u8DD7QAK6feFSHa3GSE+T5ErlhRrDpHmxWzUiZ+VEqKQXC82u5ZNvFFv8swe6SIef7sSVy5ik+UcW+Z+KKtHKHEkyeNwKFdEmwGZmM90r7D2YPhNgTpoLrCzqPWsue40fn+eMmi1f689fFFiZOwg8t3a1jqcf3eyP5BuEN7aiuXV3id+Nrhl7tIfCPT98qhO/5WS1MES9gTeT74UHOgrDX22rbxq/qfVl5IaWOFKidjlxX03dzuOUl5nYA2fv+0oe4UTCqefTYOfm143ePVYzaF7559riuc/cTfqRhHP5sRi+Zh4lDOP+aYWw08P4oZ9ojX/MDKz0oT8tzw5c1Qo3Xr8HXolI/3+GmCK4k2dDon405GHNfmPi5PEd5YMXUXvAJ6e2n2FgNqaGUKk+TD7qWBWlQ+krcJ0yMjcub/FRjAWN17ZI8p6NY2p8jiovyaRglQiWG7W2fBnm+vPvgRCTQeBF9HjP1MfZzAHDQ7Pi+osS/V3fuJx/n8AQjTZCB5iyr/yqJ8bwYrg1ShVQudKyKqulQvCj4pZE71Zz//ca6ORtbh7ITAW5fLFihOk9kDoG5q1KOz6gaqIBlpb6eLfCwhvvzSK8mft84R788vy2ogolnk1cMY7hibvHxD51I+YkgxufPJbyTmF0KMRr0CEGjV/hIvQJFVYe53NHub+9oOLT9DttWRiwmo1EhS0U3su7val8YqhcmONpixlO1HS7AZ47zaETzteo/60cBTYdhB9cpH6gr+vIwUs+wv3dVnV3Z/WU2eDRny85+sTqr3CVqpSYfAUH0xASztwqYqbDuGnfDk9nGQtgR4MUjam/zR+/iZKKXKyI3V1WjiY6U6sPH7ZKhUhmsYupITnh3ihNKOvrtg2bZ6yZeyGP/G5yJkKIV1+4ZunW4ylQUbH1sLbdmzrh7ppqtGnMQbXWU2qSojO8ZSDAyHN3to7HhinUxPUAQxmOIIVgA6ZYPer1VTGGE+nPivqiMHq+NnUDXBK4ZlV04fRV/rlt7G7UUxHoSdhjiZvUexwH57r55LaFYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PWyZeZhd8vXLPbjAvPQvKV",
      "input": {
        "note": "With the jaws open the white can is visible bottom-centre between the jaw wedges, just ahead of the fingertips. Advancing ~4 cm at body height so the can ends up between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.35,
          "left_y": -0.18,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PWyZeZhd8vXLPbjAvPQvKV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.754, 1.6142, 0.5964, 0.1925, -0.6312, -0.5259, 0.9969, -0.0212, 0.8314, 0.5991, -0.8467, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.1648 left_z=0.0426 left_yaw=0.0303 left_pitch=-0.0604 left_roll=0.0517 left_gripper=0.9969 right_x=0.2109 right_y=0.0026 right_z=0.0917 right_yaw=0.002 right_pitch=-0.4931 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 8.0479, 1.9023, -0.232, 0.1197, -0.3297, -0.1983, -0.8274, 6.612, 1.3553, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a24a565ce23313879b2206d6b425355b4ec6c761685279ce7554bc25a6cf0e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3627bfe75d0ab66466bd5f6b7aa73ee6638e6a5735f7676290b485033bd0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:546511812c7eaf06b04a3e1e17c52c53a95a5356d5e7431c2bbcc38dfeac9129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 22.68 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]: [-0.8242, 1.5017, 0.5701, 0.1196, -0.6659, -0.5613, 0.0096, -0.0212, 0.8288, 0.5991, -0.8139, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3136 left_y=-0.173 left_z=0.063 left_yaw=0.0036 left_pitch=-0.032 left_roll=0.0308 left_gripper=0.0096 right_x=0.218 right_y=0.0024 right_z=0.0962 right_yaw=0.0016 right_pitch=-0.4577 right_roll=0.0105 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -6.0376, 7.1453, 1.5849, -0.2369, 0.0513, 0.7839, -0.1026, -0.9915, 6.7487, 1.3602, -0.022, -0.0611, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.8238, 1.5017, 0.5694, 0.1116, -0.6662, -0.5644, 0.9952, -0.0212, 0.8288, 0.5991, -0.8349, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3127 left_y=-0.1717 left_z=0.0617 left_yaw=0.0061 left_pitch=-0.0376 left_roll=0.0349 left_gripper=0.9952 right_x=0.2135 right_y=0.0026 right_z=0.0936 right_yaw=0.0022 right_pitch=-0.4786 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.4769, 5.6137, 1.4969, -0.2857, -0.0073, -0.0073, -0.0889, -0.9778, 6.5299, 1.3846, -0.0366, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.754, 1.6142, 0.5964, 0.1925, -0.6312, -0.5259, 0.9969, -0.0212, 0.8314, 0.5991, -0.8467, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.1648 left_z=0.0426 left_yaw=0.0303 left_pitch=-0.0604 left_roll=0.0517 left_gripper=0.9969 right_x=0.2109 right_y=0.0026 right_z=0.0917 right_yaw=0.002 right_pitch=-0.4931 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 8.0479, 1.9023, -0.232, 0.1197, -0.3297, -0.1983, -0.8274, 6.612, 1.3553, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a24a565ce23313879b2206d6b425355b4ec6c761685279ce7554bc25a6cf0e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b3627bfe75d0ab66466bd5f6b7aa73ee6638e6a5735f7676290b485033bd0c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546511812c7eaf06b04a3e1e17c52c53a95a5356d5e7431c2bbcc38dfeac9129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AoKEAgRGAI4AUIIdGhpbmtpbmcSDI45b4MdkMl374FPuhoM3urEWM0DTOlr7N8kIjAGdKhWngip/g2mFKfFE0QO4ErTjcs/X28t8X8+TY8+15m2JSzkPU7+s4KzmFlyxFwqhQqyr3w1wT3m8SUWMgsz4dOHmU+txLtDyF2Yc1EZTZW+v62L70TU2VOqYbQ9bnEUwHgEaRaYyXy37ken2UJEiNBaPjGQsavMnTK3ICXlYvs+2VyYHt1IbVNkZAJnzdvuxnekmkcdjz33fH3KNjmDnxxOoMUW87cFCEEjXM5azw6AhYf4Uw95AZaaYWzRj7hRi9mG3tcG6V7+MwXrYPKXXCZvXPs5Cti7dlgP4yyeaFEUgGHYB06RA+SavWdZAaxYboZHwuH5dLqiTrR6k7q8SM0jpctfjanM8NxzhBmUaYv35gRcxA8iJtligbUjMmer+UFuFDXxteY9ToL93xJjIhO9GwvS+v+3bMaoAC+0f/htO5XlxA4eg1vPaG3Kbp/oPo3S7TG4D8nvAEFraoA4zryc0vJpIyicyrQ4OrxGpdhkfwPiGCr2OLT5WGC6yeYpz1xfih+cIx3PDbvB9qidc+N2QgXcoQDQ3agBVWTI2v4jdzxPJaL78/A4zFAU9R7lXDHmaaUyuwHRKZ/kO6/Z8DvNhDpEcqglmlvK4wx/l7JekvquAlYr1f/Q3eVGp5TjKAKd5Lbs3FMCfPCkR6utwshDYvPVeXOSZsGNEo3XVC8tAhRn2dMCWqBV/VXhmf0MZGT+sUOHAu1bf/QSEE0dmdKiHj3J9/JmvWZdGIDk1dktjYQ1w0tolLIJNtMbyULW45yUEzp3AOmOv8T2Wd9bECCFZCoCexIWh8IZxIgACj3m17KEDihBRmTumGh26jJiFU/i1EuvayLeFj9RyPTMT/1FB9s82n+2YOrE6463+DuWe0XHOrSpLePSxVdFjc8eHAaX524Q3mbnFaJ7SjJ/freCT0xPbPWQWsZqNisktS8JsjPaBjWuuV9wUNcnGm52FZnHeEdzaknoJFDd9U3/1hRIl7qwTSU6dj2v5gI+2yXBa4xxQ1zNFksJjqh33Eu0IPI41fI6I1EpnX3IYKT5CBkFSnnWAp525JKGOCXUPFkk7q2Au4Z3UgnsetVelLmMTEhG8iAdfHd+YR1TcGUb8vCGKvYU4t9VhJRXboIooHfhMFyS09Rw5tnkkywrLb2XYdZdXuC4X93XNwd5UH2NluoIAPGk6FoAK+tyUwk3HI+ZqyiHO5BGlhNRHAeMXV249G5txkUbi9A655pSSDYCG7+3YvWVjaGaO+5cWXEE9ZRSg2dj8SkXK5p8DVCA6xyHnRkbkwcPJU4V3JOvfPXFAxS+uhL+tDLfznWHUcL+fvfI4lv8BeWnM9cxEdPiJEJ63l1VgBYfjZqWdXSMivq1xeu4byWiQaG7Q8MkoIEc2YRy8gtbHvCfZkByePTLIcTqHvdU9Y09GaaVBkvQynMQt/aBJ5UUvszEIHoRLyxioP80F8SWlbwZvnVMHdxiB79xcqP6hTZaTbjIVc4SOZkJpnqoTzWkRibyddM8l2T4bCcRrtQzy5pZskDuQMpviKGoTPQuJ5dyLdA//brO1lRl6bY9x/o0NPSqAd8ohpoTt24/wra6wesBwUHMoiEJUY48kL2N+qOgW+r54UpkvGCQkf+lUOiMkq3YBCpSi37G3RyfPOA5PM5F2MWqc/fx5I6K6tMix0T1G51EsLnAAmwIKMzr5uGyyy9a4JE3ETuCX7XkEf6Egjp3e/xbagDCJOOTMbCAnosv0Ae90wQecch8Rs7Hd7GKMcB5IYzS8s5x/L3+H6NbK/zsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJteoDZ9VAyWQ4bHZwxtyz",
      "input": {
        "note": "The can's nozzle now sits at the very bottom edge between the open jaws, so the body should be inside the jaw span. Closing to grasp.",
        "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_01AJteoDZ9VAyWQ4bHZwxtyz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7521, 1.6249, 0.6014, 0.2066, -0.6407, -0.532, 0.0095, -0.0212, 0.8314, 0.5991, -0.8562, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.336 left_y=-0.1648 left_z=0.0434 left_yaw=0.042 left_pitch=-0.0494 left_roll=0.0457 left_gripper=0.0095 right_x=0.2088 right_y=0.0026 right_z=0.0906 right_yaw=0.0021 right_pitch=-0.5027 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -7.2957, 5.1761, 1.2967, -0.2027, 0.0562, 0.7692, -0.0479, -0.8957, 6.7214, 1.2039, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6619d785492b6676510fc24ff7560742b8bfd62bd9527c8186e23fe0773916c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd6132f295e819da6a750d58e376dc630e58ab15dfcef832096e411483bceef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8feb04da7f2b24e80a9fc56f82f0a40359a9c1c8806341624f7d0c2debc6dc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 16.42 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]: [-0.8238, 1.5017, 0.5694, 0.1116, -0.6662, -0.5644, 0.9952, -0.0212, 0.8288, 0.5991, -0.8349, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3127 left_y=-0.1717 left_z=0.0617 left_yaw=0.0061 left_pitch=-0.0376 left_roll=0.0349 left_gripper=0.9952 right_x=0.2135 right_y=0.0026 right_z=0.0936 right_yaw=0.0022 right_pitch=-0.4786 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -5.4769, 5.6137, 1.4969, -0.2857, -0.0073, -0.0073, -0.0889, -0.9778, 6.5299, 1.3846, -0.0366, -0.0708, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.754, 1.6142, 0.5964, 0.1925, -0.6312, -0.5259, 0.9969, -0.0212, 0.8314, 0.5991, -0.8467, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.1648 left_z=0.0426 left_yaw=0.0303 left_pitch=-0.0604 left_roll=0.0517 left_gripper=0.9969 right_x=0.2109 right_y=0.0026 right_z=0.0917 right_yaw=0.002 right_pitch=-0.4931 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 8.0479, 1.9023, -0.232, 0.1197, -0.3297, -0.1983, -0.8274, 6.612, 1.3553, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.7521, 1.6249, 0.6014, 0.2066, -0.6407, -0.532, 0.0095, -0.0212, 0.8314, 0.5991, -0.8562, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.336 left_y=-0.1648 left_z=0.0434 left_yaw=0.042 left_pitch=-0.0494 left_roll=0.0457 left_gripper=0.0095 right_x=0.2088 right_y=0.0026 right_z=0.0906 right_yaw=0.0021 right_pitch=-0.5027 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -7.2957, 5.1761, 1.2967, -0.2027, 0.0562, 0.7692, -0.0479, -0.8957, 6.7214, 1.2039, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6619d785492b6676510fc24ff7560742b8bfd62bd9527c8186e23fe0773916c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fd6132f295e819da6a750d58e376dc630e58ab15dfcef832096e411483bceef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8feb04da7f2b24e80a9fc56f82f0a40359a9c1c8806341624f7d0c2debc6dc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQo6gVhW2KNvVthxDdxTGd",
      "input": {
        "note": "The close was empty again and the can has been knocked over; the two cameras disagree on which side of the gripper it now lies. Lifting and opening to get a clear look at where the can ended up.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.16,
          "left_yaw": 0.0,
          "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_01WQo6gVhW2KNvVthxDdxTGd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7616, 1.2938, 0.7036, -0.1783, -0.6285, -0.5255, 0.9954, -0.0212, 0.8349, 0.5972, -0.8783, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.1555 left_z=0.1316 left_yaw=0.0189 left_pitch=-0.0214 left_roll=0.0106 left_gripper=0.9954 right_x=0.2034 right_y=0.0028 right_z=0.0868 right_yaw=0.0025 right_pitch=-0.5301 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.6547, 9.1829, 1.6239, -0.2173, 0.1148, -0.0611, -0.1709, -1.2376, 6.6256, 1.2869, -0.0513, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a6703cc0e8acaec710fad984af82ad91bbf89c1ace344820c808e6fd048a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2482a89d834b5ac6e8048acd249f163d111fd129a2d0f60f0ecc7c98e57482a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81e0596ef4a9c7a352c28412639a25a6106b123cca830ef994fc76931d0cf1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 19.63 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]: [-0.754, 1.6142, 0.5964, 0.1925, -0.6312, -0.5259, 0.9969, -0.0212, 0.8314, 0.5991, -0.8467, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.333 left_y=-0.1648 left_z=0.0426 left_yaw=0.0303 left_pitch=-0.0604 left_roll=0.0517 left_gripper=0.9969 right_x=0.2109 right_y=0.0026 right_z=0.0917 right_yaw=0.002 right_pitch=-0.4931 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [0.0342, -6.9675, 8.0479, 1.9023, -0.232, 0.1197, -0.3297, -0.1983, -0.8274, 6.612, 1.3553, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.7521, 1.6249, 0.6014, 0.2066, -0.6407, -0.532, 0.0095, -0.0212, 0.8314, 0.5991, -0.8562, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.336 left_y=-0.1648 left_z=0.0434 left_yaw=0.042 left_pitch=-0.0494 left_roll=0.0457 left_gripper=0.0095 right_x=0.2088 right_y=0.0026 right_z=0.0906 right_yaw=0.0021 right_pitch=-0.5027 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -7.2957, 5.1761, 1.2967, -0.2027, 0.0562, 0.7692, -0.0479, -0.8957, 6.7214, 1.2039, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.7616, 1.2938, 0.7036, -0.1783, -0.6285, -0.5255, 0.9954, -0.0212, 0.8349, 0.5972, -0.8783, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.1555 left_z=0.1316 left_yaw=0.0189 left_pitch=-0.0214 left_roll=0.0106 left_gripper=0.9954 right_x=0.2034 right_y=0.0028 right_z=0.0868 right_yaw=0.0025 right_pitch=-0.5301 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.6547, 9.1829, 1.6239, -0.2173, 0.1148, -0.0611, -0.1709, -1.2376, 6.6256, 1.2869, -0.0513, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a6703cc0e8acaec710fad984af82ad91bbf89c1ace344820c808e6fd048a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2482a89d834b5ac6e8048acd249f163d111fd129a2d0f60f0ecc7c98e57482a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81e0596ef4a9c7a352c28412639a25a6106b123cca830ef994fc76931d0cf1bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017szsJH3CBQxxTZ43qbJfK9",
      "input": {
        "note": "The can now lies on its side just behind the fingertips toward the base, its axis running roughly left-right. Moving back over the can's body and yawing the tool 90° so the jaws close across its diameter.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": -0.125,
          "left_yaw": 1.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017szsJH3CBQxxTZ43qbJfK9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4564, 2.0583, 1.5646, -1.4334, -0.8993, -2.0258, 0.9969, -0.0208, 0.8379, 0.5964, -0.9012, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3541 left_y=-0.0158 left_z=0.1136 left_yaw=1.3759 left_pitch=-0.0468 left_roll=0.0081 left_gripper=0.9969 right_x=0.1981 right_y=0.0029 right_z=0.0836 right_yaw=0.003 right_pitch=-0.5568 right_roll=0.0133 right_gripper=0.9996\nstate[joint_eff]: [-3.0017, -9.5248, 6.8444, -0.6618, -0.3443, -0.0757, -0.3297, -0.0752, -0.7453, 6.4615, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873bcc2731a3286ff31384c00f3a5e51749a696317e34f7cfc88b8e5de650bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2370a6106cfd9550f0208768b364ce16a76a1f4a2869f2e9f34f6f4ebb8727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bccf7e8ca16d5485501451ac4706d84a2f59b490788170b1ed47f9c9d732e745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 10.97 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]: [-0.7521, 1.6249, 0.6014, 0.2066, -0.6407, -0.532, 0.0095, -0.0212, 0.8314, 0.5991, -0.8562, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.336 left_y=-0.1648 left_z=0.0434 left_yaw=0.042 left_pitch=-0.0494 left_roll=0.0457 left_gripper=0.0095 right_x=0.2088 right_y=0.0026 right_z=0.0906 right_yaw=0.0021 right_pitch=-0.5027 right_roll=0.0117 right_gripper=0.9996\nstate[joint_eff]: [-0.3761, -7.2957, 5.1761, 1.2967, -0.2027, 0.0562, 0.7692, -0.0479, -0.8957, 6.7214, 1.2039, -0.0464, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7616, 1.2938, 0.7036, -0.1783, -0.6285, -0.5255, 0.9954, -0.0212, 0.8349, 0.5972, -0.8783, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.1555 left_z=0.1316 left_yaw=0.0189 left_pitch=-0.0214 left_roll=0.0106 left_gripper=0.9954 right_x=0.2034 right_y=0.0028 right_z=0.0868 right_yaw=0.0025 right_pitch=-0.5301 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.6547, 9.1829, 1.6239, -0.2173, 0.1148, -0.0611, -0.1709, -1.2376, 6.6256, 1.2869, -0.0513, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.4564, 2.0583, 1.5646, -1.4334, -0.8993, -2.0258, 0.9969, -0.0208, 0.8379, 0.5964, -0.9012, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3541 left_y=-0.0158 left_z=0.1136 left_yaw=1.3759 left_pitch=-0.0468 left_roll=0.0081 left_gripper=0.9969 right_x=0.1981 right_y=0.0029 right_z=0.0836 right_yaw=0.003 right_pitch=-0.5568 right_roll=0.0133 right_gripper=0.9996\nstate[joint_eff]: [-3.0017, -9.5248, 6.8444, -0.6618, -0.3443, -0.0757, -0.3297, -0.0752, -0.7453, 6.4615, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:873bcc2731a3286ff31384c00f3a5e51749a696317e34f7cfc88b8e5de650bda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca2370a6106cfd9550f0208768b364ce16a76a1f4a2869f2e9f34f6f4ebb8727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bccf7e8ca16d5485501451ac4706d84a2f59b490788170b1ed47f9c9d732e745",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0122H9M1c6qzKGs1CMEBCGrL",
      "input": {
        "note": "The yaw move dragged the grasp point far off target; the overhead now shows the can lying just base-ward of the gripper with its axis pointing forward, so yaw 0 is right. Returning to yaw 0 and positioning above the can's body to check in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": -0.04,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0122H9M1c6qzKGs1CMEBCGrL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3405, 0.8768, 0.403, -0.2855, -0.453, -0.7483, 0.9969, -0.0208, 0.8413, 0.5953, -0.9234, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2746 left_y=-0.0114 left_z=0.0991 left_yaw=0.4276 left_pitch=-0.1145 left_roll=-0.2618 left_gripper=0.9969 right_x=0.1927 right_y=0.0031 right_z=0.0804 right_yaw=0.0037 right_pitch=-0.5835 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.6359, 6.6256, 1.8437, 0.022, 0.2076, -0.3297, 0.0068, -1.0325, 6.612, 1.199, -0.0366, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5243f556cb82a2bb7a8eb3cce95927fa389b573baac0c421944fc9817e8397d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e506c24afb87f6c83eb92e84a3f272fe909a06441ecd289709aebb011dce413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a86031f0d34f264f089901e448c14e4dc4bc7413e0c1cd7f57ac99c1c5a3cbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 10.37 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]: [-0.7616, 1.2938, 0.7036, -0.1783, -0.6285, -0.5255, 0.9954, -0.0212, 0.8349, 0.5972, -0.8783, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3187 left_y=-0.1555 left_z=0.1316 left_yaw=0.0189 left_pitch=-0.0214 left_roll=0.0106 left_gripper=0.9954 right_x=0.2034 right_y=0.0028 right_z=0.0868 right_yaw=0.0025 right_pitch=-0.5301 right_roll=0.0124 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -5.6547, 9.1829, 1.6239, -0.2173, 0.1148, -0.0611, -0.1709, -1.2376, 6.6256, 1.2869, -0.0513, -0.0317, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.4564, 2.0583, 1.5646, -1.4334, -0.8993, -2.0258, 0.9969, -0.0208, 0.8379, 0.5964, -0.9012, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3541 left_y=-0.0158 left_z=0.1136 left_yaw=1.3759 left_pitch=-0.0468 left_roll=0.0081 left_gripper=0.9969 right_x=0.1981 right_y=0.0029 right_z=0.0836 right_yaw=0.003 right_pitch=-0.5568 right_roll=0.0133 right_gripper=0.9996\nstate[joint_eff]: [-3.0017, -9.5248, 6.8444, -0.6618, -0.3443, -0.0757, -0.3297, -0.0752, -0.7453, 6.4615, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3405, 0.8768, 0.403, -0.2855, -0.453, -0.7483, 0.9969, -0.0208, 0.8413, 0.5953, -0.9234, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2746 left_y=-0.0114 left_z=0.0991 left_yaw=0.4276 left_pitch=-0.1145 left_roll=-0.2618 left_gripper=0.9969 right_x=0.1927 right_y=0.0031 right_z=0.0804 right_yaw=0.0037 right_pitch=-0.5835 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.6359, 6.6256, 1.8437, 0.022, 0.2076, -0.3297, 0.0068, -1.0325, 6.612, 1.199, -0.0366, -0.0562, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5243f556cb82a2bb7a8eb3cce95927fa389b573baac0c421944fc9817e8397d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e506c24afb87f6c83eb92e84a3f272fe909a06441ecd289709aebb011dce413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86031f0d34f264f089901e448c14e4dc4bc7413e0c1cd7f57ac99c1c5a3cbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwwKEAgRGAI4AUIIdGhpbmtpbmcSDNCN5Bx48fVB5/lKsBoMGF4BdGJysC4o905UIjCfQWWk6d76nR48q8k3xR0dMAJDhktJFpTBDO/oiMAVTmX6QzKB6oxmZ5F1AxBWZaAqpAs+rH4HpvlUEDb18MgZjNSl9dyoWJYEdUWMcCi6a98Mz7X+DPRoGRYG+2NftuGc4Z623KrVLAMHopTIIrIvDretAvPvpTPLIVFBupmseTK/SZuqEBRlXFpr0ClksImYXfRuT5k5XU0aLs39CFiIE6DaWYmE3vuCya/dhih+aBz3MPtN0dGJwei+KnyQJD+btSAuEiwocgmXf2ysFGuTwCyYYPc2aHj+Kq7LjkPCJAXxh3BOMIc2zUefr6Bqmk9QyV+VLYCBwfNSzMqn9kZGtcEc5tPRg6ry2SQbZVk2tVeRONIj9H+dw5VLq3xIzdXy9MmRanTZ61jvR4CUZEFJXmYYVJ5ObjKME1VNFl+TjwBYGaGj5vVRltuy3dDFl7cGBDLdo82safwuIjyLKZzbAyzIiAvz37DZkOHfEcyKa7WMAH54XNes/aAITPCItMMHa9havMTpC9qCPC62PHad7fx0EEOau/NpUhyGojfecKL+hb+Td9uRaijg6UQAy97lFRlb7CmyRGOqKdYxxNjc2KHEESMbmQXuEKRCh4YwlNfWXfNEoWrZtEnNHkYqWVpl0K7mC/HjPsHkrfPcZvmadcR5lWOVpw/yYn5GpiuWB8HZ93jUpVPwsCO/4tN5ehmzSj1ho8n9DqmK4riOmQeUCSNkR2xGCNC2ME/28jA0o3DCqNxaAbOIL/KB1UNL2XbvK37q7bb0UuoIvolGOAoA1cbS6KEfcTU/ZEVcsRhR+mA/uOdLWcaDGBEMql495+/q8FweT7X6WAjcGBw9arIbcedEW+x763LtVSqDctb1v5D9qYdHvmvwl+GefvduPSQzU9nwnAGhykoEwi4xcdtivZVefGwlqRKoV80EjCBQxg/NvGKfxkiW2j3Y3wXoyDLcwyf18Ci3SHwgvcQAL5oN9Z3we3DLUqGtmfBygrtCR6PoHX5upBVesYkz50OEh3iNPCSC39n+AawqL/yKnLG1zYcNRseqDRwe/Rn14D60Arkg5o5FhaM+gZMHHqfAzm8Zr9JJS5mduPRMRcz9O6TEcVxU8wMd3haYqUHZ33SlGKilmKpQheSnMqqbmypBVtjeFwtoHcYzJpz0qX4xOQ7PaP1XsNe0gnEsvqqwIM5hCfCtLlpecL73Yc004xBEUNfLmoqZAzVJdn5H2TK+8GhGEliukipXpDrvysVPNtbN7iomcd1QyzSGMLPCeD+3+tA4vU3WwUm8iD1AK6jyhAEsjwWlhpdzBHgf+EcrllpeEpwOnn54Bhqw8Z7e3xINEorh/S66LOghjGjYnrrPZnDzsOgOWxkYLGcsui5U/6f8ooUrGaNHxwOIKahpY1GLuRrddTxvBf03678tWcgoImW+mKThVdKIYQMPHnVcowwoDxxmMElhlpnSDVvJ4MkTLFk7IpZFjQFW3S7RuzKL2/TVH94j6TSvFw3IHRzuEMhNXIUD/PL8MgekYSALiTgIspv6+W7cQUIHwF5lj4Eadh+hU22w0AazxB9Kgosci3zKSP836omzJhUSRnMj23ru93WHeQES6O7SCV9N0BCxvrCQGqUJRKCB+lMkqzzyhGDihJuEWEAuRFZEcOIAYZTXrFQdmRxLkD4nPPVCtbFrin9FlvwiPsByQVd3WlMibCGIhWM/cUYKSaU0bGag6Dob7u0qHAYyuBPf3apa11mD60D9PNnr2774m1QkPOT0GlsXi0l+di1R69SqzDxxg4q2h+Fy6jXA9Y7+ZI2x2WyRc+bW104nG540evYsQxUNLDB0Ei6FCG5r4+tBFqBvwpif8lyz5deK6tbfprBHOGr3xslzQo05wvT/cTeQBCwEbE6z60tDSyKIt2QEAl9jlmoRF50nJB6ksifMhj+U1jrU/xF54pYE1sV0BgVHs+ih0nYeSacA0FFx1IB070i43PIbha7gmADSW3hmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7z9pdEPc1ChSZVVHT94n8",
      "input": {
        "note": "Overhead shows the can lying with its axis pointing forward about 4–5 cm to the right of the gripper and slightly closer to the base. Moving over the can's body and descending to its centre height with jaws open.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.26,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01L7z9pdEPc1ChSZVVHT94n8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5091, 1.0031, 0.083, 0.1513, -0.424, -0.4206, 0.9969, -0.0212, 0.8425, 0.5953, -0.9272, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.247 left_y=-0.0505 left_z=0.0155 left_yaw=0.0596 left_pitch=-0.1107 left_roll=-0.0161 left_gripper=0.9969 right_x=0.1918 right_y=0.0031 right_z=0.0798 right_yaw=0.0035 right_pitch=-0.5885 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -2.0444, 5.3538, 1.7118, -0.2808, 0.105, -0.3297, -0.0752, -0.9641, 6.3932, 1.0037, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa08f6227ebf0cda49bf39758a5094a7fff71e571f45080d8c6b661cea765617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf87b921fa7176bed8b09a3a19c237fceec4c24e76bd1bcce7948ae06dce29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a80cefff12975b25d519221115b836994d30d1ee26c223d88d1b4d42aaca2df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 15.81 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]: [-0.4564, 2.0583, 1.5646, -1.4334, -0.8993, -2.0258, 0.9969, -0.0208, 0.8379, 0.5964, -0.9012, -0.0196, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.3541 left_y=-0.0158 left_z=0.1136 left_yaw=1.3759 left_pitch=-0.0468 left_roll=0.0081 left_gripper=0.9969 right_x=0.1981 right_y=0.0029 right_z=0.0836 right_yaw=0.003 right_pitch=-0.5568 right_roll=0.0133 right_gripper=0.9996\nstate[joint_eff]: [-3.0017, -9.5248, 6.8444, -0.6618, -0.3443, -0.0757, -0.3297, -0.0752, -0.7453, 6.4615, 1.3065, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.3405, 0.8768, 0.403, -0.2855, -0.453, -0.7483, 0.9969, -0.0208, 0.8413, 0.5953, -0.9234, -0.0196, -0.012, 0.9996]\nstate[eef_state]: left_x=0.2746 left_y=-0.0114 left_z=0.0991 left_yaw=0.4276 left_pitch=-0.1145 left_roll=-0.2618 left_gripper=0.9969 right_x=0.1927 right_y=0.0031 right_z=0.0804 right_yaw=0.0037 right_pitch=-0.5835 right_roll=0.0139 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -0.6359, 6.6256, 1.8437, 0.022, 0.2076, -0.3297, 0.0068, -1.0325, 6.612, 1.199, -0.0366, -0.0562, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5091, 1.0031, 0.083, 0.1513, -0.424, -0.4206, 0.9969, -0.0212, 0.8425, 0.5953, -0.9272, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.247 left_y=-0.0505 left_z=0.0155 left_yaw=0.0596 left_pitch=-0.1107 left_roll=-0.0161 left_gripper=0.9969 right_x=0.1918 right_y=0.0031 right_z=0.0798 right_yaw=0.0035 right_pitch=-0.5885 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -2.0444, 5.3538, 1.7118, -0.2808, 0.105, -0.3297, -0.0752, -0.9641, 6.3932, 1.0037, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa08f6227ebf0cda49bf39758a5094a7fff71e571f45080d8c6b661cea765617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf87b921fa7176bed8b09a3a19c237fceec4c24e76bd1bcce7948ae06dce29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80cefff12975b25d519221115b836994d30d1ee26c223d88d1b4d42aaca2df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShwkKEAgRGAI4AUIIdGhpbmtpbmcSDOjpTeLBvclhGKympBoMMUt91wSfT/K1KkdYIjDZPa3iL3GPRWY9sOiJAF1nyKv8wsmoCIYNowT/x+9DAva4FYWoR6XQ819gJSaYPVwqpAjmcg/eRWlFM7MjE5mQBZCFrhknmvVOJiyMv26ByvlcP9XtQOpTeI3iAYuThMBORH2ij6dLVjePD4yyAvvi0Te3P5dNx+6zTjN3jVoTBmct6om4R/bwU+jgVDbH+R9RphCfOHarZEdHprbVVQCJD56H+a76O5Y83aIerktECvkFV4w3BKhPtmduzIivH0KxPuQOgyuF6WBw5duVZMUgz8+IuLCMZG8O4rPnI7ahyIORJDGd2NE3p/HTJZZ/xW6eBXH31Uj0JGu0aFGeof2szrhcF+reW34fJNyycpOOm9XUqTSfxspU4fHgo7VDTLrxLeRUM3HjvFAp2iNTGxkTLub8BddtiN/f1nG3sdkGfnv06hUzZkWuQkmw0EFklo7ywv1hIiO5ZX9MgD2dNWeCaaX8nJ6GEiwO9M1pcR7i48HUfvLzWXBtN4JwL9DzFLkavQMWZO+bfFJwao1Igg31+i8khWMd0EjnPl2+Zy+bP06iVGZWE2hqArqPunySsO63Ei6r0uRYSo5Qe9I1vd9uVlkFvEC3eX5eOUygAG9YJb4wRHX5cOCSvm0A3YDWiBdxtxwAEy+FyI8zwkfGeBB3b1LnRjzslPcpuXuIh5v5maiN5KRRf1e6J9L2e70Qx2UX+j+Vz3ZafNO++AUeKqvCzm5vUh9J5pYswDUthI0U4g9znFFef066p7eupTiC6kA66koXCWY7Xps6M0QbVsY+/wij1IMtWbaPqVMr+PXDxme2PCcl7Xuj+CseQiuG+cAbvpixsQof/X3Yy4IUv/k7CTeHQoXxx5zEdWtD8TNl6ApIFXzKPPwpg/4qgA3WL2Lq1quPPL9Z3UcrINCB9DLWpZUrqtHsD+yilSbIVt3DORRXnroy7VhYXz9bt4KOaHGBaRCoNlj6y8DhziWalzN3T8F9HQh1LufNte0mbic3Exlu4XGeDPuWSbGsvbcrgt0ALOuhce/NVKrTI8iF7Q8WeC/6zVoXauvEAB5wnG8/1s2DmJJycNnuiyZTPxO/3/3927NdRCgeBjnpk77/w6ftGUu60lfey0FYVsRbAzPAHZv6GCvUPGUsLt+NmOOrnmvQi2O9zSvC41UPwjcEFve2rAZSuU+GdT8FrHfPtFCYOsCviE00yvzCHDrpgY+kE9tBL2ZQ4nq8e+GTd74AnBcUGF+9fGjHvaTgKSWNg2oTgfMTgMuqzB0pwhfw37zmX2K1kk0QuETnpcW9BKhTilJESTderfrJSL+qcBETF4U1ebVtAfvtzvvcuE/o5dsra9p0cWiKVKyn2xeakZrAVQi7AgPzmfCepVyQPNELVf+yl45+4ZWAgSyYt0x/0M/q50s/cOAdB4yfTRcSjZEhi51/C0hqG/qRtF2Vb30zln+943Jelx2MECshCiWPQw29nz+blNEI+FdRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011yYCmZXcviaUc6vyWh8oto",
      "input": {
        "note": "Overhead shows the open jaws still ~3–4 cm left of the lying can's body. Shifting right onto the can at grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.24,
          "left_y": -0.09,
          "left_yaw": 0.0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011yYCmZXcviaUc6vyWh8oto",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.5232, 1.0431, 0.049, 0.3145, -0.432, -0.3439, 0.9969, -0.0212, 0.8425, 0.5953, -0.9268, -0.02, -0.0116, 0.9996]\nstate[eef_state]: left_x=0.2556 left_y=-0.0579 left_z=0.0227 left_yaw=0.0066 left_pitch=-0.0317 left_roll=0.003 left_gripper=0.9969 right_x=0.1919 right_y=0.0031 right_z=0.0799 right_yaw=0.0035 right_pitch=-0.5881 right_roll=0.0147 right_gripper=0.9996\nstate[joint_eff]: [-0.2803, -1.894, 5.9556, 1.873, -0.2515, 0.1245, -0.3297, -0.0752, -0.8821, 6.3658, 0.9499, -0.0562, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed461c85ae2e777893b3fef6de68c2b5cff37446d42d434348f1589252854f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2e7d21178ff514671c7c8f6843ef673a836ef10f3bb4b0d7e8ec9f1929007b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:252c54f2fb56c31873362f17e502d96af077b6bf63f6dae1e53f430ed2a9de53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]