adhoc

completed
2026-09-18T05:59:05.280701+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
198.2 s
total steps
154
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe spray can lies on its side to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm to hover above the can's middle to line it up.
move_to
right_x0.3600right_y0.0800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6086, -0.3958, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1788 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4444, -1.347, 10.1812, 2.0098, -0.0611, 0.188, -0.0904, -0.5675, -1.5111, 9.5932, 1.9072, -0.0659, 0.149, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.15, "right_gripper": 1.0}, "note": "The spray can lies on its side to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm to hover above the can's middle to line it up."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe can now sits on the jaw column in the right wrist view, with its middle a few cm ahead of the fingertips. Advancing ~5 cm radially and descending to can-center height with the gripper open.
move_to
right_x0.3900right_y0.0750right_z0.0400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4057, -0.0193, -0.0383, 0.9992, 0.3321, 1.1976, 0.6395, -0.1696, 0.2344, 0.1295, 0.9996] state[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3375 right_y=0.0768 right_z=0.1182 right_yaw=0.0509 right_pitch=-0.1231 right_roll=-0.0416 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.5385, 6.7624, 1.8632, -0.0464, -0.0171, -0.022, 0.1299, -4.8752, 9.7983, 2.0195, 0.232, 0.1587, -0.0562] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.075, "right_z": 0.04, "right_gripper": 1.0}, "note": "The can now sits on the jaw column in the right wrist view, with its middle a few cm ahead of the fingertips. Advancing ~5 cm radially and descending to can-center height with the gripper open."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe arm stopped short (x 0.346, z 0.077) of the target; the can lies centered between the open jaws in the wrist view. Continuing the same descent/advance to reach grasp height around the can's middle.
move_to
right_x0.3900right_y0.0720right_z0.0350right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4099, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0441, 0.2195, 0.1089, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1736 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3461 right_y=0.0711 right_z=0.0773 right_yaw=0.042 right_pitch=-0.1789 right_roll=-0.0619 right_gripper=0.9996 state[joint_eff]: [-0.0615, -0.9504, 7.2547, 1.7363, -0.0757, -0.0659, -0.0122, 0.0342, -5.7231, 7.2274, 1.9658, -0.0269, -0.0415, -0.0562] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.072, "right_z": 0.035, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm stopped short (x 0.346, z 0.077) of the target; the can lies centered between the open jaws in the wrist view. Continuing the same descent/advance to reach grasp height around the can's middle."})
tool
executing move_to over 6 steps (0.6s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteThe arm did not move at all on the repeat command, so it appears stalled (possibly fingertips resting on the can top). Lifting back up to 12 cm to free it before retrying the descent.
move_to
right_x0.3700right_y0.0720right_z0.1200right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0422, 0.2195, 0.1055, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.0275 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3464 right_y=0.0712 right_z=0.0777 right_yaw=0.044 right_pitch=-0.1772 right_roll=-0.0639 right_gripper=0.9996 state[joint_eff]: [-0.2667, -1.265, 6.9949, 1.7607, -0.0611, -0.0562, -0.0122, 0.1162, -5.7231, 7.2137, 1.9121, 0.0122, 0.0415, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.072, "right_z": 0.12, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm did not move at all on the repeat command, so it appears stalled (possibly fingertips resting on the can top). Lifting back up to 12 cm to free it before retrying the descent."})
tool
executing move_to over 6 steps (0.6s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe right arm is barely responding — only the wrist joints changed while shoulder/elbow stayed fixed. Trying a small, modest retreat upward and back to see if the arm tracks again.
move_to
right_x0.3500right_y0.0720right_z0.1100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.3159, 0.5953, 0.0151, 0.2245, 0.0711, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0416 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3561 right_y=0.0726 right_z=0.0939 right_yaw=0.0596 right_pitch=-0.1051 right_roll=-0.0746 right_gripper=0.9996 state[joint_eff]: [-0.3077, -1.2513, 7.1453, 1.8632, -0.0415, -0.0708, -0.0122, -0.5538, -6.106, 7.241, 2.0977, 0.2662, -0.0269, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.072, "right_z": 0.11, "right_gripper": 1.0}, "note": "The right arm is barely responding \u2014 only the wrist joints changed while shoulder/elbow stayed fixed. Trying a small, modest retreat upward and back to see if the arm tracks again."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe right elbow joint hasn't changed since the start while the shoulder has, so the arm is only tracking partially. Commanding a clear retreat up and back toward home to test whether the elbow responds.
move_to
right_x0.3000right_y0.0720right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4294, -0.0189, -0.0387, 0.9992, 0.3016, 1.2888, 0.5961, -0.0174, 0.2272, 0.0605, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0014 left_z=0.1697 left_yaw=0.0022 left_pitch=-0.0431 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3518 right_y=0.0715 right_z=0.0975 right_yaw=0.065 right_pitch=-0.1096 right_roll=-0.0857 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.0598, 6.9949, 1.7363, -0.0415, -0.0317, -0.0122, 0.253, -5.6957, 8.8137, 1.8828, 0.0855, 0.105, -0.0513] approver: 1 step(s) modified (delta_clamped). 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
move_to({"targets": {"right_x": 0.3, "right_y": 0.072, "right_z": 0.2, "right_gripper": 1.0}, "note": "The right elbow joint hasn't changed since the start while the shoulder has, so the arm is only tracking partially. Commanding a clear retreat up and back toward home to test whether the elbow responds."})
tool
executing move_to over 7 steps (0.7s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteThe arm tracks again (elbow moved). The can is centered under the jaw column with its middle a few cm ahead; stepping down to 10 cm above the table over the can's midsection.
move_to
right_x0.3500right_y0.0720right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3851, 1.01, 0.8089, -0.527, 0.2737, 0.0917, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3048 right_y=0.0759 right_z=0.1858 right_yaw=0.0924 right_pitch=-0.1174 right_roll=-0.096 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.2786, 6.9812, 1.79, -0.0464, -0.0659, -0.0122, 0.1026, -3.2889, 9.2103, 1.8144, 0.2027, 0.2222, -0.0513] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.072, "right_z": 0.1, "right_gripper": 1.0}, "note": "The arm tracks again (elbow moved). The can is centered under the jaw column with its middle a few cm ahead; stepping down to 10 cm above the table over the can's midsection."})
tool
executing move_to over 6 steps (0.6s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe can fills the wrist view centered on the jaw column, its middle a few cm ahead of the fingertips. Advancing 4 cm and descending to grasp height around the can's midsection, with pitch reset to level.
move_to
right_x0.3700right_y0.0680right_z0.0400right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.2993, 1.256, 0.6106, -0.1795, 0.2127, 0.0372, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1636 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3299 right_y=0.0665 right_z=0.0854 right_yaw=0.0834 right_pitch=-0.2251 right_roll=-0.1192 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.347, 6.9812, 1.8193, -0.0611, -0.0611, -0.0122, -0.2393, -4.8068, 6.5709, 1.9316, 0.0269, 0.0464, -0.0562] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.068, "right_z": 0.04, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The can fills the wrist view centered on the jaw column, its middle a few cm ahead of the fingertips. Advancing 4 cm and descending to grasp height around the can's midsection, with pitch reset to level."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe gripper is at can height with the can lying between the open jaws, filling the wrist view. Closing the gripper to grasp the can across its body.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4622, -0.0193, -0.0387, 0.9992, 0.2832, 1.5539, 0.4187, 0.4133, 0.2131, -0.0048, 0.9996] state[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0805 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3509 right_y=0.067 right_z=0.0189 right_yaw=0.094 right_pitch=-0.1269 right_roll=-0.1294 right_gripper=0.9996 state[joint_eff]: [-0.1709, -1.2513, 6.9538, 1.7216, -0.0659, -0.0562, -0.0122, -0.5675, -5.7641, 5.053, 2.1123, 0.1978, -0.1294, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at can height with the can lying between the open jaws, filling the wrist view. Closing the gripper to grasp the can across its body."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteGripper settled at 0.70 (~6.6 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height.
move_to
right_z0.1700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.2817, 1.5616, 0.4057, 0.4419, 0.2131, -0.0109, 0.7005] state[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1598 left_yaw=0.0027 left_pitch=-0.0915 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3502 right_y=0.0662 right_z=0.0172 right_yaw=0.096 right_pitch=-0.1195 right_roll=-0.1326 right_gripper=0.7005 state[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122, -0.0889, -6.0786, 6.0786, 1.3016, 0.0464, 0.022, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_gripper": 0.0}, "note": "Gripper settled at 0.70 (~6.6 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe top view shows the can lifted in the right gripper, about 24 cm to the right of the burner. Carrying it left over to hover above the burner centre.
move_to
right_x0.3600right_y0.3000right_z0.1700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.2817, 1.211, 0.7868, -0.3435, 0.2054, -0.0193, 0.7005] state[eef_state]: left_x=0.2813 left_y=0.0017 left_z=0.158 left_yaw=0.003 left_pitch=-0.1003 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3452 right_y=0.0661 right_z=0.1443 right_yaw=0.1056 right_pitch=-0.1739 right_roll=-0.1436 right_gripper=0.7005 state[joint_eff]: [-0.3214, -1.4017, 6.9402, 1.6972, -0.0757, -0.0562, -0.0122, -0.3624, -5.8051, 9.2513, 1.8339, 0.1734, 0.0659, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.3, "right_z": 0.17, "right_gripper": 0.0}, "note": "The top view shows the can lifted in the right gripper, about 24 cm to the right of the burner. Carrying it left over to hover above the burner centre."})
tool
executing move_to over 20 steps (2.0s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe can hovers over the right part of the burner; the coil shows to the left in the wrist view, so the burner centre is a few cm further left and forward. Shifting left/forward and lowering toward the burner surface.
move_to
right_x0.3700right_y0.3300right_z0.0900right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4995, -0.0189, -0.0387, 0.9992, 0.8989, 1.816, 1.4651, -0.6834, 0.5751, 0.4591, 0.6997] state[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3502 right_y=0.2918 right_z=0.1527 right_yaw=0.1408 right_pitch=-0.2376 right_roll=-0.1854 right_gripper=0.6997 state[joint_eff]: [-0.1436, -1.347, 6.9265, 1.8144, -0.0415, -0.0757, -0.0122, 0.4444, -9.1692, 9.2786, 1.2381, 0.5543, 0.2857, 1.0232] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.33, "right_z": 0.09, "right_gripper": 0.0}, "note": "The can hovers over the right part of the burner; the coil shows to the left in the wrist view, so the burner centre is a few cm further left and forward. Shifting left/forward and lowering toward the burner surface."})
tool
executing move_to over 7 steps (0.7s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
Now the can is above the burner centre. Lowering to set it down.
agent noteThe can now sits above the burner coil in both views, at ~10 cm height. Lowering it until it touches the burner surface.
move_to
right_x0.3700right_y0.3300right_z0.0550right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9199, 1.9823, 1.4792, -0.5659, 0.6014, 0.4721, 0.699] state[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1509 left_yaw=0.0026 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9992 right_x=0.3632 right_y=0.3178 right_z=0.0994 right_yaw=0.1315 right_pitch=-0.245 right_roll=-0.2181 right_gripper=0.699 state[joint_eff]: [0.0068, -1.1966, 6.9128, 1.746, -0.0562, -0.0269, -0.0122, 0.0479, -7.8017, 8.1846, 1.1062, -0.0171, 0.0611, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
Now the can is above the burner centre. Lowering to set it down.
move_to({"targets": {"right_x": 0.37, "right_y": 0.33, "right_z": 0.055, "right_gripper": 0.0}, "note": "The can now sits above the burner coil in both views, at ~10 cm height. Lowering it until it touches the burner surface."})
tool
executing move_to over 7 steps (0.7s)
step 102
top_cam
camera top_cam step 102
left_cam
camera left_cam step 102
right_cam
camera right_cam step 102
assistant
agent noteThe descent stalled around z 0.09 and elbow effort dropped, suggesting the can is already resting on the burner. Trying one more small lowering to confirm contact before releasing.
move_to
right_x0.3700right_y0.3300right_z0.0450right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5251, -0.0189, -0.0387, 0.9992, 0.9237, 2.0315, 1.4715, -0.4377, 0.6449, 0.4709, 0.699] state[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.149 left_yaw=0.0028 left_pitch=-0.1472 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3781 right_y=0.3302 right_z=0.0918 right_yaw=0.1189 right_pitch=-0.1686 right_roll=-0.1936 right_gripper=0.699 state[joint_eff]: [-0.1709, -1.0462, 7.2, 1.6825, -0.0415, -0.0122, -0.0122, -0.2667, -6.3248, 4.8479, 0.9597, -0.1343, -0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.33, "right_z": 0.045, "right_gripper": 0.0}, "note": "The descent stalled around z 0.09 and elbow effort dropped, suggesting the can is already resting on the burner. Trying one more small lowering to confirm contact before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteHeight is holding at z≈0.09 with elbow effort dropping further, so the can is resting on the burner. Opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.9371, 2.0331, 1.3937, -0.2615, 0.7151, 0.4713, 0.6983] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3844 right_y=0.3337 right_z=0.0909 right_yaw=0.0948 right_pitch=-0.0608 right_roll=-0.1608 right_gripper=0.6983 state[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6972, -0.0513, -0.0073, -0.0171, 0.0752, -6.8991, 3.6718, 0.7692, -0.4811, 0.0904, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Height is holding at z\u22480.09 with elbow effort dropping further, so the can is resting on the burner. Opening the gripper to release it."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe gripper reading is still 0.70 (the open command was rate-clamped), so the jaws haven't released yet. Re-sending the open command.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5488, -0.0189, -0.0387, 0.9992, 0.9367, 2.0331, 1.3903, -0.2337, 0.7216, 0.4706, 0.6983] state[eef_state]: left_x=0.2704 left_y=0.0018 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.1728 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3871 right_y=0.3354 right_z=0.0938 right_yaw=0.0915 right_pitch=-0.0409 right_roll=-0.1465 right_gripper=0.6983 state[joint_eff]: [-0.1162, -1.0325, 7.0496, 1.6777, -0.0611, -0.0513, -0.0122, -0.0752, -11.1248, 6.5709, 1.0037, 0.2076, -0.0464, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper reading is still 0.70 (the open command was rate-clamped), so the jaws haven't released yet. Re-sending the open command."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
Gripper is opening slowly (0.79). Continuing to open and lifting clear of the can.
agent noteThe jaws are opening (0.79) and the can rests on the burner. Finishing the open and lifting the arm clear so the top camera can verify the placement.
move_to
right_gripper1.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0193, -0.0387, 0.9992, 0.9367, 2.0331, 1.3891, -0.2371, 0.7177, 0.4641, 0.7949] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0033 left_pitch=-0.1865 left_roll=0.0003 left_gripper=0.9992 right_x=0.3863 right_y=0.3353 right_z=0.0926 right_yaw=0.0974 right_pitch=-0.0467 right_roll=-0.1532 right_gripper=0.7949 state[joint_eff]: [-0.0615, -1.1692, 6.9812, 1.7314, -0.0659, -0.0562, -0.0122, -0.3077, -10.947, 6.6256, 1.4335, 0.3297, 0.0464, 0.0757] approver: 4 step(s) modified (delta_clamped ×4). 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
Gripper is opening slowly (0.79). Continuing to open and lifting clear of the can.
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.2}, "note": "The jaws are opening (0.79) and the can rests on the burner. Finishing the open and lifting the arm clear so the top camera can verify the placement."})
tool
executing move_to over 7 steps (0.7s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe wrist camera shows the can lying across the burner coil, released. Returning the right arm to its home pose to clear the overhead view.
move_to
right_x0.2900right_y0.0000right_z0.1800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5766, -0.0189, -0.0383, 0.9992, 0.9367, 1.9823, 1.6619, -0.6014, 0.7067, 0.4526, 0.998] state[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9992 right_x=0.3861 right_y=0.3375 right_z=0.171 right_yaw=0.109 right_pitch=-0.0816 right_roll=-0.1868 right_gripper=0.998 state[joint_eff]: [-0.2667, -1.1829, 6.8581, 1.6972, -0.0611, -0.0073, -0.0171, -0.1299, -13.6274, 8.5128, 1.5604, 0.3248, 0.1148, -0.0269] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_gripper": 1.0}, "note": "The wrist camera shows the can lying across the burner coil, released. Returning the right arm to its home pose to clear the overhead view."})
tool
executing move_to over 29 steps (2.9s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
The overhead view confirms the can is lying on the burner plate, centred over the coil, and the arm is parked back at home.
agent noteGrasped the spray can (lying on its side, right of the burner) with the right arm across its body (gripper settled at 0.70 ≈ 6.6 cm), lifted it, carried it ~26 cm left to the burner, lowered until it rested on the burner (descent stalled at z≈0.09 with elbow effort falling), released, and parked the arm. Top camera confirms the can lying on the burner over the coil.
done
hindsightPer-step deltas are heavily clamped on this rig: a 6–8 step move covers only ~3–5 cm vertically, so descents of 10+ cm need to be re-sent several times or commanded as larger targets; the arm is not stalled, just rate-limited (also gripper open/close needs 2–3 re-sends to complete). The can (~6.6 cm dia, ~17 cm long) lay along the right arm's x axis at roughly right_x≈0.35–0.38, right_y≈0.07; grasp at z≈0.02 with yaw 0 worked. The burner centre is at about right_x≈0.37, right_y≈0.33 (table centre line) and its top surface with the can on it puts the grasp point at z≈0.09. Elbow effort dropping while z stops tracking is a good touchdown signal for a carried object.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 0.0177, 0.8474, 0.6807, -0.5041, 0.0788, -0.1947, 0.999] state[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.003 left_pitch=-0.2094 left_roll=0.0005 left_gripper=0.9992 right_x=0.2899 right_y=-0.0052 right_z=0.1755 right_yaw=0.0455 right_pitch=-0.0991 right_roll=-0.186 right_gripper=0.999 state[joint_eff]: [-0.0889, -1.1829, 6.8991, 1.6044, -0.022, -0.0611, -0.0122, 0.1573, -1.9761, 7.0769, 1.8535, -0.2076, -0.1099, -0.1099] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
The overhead view confirms the can is lying on the burner plate, centred over the coil, and the arm is parked back at home.
done({"summary": "Grasped the spray can (lying on its side, right of the burner) with the right arm across its body (gripper settled at 0.70 \u2248 6.6 cm), lifted it, carried it ~26 cm left to the burner, lowered until it rested on the burner (descent stalled at z\u22480.09 with elbow effort falling), released, and parked the arm. Top camera confirms the can lying on the burner over the coil.", "hindsight": "Per-step deltas are heavily clamped on this rig: a 6\u20138 step move covers only ~3\u20135 cm vertically, so descents of 10+ cm need to be re-sent several times or commanded as larger targets; the arm is not stalled, just rate-limited (also gripper open/close needs 2\u20133 re-sends to complete). The can (~6.6 cm dia, ~17 cm long) lay along the right arm's x axis at roughly right_x\u22480.35\u20130.38, right_y\u22480.07; grasp at z\u22480.02 with yaw 0 worked. The burner centre is at about right_x\u22480.37, right_y\u22480.33 (table centre line) and its top surface with the can on it puts the grasp point at z\u22480.09. Elbow effort dropping while z stops tracking is a good touchdown signal for a carried object."})
tool
done: Grasped the spray can (lying on its side, right of the burner) with the right arm across its body (gripper settled at 0.70 ≈ 6.6 cm), lifted it, carried it ~26 cm left to the burner, lowered until it rested on the burner (descent stalled at z≈0.09 with elbow effort falling), released, and parked the arm. Top camera confirms the can lying on the burner over the coil.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 26.96 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6086, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1788 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.347, 10.1812, 2.0098, -0.0611, 0.188, -0.0904, -0.5675, -1.5111, 9.5932, 1.9072, -0.0659, 0.149, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e7c3617d3781cfb54eeecdc862f1152b2974193371e6ed2fa999725c8adcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a535e3e766b25ef1c783fe64dc417bd661064ff377a1aaa7dc2a9f8217da83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:760223dcfa1ba4c726f850b17882f9c863f0186a64fbcdc3639aa7173d2571ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 72e7c3617d37
wire blob 69a535e3e766
wire blob 760223dcfa1b
call 1 attempt 0 · /messages · status 200 · 9.289 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6086, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1788 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.347, 10.1812, 2.0098, -0.0611, 0.188, -0.0904, -0.5675, -1.5111, 9.5932, 1.9072, -0.0659, 0.149, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e7c3617d3781cfb54eeecdc862f1152b2974193371e6ed2fa999725c8adcee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69a535e3e766b25ef1c783fe64dc417bd661064ff377a1aaa7dc2a9f8217da83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:760223dcfa1ba4c726f850b17882f9c863f0186a64fbcdc3639aa7173d2571ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 72e7c3617d37]
[blob 69a535e3e766]
[blob 760223dcfa1b]
{
  "content": [
    {
      "signature": 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t1DlukMeiwvFlZJjYyhU3Yc7u6Ym4odwcUKqWVmlMySZVCeA0Rjf3ZgfnRR8C50Y2AcDxh9Qdy54L/iIawNE2b/jyNWV0kI99ZpeXh5BUlsp7S+5XpIYhJZ3HEb6HdprFND6mpC+4g49ylDXxcU4wdnD9wUDZis/cmWePxM+kzLC5xFf+UpPKX0a2CUZesyWXxS1Krn8BjuYAfOVX96e2kE7tPt9BvRPIas6KzfAMrF7jx2o/dBoC+8ByUnw6wujvPUPTZF6JMkGK9q3PFrk9fKQeWSnjiI21pmiajG374ck9I+uG218DHVU3MQznXgr6bs2ZeoEHHdwu9dPNoNnxmx8Uk11xJIgYOiuTGjctvErH/HPeLifDv5aIdlqFa9Ems6NIR0kbgFt+48+img2JxTRUen3S7IEWWjzh7roj8VK/hVT+WYTjUaVyd8CUz2b3TrkP08qr5gfKTjEu9cCJJen69RMRvhnXwRQqfBy+eJGwYOdbsPTPfg1VrBzG9JfiQME7enD/ennB5uUH7z3iBv7YYegwYq8UpwenyjxjvNZqr/nyiUCNQVhclMzR+2/E6Xa46FydrFH8SkBIgtMltFSbKaHlPe5ACpF3dILw8b7f5bjhCQY/4HoXF7g6Loh+Sde3Agb+kvRjMaAdnJClpRzl00VCLKgAXG1mC/MwunajiEKJlT0DTGXf88f+h7gpIdwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019QH4o9crbdomf9HUM7M4JG",
      "input": {
        "note": "The spray can lies on its side to the right of the burner, slightly left of and ahead of the right gripper in the wrist view. Moving the right arm to hover above the can's middle to line it up.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.08,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019QH4o9crbdomf9HUM7M4JG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4057, -0.0193, -0.0383, 0.9992, 0.3321, 1.1976, 0.6395, -0.1696, 0.2344, 0.1295, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3375 right_y=0.0768 right_z=0.1182 right_yaw=0.0509 right_pitch=-0.1231 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.7624, 1.8632, -0.0464, -0.0171, -0.022, 0.1299, -4.8752, 9.7983, 2.0195, 0.232, 0.1587, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fd17d1d1a592d113890cfbd92ad67e183feb1d2385259ad32dd856c1fab3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e735168461fc0f52c3bf758eb442d9c8d35013b0110d917bddbfd5e71f42e3f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cb5053260de661dfa548f9591662b7716a9f9ec47073a6ac6ab22356413fc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e1fd17d1d1a5
wire blob e735168461fc
wire blob 5cb5053260de
call 2 attempt 0 · /messages · status 200 · 7.053 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6086, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1788 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.347, 10.1812, 2.0098, -0.0611, 0.188, -0.0904, -0.5675, -1.5111, 9.5932, 1.9072, -0.0659, 0.149, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4057, -0.0193, -0.0383, 0.9992, 0.3321, 1.1976, 0.6395, -0.1696, 0.2344, 0.1295, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3375 right_y=0.0768 right_z=0.1182 right_yaw=0.0509 right_pitch=-0.1231 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.7624, 1.8632, -0.0464, -0.0171, -0.022, 0.1299, -4.8752, 9.7983, 2.0195, 0.232, 0.1587, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fd17d1d1a592d113890cfbd92ad67e183feb1d2385259ad32dd856c1fab3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e735168461fc0f52c3bf758eb442d9c8d35013b0110d917bddbfd5e71f42e3f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb5053260de661dfa548f9591662b7716a9f9ec47073a6ac6ab22356413fc8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e1fd17d1d1a5]
[blob e735168461fc]
[blob 5cb5053260de]
{
  "content": [
    {
      "signature": "CAQS3AkKEAgRGAI4AUIIdGhpbmtpbmcSDAzNHC09RYh1TI+27hoMjyVfpGgmtlzwhKOMIjDsQN4+vYfd3ecSBTI29TYAImzI4gGS+Bs0GwfC/yj4R4bNS8fb3BN+V5bpCYyZoOcq+QiqPdZ6zum0iYhxCcSdqaHh5l9mK2f0CvEhZW9uhp18VJZ/2OTQgwfXxG9eopArsnpvNHNd+BYfLSVDUfnT3487RuECHPpIS5yFM7YY5MhtABvOtDgET9Em9Xn/TYYNBez1U50fRtTeRvF0OCtrPJuQiTUAGurL/S4IlGJVMYYjFP2wXnOHw1X7RHq6PyJQPyWuG0oj1k6Q53A66ClU0gn+1oYVkIEy0VLZtbCVdV3RqClB6eiua23mtiy+jkb5rKY+6dojXncnTFMDXbxyjaanZDazlevi/k2yxKm3D+Dy+Xro21znhuhpd77Wf5NzNnKi3N/lq3CB+/2n4Iiw1qM6bIjczY979Y5zwErD9iUWxN/dFjBOJabhXLuWOotBW2nuSOSAROsNbrfuXjj/RqnsXY3TnUKi/wcgx0nphJh4AG3rTd3OrOU7kSkzxrB4ehIGJROnkdW63HAbcfUjfjv/ysUXW2AMqdG32oFW+idQXC7c2JUZeQA9z99Np1w2qn+BPz6C1sf/37/nT2FJX3H86h3ORpDQ+xZMbkQGIKnef+SDDrbq8woAT0mlga1oAN+yAuZdj7eiWBhK3/tv4/hPLfPBmIpu/C5Z4mNl5lVa5s0eDTR2B9c8oWswzEeGiZXyCwvURKqdi4UEwK5tNMKm5uel6VMnEWwrk5bN3wf077xfcj5GD6ikVFvMOYJdK/lpOGYHVxGpNZ8a5GppYQtHLHW3w8IByUGhdewsp5fKp74pkgop8gZk1azMzOnc+FzB0p1UG8fNGSr6rN4/ZkQW0142n82iLVsxMgSpRLshLQCgjOfFxdhxto3UmhEE2ULLk+WP2qC90LXarDS2DNSlrba8SLLfcR12UlgcCzjn9lGY6Hjz6TNmjjkEYjquRZ3vGbslvJOo75NnGPm5hsvEaHN9isXCbHJs6ClScNkTMlK4FIWiHFfb4cpqWO9DSCIHEU5Y42u2TMTk9nYmxfrl9qfvYQP2gdMb8sEdi60YFU0NAKxP42SP7EvPhwaOdd+2aTx1XebuOvP22los3pkBJdTX/S+0zSvOEytkoHXewy9ZHuSkzpr8bqpwjd0PDbpHSH5FSFY4yYZsE0SvdPS3jNU19xwyqm0SYaYKAySj6tL+KnAs+KPYnN8yDKtNGm9C5UlRxBp2boxO1Y/X/0IHUzEdNzCimY0Rjd3Mi8hNp2fqhzgt0pqgZuXZexTK+UDJ9+qgtmuRZVXPMVD3VYHUvQHbb0sqVqa+mkvBPenDojo4jWKA9zWN3uITq1ZG1qBupe022bqDaYrhDyi1IYLXR+VRERM351t5FvK98S+tMn3Vf3bxDm1TomSP6V/a3jhWsV4aEqQhbCDn6RSknz51wXMmEoZ+R8vW23U5iQSKVvC4/mBK/INdDhVdZfMn1A9F/+bLM47lQtZUZLSzBBg2bmwZNZujAUmSypWspHfQEaK9nUVQgz7dp3IuB8/4DWJKwuluTv1ih/J3DPuJB8upEWOKnNoIhuf60DBt2KzhmW/7YRsyeIGZ2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BAyqdVNweVjNm7EGShbER4",
      "input": {
        "note": "The can now sits on the jaw column in the right wrist view, with its middle a few cm ahead of the fingertips. Advancing ~5 cm radially and descending to can-center height with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.075,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BAyqdVNweVjNm7EGShbER4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4099, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0441, 0.2195, 0.1089, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1736 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3461 right_y=0.0711 right_z=0.0773 right_yaw=0.042 right_pitch=-0.1789 right_roll=-0.0619 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 7.2547, 1.7363, -0.0757, -0.0659, -0.0122, 0.0342, -5.7231, 7.2274, 1.9658, -0.0269, -0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49a5f9e00bd59960396da99f2790cfab275a05b03f85bf2b39aa3cfed6c940c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37cc19c2af7586ec71af963e5aa9b75f24906c8396d981421d44aab7d4346c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2597eb9ba6e8450338a387677f254c1bb765ef61ee0193df85ecd6e4ba57949a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f49a5f9e00bd
wire blob f37cc19c2af7
wire blob 2597eb9ba6e8
call 3 attempt 0 · /messages · status 200 · 10.93 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7929, 0.6044, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.794, 0.6086, -0.3958, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0015 left_z=0.1782 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2932 right_y=0.0007 right_z=0.1788 right_yaw=-0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4444, -1.347, 10.1812, 2.0098, -0.0611, 0.188, -0.0904, -0.5675, -1.5111, 9.5932, 1.9072, -0.0659, 0.149, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4057, -0.0193, -0.0383, 0.9992, 0.3321, 1.1976, 0.6395, -0.1696, 0.2344, 0.1295, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3375 right_y=0.0768 right_z=0.1182 right_yaw=0.0509 right_pitch=-0.1231 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.7624, 1.8632, -0.0464, -0.0171, -0.022, 0.1299, -4.8752, 9.7983, 2.0195, 0.232, 0.1587, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4099, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0441, 0.2195, 0.1089, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1736 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3461 right_y=0.0711 right_z=0.0773 right_yaw=0.042 right_pitch=-0.1789 right_roll=-0.0619 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 7.2547, 1.7363, -0.0757, -0.0659, -0.0122, 0.0342, -5.7231, 7.2274, 1.9658, -0.0269, -0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f49a5f9e00bd59960396da99f2790cfab275a05b03f85bf2b39aa3cfed6c940c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37cc19c2af7586ec71af963e5aa9b75f24906c8396d981421d44aab7d4346c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2597eb9ba6e8450338a387677f254c1bb765ef61ee0193df85ecd6e4ba57949a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f49a5f9e00bd]
[blob f37cc19c2af7]
[blob 2597eb9ba6e8]
{
  "content": [
    {
      "signature": "CAQSzgcKEAgRGAI4AUIIdGhpbmtpbmcSDDCJ7cIRNmISTz8yxxoMgl0/sGm+USFmzDCdIjAUlsU+nXFzikD2p7v28g4T0wxyGYecfTPDIKwxN3o/n4BrCJ/HGhbUUVEstNkMgJ0q6walvxnv+pVRL47kWszB1hGne3gKoKF1cvnp04sq7K+/BLL7yOilMJbxAJ87hluxIuQjLMT0jAkKhbHXR00e0WiAmc3F06PN7gKrjwRTBeVFuXLXQS2XOxhrmU6sBYdXSMNtSnhO/+ehhwCeCkICAOpzGt5KDeX80emBcn8bY09p/Kabq60Vp8IyLou9iXGyzodw/Q5mwpkQeJFwYeGFX+zHPJ0l0s+LL0eXkIkL/zfYoq7d51ohbcjDn7jaUsJTavcG52m6Sq4AAGZAIAcX4iAvZLp9VmsAGAA/cSxkuKTWacg/BVC2N4VCqInsCCOK/UxPP1CXsqb8AndVMMMUeURWSeKIQlaWaQZhfUuBClX3wzyfjKKIHn+z/1k1RaaU89a0H9++KZ6sC4eIvwvQDzI86j9k1evexLrx0xE1DNzF36MvtnHMBXSWJNGQWAEtWvLb58As6AR81kzz3NDKfSFZ2PrpSnTXw5CaXiRTBF3xMrxakv0hC/Wmvv2uooubhtSx7sdPNo7bBg9DdbC///Ci7Buc+nVvjq6fYoJ8ipFADkrdiVq4uagR4lSWb20UGxfGiQx3vqWctTIFW1Sbu47JcOJtJE0Y4bCdFzZ48j98yJkY+xkvxkKsf3rx/ITRotjg+rSd3kGi2pdKkJQavbz3ZAG+zg9FP0zs5dIgyelyfDhek/CKTdlBXfl7NeSUEV9ROU+aOjD2ST1FKWRg025ulBzG9D9CbGBck/0BptX1JicaQkomQoCS/0H1OyNlYJwKARtTYYfZxCc9eZBh+Qtq2OG2l2sCbodcJlH//dGCvFmjwl6lp9+lFoKTo4BXxi/YqB8/6m0ouCCbtts8yGpLvp/+lBD9Ay4nAtsWROTTteICoDYvCsY23OVtJ6WEX5+mhoZf6FtmQ2BCWhV9g3ElVR15mK0++fc0hlBHM8MCox9Up0J1Cy2ZrGtRexYHAvKQOE10zcTRKss0bgyA+Cer8G5sgKK1ntIN7LeS98HMuEjaoLP4UULYa/d/2byOyYX64z63BbrzXo0uWZGBKuNq4HzaBcuHp8i4OPnt8KAcYJ4z/0IQRkK60RtmVA6M7iU9yP3dDkiV3KAddeu+A8HEEVuagC+RJ9uu8JBAUCLi3MIoDDfzBVpdejiq60v8u8C3RNSOtfkogAN/VBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VtLSA1jy5JPKgu7AodBgQB",
      "input": {
        "note": "The arm stopped short (x 0.346, z 0.077) of the target; the can lies centered between the open jaws in the wrist view. Continuing the same descent/advance to reach grasp height around the can's middle.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.39,
          "right_y": 0.072,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VtLSA1jy5JPKgu7AodBgQB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0422, 0.2195, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.0275 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3464 right_y=0.0712 right_z=0.0777 right_yaw=0.044 right_pitch=-0.1772 right_roll=-0.0639 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.265, 6.9949, 1.7607, -0.0611, -0.0562, -0.0122, 0.1162, -5.7231, 7.2137, 1.9121, 0.0122, 0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be8318ec95d5ba3155eedbf45da1fdf34c49d9c71e6f6993c41a4291ec6264c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814344050aee8e8be79e177f2cdba2b4529bce676cbf854ceebfba0b0c7d3781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9d2a79a6aeaa9def6496c10bc482d5a67bbbfab3744b568cc1ab8731ed987f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 0be8318ec95d
wire blob 814344050aee
wire blob e9d2a79a6aea
call 4 attempt 0 · /messages · status 200 · 8.597 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6075, -0.4057, -0.0193, -0.0383, 0.9992, 0.3321, 1.1976, 0.6395, -0.1696, 0.2344, 0.1295, 0.9996]\nstate[eef_state]: left_x=0.2919 left_y=0.0015 left_z=0.1755 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.3375 right_y=0.0768 right_z=0.1182 right_yaw=0.0509 right_pitch=-0.1231 right_roll=-0.0416 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.7624, 1.8632, -0.0464, -0.0171, -0.022, 0.1299, -4.8752, 9.7983, 2.0195, 0.232, 0.1587, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4099, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0441, 0.2195, 0.1089, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1736 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3461 right_y=0.0711 right_z=0.0773 right_yaw=0.042 right_pitch=-0.1789 right_roll=-0.0619 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 7.2547, 1.7363, -0.0757, -0.0659, -0.0122, 0.0342, -5.7231, 7.2274, 1.9658, -0.0269, -0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0422, 0.2195, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.0275 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3464 right_y=0.0712 right_z=0.0777 right_yaw=0.044 right_pitch=-0.1772 right_roll=-0.0639 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.265, 6.9949, 1.7607, -0.0611, -0.0562, -0.0122, 0.1162, -5.7231, 7.2137, 1.9121, 0.0122, 0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be8318ec95d5ba3155eedbf45da1fdf34c49d9c71e6f6993c41a4291ec6264c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814344050aee8e8be79e177f2cdba2b4529bce676cbf854ceebfba0b0c7d3781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d2a79a6aeaa9def6496c10bc482d5a67bbbfab3744b568cc1ab8731ed987f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 0be8318ec95d]
[blob 814344050aee]
[blob e9d2a79a6aea]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7ZDjaRb1e6VkDv6qVYrPF",
      "input": {
        "note": "The arm did not move at all on the repeat command, so it appears stalled (possibly fingertips resting on the can top). Lifting back up to 12 cm to free it before retrying the descent.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.072,
          "right_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_01A7ZDjaRb1e6VkDv6qVYrPF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.3159, 0.5953, 0.0151, 0.2245, 0.0711, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0416 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3561 right_y=0.0726 right_z=0.0939 right_yaw=0.0596 right_pitch=-0.1051 right_roll=-0.0746 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.2513, 7.1453, 1.8632, -0.0415, -0.0708, -0.0122, -0.5538, -6.106, 7.241, 2.0977, 0.2662, -0.0269, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20ec8ada096194fcb05bea7bd42c59cf39267b3b15c1bf5e5dbe2e7f8fb6ef93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf38944e8fab466612fcae04720d2f6130b168f8c6dbdbca45c710eeeb3d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:524baf4361ee57c04f1684e963e828594444ae488ba01225911b9a50f26617bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 20ec8ada0961
wire blob 5eaf38944e8f
wire blob 524baf4361ee
call 5 attempt 0 · /messages · status 200 · 13.66 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4099, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0441, 0.2195, 0.1089, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1736 left_yaw=0.0026 left_pitch=-0.0236 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3461 right_y=0.0711 right_z=0.0773 right_yaw=0.042 right_pitch=-0.1789 right_roll=-0.0619 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -0.9504, 7.2547, 1.7363, -0.0757, -0.0659, -0.0122, 0.0342, -5.7231, 7.2274, 1.9658, -0.0269, -0.0415, -0.0562]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0422, 0.2195, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.0275 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3464 right_y=0.0712 right_z=0.0777 right_yaw=0.044 right_pitch=-0.1772 right_roll=-0.0639 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.265, 6.9949, 1.7607, -0.0611, -0.0562, -0.0122, 0.1162, -5.7231, 7.2137, 1.9121, 0.0122, 0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.3159, 0.5953, 0.0151, 0.2245, 0.0711, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0416 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3561 right_y=0.0726 right_z=0.0939 right_yaw=0.0596 right_pitch=-0.1051 right_roll=-0.0746 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.2513, 7.1453, 1.8632, -0.0415, -0.0708, -0.0122, -0.5538, -6.106, 7.241, 2.0977, 0.2662, -0.0269, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20ec8ada096194fcb05bea7bd42c59cf39267b3b15c1bf5e5dbe2e7f8fb6ef93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf38944e8fab466612fcae04720d2f6130b168f8c6dbdbca45c710eeeb3d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524baf4361ee57c04f1684e963e828594444ae488ba01225911b9a50f26617bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 20ec8ada0961]
[blob 5eaf38944e8f]
[blob 524baf4361ee]
{
  "content": [
    {
      "signature": "CAQSnwkKEAgRGAI4AUIIdGhpbmtpbmcSDFWpSzCKQX/gXklqQhoMaOzVkkphv7JupF+iIjC0qv59ysTX8YIbGnvIed9wJRsrbb9vglZWZMozAfDqXaYncq2AQTamIPHx8cgRBTsqvAgcgaPbX3YmelHCeSO9EZjU5YeZs863anKrn/TfS9+dBgyl5xYeUI/NwXuPFZKj5EiNodrYPCUCD6kngDRA12svcri23HE6Sv3TpL7xOi1IURCBmL4T2medfZoc4iqpUxpHVBtZR6i+49GiN5opynlc6IfsIj9oG+NXlOVd0hRgFUJT+6b+j7T1Z2pkw8LzzQCLnF6zaNFzzg4g2FgCT1r0XlWajo68L5MUsdWwWH4pC3sNrU0YIDvbZmL4kjASwVl+2Et6NZcHzHGmD1DIQAu2W/tyec3Sk2aF4Yx3uruU+V0xi1CzpuQDmpTWG5/hQqTCQijbuCph/FuDXaz/DtqZe8aNtHYPEZCxzN3fwxAJAkBAL98ZVwf1m7BCeW55YDzvrXoiZ4KgEl8s7DUmmkZ4sZ6N2swF5QsDq0eFEnGam/XXAAw9r4MqGSm65TnrTq4LtkJWA2V3cbdtXU49EripoDZ08sovXtqeQl0yguY0OzOeHxy6zR9+um+IDgWGV39Wx2Tla7UG0jsA+0u5HOO6cAYXkRbJywgeCOBhW+X/n6Pglk7aqr2pl0UnysJoxvKXwYRDpnlvzDNixjffx0adkG0ZG8HCUe3Gl+Z2QR1U+ma4Sa+CPA4Ez32pg3z+Wn6QTHhBDV+nIV2m7LJk0moVSBkPRNoy325BlKNUkyCZ9daqkMb+oegFcDNNDG1KiPw/0LS/0W1KBx/mFq8YgvVmsjYCwCPjogKDTfnXNYk7eNEIfYDde6UTnoIW+kdvGDU1/aaNxwmbCDl5vH9vNVaa5Oe5nKpp87wg6vg17mcN5YEtzTQ8j3v8onGTxaooEteuVtEJdx3KxnGp41LIHrGCSrTbz4fqDbk3LqqIGkoe3GtMSFc7Ix4u3wZq4O4kwL2xYMQia5RnTMmFKuJ9jgNBoYkXinYoChXVEN/3kGkPyKAVEiwF4p0bC8wmvvfLy9rz/mSgRQInQO3fGYlBzZXCCzpYA0FjvnqkDgQZxsPhTt1Gy4w/rPckPuX4kQiZLSEuTeH5W2Mo1f/3a5atxHPij8zjMjkxZun6Y9lQyAo5QYExKCUn+FGAsQH/ZL/eSO9R2Vw5mRZr5DOKZRmpqYuom0xkk9T1QRJCiD5ODO6c5VJJWXtuxca3LAn/VZ8yvMISeTLe0FbI95WL5rWeRyFh1bK2LaYInxFkEqIhnykAZVSKkLR2+Tf+65w5O2l2rANSbHvQ0dx0fiaQoLqw2RcyZAJPK9/YuN92G548m3Mkl5y0T4Ly8Ex1y3lwrCvXhEjjP8/F/bmPAj9wau6ylU6ecRsNVt3k8bnUKPfbiKzT5YvgfAV+b5PNKjw0dkTxV7VnPpA0B1o6qaOZaLQ0SI9qiuDped1Be+3JcR72vSwOfgYjlLdcLjvwLxo0lj0TeRTlQTmMngYGvuyzZ05OqEV1jX24xRBJdt1vVOi/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VrSy3EzgZkJtqCMWSG5ux2",
      "input": {
        "note": "The right arm is barely responding — only the wrist joints changed while shoulder/elbow stayed fixed. Trying a small, modest retreat upward and back to see if the arm tracks again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.072,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01VrSy3EzgZkJtqCMWSG5ux2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4294, -0.0189, -0.0387, 0.9992, 0.3016, 1.2888, 0.5961, -0.0174, 0.2272, 0.0605, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0014 left_z=0.1697 left_yaw=0.0022 left_pitch=-0.0431 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3518 right_y=0.0715 right_z=0.0975 right_yaw=0.065 right_pitch=-0.1096 right_roll=-0.0857 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.0598, 6.9949, 1.7363, -0.0415, -0.0317, -0.0122, 0.253, -5.6957, 8.8137, 1.8828, 0.0855, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea165aa44f69bc0bc4d133a38f7d41990a66a578900063adba1eba44df8dafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de184a8cdbd3140372f0ccc7bf8c36b384beae9cf3fccd21ac4b1977fd7defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5264398935719c1e995aed2d497a789f68daf00804998b0f7726ee035f78d9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 8.341 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4137, -0.0189, -0.0387, 0.9992, 0.3016, 1.3334, 0.5953, -0.0422, 0.2195, 0.1055, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0014 left_z=0.1728 left_yaw=0.0026 left_pitch=-0.0275 left_roll=-0.0035 left_gripper=0.9992 right_x=0.3464 right_y=0.0712 right_z=0.0777 right_yaw=0.044 right_pitch=-0.1772 right_roll=-0.0639 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.265, 6.9949, 1.7607, -0.0611, -0.0562, -0.0122, 0.1162, -5.7231, 7.2137, 1.9121, 0.0122, 0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.3159, 0.5953, 0.0151, 0.2245, 0.0711, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0416 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3561 right_y=0.0726 right_z=0.0939 right_yaw=0.0596 right_pitch=-0.1051 right_roll=-0.0746 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.2513, 7.1453, 1.8632, -0.0415, -0.0708, -0.0122, -0.5538, -6.106, 7.241, 2.0977, 0.2662, -0.0269, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4294, -0.0189, -0.0387, 0.9992, 0.3016, 1.2888, 0.5961, -0.0174, 0.2272, 0.0605, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0014 left_z=0.1697 left_yaw=0.0022 left_pitch=-0.0431 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3518 right_y=0.0715 right_z=0.0975 right_yaw=0.065 right_pitch=-0.1096 right_roll=-0.0857 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.0598, 6.9949, 1.7363, -0.0415, -0.0317, -0.0122, 0.253, -5.6957, 8.8137, 1.8828, 0.0855, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea165aa44f69bc0bc4d133a38f7d41990a66a578900063adba1eba44df8dafe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de184a8cdbd3140372f0ccc7bf8c36b384beae9cf3fccd21ac4b1977fd7defb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5264398935719c1e995aed2d497a789f68daf00804998b0f7726ee035f78d9d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GR3B871KL3FKBoj8beNm7T",
      "input": {
        "note": "The right elbow joint hasn't changed since the start while the shoulder has, so the arm is only tracking partially. Commanding a clear retreat up and back toward home to test whether the elbow responds.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.072,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GR3B871KL3FKBoj8beNm7T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3851, 1.01, 0.8089, -0.527, 0.2737, 0.0917, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3048 right_y=0.0759 right_z=0.1858 right_yaw=0.0924 right_pitch=-0.1174 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2786, 6.9812, 1.79, -0.0464, -0.0659, -0.0122, 0.1026, -3.2889, 9.2103, 1.8144, 0.2027, 0.2222, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ab607b4991cea48ff9a8fe0a0236526f8616d89491cffae7a4d06ab14bfd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0323bb45e9e9c290215f39958b0d1a9e62ffb1ef92295b9e2dfa988bdb0721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f087d5a3db1141c499b43b663dbcbe1b473535083048ce306b28216d91c1c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 9.138 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4278, -0.0189, -0.0387, 0.9992, 0.2996, 1.3159, 0.5953, 0.0151, 0.2245, 0.0711, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.17 left_yaw=0.0026 left_pitch=-0.0416 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3561 right_y=0.0726 right_z=0.0939 right_yaw=0.0596 right_pitch=-0.1051 right_roll=-0.0746 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -1.2513, 7.1453, 1.8632, -0.0415, -0.0708, -0.0122, -0.5538, -6.106, 7.241, 2.0977, 0.2662, -0.0269, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7994, 0.6067, -0.4294, -0.0189, -0.0387, 0.9992, 0.3016, 1.2888, 0.5961, -0.0174, 0.2272, 0.0605, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0014 left_z=0.1697 left_yaw=0.0022 left_pitch=-0.0431 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3518 right_y=0.0715 right_z=0.0975 right_yaw=0.065 right_pitch=-0.1096 right_roll=-0.0857 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.0598, 6.9949, 1.7363, -0.0415, -0.0317, -0.0122, 0.253, -5.6957, 8.8137, 1.8828, 0.0855, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3851, 1.01, 0.8089, -0.527, 0.2737, 0.0917, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3048 right_y=0.0759 right_z=0.1858 right_yaw=0.0924 right_pitch=-0.1174 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2786, 6.9812, 1.79, -0.0464, -0.0659, -0.0122, 0.1026, -3.2889, 9.2103, 1.8144, 0.2027, 0.2222, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ab607b4991cea48ff9a8fe0a0236526f8616d89491cffae7a4d06ab14bfd46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0323bb45e9e9c290215f39958b0d1a9e62ffb1ef92295b9e2dfa988bdb0721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f087d5a3db1141c499b43b663dbcbe1b473535083048ce306b28216d91c1c97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wgKEAgRGAI4AUIIdGhpbmtpbmcSDDT+FVY3zO0TpV8PehoMwlp4vSkVR8SpKkSPIjDhopMRC/ScNLOPgiAUBeIhV/2eaL1OXOoLC4Z8ucFl68yIxjSSglsuTqScBYAmoSoqgAgjV4WviOxmLaTSvCLnoDYiN6OnAszHsIZiozcsdfGsV33YNq0x8gU1LY1kCp602K1Fk5MxPchLb/Nas/r6lYSP4Llgi5KoqrnlDJvFtdJ8lO/2CqOcbgEB7tvLF2XUMhVxs2IaOu8zPv17stgP8qb8/vpPiuvt+B+iqQ63ZyrhyD7fPnb6eXZvQ/kewJLy3Grp+MVV0BUBFGn8C1Gma2baNVrNfrlLtQye+xnZHUIQwnb2R7SS6nEDiiEFvjsYbUqxH8h4A+J9nzlKpTssazAj1r9VRqdTPzjY9kwKbjExltFdMCJMxMg2BLH9DfQspIasFhykECHnMWrmc6O6Tenr7P477RGE5vwOmIhrxI7K8O9vNTaDXttwz3AFpk0ld8QWYZ7/Qr+vAgyzlRIj6YBcJK2mmThDQgmhRMKWwLlYdpRLpkCGrKDgz33K0Zw8C0rjIfXos+bF0QMOVxnXuOmk07QLEXWniXdKfcgc8TqRgnylpNGqlwJXj+9NoozEaKa89yvuyKwQhixPNCi25T15I4tEu+kGpxEZV33ovJ0TgmoH3vnu00vctxtEXXHcq/tTLJ5gWwwkhIRaQTlUWedreWQVQcK9D3+IQNw32KbQkLMfu+Ysr9f6yie/1uejD38aELnnA2RpT/YF2WsXhEz1SxXZW2os1J7n3ZKKFkaqmdFFpaXLC0VMsyZCwvouozmXx5CdQO7qryShjNJtD5VXPyri1pMR3Xao2dUCvx3l8A1vYUlKAGyJeyYDXGaoAi+lqTtjamJemL+mVCoYRhbeKIkfH5RFWXa4XnHTnAdxRI8tXBhXrHRQ5WGL9D4lxzJZ8dapUsgTTuIbuvwEJksieVgvsZDJYumtRfoAWga+4WJO+h6X7GLMfJMeupbDq4p1nIA8FWZM+Bi04RjB3bkRW1zM+eMtf+CriZ7orSqXiYYgEozlnrWNDkIbVQ2dNsmwSPimpMxK/q1O7XFgTb9GVfXYckJjdP7BIYbZ+NwUhPuhFTnowuI77K4GWz5lMEBEPajyK4SJECbTHMaiMz26Dqki0Htx/UbkvCp1C1nUvUJIPVgkTsCz5m0IkR9rhR3Kb46PzLcCs6OBawrY4srmCmSnT8FahrzH15xhhfXE3M/RB40DS+QbiUQM/nZPwMeyraSYpn3b9SLtTACIfdwK/SKrcSGVjxyEgY29+ZPTk48R4CWjlM4x25kIwrDgIAdoC2JdDeLOtMxmxM1kGqxQe3shonhygEx3xq+Un7EyYbX4dWxyP7NGY+gG01wuQD4ULkdTkVRVjmIav53yNpnBU0Ux2W2p0Y2eZDENoFnBzNXEcrGWI+kUoLySJScp3ragkd9vxuXs0oc6KfQeqCNaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016oSYjKJj6z41KivbC2CsTN",
      "input": {
        "note": "The arm tracks again (elbow moved). The can is centered under the jaw column with its middle a few cm ahead; stepping down to 10 cm above the table over the can's midsection.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.072,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016oSYjKJj6z41KivbC2CsTN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.2993, 1.256, 0.6106, -0.1795, 0.2127, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1636 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3299 right_y=0.0665 right_z=0.0854 right_yaw=0.0834 right_pitch=-0.2251 right_roll=-0.1192 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.8193, -0.0611, -0.0611, -0.0122, -0.2393, -4.8068, 6.5709, 1.9316, 0.0269, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68797e24dc10f84b53474f218b0dc6424692ea3f91c9ebf6e4b157ed4eb6fd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9498abf3ed6b5a26186c72a946123a647b6ed1a1ce14695224906ba72635a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91c30903f6b7ab857236edec880bbf49d0adb80a3b4e83f3ab5292852b2fc08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.343 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]: [-0.0193, 0.7994, 0.6067, -0.4294, -0.0189, -0.0387, 0.9992, 0.3016, 1.2888, 0.5961, -0.0174, 0.2272, 0.0605, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0014 left_z=0.1697 left_yaw=0.0022 left_pitch=-0.0431 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3518 right_y=0.0715 right_z=0.0975 right_yaw=0.065 right_pitch=-0.1096 right_roll=-0.0857 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.0598, 6.9949, 1.7363, -0.0415, -0.0317, -0.0122, 0.253, -5.6957, 8.8137, 1.8828, 0.0855, 0.105, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3851, 1.01, 0.8089, -0.527, 0.2737, 0.0917, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3048 right_y=0.0759 right_z=0.1858 right_yaw=0.0924 right_pitch=-0.1174 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2786, 6.9812, 1.79, -0.0464, -0.0659, -0.0122, 0.1026, -3.2889, 9.2103, 1.8144, 0.2027, 0.2222, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.2993, 1.256, 0.6106, -0.1795, 0.2127, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1636 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3299 right_y=0.0665 right_z=0.0854 right_yaw=0.0834 right_pitch=-0.2251 right_roll=-0.1192 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.8193, -0.0611, -0.0611, -0.0122, -0.2393, -4.8068, 6.5709, 1.9316, 0.0269, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68797e24dc10f84b53474f218b0dc6424692ea3f91c9ebf6e4b157ed4eb6fd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9498abf3ed6b5a26186c72a946123a647b6ed1a1ce14695224906ba72635a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91c30903f6b7ab857236edec880bbf49d0adb80a3b4e83f3ab5292852b2fc08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/woKEAgRGAI4AUIIdGhpbmtpbmcSDHtM76ORvmXYVRz0RBoMxa1QtUsoo99HQg9kIjCZg42Fxe8Vx/Xi76fiAmWh4xDyL6FBTfZNSdIys7biowzrhbzDMdgi1OzpSA3E0VEqnArzGAJgnaTICi35G5gbnoX1EtM1MqJZB6e4pRE9tOBUuLXUIQpX+Yd+aKtHlXDt70QRA62d1eUK+n+xFOM2QDVXzggPGBIK39sSugHVpWpZLWrVfWN0yfi33JX+dVpJReSjZMmY8osTtycvxvFfnDnRbswKLdBhBsuJ216GEz6SDzIjkzUCP8oGyOm9hkh6GiFCrpA3RxXP7nB26il8BgVj9L7unFnJcJ53q0lDzplsy54t4LQpX65st8be/s0dDo2o94lLwlg1SfoMP3uVeM/RzKVVPDMTO+K9wpl+VNrYUi/JkO7rBo1ll+i450AWxh/2uXePuqVvbFWKpBLaE7vtf4zsVd75E4q74AeCfA0bEtDG3QY1OFuUmJ4PbSWySt93bPmtWacClGjFVHuZ4FfQCjkDQFx7Q7Bv2OGtDK8jx8fEcIBYKhbNXedFJz4cmpxBnnbGxULo+YRjXW6lxW/iLKmFzfSOkF4exTRkdMhkD37QPDsdyIVJxcytP6TZWDqIpUjLjNxNvA53emSXebCrWRkJUxVQZ2x45J/nEXSsFXz7n5Kmb0qcR0+dGKYCABduX/ngc3/hWT6uddfPdXg4qYMWjzFdWuxjZkNPIPwbUwYjeZbvRy7nOQYW3X+XxluIZJ96X13Bv3nk7AOkFN9z2MflP4mi120Fh2SxKBgoj7nq+bMQrnZszd0xKWHd+4t4JUybreIbK6WQelWdF7BsAeyMPx3CubAGVZrT4G9TAm6Y0qO4GtKzzh7LnlehIDB4HaMpJRqLdT0+z/ObpVhT2dzi30BvJosOdY7IK9x9YSa5gKFoJU3qPjoH9DvkuCsqPqAKnQqeCU60DgY/KXb5txdWO4bqp1QsU4YOJCsK6CsOsV8zYTppT5TXwDSdpr73kkftXBD7jN1/p07U2GbtQioW+fiHBRniHEdFKSrvdvYcY4jIRqV8KFs2iGSeZvTzb44g7KzKhBaly3KafGcgnV16e9qcXeCaP4CLkREhKC6nssabCQeY/GIwdjWP2ibWHHSWLem2hra2AD000u730Vsr7xMggtPUhvgJe9elnDsv6B6K7U/6IwNRsX3os4bt08oZ6Pf9xhttbuH2T8Wl67iYsxo2Q5GPVZCiUms9UXkAiULTj6E3JycTVxRCcmq9mQr1yH9Yz+TztFJ87XIv73AtTte6mq80U6vtt+mYvjrUIeyu4zsWLms6zvRBPVXlI4dbcp0zk3JOJrJnXfIcbH8jg2tPxgD9TygeAAlheCDWAAoMiZpm0rnLIEYiIVulryEQpNEVkHnAL6+QJ/DTskh4sM/ChkHrlW2u+pbqGngMtLJQGBDiG69VPJkRP7XAvYyLBbj4qVidYbIiLpMEffF4lCUNPyNx3p/beYS4v1ieSkC8l5ucLNiSOV9j6c+/cR8ZFQCdtCkd9QDXnVLFPN5TxJ2EGn/hgGJR7J3DHditnYn5EUak9SYf9Hbk/cyoQHaSMsIEAX9bPZwvWzAxIhUKBdXIGhJWMtw4Y0WjE+ctsEms06XzSlEOIQv11KGKOTETzo58Ht7HMY5Se2xK42p1qxJjCPA6SAd1m6bPxR/7Hq32eqmO3EdohMd7qArxpPHg85JxBinCoTW78f51/yu7ROvYcwerDf6vsrMMw80xEXthZu+WTaPKXh+IPte46SwQ/xS31Zp1t1BXYMYvrLi5rzih9vmDBXFMkY0qwdxjVxPzpCaCXkzHAmu/CQr9SaruNQOLUu1+isEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MeHTuF7oA6kv1nteepogik",
      "input": {
        "note": "The can fills the wrist view centered on the jaw column, its middle a few cm ahead of the fingertips. Advancing 4 cm and descending to grasp height around the can's midsection, with pitch reset to level.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.068,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MeHTuF7oA6kv1nteepogik",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4622, -0.0193, -0.0387, 0.9992, 0.2832, 1.5539, 0.4187, 0.4133, 0.2131, -0.0048, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0805 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3509 right_y=0.067 right_z=0.0189 right_yaw=0.094 right_pitch=-0.1269 right_roll=-0.1294 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 6.9538, 1.7216, -0.0659, -0.0562, -0.0122, -0.5675, -5.7641, 5.053, 2.1123, 0.1978, -0.1294, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a15690e0738b004c5e80864331b1608c57c012aa060431a25f0f516c2dbb260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee39103c780f3fe60be14662c5ae5063dec2741b3a8bc1b7de0f97b56b586dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05625670dffbbeae62e89d21c303edd30aac32f2f8ffe64524859f57753e28a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.803 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4355, -0.0189, -0.0387, 0.9992, 0.3851, 1.01, 0.8089, -0.527, 0.2737, 0.0917, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0026 left_pitch=-0.0522 left_roll=-0.0029 left_gripper=0.9992 right_x=0.3048 right_y=0.0759 right_z=0.1858 right_yaw=0.0924 right_pitch=-0.1174 right_roll=-0.096 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.2786, 6.9812, 1.79, -0.0464, -0.0659, -0.0122, 0.1026, -3.2889, 9.2103, 1.8144, 0.2027, 0.2222, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.2993, 1.256, 0.6106, -0.1795, 0.2127, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1636 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3299 right_y=0.0665 right_z=0.0854 right_yaw=0.0834 right_pitch=-0.2251 right_roll=-0.1192 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.8193, -0.0611, -0.0611, -0.0122, -0.2393, -4.8068, 6.5709, 1.9316, 0.0269, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4622, -0.0193, -0.0387, 0.9992, 0.2832, 1.5539, 0.4187, 0.4133, 0.2131, -0.0048, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0805 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3509 right_y=0.067 right_z=0.0189 right_yaw=0.094 right_pitch=-0.1269 right_roll=-0.1294 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 6.9538, 1.7216, -0.0659, -0.0562, -0.0122, -0.5675, -5.7641, 5.053, 2.1123, 0.1978, -0.1294, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a15690e0738b004c5e80864331b1608c57c012aa060431a25f0f516c2dbb260",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee39103c780f3fe60be14662c5ae5063dec2741b3a8bc1b7de0f97b56b586dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05625670dffbbeae62e89d21c303edd30aac32f2f8ffe64524859f57753e28a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wcKEAgRGAI4AUIIdGhpbmtpbmcSDAKYC3h2wZuGiOA+WRoMPqcdN9tw4zVejvbuIjCdq8xRSDuNlNRj+GVn7syrhxk4CnXSiv8U/YLHio3mlS0ul98U69zlWUMu5AMEVO0qjAdo2QKFprJfE3PYw1eTxRsUbCYqbMlmNd3Gd9IS6YT2D+K4rtJ8pJVnc9aly8rJ3kRdD7v4rZElhE/9n6HpK5dzyiz1ps3reg5Iosm0PnwYqjap4L0+J/iM7rRZ/NVh9HhuStH+W2gz7RJqlOSWpF353o8jdH5YENDt/PaEGU6jC1EJdLmBim2jb6o/nay/S6yL+atJrgSwXSiV86a15UIwt//gbuIyRxl4MbrtSNN2w51wn94QTwtIAi9o9XcOb4ceGdcf+5gxLcXv3FBScCirxJta9a8XnNFIzI5wXPy9+0oRacpto6Z2r29KWV22eqt89tSUpPUET0ME1FaVgTuDY1K/nBHyWITH6m7Jn9MJsRvj5gTlJKxTvTCfoKMgznYOphjDoPC5pvh6zJM5tyEVkLG5vPPoTQznG0ZD5nlwFz+5taKV8w/9bIU8SpMbrSUg80rnebgmEAgDhlzA2Fon1sAWjRgbFUf3i4KeLvzHxm3JEJSk0g0T0C1nnuCFrNhlmGfAxDgo4gxwXJ2KTkTfBr5ky0ICQTOQGwkjBAAD415mz5y1qs2+rzUJGI4CjBBkO8AOG5Bk9v0G5qkD/s66mULYToshguV/OpVsEljA+brZmXMLytgvOQEkawcZ4D5bo3Ym2S36I0eG96zaxW9ysjdDsmr+fKcKz2wugSqtuPWJKFfxkovbKPpT2eWJpEQ2lZP9CXAvge6izLRw+HSoP0EWgSFeuwy4IxpnV5MiCuld/Hl6wIBjEdvPFmm4vStZk+lS/Udar+GapXYaH/N7XuSI3T5/ccH2mj0dSu0swXv263o4LL+iDsb3SavHsyDXtFljaax/5F/i1ncuZ16lihrch00mF4nY+hT/mfBtcWPoQuURrjffou/32MFxF5AAGSS/iavnUT8vG3GheeEku7kaMbhAmzrLuX9jv5MfaiQGQpi4j6SnsB6w0l/tGuI5YgVoRwJMPYrZ8mRHWxADrfr2xJSwfBXduK8GXbdZxqz138n94iUJ0rddrQKWU0KLyzAG52cBMsCGVqnO9NoD3vJberedZ0N2vo8dCChMPJxeFHBiamdQ1Es19m7FjuaZ8Ld4U9xQdoyCP8t0C1ZTRN3diEokimFPMhwPypUD/6swsyszrBNrK2KuXF9HCIEhJN1b5iHlucC5btqhIblJwCUEFSrkj1LG9/aak6+0QUn9VKHwP02vMFyxBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NuwkYEp7jFfNknM26BA8nk",
      "input": {
        "note": "The gripper is at can height with the can lying between the open jaws, filling the wrist view. Closing the gripper to grasp the can across its body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NuwkYEp7jFfNknM26BA8nk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.2817, 1.5616, 0.4057, 0.4419, 0.2131, -0.0109, 0.7005]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1598 left_yaw=0.0027 left_pitch=-0.0915 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3502 right_y=0.0662 right_z=0.0172 right_yaw=0.096 right_pitch=-0.1195 right_roll=-0.1326 right_gripper=0.7005\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122, -0.0889, -6.0786, 6.0786, 1.3016, 0.0464, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1422b5e7c0ebdeab42ef176a3cec44e578b5afadb892bff648da7247e93fddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6739a3030f6a78e3c08e52e87a1cf93c2f4ffff8157ea23c54083c00beffa115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d83692f596e28883a9093b1bf9b6c780e006be6bf7cc6e8439b69df55c450fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 11.52 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4538, -0.0189, -0.0387, 0.9992, 0.2993, 1.256, 0.6106, -0.1795, 0.2127, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1636 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.3299 right_y=0.0665 right_z=0.0854 right_yaw=0.0834 right_pitch=-0.2251 right_roll=-0.1192 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.8193, -0.0611, -0.0611, -0.0122, -0.2393, -4.8068, 6.5709, 1.9316, 0.0269, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4622, -0.0193, -0.0387, 0.9992, 0.2832, 1.5539, 0.4187, 0.4133, 0.2131, -0.0048, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0805 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3509 right_y=0.067 right_z=0.0189 right_yaw=0.094 right_pitch=-0.1269 right_roll=-0.1294 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 6.9538, 1.7216, -0.0659, -0.0562, -0.0122, -0.5675, -5.7641, 5.053, 2.1123, 0.1978, -0.1294, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.2817, 1.5616, 0.4057, 0.4419, 0.2131, -0.0109, 0.7005]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1598 left_yaw=0.0027 left_pitch=-0.0915 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3502 right_y=0.0662 right_z=0.0172 right_yaw=0.096 right_pitch=-0.1195 right_roll=-0.1326 right_gripper=0.7005\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122, -0.0889, -6.0786, 6.0786, 1.3016, 0.0464, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1422b5e7c0ebdeab42ef176a3cec44e578b5afadb892bff648da7247e93fddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6739a3030f6a78e3c08e52e87a1cf93c2f4ffff8157ea23c54083c00beffa115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83692f596e28883a9093b1bf9b6c780e006be6bf7cc6e8439b69df55c450fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQYKEAgRGAI4AUIIdGhpbmtpbmcSDDmMGRSWrckNjSTv0xoMDmr/GCUimeh5McJHIjACcmSQWNeNklN6X7dHacJHj+m4qH4ddZJTZvf+8of/L7N+o0/tSOmwQY4FT+v302Uq3gX1Tnok0p9LdtxCNt/IwLZ+v17ygjKXZ9QycKRcMdUAJnKxJVN79TZlQ6uEHAWR3pN0LzqjH9sBelCb4sdThSiCJiHp0AK1Oy1hLVolm6qQl9EPq2uj+jjr0lOv/SFH/RbQ1takkRc7gzOEesdr2YNe4H07ZZ3YMKpqCS4T5HwG4A1jjMkOscy57xcVmRUPUCmI9gYT950g0JxRPHYZA/UKRPo7GvqeOWL47+fxOCwCeZkVuvmftchlJMOhURDY4GHz2pRQ7D7sXRoZ4RN+VM2ajIDEMiZiMfvgWpQF0HVm4669WKn5IV1RZZI0LaWNaiZe4zDcNvcZVRv6bEs/J1wbonQ9l7t1TvZJ/szzT2OJZV1/nqO/4G0MtWLBaQYuDJbvgkIszxKt2y5wzKAF3VO1ChmYwiPvYgcZRrUBXb7+8Q6E6lku9L2YUwC9NtcF9h+PGwQpEOSHzUn0doXChXs15+UPYIFDJLZScJpw/pzk4FW9j18544xI5AZIu5EhLzPbOXjWWtkBLPCY634O6mz9vkR1MbshkqEFRhnzbOhCsBukQVo9vw2LYU6LBbkXxak7yWlRHv7vb8XujWfCdkmoSCF9ijZ0oO0IFT7GcijKd4GFR7VPaFTC+aWVEw05FlTLXB4HkhJEGVR99h8S5vkvRgyT6A57wzQ0GhNKi1b6tulcuT7TwDBLDv4kyeCwPvcFuB4zDpih17IFICrTTgB+1lwhsaWu9FDt0Ku1f/Kv9gIRlU/4ERu7xDw+1MiH3BD4azgryHyDNKQkAgx/41aD1aHvg06tnY+zBl1H5bPso8hsKS5BdyIfAeXu/QoiG47zccxp3gIwlDrwOIwhu5tZdBGZz7aSFCYO2QWKdplXFHqgaFcqlLr/vtSG7VGYOReHZMRxtTBStF+HUKU75010JdYauhg0ORX4r0cW/QtHg1mXeCRvwEjM4GAL9yONZQedlWGuOBWk+NI4XSmeGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019PGFFnKVgaZSk4tygPx8UP",
      "input": {
        "note": "Gripper settled at 0.70 (~6.6 cm), consistent with the can's diameter, so the grasp looks good. Lifting the can straight up to carry height.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019PGFFnKVgaZSk4tygPx8UP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.2817, 1.211, 0.7868, -0.3435, 0.2054, -0.0193, 0.7005]\nstate[eef_state]: left_x=0.2813 left_y=0.0017 left_z=0.158 left_yaw=0.003 left_pitch=-0.1003 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3452 right_y=0.0661 right_z=0.1443 right_yaw=0.1056 right_pitch=-0.1739 right_roll=-0.1436 right_gripper=0.7005\nstate[joint_eff]: [-0.3214, -1.4017, 6.9402, 1.6972, -0.0757, -0.0562, -0.0122, -0.3624, -5.8051, 9.2513, 1.8339, 0.1734, 0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d596d47e30f91a7425d2e4164c7f9bfe988ed0823ea8de13b780e13303b69de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268b33051be71f5a9808dc5a89d17d0de53ad877779931bc0cd7cae131866fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a4f2f5d91b353f7fe147dcc00d0401ce67d3bbc3e1a9239746310051994e7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 9.756 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4622, -0.0193, -0.0387, 0.9992, 0.2832, 1.5539, 0.4187, 0.4133, 0.2131, -0.0048, 0.9996]\nstate[eef_state]: left_x=0.284 left_y=0.0016 left_z=0.162 left_yaw=0.003 left_pitch=-0.0805 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3509 right_y=0.067 right_z=0.0189 right_yaw=0.094 right_pitch=-0.1269 right_roll=-0.1294 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -1.2513, 6.9538, 1.7216, -0.0659, -0.0562, -0.0122, -0.5675, -5.7641, 5.053, 2.1123, 0.1978, -0.1294, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.2817, 1.5616, 0.4057, 0.4419, 0.2131, -0.0109, 0.7005]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1598 left_yaw=0.0027 left_pitch=-0.0915 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3502 right_y=0.0662 right_z=0.0172 right_yaw=0.096 right_pitch=-0.1195 right_roll=-0.1326 right_gripper=0.7005\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122, -0.0889, -6.0786, 6.0786, 1.3016, 0.0464, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.2817, 1.211, 0.7868, -0.3435, 0.2054, -0.0193, 0.7005]\nstate[eef_state]: left_x=0.2813 left_y=0.0017 left_z=0.158 left_yaw=0.003 left_pitch=-0.1003 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3452 right_y=0.0661 right_z=0.1443 right_yaw=0.1056 right_pitch=-0.1739 right_roll=-0.1436 right_gripper=0.7005\nstate[joint_eff]: [-0.3214, -1.4017, 6.9402, 1.6972, -0.0757, -0.0562, -0.0122, -0.3624, -5.8051, 9.2513, 1.8339, 0.1734, 0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d596d47e30f91a7425d2e4164c7f9bfe988ed0823ea8de13b780e13303b69de4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:268b33051be71f5a9808dc5a89d17d0de53ad877779931bc0cd7cae131866fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4f2f5d91b353f7fe147dcc00d0401ce67d3bbc3e1a9239746310051994e7de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RHxZWvG5mZ2Bdk6aM5awL4",
      "input": {
        "note": "The top view shows the can lifted in the right gripper, about 24 cm to the right of the burner. Carrying it left over to hover above the burner centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.36,
          "right_y": 0.3,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01RHxZWvG5mZ2Bdk6aM5awL4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4995, -0.0189, -0.0387, 0.9992, 0.8989, 1.816, 1.4651, -0.6834, 0.5751, 0.4591, 0.6997]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3502 right_y=0.2918 right_z=0.1527 right_yaw=0.1408 right_pitch=-0.2376 right_roll=-0.1854 right_gripper=0.6997\nstate[joint_eff]: [-0.1436, -1.347, 6.9265, 1.8144, -0.0415, -0.0757, -0.0122, 0.4444, -9.1692, 9.2786, 1.2381, 0.5543, 0.2857, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd84a468ede38ef3a4f1bb211104286816f9428f948352c1099f9be505bcfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a154bcb01063daab46f53e1b9a4182e4a30403d18c7fe48a7a42ad69e65708e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba0e502393e553e188e2d0188163f20c003423edd877b06a32f294dfb93e3559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.747 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4732, -0.0189, -0.0387, 0.9992, 0.2817, 1.5616, 0.4057, 0.4419, 0.2131, -0.0109, 0.7005]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1598 left_yaw=0.0027 left_pitch=-0.0915 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3502 right_y=0.0662 right_z=0.0172 right_yaw=0.096 right_pitch=-0.1195 right_roll=-0.1326 right_gripper=0.7005\nstate[joint_eff]: [0.0068, -1.1966, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122, -0.0889, -6.0786, 6.0786, 1.3016, 0.0464, 0.022, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.2817, 1.211, 0.7868, -0.3435, 0.2054, -0.0193, 0.7005]\nstate[eef_state]: left_x=0.2813 left_y=0.0017 left_z=0.158 left_yaw=0.003 left_pitch=-0.1003 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3452 right_y=0.0661 right_z=0.1443 right_yaw=0.1056 right_pitch=-0.1739 right_roll=-0.1436 right_gripper=0.7005\nstate[joint_eff]: [-0.3214, -1.4017, 6.9402, 1.6972, -0.0757, -0.0562, -0.0122, -0.3624, -5.8051, 9.2513, 1.8339, 0.1734, 0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4995, -0.0189, -0.0387, 0.9992, 0.8989, 1.816, 1.4651, -0.6834, 0.5751, 0.4591, 0.6997]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3502 right_y=0.2918 right_z=0.1527 right_yaw=0.1408 right_pitch=-0.2376 right_roll=-0.1854 right_gripper=0.6997\nstate[joint_eff]: [-0.1436, -1.347, 6.9265, 1.8144, -0.0415, -0.0757, -0.0122, 0.4444, -9.1692, 9.2786, 1.2381, 0.5543, 0.2857, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bd84a468ede38ef3a4f1bb211104286816f9428f948352c1099f9be505bcfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a154bcb01063daab46f53e1b9a4182e4a30403d18c7fe48a7a42ad69e65708e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0e502393e553e188e2d0188163f20c003423edd877b06a32f294dfb93e3559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8goKEAgRGAI4AUIIdGhpbmtpbmcSDAQtja0N+7vrsfgMThoMk/cp5PN3wBS1h+EqIjA4rXuV8RGpyUG7wCgc0jMShxAxJhoyho9fDSVkfro7Sy7DZ/pajkITpIdSJnwG95wqjwqQVvICPqkmSxPCi+9a6lfH3RxPVpLnCv4NyRMOiP713+LVij+wLoPB5r2bAAk5Ex/KMeU35vMZCXL+gy8eLDdqID+zy9xNHiCmgo/jtTdNuTNaNPdE7a4OLy7rOatoNSPPXR35wXkQT0G5L+I4crLXbBmhrShkI8ewa3r6ixoyRDHWk/1awHB8kO6q1EFkChH31s3tAG5byEbWA+2r+N1K7apF2qQ3J5KFaiT1FzXi1BGMIGm5hGgfDFtstqMZUlWrk00d7TrSJgcHxtAhLEWw7BGs9bPO1UJjn9zxK0dKopne49+hUxTBj/tw5vEsw2ddI3+8KgePKC/DV0Qn7lxbXl7jTlKJ0wTXmMVna0m7nj3xv2i/SPZaDxyIQCxslqgiDF/Hm1xaubwKd+2P6GWtrEpG4JKQkFP58P8obDoFO/MuP7InPzF0OD5SDk2OW8prR72/RGJq41fRrcY4qS1vk/03WM9Gm/5S7kgWEnjnbBGSYlyRDKnUMPdExW4Iw8WcjjmuiMgaXZzc9Hc52y87zvlyAy5xHRFuvQhOCB+fkgCgONajSoFUMxSuIQUohnXBe7BreSMGcAzNMQiiYO/JWKWtzXojrHt74fKnOyQ0mFsmjj/qs/TPnt9My6N86OiPnMcxopqf3lZntSwZrfRSj6dUbRe/NCEcdDOibBVULmLxGGc/mP0qPu0FsH8CuoValHt2cXgNjYJyLywck4xo2e3iS9s/wuuZzpJYSynkm/hguK0eUAsdbOqBpRtMBfTm2FyDJsYJXSO1lMbM1t/Ip2AnvPx2irQ4O2XDPvwzb/43Kd9IoTm/e/GhpuZiMiK48QzseJdhhm0Ecul3tXw9qfjqojLDaoxLgRuZsz5CMgvqlkibhT48zhti3IPOMMUOXbX/cK3iKooaDCfB5K+U38+eHcPo6bAOvK7WYe1fdZiTrw6vyNUSBRkwsYpsWkFrjHVr8BEqHfW7RgycKV6fewLQmSUNwreEbJEx36sB1rsOcblAJrwu/tPwXfYCW9poMDTc+Mak2Ir9QSqICKYXzDDqhKRlVmqPeLakhyF7O5i5WLpCzATIO6WkxvzcemODoC6h1bZQGp3S9XOwMuuiHdNq8UdSbJZZdqiDd7P1SLV8vDhpW0m5/FTE86PqSQYKgf1Sy1AwDGcyEMFIrzl4JuJ5csKJG7ukKooIeC4rP7KEwu1SEof5DRQR8Vw2hzcwnrQXF3zNcnfxbtCEjdNzAqaDPQ4GG0kbPKf9R4Xux2whi4nYOO8GXn0omzWBuufYt5M9myfne2dEGt59jrHmZJSftVSZx99Or065LyyF+9y3uCxrX1e0+f70jFBA1vF7Rs+9cZi4M/r/UYQwWBO9h4d7RSaIMX2ZOIkWKcLLfgep7B/GncJjj02XbbLWGRNVK85OefIb72fp4Y4KI5FCgNp23cnihIR3YachCx35pudHThDNdLX/dtYoEdF9Udu67+K5Kwpb5yl1lDc+aAGPjri4Z08Dlp9Beh9Ibq7FW7W4b9G8QaG3dKMJjuFsc4LI6S9bD86D1BnHZLE3n1HRx1t+rm6CKq+955ZTeKpNclfMBpR9tNxbhXrqrDgwa1fWOp7QU1vzSltxl5P0iIBcypWot5hrIvv7iOxSOJXWVe3QrEJAbhzeTeoIhcXJj9/SmTsV2px8N+OvHYcpLn+NDUceXLmbzAN5zpsiViyS6Y/aOH+mrVrlWBRC8LmM3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012YQZ2T4C1CBkGTUPEjHc4N",
      "input": {
        "note": "The can hovers over the right part of the burner; the coil shows to the left in the wrist view, so the burner centre is a few cm further left and forward. Shifting left/forward and lowering toward the burner surface.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.37,
          "right_y": 0.33,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012YQZ2T4C1CBkGTUPEjHc4N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9199, 1.9823, 1.4792, -0.5659, 0.6014, 0.4721, 0.699]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1509 left_yaw=0.0026 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9992 right_x=0.3632 right_y=0.3178 right_z=0.0994 right_yaw=0.1315 right_pitch=-0.245 right_roll=-0.2181 right_gripper=0.699\nstate[joint_eff]: [0.0068, -1.1966, 6.9128, 1.746, -0.0562, -0.0269, -0.0122, 0.0479, -7.8017, 8.1846, 1.1062, -0.0171, 0.0611, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d573082bb866caddd0862c05e39f138cd637cab96f16e6792d535e9f96e512e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e396494fe8def34f47191944981a7c71f4f0f8056adb0f1b0ede958d3539c8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3079bbfaa283aa6caa7f026767fe7e104a470daf3cd05fb3504689bb5ced0f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.667 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.2817, 1.211, 0.7868, -0.3435, 0.2054, -0.0193, 0.7005]\nstate[eef_state]: left_x=0.2813 left_y=0.0017 left_z=0.158 left_yaw=0.003 left_pitch=-0.1003 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3452 right_y=0.0661 right_z=0.1443 right_yaw=0.1056 right_pitch=-0.1739 right_roll=-0.1436 right_gripper=0.7005\nstate[joint_eff]: [-0.3214, -1.4017, 6.9402, 1.6972, -0.0757, -0.0562, -0.0122, -0.3624, -5.8051, 9.2513, 1.8339, 0.1734, 0.0659, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4995, -0.0189, -0.0387, 0.9992, 0.8989, 1.816, 1.4651, -0.6834, 0.5751, 0.4591, 0.6997]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3502 right_y=0.2918 right_z=0.1527 right_yaw=0.1408 right_pitch=-0.2376 right_roll=-0.1854 right_gripper=0.6997\nstate[joint_eff]: [-0.1436, -1.347, 6.9265, 1.8144, -0.0415, -0.0757, -0.0122, 0.4444, -9.1692, 9.2786, 1.2381, 0.5543, 0.2857, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9199, 1.9823, 1.4792, -0.5659, 0.6014, 0.4721, 0.699]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1509 left_yaw=0.0026 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9992 right_x=0.3632 right_y=0.3178 right_z=0.0994 right_yaw=0.1315 right_pitch=-0.245 right_roll=-0.2181 right_gripper=0.699\nstate[joint_eff]: [0.0068, -1.1966, 6.9128, 1.746, -0.0562, -0.0269, -0.0122, 0.0479, -7.8017, 8.1846, 1.1062, -0.0171, 0.0611, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d573082bb866caddd0862c05e39f138cd637cab96f16e6792d535e9f96e512e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e396494fe8def34f47191944981a7c71f4f0f8056adb0f1b0ede958d3539c8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3079bbfaa283aa6caa7f026767fe7e104a470daf3cd05fb3504689bb5ced0f25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now the can is above the burner centre. Lowering to set it down.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HroU9DLShe5pNyVYC9j4qK",
      "input": {
        "note": "The can now sits above the burner coil in both views, at ~10 cm height. Lowering it until it touches the burner surface.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.37,
          "right_y": 0.33,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HroU9DLShe5pNyVYC9j4qK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5251, -0.0189, -0.0387, 0.9992, 0.9237, 2.0315, 1.4715, -0.4377, 0.6449, 0.4709, 0.699]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.149 left_yaw=0.0028 left_pitch=-0.1472 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3781 right_y=0.3302 right_z=0.0918 right_yaw=0.1189 right_pitch=-0.1686 right_roll=-0.1936 right_gripper=0.699\nstate[joint_eff]: [-0.1709, -1.0462, 7.2, 1.6825, -0.0415, -0.0122, -0.0122, -0.2667, -6.3248, 4.8479, 0.9597, -0.1343, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa614c27ffc7ee784758be0fa9706310721da4f6b734d9ea6aa0ba453e65d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e5ab7c99a4c797090eb7e7f46b354aee94c1561a20f2f31468cfd4b17b89ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecc771e79d2c5e260773ac59ddd742ac03472a26864c9dd43b6d70f9e6317824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 5.992 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.4995, -0.0189, -0.0387, 0.9992, 0.8989, 1.816, 1.4651, -0.6834, 0.5751, 0.4591, 0.6997]\nstate[eef_state]: left_x=0.2784 left_y=0.0017 left_z=0.1538 left_yaw=0.0027 left_pitch=-0.1217 left_roll=-0.0014 left_gripper=0.9992 right_x=0.3502 right_y=0.2918 right_z=0.1527 right_yaw=0.1408 right_pitch=-0.2376 right_roll=-0.1854 right_gripper=0.6997\nstate[joint_eff]: [-0.1436, -1.347, 6.9265, 1.8144, -0.0415, -0.0757, -0.0122, 0.4444, -9.1692, 9.2786, 1.2381, 0.5543, 0.2857, 1.0232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9199, 1.9823, 1.4792, -0.5659, 0.6014, 0.4721, 0.699]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1509 left_yaw=0.0026 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9992 right_x=0.3632 right_y=0.3178 right_z=0.0994 right_yaw=0.1315 right_pitch=-0.245 right_roll=-0.2181 right_gripper=0.699\nstate[joint_eff]: [0.0068, -1.1966, 6.9128, 1.746, -0.0562, -0.0269, -0.0122, 0.0479, -7.8017, 8.1846, 1.1062, -0.0171, 0.0611, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5251, -0.0189, -0.0387, 0.9992, 0.9237, 2.0315, 1.4715, -0.4377, 0.6449, 0.4709, 0.699]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.149 left_yaw=0.0028 left_pitch=-0.1472 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3781 right_y=0.3302 right_z=0.0918 right_yaw=0.1189 right_pitch=-0.1686 right_roll=-0.1936 right_gripper=0.699\nstate[joint_eff]: [-0.1709, -1.0462, 7.2, 1.6825, -0.0415, -0.0122, -0.0122, -0.2667, -6.3248, 4.8479, 0.9597, -0.1343, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa614c27ffc7ee784758be0fa9706310721da4f6b734d9ea6aa0ba453e65d1b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87e5ab7c99a4c797090eb7e7f46b354aee94c1561a20f2f31468cfd4b17b89ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc771e79d2c5e260773ac59ddd742ac03472a26864c9dd43b6d70f9e6317824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSlAoKEAgRGAI4AUIIdGhpbmtpbmcSDKcI1aHFJcIR5fjKYxoMOBU52IrPT2BHtEZUIjBXMqw0YTOGlS82hueKfY34eL3mgce/nNkK9H2JD2FGNEnt1PoFaFvjyIGns1UikLgqsQmb+/JlGn8s8d12HLTpzu4Jj31o4B+VTWDd/mJJpmG96nmYkNFH+Iar7iek4Ui+K0beVt5JwfLXo8gRiCag9vRMcMhYD5k8V9WaPe/OP+/yM2b2fSIIh09zzce+Kl5hDiTPsxO0MJCpoRZCKYBuwd02zsXUGvwYwoPmYBfT+xAykSdC8FqllFHByV1RjZmu6fsOdRO9X/qPz+ueOKti0mc7Ghc0z/ffSPQzmNuVmR8LudZlCA4GAtqfUyvXSXLvg+3Oxki+n75/A2G1ttMaEhHt8khjZhI2E04mL8WDvVA8M7CbzTbpwizpCUjOnnZcsMToEHOFUJLrWV84H1Q0JSnq4Abx73LIjG1GVFZQstGvn7VWY3DFvSUH8x9sJV4DAXMI5SDWq/edqqb6ZC+xFxSqvzdP4w0RVaRvu7hPv8Cn6n5xYaOzXw3TfOO1K5vP7/Wk82g7JP4CUv8HphCiGbP4PBIfjuIStXH+Q/pBoDIUQMVUL6yRx+OU4BLpvqZuup2XTEtg9Jr//YHFDjM4q0Ld7n9byWnMAhlZL3zfv6x7cpDXdDEHb1NsCgpHmxd+1aZnvKXdnmKcZ98xc+eM9p2gB2bnb93dk8f0MMibp8mR3ESEDxrSwxZVZ/Prc5egBYKD8ukJwXEph5HfsTV9rCyT88b5Bal+ZBg2Baznff7Q9C/B3pONXiojobQrqB8mTlRnjQtNwCtNsW4NIqILD/6AE4ikL0RPT7IhqoHER0Bmahkfdb5Owv3OsA/QgW79jYOj06ed9Ssi47e8DikCdJ86pY54oPQfPgPENFN/1UVN8UUEtXCaUcYSb9IXv7wT7P1dy06loaO4AwXZBpmviwZznErUndOZdVPxAd9qopWNBEOo963quwSy0iDeQ+im5CIxkD3tCwR1w7vpHR1AK7pYGkm5ysStRVjknXJqFpjrl8WOH1vHPBg2ZgS/SoDq2Xt/NgaOcZv/4JtTxX590mzvd9mH1AP6IJim6u1MGJqnPQF03d/Mdg9PjJnmDUFQcRXNgRo3zLs8a/W8h22o2UTpvP89w6raaOE5xNL0kS1rbhz/q7xeqJ2f+9VrVmzHtrYaSL5IXizhtuH7xmmPUAo6Wn15Y75bpFzu7mTBVv5M3dR+99V1Opzh92vY8uJRDvr12hSPgpaPKaUQItt4+iWOkzPMnBDzJC+ehsXv1pIlNSAHT7kVkQZsxOVeTijwuJE5ruTOmGFFdEnalUIRRNuuCqdXJPi0j3YfV5n2aOCvMXixf+aVINzD95kpFHNfKqXB4Bji2P3PTwFTWUPoW5uRX1qevHR4XiRln2np993FaxxRpoR6ES5QpPDDvlxJ74dtowa3JqRTcw57Nfn283o27HDj4oDfAdkuGQNE+e8XDiikoYr1k0zj2FZ5ROMWTha+KhzIvVMLC0nCpB/BpdYVKRc45cibmaApZlS+b2p1eahvgQvpykFdQJRna1tWtieSUt/h4x2ypOqOK85MNGUxejp87k/0tofAnCsz+1yTPuykVg6El+YzhTK9nXEp+SchQXf6711nl9Nb8iQ/goA304HqmxaC68G2S6AxnLEw+7YPWqikCHqOLIftCJ0r9CM5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017fYmjux78X5wr5X6aHYC65",
      "input": {
        "note": "The descent stalled around z 0.09 and elbow effort dropped, suggesting the can is already resting on the burner. Trying one more small lowering to confirm contact before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.37,
          "right_y": 0.33,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017fYmjux78X5wr5X6aHYC65",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.9371, 2.0331, 1.3937, -0.2615, 0.7151, 0.4713, 0.6983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3844 right_y=0.3337 right_z=0.0909 right_yaw=0.0948 right_pitch=-0.0608 right_roll=-0.1608 right_gripper=0.6983\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6972, -0.0513, -0.0073, -0.0171, 0.0752, -6.8991, 3.6718, 0.7692, -0.4811, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9836e687a6218b50e0d822dd3b508c456ba00240f73038f68af0e265ea1c668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554740e17fe10db76dd8525f87bbc2ef240db4ab33932e152a9ed12d6c989b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac5684b6dcec41921f35ab592071dd1e52b042e20cce3b103bc9f3f70c7dc52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.256 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5148, -0.0189, -0.0383, 0.9992, 0.9199, 1.9823, 1.4792, -0.5659, 0.6014, 0.4721, 0.699]\nstate[eef_state]: left_x=0.2759 left_y=0.0017 left_z=0.1509 left_yaw=0.0026 left_pitch=-0.1369 left_roll=-0.0008 left_gripper=0.9992 right_x=0.3632 right_y=0.3178 right_z=0.0994 right_yaw=0.1315 right_pitch=-0.245 right_roll=-0.2181 right_gripper=0.699\nstate[joint_eff]: [0.0068, -1.1966, 6.9128, 1.746, -0.0562, -0.0269, -0.0122, 0.0479, -7.8017, 8.1846, 1.1062, -0.0171, 0.0611, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5251, -0.0189, -0.0387, 0.9992, 0.9237, 2.0315, 1.4715, -0.4377, 0.6449, 0.4709, 0.699]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.149 left_yaw=0.0028 left_pitch=-0.1472 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3781 right_y=0.3302 right_z=0.0918 right_yaw=0.1189 right_pitch=-0.1686 right_roll=-0.1936 right_gripper=0.699\nstate[joint_eff]: [-0.1709, -1.0462, 7.2, 1.6825, -0.0415, -0.0122, -0.0122, -0.2667, -6.3248, 4.8479, 0.9597, -0.1343, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.9371, 2.0331, 1.3937, -0.2615, 0.7151, 0.4713, 0.6983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3844 right_y=0.3337 right_z=0.0909 right_yaw=0.0948 right_pitch=-0.0608 right_roll=-0.1608 right_gripper=0.6983\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6972, -0.0513, -0.0073, -0.0171, 0.0752, -6.8991, 3.6718, 0.7692, -0.4811, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9836e687a6218b50e0d822dd3b508c456ba00240f73038f68af0e265ea1c668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554740e17fe10db76dd8525f87bbc2ef240db4ab33932e152a9ed12d6c989b62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac5684b6dcec41921f35ab592071dd1e52b042e20cce3b103bc9f3f70c7dc52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygYKEAgRGAI4AUIIdGhpbmtpbmcSDKQQ2bQbEzIXK3kujxoM5mevs8UJdJiaE/biIjBU8Od8RTiZq66SnsGiQvmNvII3lVDMlVB6paWApgvttzmmCzPlTXAfm0BN1QrAp80q5wW0dIbIuV6sW0COe7O6EZvhLe4oqtJ/m/h6bR83Yuy76idTuNzu9LRBtooLCs0h3VFC1LF+c9zjsvy9GiBxUNjbldVIzojyN/jNRG7kwLD3cM+aOCT7T37T0MVvf9iibWzdk2Jhx3KxFNn03nsY7SHvDJlfR5XCRlh8bBSVSg4IiIv2Jm07s1VfZTxn6tBc1KjODY/8Np3OzMdjnzaJc9sYVcbGhzJdCY6h7g+Cafoh7DmZbJw3jwt+Re0HQ5zsWgYeecwSmPofO044DCLvukbH20PXHONryy1rwAdQP480kFkqjrfiPXuaPIwwsgoP0gZQvmskSSBI0O1AnrBrxW59LL0W8V3L3qAWN975M4SNi12VbYq+yXVpNC+2QFziJGEGVH+7DMF3MaCTrbuIZ8dZMhS5cJKzHmaCxgUKFul7KP3gIOsRxE87kwz/lddHsGcMilroLF8bpmpjREbXvaqmsOD7PxZiedxVkdOoDls2cEcnUh2bkMLqCexkDVMTjlOXLMFK48cQ0PyozaiwWKFXKFgkC8KMhRvJvVKRgibyXanuize9VQHqJ6QHZWlpPgLOIoWz6Q++JfUNWVelvSkqY4Uf47hOD/ItMuderciVCiphz38X5f7Qqfjl8hImcC1osnIg7fkGHT3RjBt5Uhgz5hK5s/00OaZ5OvafS5b2CrJJSXSmuqaDnmUT1F9POrcD/FDQMEPBWPITry4dlJ+huVINmJtxSvxeA/xh0TapobrfiXZ+BdhD4AHzrfsUVKcySdkqEUiN0jNqIZbYWV9qBpU0KS2qlxZlaV3w7cBZSsWGOEg5HrDan+FF677+J+jI/qWdafaa481BJIhrNNkfRj9xPpF/gVPeluspaTLILsyXeHdWybokqY2WeiKnB9C1GWW4Es3Onr61jQ4odd6NnV1AwTtXyXWpkQRNvezZ/6zIHLBlTf0+y/PfpYMcgalpYShU+EXzVB7Y+clY1SoTaDDkuPR8vxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T8rkXbbGQLWvgVjojjTWat",
      "input": {
        "note": "Height is holding at z≈0.09 with elbow effort dropping further, so the can is resting on the burner. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01T8rkXbbGQLWvgVjojjTWat",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5488, -0.0189, -0.0387, 0.9992, 0.9367, 2.0331, 1.3903, -0.2337, 0.7216, 0.4706, 0.6983]\nstate[eef_state]: left_x=0.2704 left_y=0.0018 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.1728 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3871 right_y=0.3354 right_z=0.0938 right_yaw=0.0915 right_pitch=-0.0409 right_roll=-0.1465 right_gripper=0.6983\nstate[joint_eff]: [-0.1162, -1.0325, 7.0496, 1.6777, -0.0611, -0.0513, -0.0122, -0.0752, -11.1248, 6.5709, 1.0037, 0.2076, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a4685624df1476ff59f09c8baf23626661b9c2999219b704bef031b23ebe06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18383369d8d2554f4cdecc690ac9535b2b996be153a3ab1527e96568bcd9dce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70174e240242df95e223c3f4610778b561303f215f5bbeb615793dfc4bfbcdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.858 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5251, -0.0189, -0.0387, 0.9992, 0.9237, 2.0315, 1.4715, -0.4377, 0.6449, 0.4709, 0.699]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.149 left_yaw=0.0028 left_pitch=-0.1472 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3781 right_y=0.3302 right_z=0.0918 right_yaw=0.1189 right_pitch=-0.1686 right_roll=-0.1936 right_gripper=0.699\nstate[joint_eff]: [-0.1709, -1.0462, 7.2, 1.6825, -0.0415, -0.0122, -0.0122, -0.2667, -6.3248, 4.8479, 0.9597, -0.1343, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.9371, 2.0331, 1.3937, -0.2615, 0.7151, 0.4713, 0.6983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3844 right_y=0.3337 right_z=0.0909 right_yaw=0.0948 right_pitch=-0.0608 right_roll=-0.1608 right_gripper=0.6983\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6972, -0.0513, -0.0073, -0.0171, 0.0752, -6.8991, 3.6718, 0.7692, -0.4811, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5488, -0.0189, -0.0387, 0.9992, 0.9367, 2.0331, 1.3903, -0.2337, 0.7216, 0.4706, 0.6983]\nstate[eef_state]: left_x=0.2704 left_y=0.0018 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.1728 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3871 right_y=0.3354 right_z=0.0938 right_yaw=0.0915 right_pitch=-0.0409 right_roll=-0.1465 right_gripper=0.6983\nstate[joint_eff]: [-0.1162, -1.0325, 7.0496, 1.6777, -0.0611, -0.0513, -0.0122, -0.0752, -11.1248, 6.5709, 1.0037, 0.2076, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6a4685624df1476ff59f09c8baf23626661b9c2999219b704bef031b23ebe06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18383369d8d2554f4cdecc690ac9535b2b996be153a3ab1527e96568bcd9dce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70174e240242df95e223c3f4610778b561303f215f5bbeb615793dfc4bfbcdb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvwYKEAgRGAI4AUIIdGhpbmtpbmcSDC/adhdKN6CRPLWuQRoMUt/r63VcQEZc/kXhIjAoWvw3DhImFJDe8A/B9dfRkZQKl0ng1xSy4ZCaqDMBaE+rj2Ve2N9z1iM9PaGSH/0q3AUm+SJyAvRSfsymXezzdbf0YyfsPEhzkuesADPlWi2vIwytW7dS1iY1y6ODhN4dKcw9XjbcV0SBgc9l80Z4G+GHLR5Dtj7RXDWBJg7Wyw+Z4vpM3YA00ZmT7CPJfnc3UhZiVGA2Kv6lrq5c2RUhVLLBUOLpOIbusxb9dlTPP5EKxtL4NENSXXgbZ+HCayR3Rb9SG7FEHYADuJ3hkt0S+IfCHCcogR6b+oq0pnuflCcr7aYnP/9e1eQWw1N1P4pn5f9MknmHRL+NkQ/oXOwUY3Lqot3jnLi8++bmNtO/oaRRJ+uDAL7Wuq2RKpSfBhvDyxgpstrqDDCO6jUax2tSA3GOjHPeaKDn860c48yoRFjup7Qmt8Wusc1NIAT2GNHObiufn0K61jaik9lP2m4tqCBYfDW06vXmoFAbea8BR09qFiytsqUnNc50A2abHrFei4ka3QsLSh4yTtY2+SdjoIR0lNH/tgaryKHVVGesxwjsWpyNof1aLYumQnsv1rBq/6In60TKaXoRcGlXJxAJldJhq00mOrkRP7rz1T8pR2dh3guGCsmP7HQFnelYwZ2NVyp+E5Eu2hd27P9H3uPSrVOzdAKF+0ck7OkKH8awKTKT9ciMrwai3PZkdxIHyB883M9mD+RBO4xEWD9yDVXF2TY55NSUq7X3s+f+f6qaehll4BTimP6WGyP0SYaM6vYbAWYFxBBmfvLS8lPb00/zBALcglJcjxpnaj9nmMsK91J7P8gkpqs8MldDTmFQXvu31f6IjauheW9/i/33V0AHBAxrNKXCCkwneNEayN6EgNzJSWYJneViZSek0/OSQKkLIzpCpEH7yJ9aSVxPJFAFyA5k/ggGhu40KEs1mNXb1gm9TSbwhqaJZO8bM7VIhbv5kJZP/2RFuUGkoyd0CjkRHbUbmyRv/QOsQ5Ol71hPjKan2IIfIb77acxmNiIKrsu3zRv3lCMeFUrw2lTHK20YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pxc64WR53j4r9D6JBBYJng",
      "input": {
        "note": "The gripper reading is still 0.70 (the open command was rate-clamped), so the jaws haven't released yet. Re-sending the open command.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Pxc64WR53j4r9D6JBBYJng",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0193, -0.0387, 0.9992, 0.9367, 2.0331, 1.3891, -0.2371, 0.7177, 0.4641, 0.7949]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0033 left_pitch=-0.1865 left_roll=0.0003 left_gripper=0.9992 right_x=0.3863 right_y=0.3353 right_z=0.0926 right_yaw=0.0974 right_pitch=-0.0467 right_roll=-0.1532 right_gripper=0.7949\nstate[joint_eff]: [-0.0615, -1.1692, 6.9812, 1.7314, -0.0659, -0.0562, -0.0122, -0.3077, -10.947, 6.6256, 1.4335, 0.3297, 0.0464, 0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618b20f07d26b2b14e611f34eb6c9738ff9c5c7b1ad3f9fc48c3adcf6cc80293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcff9ed149496becb6a2083d8f81a8d08722cc70dd2d534de6798f1aa3bf4f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a48ff96ec0cba57017005b2b14e7f69faa905a397c87c2f85c1dc4d226b0702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.653 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.9371, 2.0331, 1.3937, -0.2615, 0.7151, 0.4713, 0.6983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1644 left_roll=-0.0005 left_gripper=0.9992 right_x=0.3844 right_y=0.3337 right_z=0.0909 right_yaw=0.0948 right_pitch=-0.0608 right_roll=-0.1608 right_gripper=0.6983\nstate[joint_eff]: [-0.1709, -1.3333, 6.8991, 1.6972, -0.0513, -0.0073, -0.0171, 0.0752, -6.8991, 3.6718, 0.7692, -0.4811, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5488, -0.0189, -0.0387, 0.9992, 0.9367, 2.0331, 1.3903, -0.2337, 0.7216, 0.4706, 0.6983]\nstate[eef_state]: left_x=0.2704 left_y=0.0018 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.1728 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3871 right_y=0.3354 right_z=0.0938 right_yaw=0.0915 right_pitch=-0.0409 right_roll=-0.1465 right_gripper=0.6983\nstate[joint_eff]: [-0.1162, -1.0325, 7.0496, 1.6777, -0.0611, -0.0513, -0.0122, -0.0752, -11.1248, 6.5709, 1.0037, 0.2076, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0193, -0.0387, 0.9992, 0.9367, 2.0331, 1.3891, -0.2371, 0.7177, 0.4641, 0.7949]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0033 left_pitch=-0.1865 left_roll=0.0003 left_gripper=0.9992 right_x=0.3863 right_y=0.3353 right_z=0.0926 right_yaw=0.0974 right_pitch=-0.0467 right_roll=-0.1532 right_gripper=0.7949\nstate[joint_eff]: [-0.0615, -1.1692, 6.9812, 1.7314, -0.0659, -0.0562, -0.0122, -0.3077, -10.947, 6.6256, 1.4335, 0.3297, 0.0464, 0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:618b20f07d26b2b14e611f34eb6c9738ff9c5c7b1ad3f9fc48c3adcf6cc80293",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcff9ed149496becb6a2083d8f81a8d08722cc70dd2d534de6798f1aa3bf4f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a48ff96ec0cba57017005b2b14e7f69faa905a397c87c2f85c1dc4d226b0702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is opening slowly (0.79). Continuing to open and lifting clear of the can.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EPP8ooYzBub9vTjnHDoQP",
      "input": {
        "note": "The jaws are opening (0.79) and the can rests on the burner. Finishing the open and lifting the arm clear so the top camera can verify the placement.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013EPP8ooYzBub9vTjnHDoQP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5766, -0.0189, -0.0383, 0.9992, 0.9367, 1.9823, 1.6619, -0.6014, 0.7067, 0.4526, 0.998]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9992 right_x=0.3861 right_y=0.3375 right_z=0.171 right_yaw=0.109 right_pitch=-0.0816 right_roll=-0.1868 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -1.1829, 6.8581, 1.6972, -0.0611, -0.0073, -0.0171, -0.1299, -13.6274, 8.5128, 1.5604, 0.3248, 0.1148, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae714933198d61a565b7c8d051dcb572900e27c247642b5fa57850da34daf27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02fe4f8cc83d3a5cb3ce24ae8d4cc7f2bddde5eca6df958503b55fa185285063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:361774140f1381ce5e4909ddaa90cb3b6de8973f931b338aa719317a7cc3e311",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.65 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5488, -0.0189, -0.0387, 0.9992, 0.9367, 2.0331, 1.3903, -0.2337, 0.7216, 0.4706, 0.6983]\nstate[eef_state]: left_x=0.2704 left_y=0.0018 left_z=0.1442 left_yaw=0.0029 left_pitch=-0.1728 left_roll=-0.0003 left_gripper=0.9992 right_x=0.3871 right_y=0.3354 right_z=0.0938 right_yaw=0.0915 right_pitch=-0.0409 right_roll=-0.1465 right_gripper=0.6983\nstate[joint_eff]: [-0.1162, -1.0325, 7.0496, 1.6777, -0.0611, -0.0513, -0.0122, -0.0752, -11.1248, 6.5709, 1.0037, 0.2076, -0.0464, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5625, -0.0193, -0.0387, 0.9992, 0.9367, 2.0331, 1.3891, -0.2371, 0.7177, 0.4641, 0.7949]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1418 left_yaw=0.0033 left_pitch=-0.1865 left_roll=0.0003 left_gripper=0.9992 right_x=0.3863 right_y=0.3353 right_z=0.0926 right_yaw=0.0974 right_pitch=-0.0467 right_roll=-0.1532 right_gripper=0.7949\nstate[joint_eff]: [-0.0615, -1.1692, 6.9812, 1.7314, -0.0659, -0.0562, -0.0122, -0.3077, -10.947, 6.6256, 1.4335, 0.3297, 0.0464, 0.0757]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5766, -0.0189, -0.0383, 0.9992, 0.9367, 1.9823, 1.6619, -0.6014, 0.7067, 0.4526, 0.998]\nstate[eef_state]: left_x=0.2656 left_y=0.0019 left_z=0.1393 left_yaw=0.0028 left_pitch=-0.2006 left_roll=0.0006 left_gripper=0.9992 right_x=0.3861 right_y=0.3375 right_z=0.171 right_yaw=0.109 right_pitch=-0.0816 right_roll=-0.1868 right_gripper=0.998\nstate[joint_eff]: [-0.2667, -1.1829, 6.8581, 1.6972, -0.0611, -0.0073, -0.0171, -0.1299, -13.6274, 8.5128, 1.5604, 0.3248, 0.1148, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ae714933198d61a565b7c8d051dcb572900e27c247642b5fa57850da34daf27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02fe4f8cc83d3a5cb3ce24ae8d4cc7f2bddde5eca6df958503b55fa185285063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:361774140f1381ce5e4909ddaa90cb3b6de8973f931b338aa719317a7cc3e311",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgRGAI4AUIIdGhpbmtpbmcSDBd5KzGKv6WSoRE0phoMKyg+GE4mR8lQ0argIjAnsXD2jTNgD1MHZl3UFJ/j/k1lj0/4gUk0L4sa7jBgFZbQbiZ/mD3oZFcO0dv2WOsqqwYoCEAQfuTAIG1RJLLBaT2Y8HoZnTHVgh6iw1YuhVhwXAnt2iRWXaplJK+FZUqX7QC3MpOqw/SjGWi8WANxbJTKGmv/+xPw+k843u/Mh7+OVXy+yvwZcnTz7YDVPxqnj6kYRJDyqXj1jwNwxxkhOk89IN+WeTOIJkrEX+ATZHm+SlVM13mXxuMWyqzGgY7nC8H2fq3Cx3KvZEvZVtXHf45oNYnbE2lVHPZWlqZkzf54tL8j5ZaQrA6cOjFH1FnCE4YdJ1Ww5V5YJippNyd+jkr9B4Pn/Sx7T6ce//8DZEszBBSqBJcRP5efNdC21x/ukQm86HwSBPlqb3uQ0g4o1wEPZ16hVNzL7CbWagM+tdWdE6yHfKmLiKLQwdMSflPr7A2GqFMZbMcYN1b9i0iAXxBRZHThmOL9BKiarth6bTPyIXuG/cCubTH/IEO49mE4wvata0LyZDi2lfn4+LJEJ2DBjIAL2GotN2qZNWq+GwDqRB0eOsIribuXMAYnqpaBiHm+QWl/maqvIr1e8/NG6TxmoQ37jQq1MrVh5lX74TYs1V2KT66e/3iYEiXSoM+0iaHKBYPg15AKHtMJjqw6TIpvY+g1Zw1auD1906FiKP8BeN794pK+i0f0Zs34UDTlPSHi/cQ7R/Hlg0LuZDfZ1RX5mmTvKmXW4Hu9JjctSxO4YLn8QJod0AhLQcQYOIfSY53izTUSymDds/Gr8SzO4yILOR70qe9ylZyO5Aegb+W04hUOIlW0YSPGRKjXgubCGjw8yaaoz7Y7GuJ3Aom6v9I9LpMmfyX5Chs96gpEPhts6LdRYZeych2mmy6ijk7VabkuxSFGOhz0Nepg/ljRcQGJNMzL09PVhYUSp1EY3JctXatOCbOgzXJLz2YJ72q5c7T7zTGX4ZNX35V8iuqhuqsYA8QGHQTAI56Vlfy9Pi1cZyhyJqr+ZotRfuBKLiFS/HKR6SJ076XOEdQzWZzxn3WX5A1FHOeq4EGoEOiYLwg6eYj7GHlgrOPZHmr6xUAjhk6kERnqKiXdZMCX3nJ0Pj9VBiybYSFmFOC3RGCBA4RHcP3ZsJS6ovY923XsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0146HJxd1PEjKaxTDBzHmv6m",
      "input": {
        "note": "The wrist camera shows the can lying across the burner coil, released. Returning the right arm to its home pose to clear the overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_0146HJxd1PEjKaxTDBzHmv6m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5854, -0.0189, -0.0387, 0.9992, 0.0177, 0.8474, 0.6807, -0.5041, 0.0788, -0.1947, 0.999]\nstate[eef_state]: left_x=0.2641 left_y=0.0019 left_z=0.1377 left_yaw=0.003 left_pitch=-0.2094 left_roll=0.0005 left_gripper=0.9992 right_x=0.2899 right_y=-0.0052 right_z=0.1755 right_yaw=0.0455 right_pitch=-0.0991 right_roll=-0.186 right_gripper=0.999\nstate[joint_eff]: [-0.0889, -1.1829, 6.8991, 1.6044, -0.022, -0.0611, -0.0122, 0.1573, -1.9761, 7.0769, 1.8535, -0.2076, -0.1099, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68b840f3a8049a3bce894927e7fcf5e41f62ef3d87a780c8536c3637f025910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf0ee434263c9ec9f0ee8942a89bb7153cff648c4dbc1b6265b7e2360e267c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ea599c67a5a0d9b4df1a49e6c25ba7ac219d21b56be6b230f2ebfc865c974fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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