adhoc

completed
2026-09-18T05:16:24.828756+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
343.3 s
total steps
303
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
The can lies on the right side near the right arm; I'll use the right arm to grasp it across its body and set it on the burner.
agent noteThe spray can lies on the table ahead-left of the right gripper in the wrist view, roughly along the forward direction. Moving the right arm above it to check alignment before descending.
move_to
right_x0.3500right_y0.0800right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7921, 0.6037, -0.3908, -0.0196, -0.0338, 0.9991, -0.0212, 0.7937, 0.6067, -0.3962, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2929 right_y=0.0009 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4034, -1.4564, 10.2632, 1.9951, -0.0708, 0.1685, -0.105, -0.3214, -1.5248, 9.6752, 1.9023, -0.0757, -0.0122, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
The can lies on the right side near the right arm; I'll use the right arm to grasp it across its body and set it on the burner.
move_to({"targets": {"right_x": 0.35, "right_y": 0.08, "right_z": 0.15, "right_gripper": 1.0}, "note": "The spray can lies on the table ahead-left of the right gripper in the wrist view, roughly along the forward direction. Moving the right arm above it to check alignment before descending."})
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 lies right on the jaw column in the right wrist view and extends under the fingertips. Descending to can mid-height to grasp it across its body.
move_to
right_x0.3400right_y0.0800right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.999, 0.345, 1.1538, 0.6182, -0.1894, 0.2417, 0.1593, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.999 right_x=0.3286 right_y=0.077 right_z=0.1199 right_yaw=0.0521 right_pitch=-0.117 right_roll=-0.0392 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.5932, 6.9538, 1.8584, -0.0415, -0.0024, -0.022, 0.1709, -4.2462, 10.1538, 2.1074, 0.2173, 0.1294, -0.0513] 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": 0.34, "right_y": 0.08, "right_z": 0.03, "right_gripper": 1.0}, "note": "The can now lies right on the jaw column in the right wrist view and extends under the fingertips. Descending to can mid-height to grasp it across its body."})
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
The can fills the wrist view between the jaws at z≈0.02; closing the gripper now.
agent noteThe can body is centred between the jaws in the right wrist view at grasp height. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4137, -0.0193, -0.0387, 0.999, 0.3408, 1.4448, 0.4225, 0.1959, 0.2401, 0.1581, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1733 left_yaw=0.0024 left_pitch=-0.0252 left_roll=-0.0038 left_gripper=0.999 right_x=0.3234 right_y=0.0739 right_z=0.0185 right_yaw=0.0448 right_pitch=-0.2145 right_roll=-0.0689 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.2376, 7.0085, 1.7656, -0.0415, -0.0562, -0.0122, -0.3077, -4.9436, 5.1624, 1.8046, 0.1001, -0.0415, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
The can fills the wrist view between the jaws at z≈0.02; closing the gripper now.
move_to({"targets": {"right_gripper": 0.0}, "note": "The can body is centred between the jaws in the right wrist view at grasp height. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
Gripper settled at 0.71 (~6.7 cm) — consistent with the can's diameter. Lifting to verify the grasp.
agent noteGripper reading 0.71 suggests the can is held. Lifting to carry height and checking the overhead view to confirm the can came along.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.999, 0.3393, 1.4567, 0.4072, 0.2184, 0.2356, 0.1574, 0.708] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0024 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.999 right_x=0.321 right_y=0.0734 right_z=0.0132 right_yaw=0.0473 right_pitch=-0.2198 right_roll=-0.0675 right_gripper=0.708 state[joint_eff]: [0.0068, -1.1829, 7.0085, 1.8535, -0.0464, -0.0415, -0.0122, -0.0205, -5.7641, 6.3795, 1.2088, 0.0904, -0.0562, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
Gripper settled at 0.71 (~6.7 cm) — consistent with the can's diameter. Lifting to verify the grasp.
move_to({"targets": {"right_z": 0.18}, "note": "Gripper reading 0.71 suggests the can is held. Lifting to carry height and checking the overhead view to confirm the can came along."})
tool
executing move_to over 11 steps (1.1s)
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 can lifted with the gripper (visible in the top view held by the right arm). Carrying it left toward the burner at table centre, staying high to clear the burner body.
move_to
right_x0.3400right_y0.3200right_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.999, 0.3393, 1.1694, 0.8768, -0.6003, 0.2245, 0.1535, 0.71] state[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0021 left_pitch=-0.0488 left_roll=-0.0035 left_gripper=0.999 right_x=0.3144 right_y=0.0731 right_z=0.1532 right_yaw=0.0542 right_pitch=-0.2816 right_roll=-0.08 right_gripper=0.71 state[joint_eff]: [-0.1709, -1.3197, 7.4188, 1.7314, -0.0415, -0.0415, -0.0122, -0.3624, -5.1624, 9.4564, 1.9756, 0.1929, 0.022, 0.7643] approver: 7 step(s) modified (delta_clamped ×7). 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": 0.34, "right_y": 0.32, "right_z": 0.2}, "note": "The can lifted with the gripper (visible in the top view held by the right arm). Carrying it left toward the burner at table centre, staying high to clear the burner body."})
tool
executing move_to over 21 steps (2.1s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe held can is now above the burner in the overhead view, roughly centred over the coil. Lowering it until it rests on the burner plate.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4534, -0.0193, -0.0387, 0.999, 0.9451, 1.9121, 1.7813, -1.0245, 0.5205, 0.6731, 0.7124] state[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1641 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0029 left_gripper=0.999 right_x=0.3314 right_y=0.3147 right_z=0.1841 right_yaw=0.0854 right_pitch=-0.339 right_roll=-0.1122 right_gripper=0.7124 state[joint_eff]: [-0.294, -1.4701, 7.0085, 1.8779, -0.0562, -0.0806, -0.0122, 0.2803, -9.7573, 8.9778, 0.9695, 0.6276, 0.1929, 0.4957] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "The held can is now above the burner in the overhead view, roughly centred over the coil. Lowering it until it rests on the burner plate."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe arm reached z≈0.10 freely, so the can is not yet resting on the burner. Lowering further until the descent stalls on contact.
move_to
right_z0.0600
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.9478, 1.919, 1.4574, -0.7399, 0.5144, 0.6739, 0.7127] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0021 left_pitch=-0.0755 left_roll=-0.003 left_gripper=0.999 right_x=0.3226 right_y=0.3062 right_z=0.0961 right_yaw=0.0783 right_pitch=-0.3732 right_roll=-0.1452 right_gripper=0.7127 state[joint_eff]: [-0.1709, -1.2786, 7.2274, 1.7558, -0.0366, -0.0171, -0.0122, -0.335, -8.5265, 6.3111, 1.1404, 0.3101, -0.0073, 0.7106] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.06}, "note": "The arm reached z\u22480.10 freely, so the can is not yet resting on the burner. Lowering further until the descent stalls on contact."})
tool
executing move_to over 3 steps (0.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
The descent stalled at z≈0.084 (target 0.06) and elbow effort dropped — the can is resting on the burner. Releasing it.
agent noteThe descent stopped short at z≈0.08 with reduced arm effort, indicating the can is sitting 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, 0.804, 0.6067, -0.4728, -0.0193, -0.0387, 0.999, 0.9501, 1.9282, 1.3972, -0.627, 0.5426, 0.6701, 0.7143] state[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1599 left_yaw=0.0025 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.999 right_x=0.3288 right_y=0.3092 right_z=0.0844 right_yaw=0.078 right_pitch=-0.3255 right_roll=-0.1302 right_gripper=0.7143 state[joint_eff]: [-0.212, -1.0598, 7.1726, 1.7851, -0.0904, -0.0415, -0.0122, -0.1846, -7.5556, 3.9179, 0.7839, -0.2466, -0.0122, 0.6471] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
The descent stalled at z≈0.084 (target 0.06) and elbow effort dropped — the can is resting on the burner. Releasing it.
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stopped short at z\u22480.08 with reduced arm effort, indicating the can is sitting on the burner. Opening the gripper to release it."})
tool
executing move_to over 3 steps (0.3s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
Gripper open; retracting the right arm up and back to home so the overhead view shows the result.
agent noteThe can has been released on the burner. Lifting and moving the right arm back to its home position to clear the overhead view and verify placement.
move_to
right_x0.2900right_y0.0000right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0387, 0.999, 0.9489, 1.9499, 1.3659, -0.6094, 0.5224, 0.6666, 0.9946] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0022 left_pitch=-0.098 left_roll=-0.0025 left_gripper=0.999 right_x=0.3235 right_y=0.3062 right_z=0.0649 right_yaw=0.0812 right_pitch=-0.3629 right_roll=-0.1484 right_gripper=0.9946 state[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.707, -0.0464, -0.0513, -0.0122, -0.4171, -9.5521, 6.1744, 1.2527, 0.1929, 0.0122, -0.0415] 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
Gripper open; retracting the right arm up and back to home so the overhead view shows the result.
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.2, "right_gripper": 1.0}, "note": "The can has been released on the burner. Lifting and moving the right arm back to its home position to clear the overhead view and verify placement."})
tool
executing move_to over 26 steps (2.6s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
The can appears to have rolled off to the right edge of the burner rather than resting on the coil. I'll re-grasp it and place it more carefully onto the coil.
agent noteIn the overhead view the can is lying against the right edge of the burner, not on the coil. Moving the right gripper above the can to re-grasp it.
move_to
right_x0.3300right_y0.2300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5022, -0.0193, -0.0387, 0.999, 0.0311, 1.103, 1.018, -0.915, 0.0803, -0.1265, 0.999] state[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1543 left_yaw=0.0025 left_pitch=-0.1201 left_roll=-0.0018 left_gripper=0.999 right_x=0.2834 right_y=-0.0018 right_z=0.1796 right_yaw=0.031 right_pitch=-0.422 right_roll=-0.1504 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.2239, 7.1043, 1.8535, -0.0757, -0.0415, -0.0122, -0.1573, -4.1504, 9.7162, 1.4676, -0.1099, 0.0024, -0.1148] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
The can appears to have rolled off to the right edge of the burner rather than resting on the coil. I'll re-grasp it and place it more carefully onto the coil.
move_to({"targets": {"right_x": 0.33, "right_y": 0.23, "right_z": 0.15, "right_gripper": 1.0}, "note": "In the overhead view the can is lying against the right edge of the burner, not on the coil. Moving the right gripper above the can to re-grasp it."})
tool
executing move_to over 20 steps (2.0s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteIn the right wrist view the can lies about 4 cm to the right of the jaw column, next to the burner. Shifting right and descending to grasp height on the can body.
move_to
right_x0.3300right_y0.1900right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8059, 0.6067, -0.5179, -0.0189, -0.0387, 0.999, 0.7822, 1.7012, 1.4029, -0.9272, 0.416, 0.5293, 0.999] state[eef_state]: left_x=0.2753 left_y=0.0016 left_z=0.1508 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0017 left_gripper=0.999 right_x=0.3205 right_y=0.2229 right_z=0.1413 right_yaw=0.0545 right_pitch=-0.4686 right_roll=-0.1791 right_gripper=0.999 state[joint_eff]: [-0.3077, -1.3744, 6.9128, 1.7314, -0.0757, -0.0464, -0.0122, 0.212, -7.665, 8.4718, 0.989, 0.4469, 0.1343, -0.1148] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.19, "right_z": 0.03, "right_gripper": 1.0}, "note": "In the right wrist view the can lies about 4 cm to the right of the jaw column, next to the burner. Shifting right and descending to grasp height on the can body."})
tool
executing move_to over 8 steps (0.8s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteDescent stopped at z≈0.06, likely the left jaw landing on the burner rim; the can sits slightly right of the jaw centre. Shifting 2 cm right and lowering again to get the jaws around the can.
move_to
right_x0.3300right_y0.1750right_z0.0250right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8082, 0.6067, -0.5278, -0.0193, -0.0387, 0.999, 0.6949, 1.7077, 1.0428, -0.466, 0.3935, 0.458, 0.999] state[eef_state]: left_x=0.2738 left_y=0.0017 left_z=0.1484 left_yaw=0.0023 left_pitch=-0.1499 left_roll=-0.0011 left_gripper=0.999 right_x=0.3369 right_y=0.1973 right_z=0.0587 right_yaw=0.0546 right_pitch=-0.4144 right_roll=-0.1364 right_gripper=0.999 state[joint_eff]: [-0.3214, -0.9915, 6.8991, 1.7509, -0.0806, -0.022, -0.0122, -0.3624, -3.7675, 3.6444, 0.3492, 0.105, -0.2466, -0.1148] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.175, "right_z": 0.025, "right_gripper": 1.0}, "note": "Descent stopped at z\u22480.06, likely the left jaw landing on the burner rim; the can sits slightly right of the jaw centre. Shifting 2 cm right and lowering again to get the jaws around the can."})
tool
executing move_to over 3 steps (0.3s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe arm did not move sideways or down; it seems hung up on the burner rim. Lifting clear first and shifting further right so the jaws straddle the can away from the burner.
move_to
right_x0.3300right_y0.1600right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5381, -0.0189, -0.0387, 0.999, 0.6655, 1.6714, 0.9314, -0.276, 0.379, 0.4408, 0.999] state[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1466 left_yaw=0.0023 left_pitch=-0.1598 left_roll=-0.0012 left_gripper=0.999 right_x=0.3459 right_y=0.193 right_z=0.0548 right_yaw=0.0722 right_pitch=-0.3289 right_roll=-0.0646 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.0325, 7.0632, 1.6923, -0.0464, -0.0269, -0.0122, -0.9231, -4.7658, 3.3299, 0.0757, 0.3053, -0.2808, -0.1148] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.16, "right_z": 0.12, "right_gripper": 1.0}, "note": "The arm did not move sideways or down; it seems hung up on the burner rim. Lifting clear first and shifting further right so the jaws straddle the can away from the burner."})
tool
executing move_to over 5 steps (0.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe right arm has stalled in an awkward pose next to the burner. Pulling it back toward the base, raising it, and resetting the tool orientation to get it moving again.
move_to
right_x0.2800right_y0.1500right_z0.1600right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5404, -0.0189, -0.0383, 0.999, 0.6586, 1.6661, 0.9104, -0.2329, 0.3775, 0.4332, 0.999] state[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1462 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0009 left_gripper=0.999 right_x=0.3488 right_y=0.1921 right_z=0.0549 right_yaw=0.076 right_pitch=-0.307 right_roll=-0.0524 right_gripper=0.999 state[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.663, -0.0464, -0.022, -0.0122, -0.8274, -4.7111, 3.6444, 0.6471, 0.1294, -0.2418, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.15, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The right arm has stalled in an awkward pose next to the burner. Pulling it back toward the base, raising it, and resetting the tool orientation to get it moving again."})
tool
executing move_to over 11 steps (1.1s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe arm is free again; the can lies angled just right of the burner, cap end toward the burner. Moving over the can's lower body with the tool yawed to match the can's angle so the jaws can straddle it without hitting the burner rim.
move_to
right_x0.3200right_y0.1550right_z0.1200right_yaw0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5617, -0.0189, -0.0387, 0.999, 0.8185, 1.1213, 0.7017, -0.3439, 0.609, 0.514, 0.999] state[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1414 left_yaw=0.0024 left_pitch=-0.1873 left_roll=-0.0006 left_gripper=0.999 right_x=0.2822 right_y=0.1589 right_z=0.1563 right_yaw=0.0411 right_pitch=-0.0201 right_roll=0.01 right_gripper=0.999 state[joint_eff]: [-0.1026, -1.2376, 6.8581, 1.7607, -0.022, -0.0269, -0.0122, 0.1573, -3.7402, 6.7761, 1.4823, 0.2955, 0.0806, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.155, "right_z": 0.12, "right_yaw": 0.35, "right_gripper": 1.0}, "note": "The arm is free again; the can lies angled just right of the burner, cap end toward the burner. Moving over the can's lower body with the tool yawed to match the can's angle so the jaws can straddle it without hitting the burner rim."})
tool
executing move_to over 3 steps (0.3s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteThe can now lies centred along the jaw column in the right wrist view, aligned with the tool. Advancing slightly onto its body and descending to grasp height.
move_to
right_x0.3350right_y0.1250right_z0.0300right_yaw0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8154, 0.6067, -0.5697, -0.0189, -0.0387, 0.999, 0.5285, 1.1664, 0.5598, -0.139, 0.3187, 0.2581, 0.999] state[eef_state]: left_x=0.2669 left_y=0.0018 left_z=0.1391 left_yaw=0.0021 left_pitch=-0.1991 left_roll=-0.0003 left_gripper=0.999 right_x=0.308 right_y=0.1199 right_z=0.1031 right_yaw=0.1171 right_pitch=-0.1171 right_roll=-0.0191 right_gripper=0.999 state[joint_eff]: [-0.294, -1.4427, 6.8991, 1.707, -0.022, -0.022, -0.0122, 1.9214, -4.2051, 8.0479, 2.1758, -0.1783, -0.1343, -0.1148] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.335, "right_y": 0.125, "right_z": 0.03, "right_yaw": 0.12, "right_gripper": 1.0}, "note": "The can now lies centred along the jaw column in the right wrist view, aligned with the tool. Advancing slightly onto its body and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe can is centred between the jaws in the wrist view but the arm is still at z≈0.08; the previous move ended early. Continuing the descent to grasp height.
move_to
right_x0.3300right_y0.1300right_z0.0300right_yaw0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5842, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5079, -0.0238, 0.2855, 0.2485, 0.999] state[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1364 left_yaw=0.0026 left_pitch=-0.2143 left_roll=-0.0 left_gripper=0.999 right_x=0.3036 right_y=0.1395 right_z=0.0778 right_yaw=0.1895 right_pitch=-0.1372 right_roll=-0.0101 right_gripper=0.999 state[joint_eff]: [-0.0342, -1.2239, 6.9675, 1.6386, -0.0611, -0.0611, -0.0122, -0.0615, -4.041, 6.7897, 1.8486, 0.2808, 0.2076, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.13, "right_z": 0.03, "right_yaw": 0.15, "right_gripper": 1.0}, "note": "The can is centred between the jaws in the wrist view but the arm is still at z\u22480.08; the previous move ended early. Continuing the descent to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe arm is stuck again at z≈0.08: the left jaw is resting on the burner top since the can lies right against it. Lifting and moving to the can's near (bottom) end, which sits further from the burner, to grasp there instead.
move_to
right_x0.2800right_y0.1000right_z0.1200right_yaw0.3500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5854, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5072, -0.0246, 0.2989, 0.2626, 0.999] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1362 left_yaw=0.0026 left_pitch=-0.2155 left_roll=0.0 left_gripper=0.999 right_x=0.3041 right_y=0.1372 right_z=0.0778 right_yaw=0.1707 right_pitch=-0.1351 right_roll=-0.0085 right_gripper=0.999 state[joint_eff]: [-0.0068, -1.0462, 7.0906, 1.5018, -0.022, -0.0415, -0.0122, -0.0889, -4.1778, 6.7761, 1.9023, 0.2125, 0.0708, -0.1148] approver: 1 step(s) modified (delta_clamped). 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
move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.12, "right_yaw": 0.35, "right_gripper": 1.0}, "note": "The arm is stuck again at z\u22480.08: the left jaw is resting on the burner top since the can lies right against it. Lifting and moving to the can's near (bottom) end, which sits further from the burner, to grasp there instead."})
tool
executing move_to over 4 steps (0.4s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteMoves are being executed only a few steps at a time, so the arm is still at z≈0.09 with the can's lower body between the jaws. Descending again to grasp height slightly right of the burner edge.
move_to
right_x0.2900right_y0.1000right_z0.0300right_yaw0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5892, -0.0189, -0.0387, 0.999, 0.4454, 1.14, 0.5053, -0.1177, 0.1993, 0.1787, 0.999] state[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1349 left_yaw=0.0026 left_pitch=-0.2216 left_roll=0.0002 left_gripper=0.999 right_x=0.3025 right_y=0.1096 right_z=0.0888 right_yaw=0.1756 right_pitch=-0.1511 right_roll=-0.0045 right_gripper=0.999 state[joint_eff]: [-0.1162, -0.9368, 6.9128, 1.5507, -0.0757, -0.0757, -0.0122, 0.6085, -4.2051, 8.1709, 2.2051, 0.0952, -0.022, -0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.1, "right_z": 0.03, "right_yaw": 0.3, "right_gripper": 1.0}, "note": "Moves are being executed only a few steps at a time, so the arm is still at z\u22480.09 with the can's lower body between the jaws. Descending again to grasp height slightly right of the burner edge."})
tool
executing move_to over 4 steps (0.4s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe wrist view shows the can's bottom cap between the jaws with the fingertips just past its end. Sliding forward ~4 cm along the can so the jaws close on its body.
move_to
right_x0.3100right_y0.0950right_z0.0200right_yaw0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.82, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3416, 1.2312, 0.2848, 0.0845, 0.0677, 0.0509, 0.999] state[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.134 left_yaw=0.0022 left_pitch=-0.2265 left_roll=0.0003 left_gripper=0.999 right_x=0.2707 right_y=0.0874 right_z=0.0104 right_yaw=0.2513 right_pitch=-0.2764 right_roll=-0.0202 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.3744, 6.8171, 1.5116, -0.0659, -0.0611, -0.0122, 0.212, -3.6718, 7.3368, 2.1954, -0.0757, -0.2027, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.095, "right_z": 0.02, "right_yaw": 0.25, "right_gripper": 1.0}, "note": "The wrist view shows the can's bottom cap between the jaws with the fingertips just past its end. Sliding forward ~4 cm along the can so the jaws close on its body."})
tool
executing move_to over 4 steps (0.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe arm only advanced 1 cm; the jaws are around the can's tapered lower end. Pushing another 3 cm forward so they close on the cylindrical body.
move_to
right_x0.3150right_y0.1000right_z0.0200right_yaw0.2900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0193, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.003 left_pitch=-0.2273 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.1282, 6.9675, 1.4774, -0.0855, -0.0464, -0.0122, -0.2393, -3.4803, 6.5709, 1.7802, -0.0611, -0.0904, -0.1099] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_y": 0.1, "right_z": 0.02, "right_yaw": 0.29, "right_gripper": 1.0}, "note": "The arm only advanced 1 cm; the jaws are around the can's tapered lower end. Pushing another 3 cm forward so they close on the cylindrical body."})
tool
executing move_to over 3 steps (0.3s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteThe arm refuses to advance at this low height, probably dragging on the can. Raising slightly to 6 cm while advancing 3 cm, then I will descend onto the can body.
move_to
right_x0.3150right_y0.1000right_z0.0600right_yaw0.2900right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0003 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999 state[joint_eff]: [-0.3077, -0.8821, 6.8171, 1.4774, -0.0757, -0.0659, -0.0122, 0.0342, -3.5214, 6.5573, 1.8388, -0.0708, -0.0855, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_y": 0.1, "right_z": 0.06, "right_yaw": 0.29, "right_gripper": 1.0}, "note": "The arm refuses to advance at this low height, probably dragging on the can. Raising slightly to 6 cm while advancing 3 cm, then I will descend onto the can body."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe right arm is completely frozen; the controller seems to have stalled in this pose. Resetting orientation to zero and lifting straight up, which unstuck it earlier.
move_to
right_x0.2800right_y0.1000right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.593, -0.0189, -0.0383, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999] state[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1337 left_yaw=0.0024 left_pitch=-0.2277 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999 state[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.4823, -0.0708, -0.0464, -0.0122, -0.1026, -3.5077, 6.694, 1.8095, -0.0317, -0.1148, -0.1148] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right arm is completely frozen; the controller seems to have stalled in this pose. Resetting orientation to zero and lifting straight up, which unstuck it earlier."})
tool
executing move_to over 7 steps (0.7s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe arm is moving again and the can is centred on the jaw column, aligned with the tool. Advancing 4 cm onto the can body and descending to grasp height, keeping yaw small to avoid stalling the controller.
move_to
right_x0.3100right_y0.1100right_z0.0300right_yaw0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6075, -0.0189, -0.0387, 0.999, 0.6075, 1.01, 0.3428, -0.0502, 0.4076, 0.3065, 0.999] state[eef_state]: left_x=0.2604 left_y=0.002 left_z=0.1307 left_yaw=0.0027 left_pitch=-0.2445 left_roll=0.0007 left_gripper=0.999 right_x=0.2713 right_y=0.1077 right_z=0.0786 right_yaw=0.0994 right_pitch=-0.0651 right_roll=-0.022 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.2239, 6.8171, 1.6239, -0.0855, -0.0366, -0.0122, 0.1436, -2.7692, 9.1282, 1.6288, 0.2662, 0.1245, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.11, "right_z": 0.03, "right_yaw": 0.1, "right_gripper": 1.0}, "note": "The arm is moving again and the can is centred on the jaw column, aligned with the tool. Advancing 4 cm onto the can body and descending to grasp height, keeping yaw small to avoid stalling the controller."})
tool
executing move_to over 4 steps (0.4s)
step 182
top_cam
camera top_cam step 182
assistant
agent noteThe can's lower body sits between the open jaws in the wrist view at z≈0.01. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8272, 0.6067, -0.6159, -0.0189, -0.0383, 0.999, 0.5114, 1.3788, 0.3046, 0.2413, 0.355, 0.2611, 0.999] state[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1283 left_yaw=0.0026 left_pitch=-0.2571 left_roll=0.0012 left_gripper=0.999 right_x=0.2879 right_y=0.0953 right_z=0.0101 right_yaw=0.0635 right_pitch=-0.1858 right_roll=-0.0773 right_gripper=0.999 state[joint_eff]: [-0.0752, -1.3333, 6.9949, 1.5458, -0.0513, -0.0171, -0.0122, -0.2256, -5.2581, 5.3402, 1.9853, 0.3004, -0.0269, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The can's lower body sits between the open jaws in the wrist view at z\u22480.01. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 192
assistant
agent noteGripper settled at 0.52 (~5 cm), consistent with holding the can's tapered lower body. Lifting to carry height to confirm the can comes along.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.6312, -0.0189, -0.0383, 0.999, 0.527, 1.4044, 0.2462, 0.3504, 0.3695, 0.2462, 0.5249] state[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1257 left_yaw=0.0027 left_pitch=-0.2727 left_roll=0.0016 left_gripper=0.999 right_x=0.2825 right_y=0.0947 right_z=0.0024 right_yaw=0.0778 right_pitch=-0.1591 right_roll=-0.0869 right_gripper=0.5249 state[joint_eff]: [-0.0752, -1.2103, 6.8034, 1.6044, -0.0366, -0.0073, -0.0122, -0.0205, -4.4103, 5.2718, 1.6484, 0.3004, 0.0024, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.52 (~5 cm), consistent with holding the can's tapered lower body. Lifting to carry height to confirm the can comes along."})
tool
executing move_to over 13 steps (1.3s)
step 205
assistant
agent noteThe can lifted with the gripper, held by its bottom end so it extends forward from the jaws. Carrying it over the burner with the grasp point set back so the can's body will lie across the coil.
move_to
right_x0.2500right_y0.3200right_z0.2000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6373, -0.0189, -0.0387, 0.999, 0.5282, 1.0164, 0.8509, -0.6888, 0.3576, 0.2386, 0.5272] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1241 left_yaw=0.0029 left_pitch=-0.2815 left_roll=0.0015 left_gripper=0.999 right_x=0.2775 right_y=0.0945 right_z=0.1778 right_yaw=0.089 right_pitch=-0.2053 right_roll=-0.1048 right_gripper=0.5272 state[joint_eff]: [-0.3214, -1.4564, 6.7761, 1.536, -0.0757, -0.0562, -0.0171, -0.2667, -2.5231, 9.3197, 1.8046, 0.2515, 0.0415, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.32, "right_z": 0.2, "right_yaw": 0.0}, "note": "The can lifted with the gripper, held by its bottom end so it extends forward from the jaws. Carrying it over the burner with the grasp point set back so the can's body will lie across the coil."})
tool
executing move_to over 19 steps (1.9s)
step 224
assistant
agent noteThe gripper is over the near edge of the burner with the can extending forward over the coil. Lowering it toward the burner surface until it touches down.
move_to
right_x0.2500right_y0.3200right_z0.1100right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.8318, 0.6067, -0.6525, -0.0189, -0.0387, 0.999, 1.1919, 1.7943, 1.6127, -1.1259, 0.693, 0.9695, 0.5294] state[eef_state]: left_x=0.2522 left_y=0.0021 left_z=0.1213 left_yaw=0.0027 left_pitch=-0.2982 left_roll=0.0019 left_gripper=0.999 right_x=0.2435 right_y=0.3162 right_z=0.1855 right_yaw=0.037 right_pitch=-0.2618 right_roll=-0.1408 right_gripper=0.5294 state[joint_eff]: [-0.3077, -1.3607, 6.7624, 1.5849, 0.0122, -0.0659, -0.0122, 0.1573, -8.8274, 8.294, 0.6032, 0.823, 0.1392, 0.7448] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.32, "right_z": 0.11, "right_yaw": 0.0}, "note": "The gripper is over the near edge of the burner with the can extending forward over the coil. Lowering it toward the burner surface until it touches down."})
tool
executing move_to over 5 steps (0.5s)
step 229
assistant
agent noteThe can's far end is reaching over the burner coil in the wrist view. Lowering further so the can settles onto the burner before releasing.
move_to
right_x0.2500right_y0.3200right_z0.0700right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6605, -0.0189, -0.0387, 0.999, 1.1843, 1.8542, 1.4048, -0.9485, 0.6693, 0.9932, 0.5314] state[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.12 left_yaw=0.0031 left_pitch=-0.3066 left_roll=0.0021 left_gripper=0.999 right_x=0.24 right_y=0.3086 right_z=0.1077 right_yaw=-0.001 right_pitch=-0.3162 right_roll=-0.2023 right_gripper=0.5314 state[joint_eff]: [-0.253, -1.2513, 6.7487, 1.4579, -0.0464, -0.0659, -0.0122, -0.335, -8.6906, 6.694, 0.7839, 0.5788, 0.1148, 0.8327] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.32, "right_z": 0.07, "right_yaw": 0.0}, "note": "The can's far end is reaching over the burner coil in the wrist view. Lowering further so the can settles onto the burner before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 232
assistant
agent noteThe descent stalled at z≈0.10 and the overhead view shows the can lying across the burner coil. Opening the gripper to release it there.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6685, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8948, 0.6697, 0.9924, 0.5328] state[eef_state]: left_x=0.2491 left_y=0.0022 left_z=0.1187 left_yaw=0.0032 left_pitch=-0.3146 left_roll=0.0023 left_gripper=0.999 right_x=0.243 right_y=0.3157 right_z=0.102 right_yaw=0.0081 right_pitch=-0.3047 right_roll=-0.1744 right_gripper=0.5328 state[joint_eff]: [-0.0752, -0.9094, 6.735, 1.5214, -0.0513, -0.0415, -0.0122, -0.2393, -9.6342, 6.7487, 0.8864, 0.6422, 0.105, 0.8474] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The descent stalled at z\u22480.10 and the overhead view shows the can lying across the burner coil. Opening the gripper to release it there."})
tool
executing move_to over 5 steps (0.5s)
step 237
assistant
Released; the can is lying on the burner. Retracting the arm to home to confirm in the overhead view.
agent noteThe can has been released and rests on the burner in both camera views. Moving the right arm up and back to home to clear the view and confirm the placement.
move_to
right_x0.2900right_y0.0000right_z0.2000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6827, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8951, 0.675, 0.992, 0.9946] state[eef_state]: left_x=0.2464 left_y=0.0023 left_z=0.1166 left_yaw=0.0033 left_pitch=-0.3288 left_roll=0.0026 left_gripper=0.999 right_x=0.2436 right_y=0.3153 right_z=0.1026 right_yaw=0.0065 right_pitch=-0.3001 right_roll=-0.1772 right_gripper=0.9946 state[joint_eff]: [-0.3214, -0.8, 6.9128, 1.5116, -0.0269, -0.0562, -0.0122, -0.212, -9.6205, 6.4889, 0.9255, 0.5348, 0.0611, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
Released; the can is lying on the burner. Retracting the arm to home to confirm in the overhead view.
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.2, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The can has been released and rests on the burner in both camera views. Moving the right arm up and back to home to clear the view and confirm the placement."})
tool
executing move_to over 27 steps (2.7s)
step 264
assistant
agent noteThe can slid off the burner and now lies on the table just in front of it, near the bases. Going straight to grasp height over the can's middle to pick it up again.
move_to
right_x0.1900right_y0.3300right_z0.0300right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6941, -0.0193, -0.0383, 0.999, 0.0952, 1.0515, 0.955, -0.8547, 0.1864, -0.0326, 0.999] state[eef_state]: left_x=0.2441 left_y=0.0024 left_z=0.1148 left_yaw=0.0035 left_pitch=-0.3402 left_roll=0.0034 left_gripper=0.999 right_x=0.2816 right_y=-0.0024 right_z=0.1791 right_yaw=-0.0542 right_pitch=-0.3583 right_roll=-0.1838 right_gripper=0.999 state[joint_eff]: [-0.1709, -1.1829, 6.7077, 1.453, -0.0562, -0.0317, -0.0122, -0.1573, -3.4667, 10.1402, 1.5067, 0.0611, -0.0757, -0.1148] camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.19, "right_y": 0.33, "right_z": 0.03, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The can slid off the burner and now lies on the table just in front of it, near the bases. Going straight to grasp height over the can's middle to pick it up again."})
tool
executing move_to over 28 steps (2.8s)
step 292
assistant
agent noteThe gripper is at table level where the can was seen; the can is out of the wrist camera's view, which is expected if it is right between the jaws. Closing to test for a grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6983, -0.0189, -0.0383, 0.999, 1.3098, 1.9629, 1.2594, -0.8028, 0.6205, 1.1366, 0.999] state[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1142 left_yaw=0.0032 left_pitch=-0.3444 left_roll=0.0032 left_gripper=0.999 right_x=0.1887 right_y=0.3224 right_z=0.0301 right_yaw=0.0162 right_pitch=-0.3819 right_roll=-0.203 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.1692, 6.8855, 1.3944, -0.0269, -0.0171, -0.0122, 0.3761, -8.6632, 6.5436, 0.315, 0.5006, 0.2711, -0.1148] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table level where the can was seen; the can is out of the wrist camera's view, which is expected if it is right between the jaws. Closing to test for a grasp."})
tool
executing move_to over 10 steps (1.0s)
step 302
assistant
agent noteThe can was placed on the burner twice but slid off both times (first off the right edge, then off the near edge when released while propped on the rim). After the second fall the can is no longer visible in the overhead view (likely under the arm or off the table edge), the retry close was empty, and the remaining call budget is too small to locate, grasp, carry and place it again.
give_up
hindsight1) The burner is a raised hotplate (~7–8 cm tall housing) with a smooth top; a can lying horizontally on it rolls/slides off unless placed with its axis centred on the coil and released only after the descent stalls at the coil height (~z 0.08–0.10 for a 6.5 cm can). Prefer to stand the can upright or align it carefully along the burner's long axis before releasing. 2) Burner edges in right-arm frame: right edge y≈0.18–0.20, near edge x≈0.25; coil centre about x≈0.33, y≈0.31. 3) Objects lying against the burner cannot be straddled by the 9.5 cm jaws — the outer jaw lands on the hotplate rim and the descent stalls. Grasp the end of the object farther from the burner instead. 4) The right arm's controller froze completely (joint_pos unchanged) twice when commanded with yaw ≈0.3 near z<0.06; sending yaw/pitch/roll=0, z≈0.1–0.16 and smaller x unstuck it. Keep yaw near 0 for low grasps. 5) Moves near the burner were often truncated to 3–5 steps by the approver clamp, so expect to re-send targets; the arm's white links are easily mistaken for a white can in the top camera near the bottom edge. 6) A grasp on the can's tapered lower end reads ~0.52; the cylindrical body reads ~0.71.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.7048, -0.0189, -0.0387, 0.999, 1.3117, 1.9823, 1.2629, -0.8051, 0.6128, 1.1301, 0.0087] state[eef_state]: left_x=0.242 left_y=0.0024 left_z=0.1133 left_yaw=0.0034 left_pitch=-0.3509 left_roll=0.0031 left_gripper=0.999 right_x=0.1868 right_y=0.3221 right_z=0.0235 right_yaw=0.016 right_pitch=-0.395 right_roll=-0.2238 right_gripper=0.0087 state[joint_eff]: [-0.1026, -1.0462, 6.9128, 1.3993, -0.0855, -0.0611, -0.0122, -0.294, -11.2205, 5.1624, 0.3736, 0.4322, 0.0562, 0.6129] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 302): [image omitted: streamed camera frame] camera 'left_cam' (step 302): [image omitted: streamed camera frame] camera 'right_cam' (step 302): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The can was placed on the burner twice but slid off both times (first off the right edge, then off the near edge when released while propped on the rim). After the second fall the can is no longer visible in the overhead view (likely under the arm or off the table edge), the retry close was empty, and the remaining call budget is too small to locate, grasp, carry and place it again.", "hindsight": "1) The burner is a raised hotplate (~7\u20138 cm tall housing) with a smooth top; a can lying horizontally on it rolls/slides off unless placed with its axis centred on the coil and released only after the descent stalls at the coil height (~z 0.08\u20130.10 for a 6.5 cm can). Prefer to stand the can upright or align it carefully along the burner's long axis before releasing. 2) Burner edges in right-arm frame: right edge y\u22480.18\u20130.20, near edge x\u22480.25; coil centre about x\u22480.33, y\u22480.31. 3) Objects lying against the burner cannot be straddled by the 9.5 cm jaws \u2014 the outer jaw lands on the hotplate rim and the descent stalls. Grasp the end of the object farther from the burner instead. 4) The right arm's controller froze completely (joint_pos unchanged) twice when commanded with yaw \u22480.3 near z<0.06; sending yaw/pitch/roll=0, z\u22480.1\u20130.16 and smaller x unstuck it. Keep yaw near 0 for low grasps. 5) Moves near the burner were often truncated to 3\u20135 steps by the approver clamp, so expect to re-send targets; the arm's white links are easily mistaken for a white can in the top camera near the bottom edge. 6) A grasp on the can's tapered lower end reads ~0.52; the cylindrical body reads ~0.71."})
tool
give_up: The can was placed on the burner twice but slid off both times (first off the right edge, then off the near edge when released while propped on the rim). After the second fall the can is no longer visible in the overhead view (likely under the arm or off the table edge), the retry close was empty, and the remaining call budget is too small to locate, grasp, carry and place it again.
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 · 20.13 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, 0.7921, 0.6037, -0.3908, -0.0196, -0.0338, 0.9991, -0.0212, 0.7937, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2929 right_y=0.0009 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2632, 1.9951, -0.0708, 0.1685, -0.105, -0.3214, -1.5248, 9.6752, 1.9023, -0.0757, -0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd256de23f8210597a3f6dfe447b60610f685caf853485a9d377583d66c1f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81cad52eaedecc2fe70f7249b4e2d698a2cad9c7bbc779dc6c0156777848aa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9635fe92ba74f3285997d72d9bb237e72037d26f99f0e3d3fd25a0284a48451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 7.749 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, 0.7921, 0.6037, -0.3908, -0.0196, -0.0338, 0.9991, -0.0212, 0.7937, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2929 right_y=0.0009 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2632, 1.9951, -0.0708, 0.1685, -0.105, -0.3214, -1.5248, 9.6752, 1.9023, -0.0757, -0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfd256de23f8210597a3f6dfe447b60610f685caf853485a9d377583d66c1f9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81cad52eaedecc2fe70f7249b4e2d698a2cad9c7bbc779dc6c0156777848aa95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9635fe92ba74f3285997d72d9bb237e72037d26f99f0e3d3fd25a0284a48451",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "The can lies on the right side near the right arm; I'll use the right arm to grasp it across its body and set it on the burner.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019sA2YcMa9iDfcyxKX5DqLA",
      "input": {
        "note": "The spray can lies on the table ahead-left of the right gripper in the wrist view, roughly along the forward direction. Moving the right arm above it to check alignment before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "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_019sA2YcMa9iDfcyxKX5DqLA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.999, 0.345, 1.1538, 0.6182, -0.1894, 0.2417, 0.1593, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.999 right_x=0.3286 right_y=0.077 right_z=0.1199 right_yaw=0.0521 right_pitch=-0.117 right_roll=-0.0392 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5932, 6.9538, 1.8584, -0.0415, -0.0024, -0.022, 0.1709, -4.2462, 10.1538, 2.1074, 0.2173, 0.1294, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0366b70e9ea24271842d15be201e38b21484510dd6d76195fc4f52a9d1f9e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38216fee7457d66630f0eab82bf9d3e01c2136ea0d0588b024db08d680ea84e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c55ba5db401849675df0c39ade87c25c644f148a2cdb5a92a8ab1fef0c548e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.503 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, 0.7921, 0.6037, -0.3908, -0.0196, -0.0338, 0.9991, -0.0212, 0.7937, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2929 right_y=0.0009 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2632, 1.9951, -0.0708, 0.1685, -0.105, -0.3214, -1.5248, 9.6752, 1.9023, -0.0757, -0.0122, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.999, 0.345, 1.1538, 0.6182, -0.1894, 0.2417, 0.1593, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.999 right_x=0.3286 right_y=0.077 right_z=0.1199 right_yaw=0.0521 right_pitch=-0.117 right_roll=-0.0392 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5932, 6.9538, 1.8584, -0.0415, -0.0024, -0.022, 0.1709, -4.2462, 10.1538, 2.1074, 0.2173, 0.1294, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0366b70e9ea24271842d15be201e38b21484510dd6d76195fc4f52a9d1f9e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38216fee7457d66630f0eab82bf9d3e01c2136ea0d0588b024db08d680ea84e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c55ba5db401849675df0c39ade87c25c644f148a2cdb5a92a8ab1fef0c548e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QgKEAgRGAI4AUIIdGhpbmtpbmcSDGRq6lT/KyyXtFmZUxoMRJHnjDcqoXguY3vsIjAsn87DpIBYVL8RFUa5WSioy/IzXK70E/ApfVmSHeI7N5RpK5m9CyZ7nnJlhXgx/bAqkggIvheAA7Ek3B33hO9WUJ6zH1YOmxlP+3ndaziLHom2zrGvPRQSumUCA/vB6k/6X3ka1eX/PrUF0GE2k3f6viC0XFPyS5fBf6KQ3ebt0SF3vy/0pBu3owSABa0DHGDoGUZpHSY+sdgXWb3h78w28DiBlSEgvUkh7ciXULWLBI8Z49YiLcApv9PIsMX0YB/dWgss5N4U83kw+csDD8zztF9+pSMzPwrifih4nhvW7L9VVNYG1OcTE+6xKyAZXJLKc9uq0LcEqC1vkKozFPp2FLsZKde/rfZVuTLiMhbYKmc09ByERjrzBREpmPsZ6eY0vxJVHqKIHPDJNC4qGCdas9sSP2IJvh42brPf6YZMXpsIP2earO7nVVwosJI2CbXggfBKdwyEBtk2T610bo6f4hbIXPhT2LHHo1Yq8mslpKsSHc1Qs4SpPKh9pgnmm44sbEJTjmzAwDYfjwR/H48UA5VqR2vPtN914OO8sBvHjPYU09PTUWS0WTQFubkWDZY87QAJM7ExkJFlL5C3sCWyawCcxMP0QFL+fP1QrpBwB1e6aPYyhBf4Q1PiRFT0oB33H6pn7xeXHcj5lx+inm/LN6QnSCnzuqwtsiGxxciQV1XlxV0KIs2lMA4wE4heEsQNp32juJKg+0R5qQsbAcNZidERMmELz1LCgaN7LSpVF9ISzV3Qm7xj4L8kewZ0/CL243OniAhgyXU27gO1FKcWGdTjpAJg5CnJWQAdQ2p+PDvWzKkSlz9PG3n0l36BbztyqfN39frC83Jj7Gl/gnomcVYgD/CH+7gNC7VWfKC2UvUEfei1bxJUqa8EMRNOraJQp6bBAo8tljPdr/xYSexY53dZefeY4Su2MFd14lxh6ZJqsaIDxIodNbqv+WJZDx4hiK+5xta91uDtTiLAmIyWI+0VAJml93HrGZ41HBuruKdHs+b6IGSMexlVcXzOTbJmKzVWjrsV0voHCdJnvTH35IDC1x+fc0naQJcrd9jgisVeUeAF75ToiIjji/TejOoo2uhC0bG5Rk7NgQbk48gywEmlEzB1zTzysJZysbs2N87JNHKys0NXdbMwEyzll2t883dC9333ofl5vLgqdivOUAPm3rXv96jJF2MaD+EckCAeNRL07vU8HraYZGVFwgnEIPPGKfeVB20cBRcXE9HWs0wERrKz4GhaffzxuIM4WrOZKeBG/XcqWA3ydLKOOfRExU2V4BjTYvRSGDfLnXpXZ/OjGDjGH+e0m4NmvW02a0Rri8fKm2I0dWyd3tHAorZJdfKlp2v9VwDby/znJyqiUtGGZjde6S51qc0tZiKfiLngQ1Luj/KpAtd2puhHmz8zkLZ/5pxCeePkP70oF87XiMNz8+ohOzk9zQpfRDxssp6FhJcuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NKF1Xvzthkb3kinRaM1GTe",
      "input": {
        "note": "The can now lies right on the jaw column in the right wrist view and extends under the fingertips. Descending to can mid-height to grasp it across its body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.08,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NKF1Xvzthkb3kinRaM1GTe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4137, -0.0193, -0.0387, 0.999, 0.3408, 1.4448, 0.4225, 0.1959, 0.2401, 0.1581, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1733 left_yaw=0.0024 left_pitch=-0.0252 left_roll=-0.0038 left_gripper=0.999 right_x=0.3234 right_y=0.0739 right_z=0.0185 right_yaw=0.0448 right_pitch=-0.2145 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2376, 7.0085, 1.7656, -0.0415, -0.0562, -0.0122, -0.3077, -4.9436, 5.1624, 1.8046, 0.1001, -0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3dbd9cf1821ca315d5b74fcf94adcfc9cf01aaad5dcaafcf3cc41c2eb07d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfd692216c87f3d036830cafc55f07232915d37f90e2d8c01fd2dc6bdd95217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e2a0f205ad4bcc3b7687ce4fa1059108b58e9a64f6c690546ac3e6456b8446e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.943 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, 0.7921, 0.6037, -0.3908, -0.0196, -0.0338, 0.9991, -0.0212, 0.7937, 0.6067, -0.3962, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2929 right_y=0.0009 right_z=0.178 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2632, 1.9951, -0.0708, 0.1685, -0.105, -0.3214, -1.5248, 9.6752, 1.9023, -0.0757, -0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.999, 0.345, 1.1538, 0.6182, -0.1894, 0.2417, 0.1593, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.999 right_x=0.3286 right_y=0.077 right_z=0.1199 right_yaw=0.0521 right_pitch=-0.117 right_roll=-0.0392 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5932, 6.9538, 1.8584, -0.0415, -0.0024, -0.022, 0.1709, -4.2462, 10.1538, 2.1074, 0.2173, 0.1294, -0.0513]",
      "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, 0.7975, 0.6067, -0.4137, -0.0193, -0.0387, 0.999, 0.3408, 1.4448, 0.4225, 0.1959, 0.2401, 0.1581, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1733 left_yaw=0.0024 left_pitch=-0.0252 left_roll=-0.0038 left_gripper=0.999 right_x=0.3234 right_y=0.0739 right_z=0.0185 right_yaw=0.0448 right_pitch=-0.2145 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2376, 7.0085, 1.7656, -0.0415, -0.0562, -0.0122, -0.3077, -4.9436, 5.1624, 1.8046, 0.1001, -0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3dbd9cf1821ca315d5b74fcf94adcfc9cf01aaad5dcaafcf3cc41c2eb07d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfd692216c87f3d036830cafc55f07232915d37f90e2d8c01fd2dc6bdd95217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2a0f205ad4bcc3b7687ce4fa1059108b58e9a64f6c690546ac3e6456b8446e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The can fills the wrist view between the jaws at z≈0.02; closing the gripper now.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QDHssmWjwoLeqvPSNKdCxv",
      "input": {
        "note": "The can body is centred between the jaws in the right wrist view at grasp height. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QDHssmWjwoLeqvPSNKdCxv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.999, 0.3393, 1.4567, 0.4072, 0.2184, 0.2356, 0.1574, 0.708]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0024 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.999 right_x=0.321 right_y=0.0734 right_z=0.0132 right_yaw=0.0473 right_pitch=-0.2198 right_roll=-0.0675 right_gripper=0.708\nstate[joint_eff]: [0.0068, -1.1829, 7.0085, 1.8535, -0.0464, -0.0415, -0.0122, -0.0205, -5.7641, 6.3795, 1.2088, 0.0904, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c126424610d08c19bdf209956614353935d2af623db78ad2929b1a15a66edd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59ab4888d3fdbde3e62d9999786e76813019ac62a9d5ec9a4b04366b7a4026f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee189a52e6de86f0a253cfc8fe8c0425119c68fb368e21488199ef38d8e81b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.733 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4057, -0.0193, -0.038, 0.999, 0.345, 1.1538, 0.6182, -0.1894, 0.2417, 0.1593, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0015 left_z=0.1752 left_yaw=0.002 left_pitch=-0.0164 left_roll=-0.0034 left_gripper=0.999 right_x=0.3286 right_y=0.077 right_z=0.1199 right_yaw=0.0521 right_pitch=-0.117 right_roll=-0.0392 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.5932, 6.9538, 1.8584, -0.0415, -0.0024, -0.022, 0.1709, -4.2462, 10.1538, 2.1074, 0.2173, 0.1294, -0.0513]",
      "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, 0.7975, 0.6067, -0.4137, -0.0193, -0.0387, 0.999, 0.3408, 1.4448, 0.4225, 0.1959, 0.2401, 0.1581, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1733 left_yaw=0.0024 left_pitch=-0.0252 left_roll=-0.0038 left_gripper=0.999 right_x=0.3234 right_y=0.0739 right_z=0.0185 right_yaw=0.0448 right_pitch=-0.2145 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2376, 7.0085, 1.7656, -0.0415, -0.0562, -0.0122, -0.3077, -4.9436, 5.1624, 1.8046, 0.1001, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.999, 0.3393, 1.4567, 0.4072, 0.2184, 0.2356, 0.1574, 0.708]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0024 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.999 right_x=0.321 right_y=0.0734 right_z=0.0132 right_yaw=0.0473 right_pitch=-0.2198 right_roll=-0.0675 right_gripper=0.708\nstate[joint_eff]: [0.0068, -1.1829, 7.0085, 1.8535, -0.0464, -0.0415, -0.0122, -0.0205, -5.7641, 6.3795, 1.2088, 0.0904, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c126424610d08c19bdf209956614353935d2af623db78ad2929b1a15a66edd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f59ab4888d3fdbde3e62d9999786e76813019ac62a9d5ec9a4b04366b7a4026f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee189a52e6de86f0a253cfc8fe8c0425119c68fb368e21488199ef38d8e81b01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper settled at 0.71 (~6.7 cm) — consistent with the can's diameter. Lifting to verify the grasp.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uj4f6PbGEPmDLXSZhpE4V1",
      "input": {
        "note": "Gripper reading 0.71 suggests the can is held. Lifting to carry height and checking the overhead view to confirm the can came along.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Uj4f6PbGEPmDLXSZhpE4V1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.999, 0.3393, 1.1694, 0.8768, -0.6003, 0.2245, 0.1535, 0.71]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0021 left_pitch=-0.0488 left_roll=-0.0035 left_gripper=0.999 right_x=0.3144 right_y=0.0731 right_z=0.1532 right_yaw=0.0542 right_pitch=-0.2816 right_roll=-0.08 right_gripper=0.71\nstate[joint_eff]: [-0.1709, -1.3197, 7.4188, 1.7314, -0.0415, -0.0415, -0.0122, -0.3624, -5.1624, 9.4564, 1.9756, 0.1929, 0.022, 0.7643]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5655050d3668c2df361f01821b888240598e124762a8951eca762158fcdc4566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add6e093269bfcbb0bb75b91895c9a4fcef310f8e70573d48b2b39f4b3f39a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5551ef367e75a43180e66c158e712b0ad5959d835e952560d6567c21269db5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 6.856 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, 0.7975, 0.6067, -0.4137, -0.0193, -0.0387, 0.999, 0.3408, 1.4448, 0.4225, 0.1959, 0.2401, 0.1581, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0015 left_z=0.1733 left_yaw=0.0024 left_pitch=-0.0252 left_roll=-0.0038 left_gripper=0.999 right_x=0.3234 right_y=0.0739 right_z=0.0185 right_yaw=0.0448 right_pitch=-0.2145 right_roll=-0.0689 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2376, 7.0085, 1.7656, -0.0415, -0.0562, -0.0122, -0.3077, -4.9436, 5.1624, 1.8046, 0.1001, -0.0415, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.999, 0.3393, 1.4567, 0.4072, 0.2184, 0.2356, 0.1574, 0.708]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0024 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.999 right_x=0.321 right_y=0.0734 right_z=0.0132 right_yaw=0.0473 right_pitch=-0.2198 right_roll=-0.0675 right_gripper=0.708\nstate[joint_eff]: [0.0068, -1.1829, 7.0085, 1.8535, -0.0464, -0.0415, -0.0122, -0.0205, -5.7641, 6.3795, 1.2088, 0.0904, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.999, 0.3393, 1.1694, 0.8768, -0.6003, 0.2245, 0.1535, 0.71]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0021 left_pitch=-0.0488 left_roll=-0.0035 left_gripper=0.999 right_x=0.3144 right_y=0.0731 right_z=0.1532 right_yaw=0.0542 right_pitch=-0.2816 right_roll=-0.08 right_gripper=0.71\nstate[joint_eff]: [-0.1709, -1.3197, 7.4188, 1.7314, -0.0415, -0.0415, -0.0122, -0.3624, -5.1624, 9.4564, 1.9756, 0.1929, 0.022, 0.7643]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5655050d3668c2df361f01821b888240598e124762a8951eca762158fcdc4566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:add6e093269bfcbb0bb75b91895c9a4fcef310f8e70573d48b2b39f4b3f39a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5551ef367e75a43180e66c158e712b0ad5959d835e952560d6567c21269db5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2woKEAgRGAI4AUIIdGhpbmtpbmcSDBlgsWebetOA54cxJxoMuRtmYZgYKlucrrF8IjAyjalWv1VJz6M/b1b3gKBOxOpPJ1S6uumkKYA0SQ4vS15iia6PYM8PLcnqiCnuCpgq+AkHw84Sas9jhf+01v056dkNirGqN0Cx4Ca23xH9J9B4prU+q006BzeWgE786NvMnuFRMVlektVJm6dubnbXqN/Q2asLYldX1RPcGmFcfCemSweBFal+rkSkDbjpOlWfdR7utMPfUziFxKbecrzAlZhNKIxyZf/xFFD4BoubfxcCr+I5V+VDyCZO/V5vxpBxFy/fKmbwMktRUQj8KCg6YuQsjfElwVkY8WaA0yjYtPGqFXIt215MhfAEiQfNZtZQfrqu8gMXZbtCN/GG22mr8i2l6R61BBo45cJIYJdWIY8HOaDfIVfkmycMJQLNbyjVTCqqUmxl0iy7I/3m/ygYkA8YMwF45kuFMQFp6Xc4mMJ/e6BGj77jblxGNGFF9PU8dSLNroLqVUpy28qthMoaqKtQD8uy7Kcg9Lei9SNZ68V2DDOmh6Wk8fTixnfGHu6uv37XJorh5rEmBP4EnTyezvNKeavQ92ToYtXvHS7d7o/RLK6YMRwHERwfhuTn9JsIqgyC4UiCXc/9oz2VUMnxBnvRS1PSEJpp31flAneUE/PGdOMlFTUBaND2VIUQjaEKRRD3tU9ehcw/3NAph4TVpimjy0t8d9+fbk7Rh19L+NoXoEHYIbw+eG2f/CEEG0x1TzCsGaSgexeckeMGLOj28H1JPl0JuwYHH+P8KsTsfcZrD83HnLUQe01lQXEgA1WpS469etq9KN2Ff+C8cvyXv3VzlI3AH5HQIe9KgChAmZ9E/sgms1OaJY0aTstaq0oaKUhQVo9UOMQ5YGspu4hAuaaZIZ0OZr7w1GF7c4urRP4INRfeDzWzP+77ft9tSOUA+NMUn7JH/ItGc0NMlupIOEW+HrqOvHYaBPqkn6AVdN4UDuaxaAYc7UvnRrAcQnklOJKdjb/VnW2R5PtJ+6Y7+PRMpu5R7zkEFpw8psThHGA44sOGRu89KTllFhzdfoxqVTH+3AO81pzQsJ81tLCoCSFxT/8XCYsCO7RZ8yUhiTsxo2UyxmmyTx/ABjKUCMESxLbdvbjMth4gt9f5dQAXsAkGwM5lXS4LdaaHGz0KCkkYpYMku4JqinOpbC+8kTteuJpBMtOwO9NrOmyAV7ogz/dDCCRFC5U1r+i2pGbWCudJ/cWpBUtNO8FWFlpzDKFcZATD2CDowwRaTO1H5KcW4xWFd92+6HBDnDnjKN+6Xq1TyJerJsIDWsIP6ApHPo+8jFDQKLbwq/Vwe267jkkQMFxmObdm5qisrBRrL4REC88a9zroCPeo2MClB8x7fE0YbJlcuh9T6gFsWi+SeEYSLxskY3wGXiujTay1EjgbS4gaxeHvbof26L2rhup7+uhbOFr3N00ILThlmxRNXPy9mlCzh48ctldfnEmsfB2SemQulJMAGdwR/w9AbLGwGbSOCUFsLet9N0jJCIZ4XVdq9j1rvCQHc5Ux5AO0maiusDQ5pLd1TzoJbDqrVqIpsI8ah2Ix7AnF9tp7Vwu6BKBNG5JZ9g7FysyZAi2kDp5EztoiEQGOmPQgZEDRvil3gaW0nmaGt2+4SJOgtrPsu1ZgJmV3AsHUcqZSbotV6INlCu3NGZZ2tZn1alV/e8QfcUUczTWyH5/bI4VrYprchS6DvC1TBeB4giiQckXsGDc72FVVcNQADDWjOEwfBqMWsTEp3ATfdWtaY+W2/82/kIHf4XN7I2roXLc7+BwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fy6P47AThcuDAbx2i1dTVX",
      "input": {
        "note": "The can lifted with the gripper (visible in the top view held by the right arm). Carrying it left toward the burner at table centre, staying high to clear the burner body.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.32,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01Fy6P47AThcuDAbx2i1dTVX",
      "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, -0.4534, -0.0193, -0.0387, 0.999, 0.9451, 1.9121, 1.7813, -1.0245, 0.5205, 0.6731, 0.7124]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1641 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0029 left_gripper=0.999 right_x=0.3314 right_y=0.3147 right_z=0.1841 right_yaw=0.0854 right_pitch=-0.339 right_roll=-0.1122 right_gripper=0.7124\nstate[joint_eff]: [-0.294, -1.4701, 7.0085, 1.8779, -0.0562, -0.0806, -0.0122, 0.2803, -9.7573, 8.9778, 0.9695, 0.6276, 0.1929, 0.4957]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2af4f3f9d9f9ab23e27804ad853f0a0216600268cdef3c36bced32eb4a4b950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51657cd612973a36e503b8c2ae58cf1e45c45c45abd25ac887cd98e5abd33eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36246e891975078418e09dce07ce6abd1469dc6f54e9a8f4fa68f90688b5bad7",
        "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 · 8.067 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4278, -0.0193, -0.0387, 0.999, 0.3393, 1.4567, 0.4072, 0.2184, 0.2356, 0.1574, 0.708]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1702 left_yaw=0.0024 left_pitch=-0.0404 left_roll=-0.0035 left_gripper=0.999 right_x=0.321 right_y=0.0734 right_z=0.0132 right_yaw=0.0473 right_pitch=-0.2198 right_roll=-0.0675 right_gripper=0.708\nstate[joint_eff]: [0.0068, -1.1829, 7.0085, 1.8535, -0.0464, -0.0415, -0.0122, -0.0205, -5.7641, 6.3795, 1.2088, 0.0904, -0.0562, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0189, -0.0387, 0.999, 0.3393, 1.1694, 0.8768, -0.6003, 0.2245, 0.1535, 0.71]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0021 left_pitch=-0.0488 left_roll=-0.0035 left_gripper=0.999 right_x=0.3144 right_y=0.0731 right_z=0.1532 right_yaw=0.0542 right_pitch=-0.2816 right_roll=-0.08 right_gripper=0.71\nstate[joint_eff]: [-0.1709, -1.3197, 7.4188, 1.7314, -0.0415, -0.0415, -0.0122, -0.3624, -5.1624, 9.4564, 1.9756, 0.1929, 0.022, 0.7643]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4534, -0.0193, -0.0387, 0.999, 0.9451, 1.9121, 1.7813, -1.0245, 0.5205, 0.6731, 0.7124]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1641 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0029 left_gripper=0.999 right_x=0.3314 right_y=0.3147 right_z=0.1841 right_yaw=0.0854 right_pitch=-0.339 right_roll=-0.1122 right_gripper=0.7124\nstate[joint_eff]: [-0.294, -1.4701, 7.0085, 1.8779, -0.0562, -0.0806, -0.0122, 0.2803, -9.7573, 8.9778, 0.9695, 0.6276, 0.1929, 0.4957]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2af4f3f9d9f9ab23e27804ad853f0a0216600268cdef3c36bced32eb4a4b950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51657cd612973a36e503b8c2ae58cf1e45c45c45abd25ac887cd98e5abd33eb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36246e891975078418e09dce07ce6abd1469dc6f54e9a8f4fa68f90688b5bad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQkKEAgRGAI4AUIIdGhpbmtpbmcSDF50Rq/qg1hMZimggxoMJwlJ7UDySNeA1JhPIjAgr2unuV1iLBJbkdeez3XbOu42Uqkaew3IG3IaPFaicyWTAHwhnW3x4xm6fKHc0/wq2ggVNWWgTPTz7/bAXD0IvP6kzlV1/TiLYULgOuPAUGpqbvPySkJDKxPtHbKVkF37k2NjN4TPnshLHsTl9tnrXoieM0uWoXIYSX+yy63j2N21lsB7yxYkhlFS5bCpMuGTJDSSgZZanxiI9CFDUSUiQj1luFDFyyVjSZCwF+HCmcGrVOkYkq/grDu6RhLKHaj6+wTZrTHY6O79W6PspByoDGE5tpaqjMblacFYW4C1zHpMBYATftacc9Eamcp1XI+jPC7tk/KLZeDgiAh/IIfz3NfbNJJbwI3+/I35OZXsZMNDtexyDSvpA1NGoVIHeEQrnP4cWVyBqmnKZT2/Uw1nw+nOtvi44wWOZRzdGbO8TKahAaLsFb6beycQ8YIUxOKnvTlgMFlDCzCQjbNHjkSAOri/r+i10i2LF4Uuafg6kiGp/0q32IKPcJZNrvrnx9Ug1+kHFyhTXCWr/xacs2BrcH4pPLtSWCP5iLJXyaq56a+YqIf1AHJxw9KMoeJUoqOiBHA8GmLrltKW6Jh/hzTE/v1L7VJ5zp7JHloiF+LVY5eKFOZQejiilosUpLYSOuTtttqdtWEV3WleDU4TEdeDdJpQYnfp4j9kbI0X6qRBmR9oCiG1MHJPX7O4bbl8e9GunQSnmM86TTBvJ9W14mx2J3lP24l14zrCJ0CN8bEc4HScDH3JpbyOR7N9u2x9FsiL9m7MFMjLHecwOBCEotbkfnavFcoJxDj2+0ZnhivJgLtc7CFYNgMBMeVE2oElrStBhj5JmQc95fydy3ieaRvN8xzXz630LWX4u+urOtvRwWeH3MIJNTetOdkPUEa9SYBvYGjf3zR6oedmW6gLSTOD7BN7zx/SrmGv0bpgTW9/s2C7IZhiTSthPum3IRPwqjY8A5zxDT2e5osE/YQVpQkIJ3O4DVp6HewKILihsBCBLNeHxMQr+BYywvvHGrxoOF5lXxhOujUzSrY0r+V2OplmL6YH/WQcdzMiPLTXghkByK3X3snm6XQ34tDFF4LzpGplM5xjIt3YX3A46cxAoUNAKbxJpVTfuDbZVrS5RWCUrSyjvxWzENOrCk4/MoyRWJUYf64/7tBun+x55p4+0NOUKDPMUJtJKy8v3EmJObduUr1/MqvuKTerJFWhuAMGKOK7vjErdTOJlgevxs3N7t1Ix3gEvQ1aIpgkfIqL1VFKzSMvK9L3WAAQUAPOthc9ZjQxzemsocgQEM/xub6n8RQVqc+K7cUX46pLufAxWy4s9TVV+bahtLoCZQvspl6WmxAOGvYbZiWuDUkGAJBaHl1eMEOjkdZ4X80f+i0YdP95/bEZzYpiEHrqpdexghWsr50NtStQAspLTIAnxgx5lXQyZkEOy3OC0Ma3ns+hdWGxdhHCBFTmoVZTIKkoWUvXu8Y2A1W/y/ub0btgIdXC7CZW8Ua4931jgcasmTV8HLtBrvE8bKpxDSMXPsn055JRH5n+wFZj/ir3mHcx20aKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013t8eFCna3aj2jrhxS9U1cH",
      "input": {
        "note": "The held can is now above the burner in the overhead view, roughly centred over the coil. Lowering it until it rests on the burner plate.",
        "targets": {
          "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_013t8eFCna3aj2jrhxS9U1cH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.9478, 1.919, 1.4574, -0.7399, 0.5144, 0.6739, 0.7127]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0021 left_pitch=-0.0755 left_roll=-0.003 left_gripper=0.999 right_x=0.3226 right_y=0.3062 right_z=0.0961 right_yaw=0.0783 right_pitch=-0.3732 right_roll=-0.1452 right_gripper=0.7127\nstate[joint_eff]: [-0.1709, -1.2786, 7.2274, 1.7558, -0.0366, -0.0171, -0.0122, -0.335, -8.5265, 6.3111, 1.1404, 0.3101, -0.0073, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77289257cfa88145194e7cd3a683a8cc7d8d7618750322b5a753a6e142274da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4521486346dbc15a975acf4b8d04119c3a72cf2e8bef1f0bfdc5c0c77801f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d330d757dddb177d6aca4681c28246287b20cca2832647eeae12d87ee5c4dfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.898 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, -0.4355, -0.0189, -0.0387, 0.999, 0.3393, 1.1694, 0.8768, -0.6003, 0.2245, 0.1535, 0.71]\nstate[eef_state]: left_x=0.2877 left_y=0.0015 left_z=0.1685 left_yaw=0.0021 left_pitch=-0.0488 left_roll=-0.0035 left_gripper=0.999 right_x=0.3144 right_y=0.0731 right_z=0.1532 right_yaw=0.0542 right_pitch=-0.2816 right_roll=-0.08 right_gripper=0.71\nstate[joint_eff]: [-0.1709, -1.3197, 7.4188, 1.7314, -0.0415, -0.0415, -0.0122, -0.3624, -5.1624, 9.4564, 1.9756, 0.1929, 0.022, 0.7643]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4534, -0.0193, -0.0387, 0.999, 0.9451, 1.9121, 1.7813, -1.0245, 0.5205, 0.6731, 0.7124]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1641 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0029 left_gripper=0.999 right_x=0.3314 right_y=0.3147 right_z=0.1841 right_yaw=0.0854 right_pitch=-0.339 right_roll=-0.1122 right_gripper=0.7124\nstate[joint_eff]: [-0.294, -1.4701, 7.0085, 1.8779, -0.0562, -0.0806, -0.0122, 0.2803, -9.7573, 8.9778, 0.9695, 0.6276, 0.1929, 0.4957]\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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.9478, 1.919, 1.4574, -0.7399, 0.5144, 0.6739, 0.7127]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0021 left_pitch=-0.0755 left_roll=-0.003 left_gripper=0.999 right_x=0.3226 right_y=0.3062 right_z=0.0961 right_yaw=0.0783 right_pitch=-0.3732 right_roll=-0.1452 right_gripper=0.7127\nstate[joint_eff]: [-0.1709, -1.2786, 7.2274, 1.7558, -0.0366, -0.0171, -0.0122, -0.335, -8.5265, 6.3111, 1.1404, 0.3101, -0.0073, 0.7106]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77289257cfa88145194e7cd3a683a8cc7d8d7618750322b5a753a6e142274da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f4521486346dbc15a975acf4b8d04119c3a72cf2e8bef1f0bfdc5c0c77801f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d330d757dddb177d6aca4681c28246287b20cca2832647eeae12d87ee5c4dfd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQYKEAgRGAI4AUIIdGhpbmtpbmcSDEnKUed3bIMaK19DVRoMffdrWd0NIw6RLALoIjDUwhXEZ4ii+8aYBxXtLgKqn18XgkzOFfb2cx+VewM+Dqb7/lltUWrm0oCL98NnYGgq3gWSPx6oHcDfadEBqDpMlaeKTj1aOFCrgT518dL1y5EbV8meV+D1yng1lSU2LuvOXgdpRHWbFwpUg+cWl/bhvsDpjicTjVYebgc8yxlXCI85OaTSTto1oCVJqpk6hZEseiBK2uFnGY2Z18fScqMMKpFnORo8cBxsxsvtxsFg23IdXpUmepeGdVsClpBb8dBC2to72G71c1SCW7yQ6rzd0VLSF76GTg+saamUsqhdZgB2IIvS4/EUlA7IlayIGXqup+lmeNYqRc5Uw4zq+UWxhiQWKvM/3LqvaFhYVuwaTY5qR14El7Pe5HIHEpof5xmP7AttyoWLQ7FtIe8ZfqUsdebXwFEb+sJx7JzCSymyXC4i6j6fOGE4+fZCNVrdesDOOuvJmiQs+3xwXxvmyEuwC/ieU/kHsiMcDdYoTHfIAl41zIApN1rxf+0UFLny/BdzWeQQaCyBlyI+em8ioJNkjo0cTQa4cseUWUOFoJqq2HdSNAMd4LaJjuddxkFmP5nyA55Kuy66g0y/jGpe1QL9UE+k4CH6qKuSfNVw0+8mqjox0HGYft5i3iANBDCIo8fitChRjn6Seo6ErqHkKOR4/RWs3DkzaPq1HXANQJJDg+RZMIzD8aHQhA+avvFy188nsn+/j/fDWTGIvkNsI3YYBrEbE43liQqGgQzbDTOqehp98bW4wDKBtqeYe+3aWde0euyKDCVXLFAJ39JJ+IuJWtvxwPO6wDkhQ6WDFVRMoD5ro0qljWAZfymTo93CZh0hsExUnOr6khknBaJOw4DcnhCmzwrct0KR79x30/gRXfeM9m/Wq1PDwJ91K5OjSVO7DRK9hdpJ+UyMzof9AwPqCiKu+TM5m16czMMFqIsuoQJjQmJo2PfwB7zQdmtewimAZzx8U8PUFLQaHMUx0ONBv8ogm8X+r8ja9GZFXeIhMkZ8w5ynTK8dccwqzEcpG30Ums+YM8SwKRp1A/3mvCqaAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XB9rEao2fANokmE72s7FYk",
      "input": {
        "note": "The arm reached z≈0.10 freely, so the can is not yet resting on the burner. Lowering further until the descent stalls on contact.",
        "targets": {
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XB9rEao2fANokmE72s7FYk",
      "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, -0.4728, -0.0193, -0.0387, 0.999, 0.9501, 1.9282, 1.3972, -0.627, 0.5426, 0.6701, 0.7143]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1599 left_yaw=0.0025 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.999 right_x=0.3288 right_y=0.3092 right_z=0.0844 right_yaw=0.078 right_pitch=-0.3255 right_roll=-0.1302 right_gripper=0.7143\nstate[joint_eff]: [-0.212, -1.0598, 7.1726, 1.7851, -0.0904, -0.0415, -0.0122, -0.1846, -7.5556, 3.9179, 0.7839, -0.2466, -0.0122, 0.6471]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d455511d9b16c45018bd80bae0733df4159ea3545bfaecf0b539f4cd7b1e98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e43866f8d3dc110454d60a977fa725c6f4c284595af92819137b15d6d0206db9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcbc77c60aa2ec4f79d184eae313cf0360b6957f92add5149829e2db6f621b87",
        "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 · 4.642 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4534, -0.0193, -0.0387, 0.999, 0.9451, 1.9121, 1.7813, -1.0245, 0.5205, 0.6731, 0.7124]\nstate[eef_state]: left_x=0.2853 left_y=0.0016 left_z=0.1641 left_yaw=0.0024 left_pitch=-0.0698 left_roll=-0.0029 left_gripper=0.999 right_x=0.3314 right_y=0.3147 right_z=0.1841 right_yaw=0.0854 right_pitch=-0.339 right_roll=-0.1122 right_gripper=0.7124\nstate[joint_eff]: [-0.294, -1.4701, 7.0085, 1.8779, -0.0562, -0.0806, -0.0122, 0.2803, -9.7573, 8.9778, 0.9695, 0.6276, 0.1929, 0.4957]\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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.9478, 1.919, 1.4574, -0.7399, 0.5144, 0.6739, 0.7127]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0021 left_pitch=-0.0755 left_roll=-0.003 left_gripper=0.999 right_x=0.3226 right_y=0.3062 right_z=0.0961 right_yaw=0.0783 right_pitch=-0.3732 right_roll=-0.1452 right_gripper=0.7127\nstate[joint_eff]: [-0.1709, -1.2786, 7.2274, 1.7558, -0.0366, -0.0171, -0.0122, -0.335, -8.5265, 6.3111, 1.1404, 0.3101, -0.0073, 0.7106]",
      "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, -0.4728, -0.0193, -0.0387, 0.999, 0.9501, 1.9282, 1.3972, -0.627, 0.5426, 0.6701, 0.7143]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1599 left_yaw=0.0025 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.999 right_x=0.3288 right_y=0.3092 right_z=0.0844 right_yaw=0.078 right_pitch=-0.3255 right_roll=-0.1302 right_gripper=0.7143\nstate[joint_eff]: [-0.212, -1.0598, 7.1726, 1.7851, -0.0904, -0.0415, -0.0122, -0.1846, -7.5556, 3.9179, 0.7839, -0.2466, -0.0122, 0.6471]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d455511d9b16c45018bd80bae0733df4159ea3545bfaecf0b539f4cd7b1e98e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e43866f8d3dc110454d60a977fa725c6f4c284595af92819137b15d6d0206db9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcbc77c60aa2ec4f79d184eae313cf0360b6957f92add5149829e2db6f621b87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The descent stalled at z≈0.084 (target 0.06) and elbow effort dropped — the can is resting on the burner. Releasing it.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iHqpAWLub5qwf2xCB28RZ",
      "input": {
        "note": "The descent stopped short at z≈0.08 with reduced arm effort, indicating the can is sitting on the burner. Opening the gripper to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013iHqpAWLub5qwf2xCB28RZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.4801, -0.0189, -0.0387, 0.999, 0.9489, 1.9499, 1.3659, -0.6094, 0.5224, 0.6666, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0022 left_pitch=-0.098 left_roll=-0.0025 left_gripper=0.999 right_x=0.3235 right_y=0.3062 right_z=0.0649 right_yaw=0.0812 right_pitch=-0.3629 right_roll=-0.1484 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.707, -0.0464, -0.0513, -0.0122, -0.4171, -9.5521, 6.1744, 1.2527, 0.1929, 0.0122, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aabee7b32f552739afe83f3d5fea8ee3561899be361c8faacce7d05f34f56cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc07ee75f1e302f54a242e0468c86900d36630bfa837258d1ce7512c7c998e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbb46e28958c05ff6d2a370e390b1057c1acfad14adaf7c3018a686d0549cfd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 15.44 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, 0.8032, 0.6067, -0.4583, -0.0189, -0.0387, 0.999, 0.9478, 1.919, 1.4574, -0.7399, 0.5144, 0.6739, 0.7127]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1629 left_yaw=0.0021 left_pitch=-0.0755 left_roll=-0.003 left_gripper=0.999 right_x=0.3226 right_y=0.3062 right_z=0.0961 right_yaw=0.0783 right_pitch=-0.3732 right_roll=-0.1452 right_gripper=0.7127\nstate[joint_eff]: [-0.1709, -1.2786, 7.2274, 1.7558, -0.0366, -0.0171, -0.0122, -0.335, -8.5265, 6.3111, 1.1404, 0.3101, -0.0073, 0.7106]",
      "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, -0.4728, -0.0193, -0.0387, 0.999, 0.9501, 1.9282, 1.3972, -0.627, 0.5426, 0.6701, 0.7143]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1599 left_yaw=0.0025 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.999 right_x=0.3288 right_y=0.3092 right_z=0.0844 right_yaw=0.078 right_pitch=-0.3255 right_roll=-0.1302 right_gripper=0.7143\nstate[joint_eff]: [-0.212, -1.0598, 7.1726, 1.7851, -0.0904, -0.0415, -0.0122, -0.1846, -7.5556, 3.9179, 0.7839, -0.2466, -0.0122, 0.6471]",
      "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, -0.4801, -0.0189, -0.0387, 0.999, 0.9489, 1.9499, 1.3659, -0.6094, 0.5224, 0.6666, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0022 left_pitch=-0.098 left_roll=-0.0025 left_gripper=0.999 right_x=0.3235 right_y=0.3062 right_z=0.0649 right_yaw=0.0812 right_pitch=-0.3629 right_roll=-0.1484 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.707, -0.0464, -0.0513, -0.0122, -0.4171, -9.5521, 6.1744, 1.2527, 0.1929, 0.0122, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aabee7b32f552739afe83f3d5fea8ee3561899be361c8faacce7d05f34f56cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc07ee75f1e302f54a242e0468c86900d36630bfa837258d1ce7512c7c998e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbb46e28958c05ff6d2a370e390b1057c1acfad14adaf7c3018a686d0549cfd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper open; retracting the right arm up and back to home so the overhead view shows the result.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MhB94KBaBMVaHQxNDqRnkR",
      "input": {
        "note": "The can has been released on the burner. Lifting and moving the right arm back to its home position to clear the overhead view and verify placement.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01MhB94KBaBMVaHQxNDqRnkR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.804, 0.6067, -0.5022, -0.0193, -0.0387, 0.999, 0.0311, 1.103, 1.018, -0.915, 0.0803, -0.1265, 0.999]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1543 left_yaw=0.0025 left_pitch=-0.1201 left_roll=-0.0018 left_gripper=0.999 right_x=0.2834 right_y=-0.0018 right_z=0.1796 right_yaw=0.031 right_pitch=-0.422 right_roll=-0.1504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.1043, 1.8535, -0.0757, -0.0415, -0.0122, -0.1573, -4.1504, 9.7162, 1.4676, -0.1099, 0.0024, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28fb05f35079a721106709dda45b2e4b94ebe6dbaf2c52ce6358675a39dce80b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45d761576a515b395cbacfcc3bb5ee3be824698aaf7317845142f8260a50b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e595e5839c699ab203405c14ab4a24e3c670d818b27e2ba45a903060a784b95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 7.775 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, -0.4728, -0.0193, -0.0387, 0.999, 0.9501, 1.9282, 1.3972, -0.627, 0.5426, 0.6701, 0.7143]\nstate[eef_state]: left_x=0.2824 left_y=0.0017 left_z=0.1599 left_yaw=0.0025 left_pitch=-0.0908 left_roll=-0.0024 left_gripper=0.999 right_x=0.3288 right_y=0.3092 right_z=0.0844 right_yaw=0.078 right_pitch=-0.3255 right_roll=-0.1302 right_gripper=0.7143\nstate[joint_eff]: [-0.212, -1.0598, 7.1726, 1.7851, -0.0904, -0.0415, -0.0122, -0.1846, -7.5556, 3.9179, 0.7839, -0.2466, -0.0122, 0.6471]",
      "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, -0.4801, -0.0189, -0.0387, 0.999, 0.9489, 1.9499, 1.3659, -0.6094, 0.5224, 0.6666, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0022 left_pitch=-0.098 left_roll=-0.0025 left_gripper=0.999 right_x=0.3235 right_y=0.3062 right_z=0.0649 right_yaw=0.0812 right_pitch=-0.3629 right_roll=-0.1484 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.707, -0.0464, -0.0513, -0.0122, -0.4171, -9.5521, 6.1744, 1.2527, 0.1929, 0.0122, -0.0415]",
      "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, -0.5022, -0.0193, -0.0387, 0.999, 0.0311, 1.103, 1.018, -0.915, 0.0803, -0.1265, 0.999]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1543 left_yaw=0.0025 left_pitch=-0.1201 left_roll=-0.0018 left_gripper=0.999 right_x=0.2834 right_y=-0.0018 right_z=0.1796 right_yaw=0.031 right_pitch=-0.422 right_roll=-0.1504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.1043, 1.8535, -0.0757, -0.0415, -0.0122, -0.1573, -4.1504, 9.7162, 1.4676, -0.1099, 0.0024, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28fb05f35079a721106709dda45b2e4b94ebe6dbaf2c52ce6358675a39dce80b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e45d761576a515b395cbacfcc3bb5ee3be824698aaf7317845142f8260a50b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e595e5839c699ab203405c14ab4a24e3c670d818b27e2ba45a903060a784b95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "The can appears to have rolled off to the right edge of the burner rather than resting on the coil. I'll re-grasp it and place it more carefully onto the coil.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UK7qL8gEV5ygGRn195uuyW",
      "input": {
        "note": "In the overhead view the can is lying against the right edge of the burner, not on the coil. Moving the right gripper above the can to re-grasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.23,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01UK7qL8gEV5ygGRn195uuyW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8059, 0.6067, -0.5179, -0.0189, -0.0387, 0.999, 0.7822, 1.7012, 1.4029, -0.9272, 0.416, 0.5293, 0.999]\nstate[eef_state]: left_x=0.2753 left_y=0.0016 left_z=0.1508 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0017 left_gripper=0.999 right_x=0.3205 right_y=0.2229 right_z=0.1413 right_yaw=0.0545 right_pitch=-0.4686 right_roll=-0.1791 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.3744, 6.9128, 1.7314, -0.0757, -0.0464, -0.0122, 0.212, -7.665, 8.4718, 0.989, 0.4469, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dde67cf219af4394aa213e619408cda7411886ece1ffaa50e3ae6e49bf94377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbb4f62797e1388390d0f32e7839f6f42ac3caad7f3bd0898901395c9a22cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:935c1f24b37992315f4f44461f5bc5d3e6d3bdd880ba400f141f66516c4dde8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 8.669 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, -0.4801, -0.0189, -0.0387, 0.999, 0.9489, 1.9499, 1.3659, -0.6094, 0.5224, 0.6666, 0.9946]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1585 left_yaw=0.0022 left_pitch=-0.098 left_roll=-0.0025 left_gripper=0.999 right_x=0.3235 right_y=0.3062 right_z=0.0649 right_yaw=0.0812 right_pitch=-0.3629 right_roll=-0.1484 right_gripper=0.9946\nstate[joint_eff]: [-0.1846, -1.2103, 6.9538, 1.707, -0.0464, -0.0513, -0.0122, -0.4171, -9.5521, 6.1744, 1.2527, 0.1929, 0.0122, -0.0415]",
      "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, -0.5022, -0.0193, -0.0387, 0.999, 0.0311, 1.103, 1.018, -0.915, 0.0803, -0.1265, 0.999]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1543 left_yaw=0.0025 left_pitch=-0.1201 left_roll=-0.0018 left_gripper=0.999 right_x=0.2834 right_y=-0.0018 right_z=0.1796 right_yaw=0.031 right_pitch=-0.422 right_roll=-0.1504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.1043, 1.8535, -0.0757, -0.0415, -0.0122, -0.1573, -4.1504, 9.7162, 1.4676, -0.1099, 0.0024, -0.1148]",
      "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]: [-0.0193, 0.8059, 0.6067, -0.5179, -0.0189, -0.0387, 0.999, 0.7822, 1.7012, 1.4029, -0.9272, 0.416, 0.5293, 0.999]\nstate[eef_state]: left_x=0.2753 left_y=0.0016 left_z=0.1508 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0017 left_gripper=0.999 right_x=0.3205 right_y=0.2229 right_z=0.1413 right_yaw=0.0545 right_pitch=-0.4686 right_roll=-0.1791 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.3744, 6.9128, 1.7314, -0.0757, -0.0464, -0.0122, 0.212, -7.665, 8.4718, 0.989, 0.4469, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dde67cf219af4394aa213e619408cda7411886ece1ffaa50e3ae6e49bf94377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbbb4f62797e1388390d0f32e7839f6f42ac3caad7f3bd0898901395c9a22cc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:935c1f24b37992315f4f44461f5bc5d3e6d3bdd880ba400f141f66516c4dde8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQkKEAgRGAI4AUIIdGhpbmtpbmcSDJwbb57H3PWBE65rRBoMC/3wmzyXvgQpghH8IjDIGRt5hStuj8+XxiecTuTygb2h/EMsSDTJLJ+ZfPRimJHSplmkvrm8r8MTIb1J840qugjG25kvw4T22UDgEliC+gSQlfZp0HSsAQ66Tlvi5a7rLx9j6o8tLEsJNaXbrxhVT6ghZYhvSsIEeh63Bqapgw4jIHGhV9ecQVol1ydII9x2DWEI+UjycwKkZouN9IFpxlrhk8+tldcq4iWSWRKES2kZCxtqOICN5lJ9vs8lOwcG/5jRTxwjR9E9CoutWiHDpf03w+sfq0qbRsC6WzinZaXS8sSWWtLSWqnsbc1qepzDz87wzuAEen+J0VnBCYihgEF8FqlUbEHpx8J3/ZOVnpDpLL3Mj/b9T9RNUk5WhoDW7k0XSwy9+tWpYfxudWhafUO8t7PEuS5i2ZUW4CxhYNMeh9zfL0VScPsVPlbs6jVKp/N25/0+pC1nsRkccqcdoxsCjkRA3ichZnEQNPayvaaM+uxG1MKzzZPB5rw0nhnZsES0lQj3/Ra8xsujZFljCqnyHZSxOeHBZRTxKAWkEwVMtFBctxW4O4xr+6PQwWziOw+d3wGfgRWf4Zhhp89pi/p1+fNeTW+YPbP2xqisykpEtzjuxU7M3fXLe/087pIZMkBojS2ZH4rTIU08ymoV6XsoZm0QO5Zwdi6WBIGObNnXAMkn7U+x/mJPbmHEHbHdH55ABMkdc7fbq91SMujw2lL2bGt6ZUNE4p+R35cIMb5m6CHHJ3fFwApENkzGu8eNf0hspN0NYTVA+czfD2jbDkx9R3NgD3d+ZqFaENfOhN3TOGty4Q2zr0gGfC/LLLTa2qBtECpqTieyIpKRYUvCwaLpWUuPt++iiNlctPvMo7hkjSNsnSA6Gpxm18kZEnvSEzKmyTY0GbHoXcqsv+maS2PL2RrNJ+m7WWQsObUgMz1nux55INgxPD+GZUVThXo6c4ycy5VpiDpvu+dInrB4+KOFYwoWRG8h66DJpNjmTmBxmJhMsKId7IHV7NpiL+cW1ZfYszLT4E1xbUlg8asnNnpHtf8bxtEx/Q9EJYtEKNFcDBNsC/90m0wUph5U4cAQAOqbMNXpwADLXZVp4RIIolUGL6UwQzLc0TaHLZMUWu6TP3zAI32qtJwdEeQxbxepirlz+w6sWNm1pV22HJaTRQgxEUKmKtRzHT8kihrzjILWd+fm/UHpMLBopqA0Rrlw9riUY0ZIzUxKcq8coCkbxAYr7ErIyHP26K3OVu6YDPuhBu4Bq3qVHHC5hDs0qy+X/VP1c+QQXWi3qk+lnL07frpC9Q6aR/Ou/Jwidp53B+1RGfOsDkh5s4h6oQmEWGGNYlCI+IAmb0YihkhMuSc5zKETtXCxSMjNTRNj0u4E/wDZpI5S/IZprFuPvsd5dY2PdHFKu69Lft1OUG5P/ivF4vOF//fprwi58ef7n3Jl+gQrDwofcW2itKVLA52woKgyd0/2DnqH+a8Fr3GZWcuObMlgMnw92MQZnvoN0O085rJ+Kt0Laff8SCutxRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SSs1cdmropNui43BYZUnRo",
      "input": {
        "note": "In the right wrist view the can lies about 4 cm to the right of the jaw column, next to the burner. Shifting right and descending to grasp height on the can body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.19,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01SSs1cdmropNui43BYZUnRo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8082, 0.6067, -0.5278, -0.0193, -0.0387, 0.999, 0.6949, 1.7077, 1.0428, -0.466, 0.3935, 0.458, 0.999]\nstate[eef_state]: left_x=0.2738 left_y=0.0017 left_z=0.1484 left_yaw=0.0023 left_pitch=-0.1499 left_roll=-0.0011 left_gripper=0.999 right_x=0.3369 right_y=0.1973 right_z=0.0587 right_yaw=0.0546 right_pitch=-0.4144 right_roll=-0.1364 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -0.9915, 6.8991, 1.7509, -0.0806, -0.022, -0.0122, -0.3624, -3.7675, 3.6444, 0.3492, 0.105, -0.2466, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd831a0bb4e4bcee8b7a3d8115c6caf9bae6fe22f24bcfa06286273527314006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f885ae744597973ab291898a02bbbb4b53c1ba05c7c62ebf82a63a954bf3630a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7624d1cd93d890cbb6a60d518dd3dd15acc8ad48521c9bbbb3f25f91202994e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 7.036 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, -0.5022, -0.0193, -0.0387, 0.999, 0.0311, 1.103, 1.018, -0.915, 0.0803, -0.1265, 0.999]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1543 left_yaw=0.0025 left_pitch=-0.1201 left_roll=-0.0018 left_gripper=0.999 right_x=0.2834 right_y=-0.0018 right_z=0.1796 right_yaw=0.031 right_pitch=-0.422 right_roll=-0.1504 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.2239, 7.1043, 1.8535, -0.0757, -0.0415, -0.0122, -0.1573, -4.1504, 9.7162, 1.4676, -0.1099, 0.0024, -0.1148]",
      "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]: [-0.0193, 0.8059, 0.6067, -0.5179, -0.0189, -0.0387, 0.999, 0.7822, 1.7012, 1.4029, -0.9272, 0.416, 0.5293, 0.999]\nstate[eef_state]: left_x=0.2753 left_y=0.0016 left_z=0.1508 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0017 left_gripper=0.999 right_x=0.3205 right_y=0.2229 right_z=0.1413 right_yaw=0.0545 right_pitch=-0.4686 right_roll=-0.1791 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.3744, 6.9128, 1.7314, -0.0757, -0.0464, -0.0122, 0.212, -7.665, 8.4718, 0.989, 0.4469, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8082, 0.6067, -0.5278, -0.0193, -0.0387, 0.999, 0.6949, 1.7077, 1.0428, -0.466, 0.3935, 0.458, 0.999]\nstate[eef_state]: left_x=0.2738 left_y=0.0017 left_z=0.1484 left_yaw=0.0023 left_pitch=-0.1499 left_roll=-0.0011 left_gripper=0.999 right_x=0.3369 right_y=0.1973 right_z=0.0587 right_yaw=0.0546 right_pitch=-0.4144 right_roll=-0.1364 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -0.9915, 6.8991, 1.7509, -0.0806, -0.022, -0.0122, -0.3624, -3.7675, 3.6444, 0.3492, 0.105, -0.2466, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd831a0bb4e4bcee8b7a3d8115c6caf9bae6fe22f24bcfa06286273527314006",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f885ae744597973ab291898a02bbbb4b53c1ba05c7c62ebf82a63a954bf3630a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7624d1cd93d890cbb6a60d518dd3dd15acc8ad48521c9bbbb3f25f91202994e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygoKEAgRGAI4AUIIdGhpbmtpbmcSDDdgw358kgAf/ed7fRoMkh4KYY5VxtJQQ7nCIjAwX23DUUZehA8zNz6iFGpo+DGifIAcYQtnn5KELBJi9V+GFLuj0g/1jIbBL0fNqY4q5wm8OqPKLvaGF43CzmZvomTkCky7FBdNAxuEyrOvztKNJUb+1OwTFHwPo2KwHS8/nK0GbTQ0M1UFcv0MJmOhmJ5Ot12Z0BY8NVojPGj6HMAUAJ+KjhxGhNr9Gl/uuKZMSsq5mB6zBAXGC303YJ1pI7+3qioqDeUIMLd05wpQXf1lJdthOGDT04GIAgz65xW/lsqBN851950TrKrwnyRaKStavIPJ42vTsokgWkhrGLA73HUwQP8UrvTe7yGTjJMzOvj4nzwN505Zdk/BCRjL+Wit/EPxk+slpBTUbkAf1x1btPq6LYaJ9XL/DDc9I4dycDZYlWjjS1/6LnHPiQ0HYJ3oj5zT1O0AGHR2Tyk1VIit8Z58wIqRdKPnDo++DkoRzex75yXPhzzrJNgPrweHLPEV1hm5w++DkveQMmthMJalvCcMBzGZLqN6s21VULzoGVh8PmZAlT2a7CzY8o/7LPpceKvI8Da5DJ8zdtHY7MWBWs8EZyZUIQzxAZtPFpxHMQ0yMzYtmVE5g/EqT3bc2dPR2cjf1NH2wuiZvYaGf8M7o3kw4E5UwAAF3idtBW+M30uUa0zdPSNfYkYMn7xPk8AbXK9bR5fCNjDTmFMj6GADzs4cAkST3Y8CDYjDDhpW9W3hvRmcF+5qfdTcVmVoeOaC1TjdAYYDy/xEsaBpN+8b/WBdv3brsO+y2OiS4BhJ1DE77Cy+v12YhzbPbiOZ5VasImhA8Mx0UNIqGQh2S/gAD2oUcZKtN9rS8HhpqQV8GJ0ICSoD/auxi4Burj6U3lQoW3CGnDhU9MhXut6jfguaNziR73+EhXqdilsuiTkBYGdTvfLtVB0JFRWatZ2kDY3iFm0XU1g03NpvGTbsyIvpyRy/ABlOC2u/i7U617REuvsatppg5fubLQGTqtzrjulCgwN2d6Yz2vHE2NVVdtmM2zLfGbSQGQ7DCAXwHdO+EpcrAzTprIoAEgBpt8zhADklVeKld52M4ltHStt9+AXoKaPLf8RKQFXwo3f1LHSu0EQY62P/glFDJYtU8g1evgzKJBCPzD9QbWE6emXS+9/kyGaArYBbvY8anN9S9tQWLqk63jBeU2KzxzZyDW2hFk5D3/WUXhlYxf7dgNZukxJK3rYw5/4ArfAwtHqkzgrEGdkNAB9vh/7ChKbBz9wdVqcoHJtVrloBuvKZOePxICaN6ffpQS8OG/Bfnkdtwv/RiGdjJcN9Fgks2IHtp/2LUD0ymWADOMtkbifwbzUibEoJxEvM0Y0DUQFUR3bao4tJFjAgnRsGnfJZ6OyewbMfpRJgenClrrJTO+/UjLVIQoZvbQFPXyVRa2gt/N/p/FQ89Uuvhrj8Vwbplo5PiDY7XuqsrTpi35OM6NKkPUgbWrylu23hyOWEoNX4zWX2Z/wSfXMgXCrmfFDhI+u6oyEUBTSB5VrEbfYzSrLQPc8Hk6F4bYs3SMDEb3Q9zPCF0XhPXemQkiNNraHuO8neU/ylMw+4f2r+RN5GEDRVCKe+0XFFP2KEAwUdS1+2awXubmuUlg+EjeOGdEmP4cJen3hoVDJCwfMJEd4VCjDSmVlZXam52cU1BdxOjQiFqnT/pazA7ySQJJlLAViQQD7TzlC0VLGb+0H1ih9CN7WvrPpgb6HJxVHqH99+AP85dCewigo5eUN1NL/TowVdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MvU2HHzLrmsCjLooiEFr4V",
      "input": {
        "note": "Descent stopped at z≈0.06, likely the left jaw landing on the burner rim; the can sits slightly right of the jaw centre. Shifting 2 cm right and lowering again to get the jaws around the can.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.175,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MvU2HHzLrmsCjLooiEFr4V",
      "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, -0.5381, -0.0189, -0.0387, 0.999, 0.6655, 1.6714, 0.9314, -0.276, 0.379, 0.4408, 0.999]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1466 left_yaw=0.0023 left_pitch=-0.1598 left_roll=-0.0012 left_gripper=0.999 right_x=0.3459 right_y=0.193 right_z=0.0548 right_yaw=0.0722 right_pitch=-0.3289 right_roll=-0.0646 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.0325, 7.0632, 1.6923, -0.0464, -0.0269, -0.0122, -0.9231, -4.7658, 3.3299, 0.0757, 0.3053, -0.2808, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55976c460adf60a761d40ff856d3556319a8e708e69d13997b796f803550c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6cddc73fc337daf58a39d31d73bcdb131272ccf5432b8db5339791fac137d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78edd0117469e0fa0c19c503565e8d8c3df66a8230d851a193eee9f1cfd64237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.56 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]: [-0.0193, 0.8059, 0.6067, -0.5179, -0.0189, -0.0387, 0.999, 0.7822, 1.7012, 1.4029, -0.9272, 0.416, 0.5293, 0.999]\nstate[eef_state]: left_x=0.2753 left_y=0.0016 left_z=0.1508 left_yaw=0.0019 left_pitch=-0.1377 left_roll=-0.0017 left_gripper=0.999 right_x=0.3205 right_y=0.2229 right_z=0.1413 right_yaw=0.0545 right_pitch=-0.4686 right_roll=-0.1791 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -1.3744, 6.9128, 1.7314, -0.0757, -0.0464, -0.0122, 0.212, -7.665, 8.4718, 0.989, 0.4469, 0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8082, 0.6067, -0.5278, -0.0193, -0.0387, 0.999, 0.6949, 1.7077, 1.0428, -0.466, 0.3935, 0.458, 0.999]\nstate[eef_state]: left_x=0.2738 left_y=0.0017 left_z=0.1484 left_yaw=0.0023 left_pitch=-0.1499 left_roll=-0.0011 left_gripper=0.999 right_x=0.3369 right_y=0.1973 right_z=0.0587 right_yaw=0.0546 right_pitch=-0.4144 right_roll=-0.1364 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -0.9915, 6.8991, 1.7509, -0.0806, -0.022, -0.0122, -0.3624, -3.7675, 3.6444, 0.3492, 0.105, -0.2466, -0.1148]",
      "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, -0.5381, -0.0189, -0.0387, 0.999, 0.6655, 1.6714, 0.9314, -0.276, 0.379, 0.4408, 0.999]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1466 left_yaw=0.0023 left_pitch=-0.1598 left_roll=-0.0012 left_gripper=0.999 right_x=0.3459 right_y=0.193 right_z=0.0548 right_yaw=0.0722 right_pitch=-0.3289 right_roll=-0.0646 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.0325, 7.0632, 1.6923, -0.0464, -0.0269, -0.0122, -0.9231, -4.7658, 3.3299, 0.0757, 0.3053, -0.2808, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c55976c460adf60a761d40ff856d3556319a8e708e69d13997b796f803550c9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6cddc73fc337daf58a39d31d73bcdb131272ccf5432b8db5339791fac137d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78edd0117469e0fa0c19c503565e8d8c3df66a8230d851a193eee9f1cfd64237",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgRGAI4AUIIdGhpbmtpbmcSDLDZc4LNETmTAF0L3xoM7m27B/p7LlXR5GHwIjDrS4gcJdRfxTBh47WEyLCYNG5DgG5ZZ9b/sxICcLQGpDfRT0//g7gqkBsPWG1icXcq8gbbkDAOB4mwzr8VnxsctdJq70/QTu1sHtuuxM2+uSXBdCEJ5w6DFqt/hHxD97y5PglKbTmcsQ/1WsIbAF8q5/f85qM15gMwv8yTOSmSKE1ojtmED9FW1wbFdLpEtoUrnEzCild5weejY+0X8pW28FjD/AMeaMoPBX1JOIvBxLRWDdCDxrwoyWbVDcP+9emF77yxgZvSgRD4lJdcgLxWsnA0x8I7jFFmEWaX8YXqGuzxvzjwLzcJKwOGUqjUWskiOOsk0BvBEPX0yuV8s0ZgEl+qr5ESBLqT4OqSoHvKL7dsqb6bwkNVDQIfwcTbQ/LZ+z6Gq1c7BuWpMNcuz505dneSEuRO+a2C4pRZVHK8MOjDZRlA10c5makQefQu4eLu4i7dNISeFq36lNmtkBgEGLl/+42kZEg7EMGuUnWYhbAmtTGP72WiX+s4Ks1QFivV/l7F1cdhNXN7CHPoEnqom+4gVvp11av03/hg93nPYxXClZrfwNmSks2zXi7cWkEx+YhNkk8A5PHG08dB5Jy8dDuFaD0Aw7wUh2ma2XIcsdiwkeKjuSWmRO7lEtEZv7wyrUYtVdR8tGfJBLAbd8O625GdWEXtXn8XYRPD7H6yMQahwchNAY+adPRDNcbz2Pc/0JUqvhbec1IQ3pSZUD6JqBoX7VvFZuvBzgTOIPX4wefu0nhhpPAZa92MPf+bQFGgzJ/JrF0SAMP0aBBQOBMoP4MVdXSz2eudWcFShEtoA2uBWHlJoDZjjRdS6hhpvp1//zdF8bDPZjUi05qPUOEzSgzWuXn2HEiR+DXsWeDgVK+Z4uRj20ThiByn7EZcJHo+LHnmT1cVT0dD9M3MNXT/gvwDSGf/AxA6PwQdSHYBGrWtXvHwNa64RaorH3HF9C+ttvcwp9qtDgDmFtBzQu0SvT3+t7sULyjzM71Z5ZXVnK7INuO/qkKaJ1I4TBoWa8vmGoR3BYDmqMAejDuGtCZiVg3NvSX8n2WtU/SA3XI77mOWrkObpxVPXBZzTuh61gcn4w/ZhTb1gygWtTmePfWJlsDFU5x9+VDNRCvMIDPtbf7lAaoPvzFIUBnouLb/3qdSW/REiSQNMFKQ6VCmVqAEdYvaPeqNAWdbaU/WtTPAaFqkhnW3flW4Rktog1eFwoznkvBMkfzUTs6Gt7FYZuDwVi8OrqcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PkLe1sAy9x45Fv9PFpc1wR",
      "input": {
        "note": "The arm did not move sideways or down; it seems hung up on the burner rim. Lifting clear first and shifting further right so the jaws straddle the can away from the burner.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.16,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PkLe1sAy9x45Fv9PFpc1wR",
      "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, -0.5404, -0.0189, -0.0383, 0.999, 0.6586, 1.6661, 0.9104, -0.2329, 0.3775, 0.4332, 0.999]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1462 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0009 left_gripper=0.999 right_x=0.3488 right_y=0.1921 right_z=0.0549 right_yaw=0.076 right_pitch=-0.307 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.663, -0.0464, -0.022, -0.0122, -0.8274, -4.7111, 3.6444, 0.6471, 0.1294, -0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bd430e684be13fbe92945a99bc45a2f68a65f418afc09bd30dc3ecbbd0a888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6024ef9ecffa7b98c7d93c52b07dfde0a1e3a10613847c03e89f2b5055ce0ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b31e75fb3b48ea71168399f92591a11bd8897480013724700a07825aa4d1262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 15.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8082, 0.6067, -0.5278, -0.0193, -0.0387, 0.999, 0.6949, 1.7077, 1.0428, -0.466, 0.3935, 0.458, 0.999]\nstate[eef_state]: left_x=0.2738 left_y=0.0017 left_z=0.1484 left_yaw=0.0023 left_pitch=-0.1499 left_roll=-0.0011 left_gripper=0.999 right_x=0.3369 right_y=0.1973 right_z=0.0587 right_yaw=0.0546 right_pitch=-0.4144 right_roll=-0.1364 right_gripper=0.999\nstate[joint_eff]: [-0.3214, -0.9915, 6.8991, 1.7509, -0.0806, -0.022, -0.0122, -0.3624, -3.7675, 3.6444, 0.3492, 0.105, -0.2466, -0.1148]",
      "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, -0.5381, -0.0189, -0.0387, 0.999, 0.6655, 1.6714, 0.9314, -0.276, 0.379, 0.4408, 0.999]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1466 left_yaw=0.0023 left_pitch=-0.1598 left_roll=-0.0012 left_gripper=0.999 right_x=0.3459 right_y=0.193 right_z=0.0548 right_yaw=0.0722 right_pitch=-0.3289 right_roll=-0.0646 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.0325, 7.0632, 1.6923, -0.0464, -0.0269, -0.0122, -0.9231, -4.7658, 3.3299, 0.0757, 0.3053, -0.2808, -0.1148]",
      "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, -0.5404, -0.0189, -0.0383, 0.999, 0.6586, 1.6661, 0.9104, -0.2329, 0.3775, 0.4332, 0.999]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1462 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0009 left_gripper=0.999 right_x=0.3488 right_y=0.1921 right_z=0.0549 right_yaw=0.076 right_pitch=-0.307 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.663, -0.0464, -0.022, -0.0122, -0.8274, -4.7111, 3.6444, 0.6471, 0.1294, -0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bd430e684be13fbe92945a99bc45a2f68a65f418afc09bd30dc3ecbbd0a888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6024ef9ecffa7b98c7d93c52b07dfde0a1e3a10613847c03e89f2b5055ce0ee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b31e75fb3b48ea71168399f92591a11bd8897480013724700a07825aa4d1262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgRGAI4AUIIdGhpbmtpbmcSDKMS/G5DAGTPJSXalBoMnOD+gcIvauyFJd/LIjBGlaGxxMW3so3MH13CnTKN+QmQaqJ4f+7IxKV22NCbNq6iW9jwehyURWUvJvOPEF0qogeo01h7jgm6u0MtI04xAsQ2VwoCNBcPB37VVt+bAGOZop6t/t9YwQ4wtP76lcW/B+yJOeJoqO4zQ4l1gQe6mvNJDy4mnmYGhf1qB0VhC6sNDlEPNTRWBC6k/SSpFGB05cjWZJmsvOHMVAd72o4JPTJ/E9HB3h2rG/cc2oneptlyUao1Nsy7Iu2YUWZjBvETHbcsahvRUzgstKLTTNwdXybUrEs3cRWsQNpBoL67IJrh1m/D4Y1rRVHvWF2CxZOAmu/0i3D2PAZcs+BQmMwmlxGxp4Dvyb4qvh+QQ5dFMI4tDVvChWfv5ZkzKxMTy07yKSHFwU6Rgg/gvhlmNBV6svMn6Ak3AZknYDe3DBhybTQH+P4pRvq1X2YkbR71Ejf39JaoFoBaqZMVSFsNQx0gJmc4jFn4KaGhr49WCeCxlJDe4NcOED5tReY+65HYSjOtgGOf/Etg4KObCvhGou6kIYiUoUSUZgzAHRmfKEbIzGr7W17gylNuJhqvf4Og3k7yQ98TGtZUliSzvrkz+mQyIDBh4weeYaGA+9xEzWi60T6NYGfKF3Niay20tv1UQp2LC1L0ozbGyjUku4v+7CNmFlLelkhb3kbXxAOwzye9GrWZEsXG5cvXbDlrWeZt5QFaET6t/qn11I/uABbxJTeYRPrQv/ZaqXDBxcieo9uKjZt138+4pKxFkOdT9dgTyqxnF1dn8Fm7aFVba0eeJu86x02Gl6qN6BMnSSO/E0GaRzWHbffw79Qzp294+pVfCtS25S4Csk8HVYGGKV/wxq7V0SVPLBeqtPuIa2pR5O6umoZzZQ4rCN+j0wzjr5AIe+nm1o+k3QTa5xzkaAsrhtMFoLpKSkuBj/M99uToNWWszMsl9n9jif4zJ1OKaOG4FdGohxHpAaT9njtvGtc9FfQlfQFQbUhScUfrnWgP/yXNJvRK8uRdqGewWTQK5/hidMmbnYVS8C4JIM363OG/jtQk8eW30oKaxPabrdH/YIcPbJMsyMa8gj6AvIc30YTYaZXlmuesZu8mf+h522tzLpoJaRUpT2LFipvXbH38JtWE11DvNI1arEaDAmKon3EC5gjyxcFA2z7ZCCET9lMmR+eTFctPCPB5QL6CgTG8w/9WiF0MNdkEhyUFNp7kkfm5f8r7QK3N1JqhKd9gg5k6N+karyfw5njjy8Gz/EJbOapXH6WeYJ1BuYYVQrxUPGwUNVB/sdiCGaNN2/zddhvqX13jshP6//AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HfmqpPfCPUvKD9X7gN56U3",
      "input": {
        "note": "The right arm has stalled in an awkward pose next to the burner. Pulling it back toward the base, raising it, and resetting the tool orientation to get it moving again.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.28,
          "right_y": 0.15,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01HfmqpPfCPUvKD9X7gN56U3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5617, -0.0189, -0.0387, 0.999, 0.8185, 1.1213, 0.7017, -0.3439, 0.609, 0.514, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1414 left_yaw=0.0024 left_pitch=-0.1873 left_roll=-0.0006 left_gripper=0.999 right_x=0.2822 right_y=0.1589 right_z=0.1563 right_yaw=0.0411 right_pitch=-0.0201 right_roll=0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2376, 6.8581, 1.7607, -0.022, -0.0269, -0.0122, 0.1573, -3.7402, 6.7761, 1.4823, 0.2955, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66062e8fda2ef82f0cae163f11a125efe47a0f0fe890e9d3d0e554f5ec91aae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd6abad59af3d787196b270c7de10ac82da06cb5ed4c8e489ec675839a708b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cef7cd762ced50cb00438c7a3f715bfbb3eeb7517514156adc42ffdb1d06806e",
        "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 · 7.964 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, -0.5381, -0.0189, -0.0387, 0.999, 0.6655, 1.6714, 0.9314, -0.276, 0.379, 0.4408, 0.999]\nstate[eef_state]: left_x=0.2721 left_y=0.0018 left_z=0.1466 left_yaw=0.0023 left_pitch=-0.1598 left_roll=-0.0012 left_gripper=0.999 right_x=0.3459 right_y=0.193 right_z=0.0548 right_yaw=0.0722 right_pitch=-0.3289 right_roll=-0.0646 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.0325, 7.0632, 1.6923, -0.0464, -0.0269, -0.0122, -0.9231, -4.7658, 3.3299, 0.0757, 0.3053, -0.2808, -0.1148]",
      "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, -0.5404, -0.0189, -0.0383, 0.999, 0.6586, 1.6661, 0.9104, -0.2329, 0.3775, 0.4332, 0.999]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1462 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0009 left_gripper=0.999 right_x=0.3488 right_y=0.1921 right_z=0.0549 right_yaw=0.076 right_pitch=-0.307 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.663, -0.0464, -0.022, -0.0122, -0.8274, -4.7111, 3.6444, 0.6471, 0.1294, -0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5617, -0.0189, -0.0387, 0.999, 0.8185, 1.1213, 0.7017, -0.3439, 0.609, 0.514, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1414 left_yaw=0.0024 left_pitch=-0.1873 left_roll=-0.0006 left_gripper=0.999 right_x=0.2822 right_y=0.1589 right_z=0.1563 right_yaw=0.0411 right_pitch=-0.0201 right_roll=0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2376, 6.8581, 1.7607, -0.022, -0.0269, -0.0122, 0.1573, -3.7402, 6.7761, 1.4823, 0.2955, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66062e8fda2ef82f0cae163f11a125efe47a0f0fe890e9d3d0e554f5ec91aae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd6abad59af3d787196b270c7de10ac82da06cb5ed4c8e489ec675839a708b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cef7cd762ced50cb00438c7a3f715bfbb3eeb7517514156adc42ffdb1d06806e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017CMfWwhxpTE7NmbGRmmcNa",
      "input": {
        "note": "The arm is free again; the can lies angled just right of the burner, cap end toward the burner. Moving over the can's lower body with the tool yawed to match the can's angle so the jaws can straddle it without hitting the burner rim.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.155,
          "right_yaw": 0.35,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017CMfWwhxpTE7NmbGRmmcNa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8154, 0.6067, -0.5697, -0.0189, -0.0387, 0.999, 0.5285, 1.1664, 0.5598, -0.139, 0.3187, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=0.0018 left_z=0.1391 left_yaw=0.0021 left_pitch=-0.1991 left_roll=-0.0003 left_gripper=0.999 right_x=0.308 right_y=0.1199 right_z=0.1031 right_yaw=0.1171 right_pitch=-0.1171 right_roll=-0.0191 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.4427, 6.8991, 1.707, -0.022, -0.022, -0.0122, 1.9214, -4.2051, 8.0479, 2.1758, -0.1783, -0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2481f89037e11d2761149a15452000d15bf440a851281c29d89c24c9f81be3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85d7f62fc069faa338713bfed75d48e0ea3ad16054926bf48b85ff8728ef625b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25e86f9e4ca7d4504e40ae7d4b875fffd25855e0c7281e48a1ea0bed9d11adaa",
        "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 · 7.939 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, -0.5404, -0.0189, -0.0383, 0.999, 0.6586, 1.6661, 0.9104, -0.2329, 0.3775, 0.4332, 0.999]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1462 left_yaw=0.0021 left_pitch=-0.1621 left_roll=-0.0009 left_gripper=0.999 right_x=0.3488 right_y=0.1921 right_z=0.0549 right_yaw=0.076 right_pitch=-0.307 right_roll=-0.0524 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.0325, 7.1726, 1.663, -0.0464, -0.022, -0.0122, -0.8274, -4.7111, 3.6444, 0.6471, 0.1294, -0.2418, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8116, 0.6067, -0.5617, -0.0189, -0.0387, 0.999, 0.8185, 1.1213, 0.7017, -0.3439, 0.609, 0.514, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1414 left_yaw=0.0024 left_pitch=-0.1873 left_roll=-0.0006 left_gripper=0.999 right_x=0.2822 right_y=0.1589 right_z=0.1563 right_yaw=0.0411 right_pitch=-0.0201 right_roll=0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2376, 6.8581, 1.7607, -0.022, -0.0269, -0.0122, 0.1573, -3.7402, 6.7761, 1.4823, 0.2955, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8154, 0.6067, -0.5697, -0.0189, -0.0387, 0.999, 0.5285, 1.1664, 0.5598, -0.139, 0.3187, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=0.0018 left_z=0.1391 left_yaw=0.0021 left_pitch=-0.1991 left_roll=-0.0003 left_gripper=0.999 right_x=0.308 right_y=0.1199 right_z=0.1031 right_yaw=0.1171 right_pitch=-0.1171 right_roll=-0.0191 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.4427, 6.8991, 1.707, -0.022, -0.022, -0.0122, 1.9214, -4.2051, 8.0479, 2.1758, -0.1783, -0.1343, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2481f89037e11d2761149a15452000d15bf440a851281c29d89c24c9f81be3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85d7f62fc069faa338713bfed75d48e0ea3ad16054926bf48b85ff8728ef625b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e86f9e4ca7d4504e40ae7d4b875fffd25855e0c7281e48a1ea0bed9d11adaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgoKEAgRGAI4AUIIdGhpbmtpbmcSDBAaCh1Vx4uLAqE1iBoMbVv4Zc6NtfxqaBfuIjAeD4WWejXQisJhlrgjMn1CoNxaXw/j1w3qRLDTJAGo1t59eEE2hljueN1YIXdkyHMqrwlhqTvSA4S8eKDmjNXf5pe33GV/XMcdB5KDYoPt4kJHRPVHoRW6n9Lxxd9c5HZsc6eeXviFmtG6ew18kAAQG7zMR+IvukpBmNWEZCQVJ/yGnkaiBgpnxVp3inBz/aCpazGDyNFExIEYdNoCsp5QY9RAlHDUjTVwL7i6UsN3K4RYQb21Y4NWBMO0QZOcXwCBEcj/WJH/LeUmSn5yIodw7FSDSxqEquRD1ZbcmyoKuN988VjeGpZqJd5fOjv2Y2VXNmL+OzmXSZxHs42DadIiCFoSVQPnpi+Q9tQ5Y++Sfpp8iIcZFBP7L0zp+16BHtWQgALOeSSADyFV3U/ZPaf7fg5X4fzxwL6ILQLdKx0PZONZ4q/m+ZrsaxjJow6jWCiyOas57NqaIiaE4igj/2NItwa2SU8toiT+OxLJXU+SqakWUqfSilRpji76lbB+XFooq6TYjlYf1BtFWVp635zDM4HPzE9Cx4gL/i0LPh1491nL77Lw4hYwSGUNYZZuR7ZzyjQY9PaNKnwpPTQSnnajPOCWm5asLt8SExEgLXxCiTPdO3erQWxd/og9ibLUrH61U86st/+JQugary00cx0qb8u6ZS278ww/Bbt/lrB2mxoij7hg7Cc7SsrKNuIaWVA6p8DfH0Dw73gwAu0J68dEF69kr48mHjWPiiXvJNHbfMXi0rF+aI2kSRa+eDsdHyoaT8uOW4nVm8e9/kk+3kdXmbQWKFlSvhXgjk84yWhFONoKMRUzHTs2MtZlvlBzqkGIQEteje4ggwO3BO8Zi2fLJc3i4qo4q4xDUMkVStS+4blAgCgehVuixUYKAbbckWSn8r4EitrUJh87SRrAE/HjviiS0gW1KWsZJGO9C69mHZLXPYc00VUZwzNiy5FlaxqcSdOIsk5sFp3EaLNZVg1x83hWuuoVcrU23rOosH7vFoccmSnSqh5MwvTh/Sm2JRTZRTAj/mfbOsgitv+fUlFlwxY4glOjgoPYh8dW0IrqYB5b5L2k35J0McWQJwGBfIf/zgp1Vin0lz3WJMYY/ddvOCsZ66j7lxUiK8WhXWkKPLAeb+pnOnYTWKtFHAZW6eKSDi3V4/L/nwHilzrjKOHbyH13KIWjmodoWWG1ita4Sf95ObxIRPtgDD+sdsCGGH0D9WuxiBb7ik3h7HBic1FCkEbF0UeVOo0w2rdv2ey2c/cb3RMSAVy4Ac5V17zQOmcDV0UTkwoqOQLvq0ZFXpPLp5C/mR3nh/LwQG9RBcJnXJM9pRYC3bshzXIgIUtgtmBK97P/nb2Wu4vtbvMb4fktvFEYikP8VaOOtxE/QJNZrw+b2d/5lchdtVhA3QuoIXPj+GEbocbxrnZWptBU+67r0FbPW2POXUZOfMdvtHz2y87xfOGM4xsU64e4NHiiALw4M59zp7fXphEBugw+O7iz/+EdTq4LQEJ7ovB6lQnF45WAmnhzh4abs5FE2U7AAI0NFBmwV9nqmY65Ygg7971h+CkPOHWIfqgWlkQsf14hOqTYMxi2udvWlqZWP2I2m4Cfum54ovQZPkj/lyzQ8RSVZwaCK91y+cddulxFshiup+u5/3gUaemnenKsXIW6EHHogxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uyg9FbakbqcjvAME1YYAeC",
      "input": {
        "note": "The can now lies centred along the jaw column in the right wrist view, aligned with the tool. Advancing slightly onto its body and descending to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.335,
          "right_y": 0.125,
          "right_yaw": 0.12,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Uyg9FbakbqcjvAME1YYAeC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5842, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5079, -0.0238, 0.2855, 0.2485, 0.999]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1364 left_yaw=0.0026 left_pitch=-0.2143 left_roll=-0.0 left_gripper=0.999 right_x=0.3036 right_y=0.1395 right_z=0.0778 right_yaw=0.1895 right_pitch=-0.1372 right_roll=-0.0101 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.2239, 6.9675, 1.6386, -0.0611, -0.0611, -0.0122, -0.0615, -4.041, 6.7897, 1.8486, 0.2808, 0.2076, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a371b93ac65351bb10097f8a0233a016f7352b494d5b5406d1b29f51d57efd4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e9198ebbeb66b229be68c4646df1c7459f0c05eb7e75e30be7e0a92ce8fa0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e9d1171f8c400ac9fd96bb43a28186c0667fd90dad2441f27e4c9c55df7fe7d",
        "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 · 13.19 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, 0.8116, 0.6067, -0.5617, -0.0189, -0.0387, 0.999, 0.8185, 1.1213, 0.7017, -0.3439, 0.609, 0.514, 0.999]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1414 left_yaw=0.0024 left_pitch=-0.1873 left_roll=-0.0006 left_gripper=0.999 right_x=0.2822 right_y=0.1589 right_z=0.1563 right_yaw=0.0411 right_pitch=-0.0201 right_roll=0.01 right_gripper=0.999\nstate[joint_eff]: [-0.1026, -1.2376, 6.8581, 1.7607, -0.022, -0.0269, -0.0122, 0.1573, -3.7402, 6.7761, 1.4823, 0.2955, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8154, 0.6067, -0.5697, -0.0189, -0.0387, 0.999, 0.5285, 1.1664, 0.5598, -0.139, 0.3187, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=0.0018 left_z=0.1391 left_yaw=0.0021 left_pitch=-0.1991 left_roll=-0.0003 left_gripper=0.999 right_x=0.308 right_y=0.1199 right_z=0.1031 right_yaw=0.1171 right_pitch=-0.1171 right_roll=-0.0191 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.4427, 6.8991, 1.707, -0.022, -0.022, -0.0122, 1.9214, -4.2051, 8.0479, 2.1758, -0.1783, -0.1343, -0.1148]",
      "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, 0.8162, 0.6067, -0.5842, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5079, -0.0238, 0.2855, 0.2485, 0.999]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1364 left_yaw=0.0026 left_pitch=-0.2143 left_roll=-0.0 left_gripper=0.999 right_x=0.3036 right_y=0.1395 right_z=0.0778 right_yaw=0.1895 right_pitch=-0.1372 right_roll=-0.0101 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.2239, 6.9675, 1.6386, -0.0611, -0.0611, -0.0122, -0.0615, -4.041, 6.7897, 1.8486, 0.2808, 0.2076, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a371b93ac65351bb10097f8a0233a016f7352b494d5b5406d1b29f51d57efd4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0e9198ebbeb66b229be68c4646df1c7459f0c05eb7e75e30be7e0a92ce8fa0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e9d1171f8c400ac9fd96bb43a28186c0667fd90dad2441f27e4c9c55df7fe7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AgKEAgRGAI4AUIIdGhpbmtpbmcSDOUAogAAFhO3yuFFaRoMU4/+8eWXERMxv67yIjAFIJwE4hNcweqJlhd2TSCeJs13eFeYK1L/OSEFnsEfFAFnTWqK09tGWDEOSfm7zTEqjQiSKuNa56w49MWj2n8BhBQXZ2HrOumsHRqBfO5pp7kXqo46qIwIx9rNel9ZbsqVbzXs+G/AVxpIrfMw0G/55ZQRsdiL92pmmcF9+/auZTPGlP1e2fu0S6BgUi1xJqHREOc0ZH6Koiznv5VuVX0NTp6UlhBR8nroAszs80tEQvx7aHEAVUMWxzFilYlYrTK1wTPON/EFdudUYQQ9b6BhWvKz94CXqwkXfIpxHeginbxSgLgnq3Gf5z/yQNU34z8kAOnuHV0kl/stUFnao0GbaBX1ioDvW04EdjkJMCflkzDHl4CveMYXwUjKiQO3mCjXc7xnJb1cL0jImj95b72ZLx1SQ2FDnz8hm8XWHynZqx2MH7rIM6Zku+50kNZp5lAj0nU1ubuKqsPpcywA0E3zybjQH2vHa/3hNKfaVil7ZN6V3qsN80sIGiyWrwAEfHGY8aOo/tiaLmhhFmYakb3jJE+0fj/9EwLtK32abxQAla8uWIwFDCKNdZ6zZXWFOP3orie1kNM+YTJQHCINoko1GeF60qwBb0jSUu9WP6Hj2bTwVLMlyuGxoFe8zbFkD8odLD0++X+ey8tjEC87ezYgbjC7i5tYx3R6goBeyTOXZSF0l+Ze+b1hR0jUXia0QfRK/+mcNAEs9Y90Yn/agwiYhFHSyLxO42s62iLnVpAA6Nr4SSYcEJL453uwQSDchtZ1qAHAmFV7kj2mkWtLjt7Morsw0c2e0Qxh5/tzpsEFpH/6WlS0S7mtzU/k3K0hoqdVk3NeblhPCP0TQKhGZ7jayOCcv2JlwFLC957pjDEWSNjUOI8tC3MrY+JHPQLsAnBnQldtwkWcRBUG/rpCp45eLGmzKodAineoBNZ+2TCof7TCLk6joOb2uSJzwiJ6Opk0tlcUm8w7DLFRWMRpsCBGluvsIr4HBysF4EE+oJrnNcONDVbctAyy3LGGMyIUs+bVe2VaQFZda/zLc6i4q7EPTv8gQCaWcNJYaarw1YWAXCWRTcMvupF4gOIUm87KPPBHitrGlJIdfEo3uMStidCWHz81HkMTGzY4w0eexKj11Mm3KC9DWcn0pCtcKoP3PMPUL8YEDkQ4+g1WJHMkNCZFgZAS1A02TmdfAlbV5uiEIjc3suGKsHicIlsbZUZZB9dCeYljoSp7xb/dKf+YJmuBi3cRTN0QwkCciRPt+NhR/gCzq4DTpSNDWWuoxt5jqBt3fjykimaYcMXWxDpTvcvd2vk3Da09B/Pe8I629YX8EA8uZkGzq5WwyKstGKXyRKNJEvdUf1Y2s8Iti2WaulSilOYeMQBkd2LU+P6Ad7HiemVZEVQ82Ravt8j82Lf0Dd7Rqoh/YIJd6jTsJ6ebudKeEMNrH7RCi+oanvAhJKlxaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Bkp1cuitgkYkvaGhsk7BL",
      "input": {
        "note": "The can is centred between the jaws in the wrist view but the arm is still at z≈0.08; the previous move ended early. Continuing the descent to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.13,
          "right_yaw": 0.15,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015Bkp1cuitgkYkvaGhsk7BL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5854, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5072, -0.0246, 0.2989, 0.2626, 0.999]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1362 left_yaw=0.0026 left_pitch=-0.2155 left_roll=0.0 left_gripper=0.999 right_x=0.3041 right_y=0.1372 right_z=0.0778 right_yaw=0.1707 right_pitch=-0.1351 right_roll=-0.0085 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.0462, 7.0906, 1.5018, -0.022, -0.0415, -0.0122, -0.0889, -4.1778, 6.7761, 1.9023, 0.2125, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca98e654c7a80440af727d83870351e8a61c8646f1acbeb8d3debcef642da24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be7a360991ad6bb02374ec5849a5aee46a989da2f0d3697331c430a0af2a0ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40a1693330f61067ee2aa9db07fb7d9faa9558f07df6d80224b7d6d8c2be62b0",
        "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 · 8.714 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]: [-0.0193, 0.8154, 0.6067, -0.5697, -0.0189, -0.0387, 0.999, 0.5285, 1.1664, 0.5598, -0.139, 0.3187, 0.2581, 0.999]\nstate[eef_state]: left_x=0.2669 left_y=0.0018 left_z=0.1391 left_yaw=0.0021 left_pitch=-0.1991 left_roll=-0.0003 left_gripper=0.999 right_x=0.308 right_y=0.1199 right_z=0.1031 right_yaw=0.1171 right_pitch=-0.1171 right_roll=-0.0191 right_gripper=0.999\nstate[joint_eff]: [-0.294, -1.4427, 6.8991, 1.707, -0.022, -0.022, -0.0122, 1.9214, -4.2051, 8.0479, 2.1758, -0.1783, -0.1343, -0.1148]",
      "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, 0.8162, 0.6067, -0.5842, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5079, -0.0238, 0.2855, 0.2485, 0.999]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1364 left_yaw=0.0026 left_pitch=-0.2143 left_roll=-0.0 left_gripper=0.999 right_x=0.3036 right_y=0.1395 right_z=0.0778 right_yaw=0.1895 right_pitch=-0.1372 right_roll=-0.0101 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.2239, 6.9675, 1.6386, -0.0611, -0.0611, -0.0122, -0.0615, -4.041, 6.7897, 1.8486, 0.2808, 0.2076, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5854, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5072, -0.0246, 0.2989, 0.2626, 0.999]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1362 left_yaw=0.0026 left_pitch=-0.2155 left_roll=0.0 left_gripper=0.999 right_x=0.3041 right_y=0.1372 right_z=0.0778 right_yaw=0.1707 right_pitch=-0.1351 right_roll=-0.0085 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.0462, 7.0906, 1.5018, -0.022, -0.0415, -0.0122, -0.0889, -4.1778, 6.7761, 1.9023, 0.2125, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca98e654c7a80440af727d83870351e8a61c8646f1acbeb8d3debcef642da24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be7a360991ad6bb02374ec5849a5aee46a989da2f0d3697331c430a0af2a0ea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a1693330f61067ee2aa9db07fb7d9faa9558f07df6d80224b7d6d8c2be62b0",
        "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_015kPV8DAPqQur1MU96ZSX4m",
      "input": {
        "note": "The arm is stuck again at z≈0.08: the left jaw is resting on the burner top since the can lies right against it. Lifting and moving to the can's near (bottom) end, which sits further from the burner, to grasp there instead.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.28,
          "right_y": 0.1,
          "right_yaw": 0.35,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015kPV8DAPqQur1MU96ZSX4m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5892, -0.0189, -0.0387, 0.999, 0.4454, 1.14, 0.5053, -0.1177, 0.1993, 0.1787, 0.999]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1349 left_yaw=0.0026 left_pitch=-0.2216 left_roll=0.0002 left_gripper=0.999 right_x=0.3025 right_y=0.1096 right_z=0.0888 right_yaw=0.1756 right_pitch=-0.1511 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -0.9368, 6.9128, 1.5507, -0.0757, -0.0757, -0.0122, 0.6085, -4.2051, 8.1709, 2.2051, 0.0952, -0.022, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dde0bfdd88a839005a3b9d4fc0ef20fbf296a9b2266c7acbd53571b805cf61a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06cea172fbce6453c9449ce53e8740ba53a95a34902737ec2abc374e808c6cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f5d632990e8e34ce2162a9edc0f1f757c0ee5608cff576725884d3f7de47c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.585 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5842, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5079, -0.0238, 0.2855, 0.2485, 0.999]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1364 left_yaw=0.0026 left_pitch=-0.2143 left_roll=-0.0 left_gripper=0.999 right_x=0.3036 right_y=0.1395 right_z=0.0778 right_yaw=0.1895 right_pitch=-0.1372 right_roll=-0.0101 right_gripper=0.999\nstate[joint_eff]: [-0.0342, -1.2239, 6.9675, 1.6386, -0.0611, -0.0611, -0.0122, -0.0615, -4.041, 6.7897, 1.8486, 0.2808, 0.2076, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5854, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5072, -0.0246, 0.2989, 0.2626, 0.999]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1362 left_yaw=0.0026 left_pitch=-0.2155 left_roll=0.0 left_gripper=0.999 right_x=0.3041 right_y=0.1372 right_z=0.0778 right_yaw=0.1707 right_pitch=-0.1351 right_roll=-0.0085 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.0462, 7.0906, 1.5018, -0.022, -0.0415, -0.0122, -0.0889, -4.1778, 6.7761, 1.9023, 0.2125, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5892, -0.0189, -0.0387, 0.999, 0.4454, 1.14, 0.5053, -0.1177, 0.1993, 0.1787, 0.999]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1349 left_yaw=0.0026 left_pitch=-0.2216 left_roll=0.0002 left_gripper=0.999 right_x=0.3025 right_y=0.1096 right_z=0.0888 right_yaw=0.1756 right_pitch=-0.1511 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -0.9368, 6.9128, 1.5507, -0.0757, -0.0757, -0.0122, 0.6085, -4.2051, 8.1709, 2.2051, 0.0952, -0.022, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dde0bfdd88a839005a3b9d4fc0ef20fbf296a9b2266c7acbd53571b805cf61a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b06cea172fbce6453c9449ce53e8740ba53a95a34902737ec2abc374e808c6cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f5d632990e8e34ce2162a9edc0f1f757c0ee5608cff576725884d3f7de47c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAoKEAgRGAI4AUIIdGhpbmtpbmcSDLoqeA2brod2ysDmcBoMolGdod+E9aRkNhDCIjB/jw+j10iEHhzoiOFMGicalrmvztjK3N/6bT8EFYr3yNwiblmmysbjkXCyN64l5k8q6Ql4ZHe2Ajzg/uxiXxErpVKnWBxgTZVFGMPBVGvgVJhiaTtFcOLFssJ4IxI0quIsloLbLOl7MKiYUSW29Un9fQTeViGZTlb5OjSoaujgAKbfjJjhkpYhk4Y0LMXB09zi0+LFw5qo+3a/w0FYN0T0HhB16MoEv9+hzd9RbLkYeoKeEiR1p+1bgvPO7RXzSsmMYL2KTta8BvSbYd3yUDBbwG9ijCcpQvTTmzR9SYb3FDJNv5PGMAJg19L6BgY2XJWstWF+o7OpUV1qBoIsgYPpLLx02CzJPJK5FujxFswY3DPFbZ12IYJljptravzKnvWQb5AxD3FIuHQpnt04PFn+DSDMjCKuh5X6zOIoOc4scqX9m0elolLEfaUNS3uSIa2dtrrubfHfRMa7oqBK/euWFyPokQQCkSzr/0p8hkrS3kKt6fbq5vA5r6BmEJaDKoN+DU3h1Ok1HF/3BE8l3HdddSNx7KXvsiMAQ/JLt5b6qEDORmXZBGVXYo8hrmJhBtY8aZmaPT5jg6YO2zT1eYxEyC06j6OiIP+kFO9aijd6yrkDSrbA8zfAeqlA3Sl8EJXv2mIGOrEy8YwhjuhaCeWU/50LTHogI+/wqWeXKamTpPq5lIxTIwH6L1Zq0eGVwahf16Y8Hhmy05eWLgtnTpybJ86Y7BDEuzxyenaLhGbgChWQvfowEAHjA+UyPRmEp1xGrIbieJ/94tJfc41tuyhZf363DqwbGGj8qJG9MVmsKD/vll1QQhuSACnIVcRT0PNIuPEJboK/NdfjDL7pW68fsl4+2LSeVzTO9RBimVV6ExkyMU7sutJgVugOf8RvGykDOI7tuhnnQn0wNIgxio+uFUJtr566Iw1DYWm2HSJ/4WzGqAzSZZQpppT4VU/1dXeEV/mtXG/M3O4KAtK0yN5DjjQJi6x/BVEldOLY4jbTGhK46IJSx/odHpImjRA2IMyWzH3+GuAOpzIOG9hF3Ak57jBBAKPsh5tYAxny+ZpgFJgywbkC+8nTouTL6mgPfOhyi8WYbaiMjsr7yo2zNCF3/rtDo6+M6hfpZ92c5RyUp4XgVd1yCDYgnxFANa6de8z8bsLvItRjzV6/K0oQQ31k6mdn27KtIeaD1ikgizG58i8e/vFy0aayCpitRLG4KtZkUow7Dk5FI/M7n7khaw9+LXXmm6N7oR7eOhugOg6W2eo3ze411fJAZ4GzPMzS7sIROhsiUz84Sx3klJke136dp0cHn+GnVJjITsbM45LH07qUsFlsBM63lFbYS+Rej1ZuajTvx8rFoy78iUkvJ63PpFoJfZCMrSs6PT9DOGt9bv68+EcjK13k4/GqtV8soxQPS99DYWSw53yxYj9HLrf5haiFyZu5CGZVG2Cc6mVKYLCZGl3OO0hwl0Je4MGqxGgLySJLuiFP+UeGZ9UkHPNlwpVJqaCe29rQF/0x1ruyd2CACUfoaLyJmZ4iAkzS0Raht96d+3MNtm2OwCTUpSaIVvnL+UEZ8dT90ShTwgaseIPoDVF4sT1scXBLXRyHquPHaFcMeG5ODDbK/a4CiX/zMqfu9ML8GxK5uwrCPIHTlVxTv+n2t8qyf7yWAROD8DDijnKmT1qz6TNsHWaJEhwERFcVAwGL4Jw5itStuOweFGyw4YNQJeR/ayiOoUZX5QMcGyy3pyUXbVpefLMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KetxZnr5D6RsUw33KefTVA",
      "input": {
        "note": "Moves are being executed only a few steps at a time, so the arm is still at z≈0.09 with the can's lower body between the jaws. Descending again to grasp height slightly right of the burner edge.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.1,
          "right_yaw": 0.3,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KetxZnr5D6RsUw33KefTVA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.82, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3416, 1.2312, 0.2848, 0.0845, 0.0677, 0.0509, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.134 left_yaw=0.0022 left_pitch=-0.2265 left_roll=0.0003 left_gripper=0.999 right_x=0.2707 right_y=0.0874 right_z=0.0104 right_yaw=0.2513 right_pitch=-0.2764 right_roll=-0.0202 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.3744, 6.8171, 1.5116, -0.0659, -0.0611, -0.0122, 0.212, -3.6718, 7.3368, 2.1954, -0.0757, -0.2027, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8054bfc7d703143f0da2d10534ec945aeb77a6a6cdeb1b9cda041e055f0601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d6e039afd22d7697e6eb32f561e4e4c9ae3d52bcbc58d85441234a1ba52e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ca8b5849c60d7a037b290b41cd89f64cbe8986a1c22dbe79ceff1296295bb69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 8.512 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5854, -0.0189, -0.0387, 0.999, 0.5694, 1.2419, 0.5072, -0.0246, 0.2989, 0.2626, 0.999]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1362 left_yaw=0.0026 left_pitch=-0.2155 left_roll=0.0 left_gripper=0.999 right_x=0.3041 right_y=0.1372 right_z=0.0778 right_yaw=0.1707 right_pitch=-0.1351 right_roll=-0.0085 right_gripper=0.999\nstate[joint_eff]: [-0.0068, -1.0462, 7.0906, 1.5018, -0.022, -0.0415, -0.0122, -0.0889, -4.1778, 6.7761, 1.9023, 0.2125, 0.0708, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5892, -0.0189, -0.0387, 0.999, 0.4454, 1.14, 0.5053, -0.1177, 0.1993, 0.1787, 0.999]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1349 left_yaw=0.0026 left_pitch=-0.2216 left_roll=0.0002 left_gripper=0.999 right_x=0.3025 right_y=0.1096 right_z=0.0888 right_yaw=0.1756 right_pitch=-0.1511 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -0.9368, 6.9128, 1.5507, -0.0757, -0.0757, -0.0122, 0.6085, -4.2051, 8.1709, 2.2051, 0.0952, -0.022, -0.1148]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.82, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3416, 1.2312, 0.2848, 0.0845, 0.0677, 0.0509, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.134 left_yaw=0.0022 left_pitch=-0.2265 left_roll=0.0003 left_gripper=0.999 right_x=0.2707 right_y=0.0874 right_z=0.0104 right_yaw=0.2513 right_pitch=-0.2764 right_roll=-0.0202 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.3744, 6.8171, 1.5116, -0.0659, -0.0611, -0.0122, 0.212, -3.6718, 7.3368, 2.1954, -0.0757, -0.2027, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a8054bfc7d703143f0da2d10534ec945aeb77a6a6cdeb1b9cda041e055f0601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5d6e039afd22d7697e6eb32f561e4e4c9ae3d52bcbc58d85441234a1ba52e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ca8b5849c60d7a037b290b41cd89f64cbe8986a1c22dbe79ceff1296295bb69",
        "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_01G2VSZtiTJEwJUAkjFoRtMC",
      "input": {
        "note": "The wrist view shows the can's bottom cap between the jaws with the fingertips just past its end. Sliding forward ~4 cm along the can so the jaws close on its body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "right_y": 0.095,
          "right_yaw": 0.25,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01G2VSZtiTJEwJUAkjFoRtMC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0193, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.003 left_pitch=-0.2273 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1282, 6.9675, 1.4774, -0.0855, -0.0464, -0.0122, -0.2393, -3.4803, 6.5709, 1.7802, -0.0611, -0.0904, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb3d5b825badd10164ee4544316c31621194fc267d538ffce6ab6b67c7cef84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9400a1b8ce6a9dafb1ad314a34c4374bfc782a90bb963d8d190b9133f663c2c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4fc71e76753f0f28454ec95b21554736b89dea1a3f93ca10c0df1e5571ae980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 10.71 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5892, -0.0189, -0.0387, 0.999, 0.4454, 1.14, 0.5053, -0.1177, 0.1993, 0.1787, 0.999]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1349 left_yaw=0.0026 left_pitch=-0.2216 left_roll=0.0002 left_gripper=0.999 right_x=0.3025 right_y=0.1096 right_z=0.0888 right_yaw=0.1756 right_pitch=-0.1511 right_roll=-0.0045 right_gripper=0.999\nstate[joint_eff]: [-0.1162, -0.9368, 6.9128, 1.5507, -0.0757, -0.0757, -0.0122, 0.6085, -4.2051, 8.1709, 2.2051, 0.0952, -0.022, -0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.82, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3416, 1.2312, 0.2848, 0.0845, 0.0677, 0.0509, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.134 left_yaw=0.0022 left_pitch=-0.2265 left_roll=0.0003 left_gripper=0.999 right_x=0.2707 right_y=0.0874 right_z=0.0104 right_yaw=0.2513 right_pitch=-0.2764 right_roll=-0.0202 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.3744, 6.8171, 1.5116, -0.0659, -0.0611, -0.0122, 0.212, -3.6718, 7.3368, 2.1954, -0.0757, -0.2027, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0193, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.003 left_pitch=-0.2273 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1282, 6.9675, 1.4774, -0.0855, -0.0464, -0.0122, -0.2393, -3.4803, 6.5709, 1.7802, -0.0611, -0.0904, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceb3d5b825badd10164ee4544316c31621194fc267d538ffce6ab6b67c7cef84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9400a1b8ce6a9dafb1ad314a34c4374bfc782a90bb963d8d190b9133f663c2c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4fc71e76753f0f28454ec95b21554736b89dea1a3f93ca10c0df1e5571ae980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AoKEAgRGAI4AUIIdGhpbmtpbmcSDHkCFEfy+x8P/ThOiBoMnbgIZV8ZtnOdBgHOIjCCwhleDKo2W+1rHAxZXerdJdKW8fmdIhqEkPmMNrmfWBvyT+J98uCRsu8Uaa2yi5YqjQo9Yj0ySA2jJzya/KDQtd2BNKrkcLoaiUJcwsxxQc9KBCniDvJuITj2NwyuHEzdHwo6lTPSiNqF0SwpJOAsO1DRB+9U1K0SBPp7b2DUlycSFFDRGgKvdQDXOQkGKaWZC6vK405FWEvS7kuxS2QGYMCqz3p8SWZtK3iHYQHPhojzS3Ir9CXMyoSwEsqCeMv4J8cJ9Py8SHB9p1EiZQezBTs79bhkhnwDAw88jTl8Iz+rcfIhfDRxMHGUZSpvoCuBMtVR0xzSlrhbwfohyzSMTo7UJ3iBfpul0iFUnn9s33E70nSzkKRVn/Uv0un5Fwd14mJtDMWc560owOZr8PdS+5f0HrxR2xnA4vVSERjejHvvO1CuOa1ChWBuwsM/JRUxc34TiQuVF1zGtUdg2qT1NffcO1DGVInXjYDXNgLJe0bG014fioMG68c1lLpCGCeO7E8Oc3dPccbmJPc7H9//qTUyNzOtVGYXEFspB5Ms80mDgSdOAeuLSAF6Ba9eKqk0638ScMwa2+gINPBPMgdQKiq7R2QyoGiRt+PtimCCXCan0mMrABHudIlPtuKR2O9nDpokl/0p0XZ+AT7QgWg/ULzWk4RMvExP95ojzgLFrajrDcm2uL6LKeeeyQl+YKRBwepfN15Pw0mOCS/DosDdUAClIHt2zMyKDtDxVvOXetcV+8pFt5z4hJvIeTqQMoJzv2U7Sv8ikMOOkXw/Q3aNHAyd8OX1Ax72NjKng0jNtjG7ZsMz28p8TJSHI83HR7OUFSXBLE3bDpJTU7bYEj7Z5NKE10Zg3GBX4A141/6SSBrstN7JWDniGDDCy3mNUa+YPH48/Qsx6tbPhB4R8hmKPNvXMPo2K/3wvbqabXKYD69jIFJNEupeOT8wKAPHAMgEwb8ElqIUBB4QF3I3TjPUyf7AdQ6Nfu5TRhcT/twaewr7qSbH56p9RFSGlEGKTiLH6jQ9ulEQYgJpRvdRNaOOWyZejQzf2S1c/A5F+ir5yDZaLRjyebYilUxWBF/HmQ6rsOlnLNErfKd85VkTpHAfy07+iXk2YCtbaI9tq91HKka5Huz6NgHH2h7dPVvDMnSBOFETbTAG3ZYaP4EJbXDm2GA/O8lCFC/c1MnYPcXdUMQ3KXGvszNh2zdD8y0VLlj5EqG3VpwUA1BBVoF2V1Y/YSREtrovZ0TRcYMRgMmVqtA9HzTVaJ9SH6mAAXmKaqDHyyxCup2DrQRImmQ1+KoMJwKUWxU3OMJVw4Nup4tMPRiPwuzBzSzFjdFkOrGkzoXP4CXs/p2w1QTpsHM8YPenWFefMddibkjLwjTWndedD/uxzJUSJzVKjh3+zA2ShIf4Td1HIW+Chr1x8OiUeiANBITsG3PhKfxxg4P5aXFY6njS3Q0gMr6tz8jh/wxKXlewdFe609MkjkT4/rdMSQbjR7IL59A9V/BcJJ6K59FigJFHwIQjg9xFEk9Xb3ARmqwwcC064KoRdsAF95m9l6hZ+yknBiUeTjRx/TEGHL0Hm4sjTtJsI/IV3mrXuujhUBJ9nd51oIBkpSZLXTfBdOLvKt5Yv6x2AkGzSeCo8YzDDKIxb5O5LgCa6ybs9Tn58Xz8S8jswMnF3WLAWtT2+LhRMun0YxSsUtmsU1xYemnV+006B+xhDgXFUeZj8a3hmcvvyekDuOLPabnYCIoLUXuk6kvyTWUDRppqQZirudR4h1fKHIMw8yaQF2s3YPVDJrsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171Nto1E5Nad1QEoVpYU3Fh",
      "input": {
        "note": "The arm only advanced 1 cm; the jaws are around the can's tapered lower end. Pushing another 3 cm forward so they close on the cylindrical body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.315,
          "right_y": 0.1,
          "right_yaw": 0.29,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0171Nto1E5Nad1QEoVpYU3Fh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0003 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.8821, 6.8171, 1.4774, -0.0757, -0.0659, -0.0122, 0.0342, -3.5214, 6.5573, 1.8388, -0.0708, -0.0855, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c105a34f84f47afcc1057564781f634e51813bf609f07448996fb340a1d1df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d3ec452c853fbc96571e7c891c4a71bd8ca98f9501c999da29fcfaf0e7f565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8268be5914fa4e28e2cd6931ca92355a9ba59b464f4e44ed2a53513efc07d166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 6.994 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.82, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3416, 1.2312, 0.2848, 0.0845, 0.0677, 0.0509, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.0019 left_z=0.134 left_yaw=0.0022 left_pitch=-0.2265 left_roll=0.0003 left_gripper=0.999 right_x=0.2707 right_y=0.0874 right_z=0.0104 right_yaw=0.2513 right_pitch=-0.2764 right_roll=-0.0202 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.3744, 6.8171, 1.5116, -0.0659, -0.0611, -0.0122, 0.212, -3.6718, 7.3368, 2.1954, -0.0757, -0.2027, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0193, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.003 left_pitch=-0.2273 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1282, 6.9675, 1.4774, -0.0855, -0.0464, -0.0122, -0.2393, -3.4803, 6.5709, 1.7802, -0.0611, -0.0904, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0003 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.8821, 6.8171, 1.4774, -0.0757, -0.0659, -0.0122, 0.0342, -3.5214, 6.5573, 1.8388, -0.0708, -0.0855, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c105a34f84f47afcc1057564781f634e51813bf609f07448996fb340a1d1df0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8d3ec452c853fbc96571e7c891c4a71bd8ca98f9501c999da29fcfaf0e7f565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8268be5914fa4e28e2cd6931ca92355a9ba59b464f4e44ed2a53513efc07d166",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015NDGtNtjsC7jmu3F97fxZE",
      "input": {
        "note": "The arm refuses to advance at this low height, probably dragging on the can. Raising slightly to 6 cm while advancing 3 cm, then I will descend onto the can body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.315,
          "right_y": 0.1,
          "right_yaw": 0.29,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015NDGtNtjsC7jmu3F97fxZE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.593, -0.0189, -0.0383, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1337 left_yaw=0.0024 left_pitch=-0.2277 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.4823, -0.0708, -0.0464, -0.0122, -0.1026, -3.5077, 6.694, 1.8095, -0.0317, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b28d13d12e271e38bd4b2af0ff60c86204a887d015b28c4443c45282782b50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be49f5c28c67cea9628fde5f2092f4167553fa39c490a65194cb9159a4685cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58c2ccf8a568b0cf3c08a8734765b2a7219bdafae46cd5ccd9408600fb898bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.068 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0193, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.003 left_pitch=-0.2273 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1282, 6.9675, 1.4774, -0.0855, -0.0464, -0.0122, -0.2393, -3.4803, 6.5709, 1.7802, -0.0611, -0.0904, -0.1099]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0003 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.8821, 6.8171, 1.4774, -0.0757, -0.0659, -0.0122, 0.0342, -3.5214, 6.5573, 1.8388, -0.0708, -0.0855, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.593, -0.0189, -0.0383, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1337 left_yaw=0.0024 left_pitch=-0.2277 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.4823, -0.0708, -0.0464, -0.0122, -0.1026, -3.5077, 6.694, 1.8095, -0.0317, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b28d13d12e271e38bd4b2af0ff60c86204a887d015b28c4443c45282782b50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be49f5c28c67cea9628fde5f2092f4167553fa39c490a65194cb9159a4685cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58c2ccf8a568b0cf3c08a8734765b2a7219bdafae46cd5ccd9408600fb898bb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQgKEAgRGAI4AUIIdGhpbmtpbmcSDEgo7mQ3S+WJ57eIXhoMbXMq2XQTGPoKmoqPIjDGrFhW0iMCoBIRvqkZanXgucNNhSSFJdAuHTRNj6OzPDLRJiS7olcnoOplLVD8NBsqogdP49F4E2IGCGAWw6W1VGP6mJOjdTosYj2SdnHsC+kyt1QCah8F/dFPPwKTZZEcp7ZPGctB1TV15RkB5FyeGdpdi2eUAu0XyeWyF9qOOKN9ZR2HNR9AxoRW/TOnCwoKKsJiBA6+ZhhqLjVMNXmBnteLG6joRmeHMRz28Sc2w+TnpZaSTviUin8I2kbeUERKU/KQLDlF0vIZ3LY/U5RO0+CZgmGqaNF+5HmdE32V1QTJa7np1eTWn6Y7cQgN7YiNzapvAFWSBqrvH20rovKOY07aYEAf/Dk+u8NO/GrGI9FvcZWsR00iLSmPGq07NSPiE1YI4dlzNZ1j8EfZX6HbW+NUItuuCiswMp0c+1vAXIVdPICtnpqKGpL3V1XkkZd8bb8MzUhPLEPzYXxHado6wJ2k+fosagaY5TL8Y18vBnhFjc5NLXP6VQylMCEGgAWW1fGhq4/C83yyMWm8fAXKKWNyqBLeejF4oGaClG+cjQT+Om4R+4oOoKYXXkKDz/dy4aubcL7nwQlfhnKm4XK3fYDbhwOuO617dv2jIB3mjEjGvLwYRqnh29X3NGlc66aI2uXPt3reQtP8fifnfks0l8l4wdbUjUp9jfQLZjmpMNSzRGSF2+RedcnFW73R1RftANDLnNUWKw1EDFVl1bwD+MIaIv110QtK1prPOdnq8LYwLpTxLOLIOVZKKJfi1LUoGzrivEUZOO2XRZs20Gdky0Ryrh5ivtK2MThg1rjlnVYRrI1NPHiChJn0i5gd1B4336JhRM/N+J241wPWnSA6MVrXAVKL+8resZFLv/Z+VxvbVJ0rCRSvAvwYGJD7gI99Df/mRFm5+grqWYQC+zwVJlxOQ2n8wjtdV7NcNFVwzrUwv6oWPPobsaFMNYF/sac+iVZHnvkrkmYAZiYbnXUf//o8mRExbsVTdmHTWXC9Rirv7V4hNqj2ejXlPTERgatCvAJwSCeUMaM9MnE2+CGBAOzww3CbxM3BSntRVx63C7glEY7KELwuHmIfExCLKUyYwjwRavAOXyr/ctc5kb4EI1wyP7NeeGZjJDQ61JNCvFVfcNqLgx0w09FWmxVilc2sub3ISVqs7tKTHU5gTbB7f6EdAVLx9LxvR8BvnZr09549uQ/taLHjOwaejwBa0S4oWwstJ+6Xlm3F96aXgGbIRSX5TKfA/qqQ4zbdBQcoHv6Kj9F+WHNp3p0SikRVt/YI/8z1rbii8FdFIUZCCkEIuaiP+ZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019YRhfMyJ5h88LYZqk6AjWa",
      "input": {
        "note": "The right arm is completely frozen; the controller seems to have stalled in this pose. Resetting orientation to zero and lifting straight up, which unstuck it earlier.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.28,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019YRhfMyJ5h88LYZqk6AjWa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6075, -0.0189, -0.0387, 0.999, 0.6075, 1.01, 0.3428, -0.0502, 0.4076, 0.3065, 0.999]\nstate[eef_state]: left_x=0.2604 left_y=0.002 left_z=0.1307 left_yaw=0.0027 left_pitch=-0.2445 left_roll=0.0007 left_gripper=0.999 right_x=0.2713 right_y=0.1077 right_z=0.0786 right_yaw=0.0994 right_pitch=-0.0651 right_roll=-0.022 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.2239, 6.8171, 1.6239, -0.0855, -0.0366, -0.0122, 0.1436, -2.7692, 9.1282, 1.6288, 0.2662, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5744aef5f4d0a8f29356d6c3581c2d3ff1eeb43ac2e2fbb08e4b11bdac981feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a48b59a482f454bff5bc0aeade5ec98f8d206607e7222ff23d3d48f0c511310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6232b3a5955140a0de742af4fd52c401ec1a6abcf7fe5af630a42433604ac3ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.972 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.5926, -0.0189, -0.0387, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1338 left_yaw=0.0026 left_pitch=-0.2273 left_roll=0.0003 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.3077, -0.8821, 6.8171, 1.4774, -0.0757, -0.0659, -0.0122, 0.0342, -3.5214, 6.5573, 1.8388, -0.0708, -0.0855, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.593, -0.0189, -0.0383, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1337 left_yaw=0.0024 left_pitch=-0.2277 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.4823, -0.0708, -0.0464, -0.0122, -0.1026, -3.5077, 6.694, 1.8095, -0.0317, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6075, -0.0189, -0.0387, 0.999, 0.6075, 1.01, 0.3428, -0.0502, 0.4076, 0.3065, 0.999]\nstate[eef_state]: left_x=0.2604 left_y=0.002 left_z=0.1307 left_yaw=0.0027 left_pitch=-0.2445 left_roll=0.0007 left_gripper=0.999 right_x=0.2713 right_y=0.1077 right_z=0.0786 right_yaw=0.0994 right_pitch=-0.0651 right_roll=-0.022 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.2239, 6.8171, 1.6239, -0.0855, -0.0366, -0.0122, 0.1436, -2.7692, 9.1282, 1.6288, 0.2662, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5744aef5f4d0a8f29356d6c3581c2d3ff1eeb43ac2e2fbb08e4b11bdac981feb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a48b59a482f454bff5bc0aeade5ec98f8d206607e7222ff23d3d48f0c511310",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6232b3a5955140a0de742af4fd52c401ec1a6abcf7fe5af630a42433604ac3ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3ggKEAgRGAI4AUIIdGhpbmtpbmcSDBZxNlIaOR5sXFS7XhoMdT7G7nBDsoDf+LhXIjB+p6sA4/EHzxTmTIevjj+kQovsgCvehdQTf2WsEFKtPhesn9CpConxocEwORFGcIsq+wcLPs+Azidcnd+GyJQ8FJx01+9iMCzxSzEfhCh43ksOS61KVvY4cYKyFhKSGxkxVWXQR6ocXKpyS4AWtm/QMSiWBkiKhys7tJPomXY6mGf5mL7BUj391Gj/SyUSuy9Uys4JpIXf5A+vf51gN5PiXZGN6U8ytJAd2uEqMmgRRQZEjxEVo7QLAhJkJh6C7+zD6sHb2ozzOesZrvAPjyEgVYmFupI3IuArP2EPZwcGlrKaiKFuSpnVvUhOZj32Agmg2IFP0N2i/FEBh2F2G4TdNhrv8m4HyG/03PpYUqyqIdiAG6RAuVw1A70tv0Km9Y3EKtBAQEieI4SJSJ/sQs3+bYtpv2ihMyCGyQKfHb3XDnhPnYD8Rtv/85AbccLYEKVp1FCCBtwZODvXcG+Nyp1z6aMuWCvYjz+jDB2CRJPKMZYCNBChwndG1+Vm4UgpslGfGG4FFk4KMvuPzJYaiiSBt6T8nEKtIu9hy5mUpViu2R6LNlv01KtxBZpuxN2jH1ILpLQdngY2yPBQFTGSd0g57NXNyFWkOVdKSCftxkQTbaAiaALXvkHf3l8MxhaywhqQI9SIkY9GPf8QyGIEblS03q+fW7wWMX6SLqBMvD7/VIEqfhSUs8fGpF4h82dosJNCasuqSR3k6p1hlUmgIiBNXk4dCRGe0w+skDd/sQJu4J8XkCIJA6Qm6f6m/Tvi2GP9vHEfZ1/HN1swa4D1o6V/8BceBb0+bej2TUhoWEfZBqO3whbVLBqzUmipjwut7QjeEp1trwr80yDxlg0suIXtI8v03AuYveoUA/+AYsZ6iU4gTJO4E6ziQpDzay3EFj3tKDxaLMPxhf7tjBol4w3PIzhaEla9LyHa9HNrk0Lec17AHEOsJZQkVlezV8pjzqR0y1Aabk/tB/Qop7WGSw5z5uDg5hZhPzJjWAqEhxwdB9anaXy2It9AdAA8Eb2JjLHHu2CK0enx5Z75v2C441Pr3Us5SGoJLD3xdh3qFD9qKk/2/wMRViFtVwwzDw2qjJqGoq43xdxUQSGwN1oWbaeAJXgBNCfgxNHDUkBS85aVn024Tz0x359IXN/I1XJVon4ZzUrdaUZ4pB14pv4ZlemXU1buH+4oTxFTt+GLf3mqekVcj6JQhEYK4btP5VSo71VFkEVQWOqp12sLiMAtQbc1t4Y3zjDDKggLGiJC0SCzOTUt//DIm9MNLZ7qRoNW6EM6tSKhIUtxXKI7x3oTDRQ2fQSJxggSvi8n6nmz/1pGG+1hthB1wPrg02c9H077E9AR+FQyujQjoagFFGN/TVPHToxd6myS+Fu71npiztH1xj7zxODLKJv3FDXs6ul1wPmDtYJb9Fnl1BtB5rNjThgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gs6Zy17WLP2EH4f6oj7nAo",
      "input": {
        "note": "The arm is moving again and the can is centred on the jaw column, aligned with the tool. Advancing 4 cm onto the can body and descending to grasp height, keeping yaw small to avoid stalling the controller.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "right_y": 0.11,
          "right_yaw": 0.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Gs6Zy17WLP2EH4f6oj7nAo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8272, 0.6067, -0.6159, -0.0189, -0.0383, 0.999, 0.5114, 1.3788, 0.3046, 0.2413, 0.355, 0.2611, 0.999]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1283 left_yaw=0.0026 left_pitch=-0.2571 left_roll=0.0012 left_gripper=0.999 right_x=0.2879 right_y=0.0953 right_z=0.0101 right_yaw=0.0635 right_pitch=-0.1858 right_roll=-0.0773 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.3333, 6.9949, 1.5458, -0.0513, -0.0171, -0.0122, -0.2256, -5.2581, 5.3402, 1.9853, 0.3004, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c398db68e7974204ddeead4a95b0400c370971c35785328ff59e8a59a55bb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337f1918bbd63fb2f9613f5ea9c6af89f26a95459741e92a6ac91a87732e20f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72ee26c51bb8f0aa278119be8a3f7334e83211b1180b7eb7c509846d3927b5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.656 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.593, -0.0189, -0.0383, 0.999, 0.3344, 1.2446, 0.2653, 0.2016, 0.0284, 0.0254, 0.999]\nstate[eef_state]: left_x=0.263 left_y=0.002 left_z=0.1337 left_yaw=0.0024 left_pitch=-0.2277 left_roll=0.0006 left_gripper=0.999 right_x=0.2816 right_y=0.0963 right_z=0.0193 right_yaw=0.2935 right_pitch=-0.1943 right_roll=-0.003 right_gripper=0.999\nstate[joint_eff]: [-0.0479, -1.1145, 7.0085, 1.4823, -0.0708, -0.0464, -0.0122, -0.1026, -3.5077, 6.694, 1.8095, -0.0317, -0.1148, -0.1148]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6075, -0.0189, -0.0387, 0.999, 0.6075, 1.01, 0.3428, -0.0502, 0.4076, 0.3065, 0.999]\nstate[eef_state]: left_x=0.2604 left_y=0.002 left_z=0.1307 left_yaw=0.0027 left_pitch=-0.2445 left_roll=0.0007 left_gripper=0.999 right_x=0.2713 right_y=0.1077 right_z=0.0786 right_yaw=0.0994 right_pitch=-0.0651 right_roll=-0.022 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.2239, 6.8171, 1.6239, -0.0855, -0.0366, -0.0122, 0.1436, -2.7692, 9.1282, 1.6288, 0.2662, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8272, 0.6067, -0.6159, -0.0189, -0.0383, 0.999, 0.5114, 1.3788, 0.3046, 0.2413, 0.355, 0.2611, 0.999]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1283 left_yaw=0.0026 left_pitch=-0.2571 left_roll=0.0012 left_gripper=0.999 right_x=0.2879 right_y=0.0953 right_z=0.0101 right_yaw=0.0635 right_pitch=-0.1858 right_roll=-0.0773 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.3333, 6.9949, 1.5458, -0.0513, -0.0171, -0.0122, -0.2256, -5.2581, 5.3402, 1.9853, 0.3004, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c398db68e7974204ddeead4a95b0400c370971c35785328ff59e8a59a55bb17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:337f1918bbd63fb2f9613f5ea9c6af89f26a95459741e92a6ac91a87732e20f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ee26c51bb8f0aa278119be8a3f7334e83211b1180b7eb7c509846d3927b5b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QgKEAgRGAI4AUIIdGhpbmtpbmcSDE6hTSUgrdgS9Jnr7BoMIQ4GaTzSfzwrPbKHIjDs64FLepYX18biMIBpH6auxchUF9BAXMuGtYlFfbzB40a7yJQuHO/LUYcuEElcBPgq7gfQfQJEeH9HLClTpkP8rylMoRNDwfIWfqf2HDdia5Ta6fDUH8VSU3xjsTuCIX+lv2WuZOm3F9wwZld6Nm9W4mA7yOrOntCr437dg+tErKBw/YVHd2Jaqxitsns98c0e1BH54sGf32h1WnNNkqLWlMEcgKqgl8pkPHkJ7OMHaE37uzCS8qbAw1foU1+tLrjui9I6hl7Lx1SMDAtWui9hwaovozljOjmcl+J1fi1E20lPZ2hm01zmwDP4bQkP2AQkWCI+6PJRqTlKoFW+9MKIAEUtLVc4MRdn0+q0szMK9Q1ug0Cg0S0QjXa4/S2NKIPUMite/S0Lpd0K/hzQad8wU2WWzRaY+C8IJeYx30Lm9c/Hasl8F6LNBLK59DvOHTRohEig2qclYvIWy7BRxn+9boJHV3EQ0jgw7BAk25fEgntYEda8H6Z6HqsOlDv6Ywjm/iLohBBppU1lCV5RXyFUhamuwuA8Gfwdb3RZAjqDr3UCBDurHxgZ8eZDmfl7u9lJH1lTniagDKp8kexCwueJkc46qlFXKUgOA/x6eezd2vnNsqIVYcnQ2r6KbRje44P2fLsOPnoSCvbX9LQDzenjGVOwV5HA26E4KhhLc3Z0vjLgPP8LjUWvlt6QvJKTr2ShP+TxySfBKwjzgJ/0sVO2e2DrEFGTqy0HwO3QBG0/HNllOoWcjVXzN1Q5d45gEqLfucm1oEvQIWNYoh4jdtqpeNuEiUQU7orc70cFv7EEv2FJH5lYUSkwwW6QIKnlxIC2Yt5Wo812jLHhpyGvMqP9X1VLXLUAZulU3BYOytvSvlsoxymakxrN/1NKbCUTwXCvsaxgse/PU4PWvsiEIlGw0ITGVZ0a+Tuo3dbbvCzkiD2wtRFeszv/D11mSKNG7Goa4fl9gECbKVRDt8ZjVZHu4t7SPLpk98WRuvy6rYIjS6A0sZaksL5EGr7C1NuxsBAgzBu/Hg7Xao23lujVpnFMWWD8/gZwCIIgV4IhGPLax+xEC0a1d0eV4xNuu97Cmy7pCsfCpi12U6zRF7uQewfgM1wBtl9JITU3VWQ+9jRjv058ynPX+wukEgsswJcTDixmgbQoiAdS7v6NkGsdF4RZ6AsZ+yZWGr6LpsNytOrK32pSAbScgxnc8XpPYrewfP3+xsGoxSXm3ocKnH98bHGGRzjP0OJDl6rW8lLctrf1HHqc/26yosNeP3anER/ETcOWN9wlTTTTt0O3bxzmVUhLz/3z+9Vi4VolZoxI+0NQUuBCymR49Cev1an1XtDTD813oqHF5DWN+N14n2tcY+jcldmWfZnWPnMZK2SL4w3/KXTmmskHOI+xaEUkOATarnBQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PUS7jA3F42Y5ymZLve8EPa",
      "input": {
        "note": "The can's lower body sits between the open jaws in the wrist view at z≈0.01. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PUS7jA3F42Y5ymZLve8EPa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.6312, -0.0189, -0.0383, 0.999, 0.527, 1.4044, 0.2462, 0.3504, 0.3695, 0.2462, 0.5249]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1257 left_yaw=0.0027 left_pitch=-0.2727 left_roll=0.0016 left_gripper=0.999 right_x=0.2825 right_y=0.0947 right_z=0.0024 right_yaw=0.0778 right_pitch=-0.1591 right_roll=-0.0869 right_gripper=0.5249\nstate[joint_eff]: [-0.0752, -1.2103, 6.8034, 1.6044, -0.0366, -0.0073, -0.0122, -0.0205, -4.4103, 5.2718, 1.6484, 0.3004, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c15195700830b07fb8d8ab3c9d29967360e17056e68d796439f027096df7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bfa9d722d805f26e7e31022c27f65f82f4e7f8f681be182d5c56fd701bdaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04bbd275227042d578227cf7fbbaba5f17f449a1ebed7c33e32d6063c01f1f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 11.2 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.6075, -0.0189, -0.0387, 0.999, 0.6075, 1.01, 0.3428, -0.0502, 0.4076, 0.3065, 0.999]\nstate[eef_state]: left_x=0.2604 left_y=0.002 left_z=0.1307 left_yaw=0.0027 left_pitch=-0.2445 left_roll=0.0007 left_gripper=0.999 right_x=0.2713 right_y=0.1077 right_z=0.0786 right_yaw=0.0994 right_pitch=-0.0651 right_roll=-0.022 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.2239, 6.8171, 1.6239, -0.0855, -0.0366, -0.0122, 0.1436, -2.7692, 9.1282, 1.6288, 0.2662, 0.1245, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8272, 0.6067, -0.6159, -0.0189, -0.0383, 0.999, 0.5114, 1.3788, 0.3046, 0.2413, 0.355, 0.2611, 0.999]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1283 left_yaw=0.0026 left_pitch=-0.2571 left_roll=0.0012 left_gripper=0.999 right_x=0.2879 right_y=0.0953 right_z=0.0101 right_yaw=0.0635 right_pitch=-0.1858 right_roll=-0.0773 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.3333, 6.9949, 1.5458, -0.0513, -0.0171, -0.0122, -0.2256, -5.2581, 5.3402, 1.9853, 0.3004, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.6312, -0.0189, -0.0383, 0.999, 0.527, 1.4044, 0.2462, 0.3504, 0.3695, 0.2462, 0.5249]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1257 left_yaw=0.0027 left_pitch=-0.2727 left_roll=0.0016 left_gripper=0.999 right_x=0.2825 right_y=0.0947 right_z=0.0024 right_yaw=0.0778 right_pitch=-0.1591 right_roll=-0.0869 right_gripper=0.5249\nstate[joint_eff]: [-0.0752, -1.2103, 6.8034, 1.6044, -0.0366, -0.0073, -0.0122, -0.0205, -4.4103, 5.2718, 1.6484, 0.3004, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35c15195700830b07fb8d8ab3c9d29967360e17056e68d796439f027096df7d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5bfa9d722d805f26e7e31022c27f65f82f4e7f8f681be182d5c56fd701bdaab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04bbd275227042d578227cf7fbbaba5f17f449a1ebed7c33e32d6063c01f1f5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowYKEAgRGAI4AUIIdGhpbmtpbmcSDFtDRDGUeHeiUvaMVhoMjB1PfO9VdUzSC2pmIjCtVX1PBg/Htim3GsdL46w1/wE8XXizG4xuwxv69vyzPv6dHXHEyJ1BAThWpv3ovJ0qwAXF2hDrJ8D8kB1OUFQNrQk6ZSV+1wVqDLjM7CIA2ofJ1AIn/ZOu+3EVe+Bgx4BuSDXJQ7YNKvNbHnTXg/w5CBxbbYuqtIZLBvPZi54mV8uICat7tdy6knYfipRCQKPP/yJYkDrEFDzzf3C79eEs1O9n9riZDBc+dKcejPHGsQwwFNw/LlnTMW1N2ihFwT84U+EzbqRPqtSubm0dU1rHKgHpnJ05geuq74HisSEKoIZNy9xVNVCx/WPQzRKM0ujpIUL36KWtAyqWoZT4GK2j19lLkgFiYrtRdRvcGjzYMVWoV9CUyScelzBWRoMdLxbd2Eguo60vnQ/qFxnsDTG2mwv4CgwEZNgTWopcOQhwWWfogZA9LHzPj7V/hNtT1WtDA8Ti0QVJmTinWqoXkY4eOASM7t+7SG6IdiJX5crwfb29Gj6CHp1MUdsJ9s16EYlBfb4aVhlL7OzACbZbjgsB87xCKfHDT5eiipJZ6cbJXuboSChiNkESAULvcKLhzHGmIuieB+yDGoqjOfG/Yugm87CIaNCnDGb9INKsDyAYr59/Fg/gPjD+k4a5A+Et8cixbSdjqrC4nmOmuGGT7PmyEM4IjGwhHN6cpLgQWcwxYpz43Mp/6xw5f6ofFhpt8OSGWa6Tn36wpwQAh0cQds+ppECiDoeJItXwEMQXl53ozwMvc4uG101TCVureJFVKbGue/1Y1D6GUQqjQz4MtAN48SGT0CM2m6JL5I8Cdwreq/MAsCHyoGbzhr6TNnoo7w4a4qo8oy+ZTteMVZ/rhArOP2K8w06Z9QmGmoD5VkG3NjuK6/DmXT34iq+MgSDHm+BAML+QsT241JGvn5wJ65tg6GDQhuqCD3rYMEHrcoQaidwlwgnfbrWGHSGjFsdPW036UmdCcOyv6omERXWxe9Hi1OIqGYJk+NZUAiNczKOzHRuy5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TzyEPyL28ZVDbYbAf8uDBN",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), consistent with holding the can's tapered lower body. Lifting to carry height to confirm the can comes along.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TzyEPyL28ZVDbYbAf8uDBN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6373, -0.0189, -0.0387, 0.999, 0.5282, 1.0164, 0.8509, -0.6888, 0.3576, 0.2386, 0.5272]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1241 left_yaw=0.0029 left_pitch=-0.2815 left_roll=0.0015 left_gripper=0.999 right_x=0.2775 right_y=0.0945 right_z=0.1778 right_yaw=0.089 right_pitch=-0.2053 right_roll=-0.1048 right_gripper=0.5272\nstate[joint_eff]: [-0.3214, -1.4564, 6.7761, 1.536, -0.0757, -0.0562, -0.0171, -0.2667, -2.5231, 9.3197, 1.8046, 0.2515, 0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cb4018983d8290e0a0757c0a18b9a405ba07f1b35e45654c45676f41ed050a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1101f413a887fd11ee08ee2b54e2bfa65e49bc6ebec19a740b06456c958cdbda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:028c3183a076e7c1c88f07647ad6235e112acec7765bee1881e6b81a40f58024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 18.35 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8272, 0.6067, -0.6159, -0.0189, -0.0383, 0.999, 0.5114, 1.3788, 0.3046, 0.2413, 0.355, 0.2611, 0.999]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1283 left_yaw=0.0026 left_pitch=-0.2571 left_roll=0.0012 left_gripper=0.999 right_x=0.2879 right_y=0.0953 right_z=0.0101 right_yaw=0.0635 right_pitch=-0.1858 right_roll=-0.0773 right_gripper=0.999\nstate[joint_eff]: [-0.0752, -1.3333, 6.9949, 1.5458, -0.0513, -0.0171, -0.0122, -0.2256, -5.2581, 5.3402, 1.9853, 0.3004, -0.0269, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.6312, -0.0189, -0.0383, 0.999, 0.527, 1.4044, 0.2462, 0.3504, 0.3695, 0.2462, 0.5249]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1257 left_yaw=0.0027 left_pitch=-0.2727 left_roll=0.0016 left_gripper=0.999 right_x=0.2825 right_y=0.0947 right_z=0.0024 right_yaw=0.0778 right_pitch=-0.1591 right_roll=-0.0869 right_gripper=0.5249\nstate[joint_eff]: [-0.0752, -1.2103, 6.8034, 1.6044, -0.0366, -0.0073, -0.0122, -0.0205, -4.4103, 5.2718, 1.6484, 0.3004, 0.0024, 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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6373, -0.0189, -0.0387, 0.999, 0.5282, 1.0164, 0.8509, -0.6888, 0.3576, 0.2386, 0.5272]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1241 left_yaw=0.0029 left_pitch=-0.2815 left_roll=0.0015 left_gripper=0.999 right_x=0.2775 right_y=0.0945 right_z=0.1778 right_yaw=0.089 right_pitch=-0.2053 right_roll=-0.1048 right_gripper=0.5272\nstate[joint_eff]: [-0.3214, -1.4564, 6.7761, 1.536, -0.0757, -0.0562, -0.0171, -0.2667, -2.5231, 9.3197, 1.8046, 0.2515, 0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cb4018983d8290e0a0757c0a18b9a405ba07f1b35e45654c45676f41ed050a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1101f413a887fd11ee08ee2b54e2bfa65e49bc6ebec19a740b06456c958cdbda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:028c3183a076e7c1c88f07647ad6235e112acec7765bee1881e6b81a40f58024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KSh5C5ukrDnaBq2DTgZ4DP",
      "input": {
        "note": "The can lifted with the gripper, held by its bottom end so it extends forward from the jaws. Carrying it over the burner with the grasp point set back so the can's body will lie across the coil.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01KSh5C5ukrDnaBq2DTgZ4DP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8318, 0.6067, -0.6525, -0.0189, -0.0387, 0.999, 1.1919, 1.7943, 1.6127, -1.1259, 0.693, 0.9695, 0.5294]\nstate[eef_state]: left_x=0.2522 left_y=0.0021 left_z=0.1213 left_yaw=0.0027 left_pitch=-0.2982 left_roll=0.0019 left_gripper=0.999 right_x=0.2435 right_y=0.3162 right_z=0.1855 right_yaw=0.037 right_pitch=-0.2618 right_roll=-0.1408 right_gripper=0.5294\nstate[joint_eff]: [-0.3077, -1.3607, 6.7624, 1.5849, 0.0122, -0.0659, -0.0122, 0.1573, -8.8274, 8.294, 0.6032, 0.823, 0.1392, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ccb4159154efae19ab751908de8b84be860f70dc5e6af028dedbc846d7f7381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad47d2dde0a28a3df2dd5841d14ff27e053edf8e3b2285b8acb87699a7dd881c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adf4fc72dd7f05723299a36a197b342fde1128b613da9784df0a7c5b13ef6ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 8.858 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8276, 0.6067, -0.6312, -0.0189, -0.0383, 0.999, 0.527, 1.4044, 0.2462, 0.3504, 0.3695, 0.2462, 0.5249]\nstate[eef_state]: left_x=0.2561 left_y=0.0021 left_z=0.1257 left_yaw=0.0027 left_pitch=-0.2727 left_roll=0.0016 left_gripper=0.999 right_x=0.2825 right_y=0.0947 right_z=0.0024 right_yaw=0.0778 right_pitch=-0.1591 right_roll=-0.0869 right_gripper=0.5249\nstate[joint_eff]: [-0.0752, -1.2103, 6.8034, 1.6044, -0.0366, -0.0073, -0.0122, -0.0205, -4.4103, 5.2718, 1.6484, 0.3004, 0.0024, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6373, -0.0189, -0.0387, 0.999, 0.5282, 1.0164, 0.8509, -0.6888, 0.3576, 0.2386, 0.5272]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1241 left_yaw=0.0029 left_pitch=-0.2815 left_roll=0.0015 left_gripper=0.999 right_x=0.2775 right_y=0.0945 right_z=0.1778 right_yaw=0.089 right_pitch=-0.2053 right_roll=-0.1048 right_gripper=0.5272\nstate[joint_eff]: [-0.3214, -1.4564, 6.7761, 1.536, -0.0757, -0.0562, -0.0171, -0.2667, -2.5231, 9.3197, 1.8046, 0.2515, 0.0415, 1.033]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8318, 0.6067, -0.6525, -0.0189, -0.0387, 0.999, 1.1919, 1.7943, 1.6127, -1.1259, 0.693, 0.9695, 0.5294]\nstate[eef_state]: left_x=0.2522 left_y=0.0021 left_z=0.1213 left_yaw=0.0027 left_pitch=-0.2982 left_roll=0.0019 left_gripper=0.999 right_x=0.2435 right_y=0.3162 right_z=0.1855 right_yaw=0.037 right_pitch=-0.2618 right_roll=-0.1408 right_gripper=0.5294\nstate[joint_eff]: [-0.3077, -1.3607, 6.7624, 1.5849, 0.0122, -0.0659, -0.0122, 0.1573, -8.8274, 8.294, 0.6032, 0.823, 0.1392, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ccb4159154efae19ab751908de8b84be860f70dc5e6af028dedbc846d7f7381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad47d2dde0a28a3df2dd5841d14ff27e053edf8e3b2285b8acb87699a7dd881c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf4fc72dd7f05723299a36a197b342fde1128b613da9784df0a7c5b13ef6ecf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCCa2Moda4cgQjUHw9pKn6",
      "input": {
        "note": "The gripper is over the near edge of the burner with the can extending forward over the coil. Lowering it toward the burner surface until it touches down.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JCCa2Moda4cgQjUHw9pKn6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6605, -0.0189, -0.0387, 0.999, 1.1843, 1.8542, 1.4048, -0.9485, 0.6693, 0.9932, 0.5314]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.12 left_yaw=0.0031 left_pitch=-0.3066 left_roll=0.0021 left_gripper=0.999 right_x=0.24 right_y=0.3086 right_z=0.1077 right_yaw=-0.001 right_pitch=-0.3162 right_roll=-0.2023 right_gripper=0.5314\nstate[joint_eff]: [-0.253, -1.2513, 6.7487, 1.4579, -0.0464, -0.0659, -0.0122, -0.335, -8.6906, 6.694, 0.7839, 0.5788, 0.1148, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5db3abedb644185c1539eaa24e85337827b3e8e153d1920dc442b4a2587264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e37ccd01d89cb15f8f2b94b9eedd18953d15e7be3b5fdda15af862fee01be64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe1a9fdfe98c62472fa20f0adcebe8ee44e9837c1db905597466626ecaad54ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 4.882 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6373, -0.0189, -0.0387, 0.999, 0.5282, 1.0164, 0.8509, -0.6888, 0.3576, 0.2386, 0.5272]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1241 left_yaw=0.0029 left_pitch=-0.2815 left_roll=0.0015 left_gripper=0.999 right_x=0.2775 right_y=0.0945 right_z=0.1778 right_yaw=0.089 right_pitch=-0.2053 right_roll=-0.1048 right_gripper=0.5272\nstate[joint_eff]: [-0.3214, -1.4564, 6.7761, 1.536, -0.0757, -0.0562, -0.0171, -0.2667, -2.5231, 9.3197, 1.8046, 0.2515, 0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8318, 0.6067, -0.6525, -0.0189, -0.0387, 0.999, 1.1919, 1.7943, 1.6127, -1.1259, 0.693, 0.9695, 0.5294]\nstate[eef_state]: left_x=0.2522 left_y=0.0021 left_z=0.1213 left_yaw=0.0027 left_pitch=-0.2982 left_roll=0.0019 left_gripper=0.999 right_x=0.2435 right_y=0.3162 right_z=0.1855 right_yaw=0.037 right_pitch=-0.2618 right_roll=-0.1408 right_gripper=0.5294\nstate[joint_eff]: [-0.3077, -1.3607, 6.7624, 1.5849, 0.0122, -0.0659, -0.0122, 0.1573, -8.8274, 8.294, 0.6032, 0.823, 0.1392, 0.7448]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6605, -0.0189, -0.0387, 0.999, 1.1843, 1.8542, 1.4048, -0.9485, 0.6693, 0.9932, 0.5314]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.12 left_yaw=0.0031 left_pitch=-0.3066 left_roll=0.0021 left_gripper=0.999 right_x=0.24 right_y=0.3086 right_z=0.1077 right_yaw=-0.001 right_pitch=-0.3162 right_roll=-0.2023 right_gripper=0.5314\nstate[joint_eff]: [-0.253, -1.2513, 6.7487, 1.4579, -0.0464, -0.0659, -0.0122, -0.335, -8.6906, 6.694, 0.7839, 0.5788, 0.1148, 0.8327]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5db3abedb644185c1539eaa24e85337827b3e8e153d1920dc442b4a2587264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e37ccd01d89cb15f8f2b94b9eedd18953d15e7be3b5fdda15af862fee01be64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe1a9fdfe98c62472fa20f0adcebe8ee44e9837c1db905597466626ecaad54ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YE5yojvwhVeZobv3ZSj5cG",
      "input": {
        "note": "The can's far end is reaching over the burner coil in the wrist view. Lowering further so the can settles onto the burner before releasing.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01YE5yojvwhVeZobv3ZSj5cG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6685, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8948, 0.6697, 0.9924, 0.5328]\nstate[eef_state]: left_x=0.2491 left_y=0.0022 left_z=0.1187 left_yaw=0.0032 left_pitch=-0.3146 left_roll=0.0023 left_gripper=0.999 right_x=0.243 right_y=0.3157 right_z=0.102 right_yaw=0.0081 right_pitch=-0.3047 right_roll=-0.1744 right_gripper=0.5328\nstate[joint_eff]: [-0.0752, -0.9094, 6.735, 1.5214, -0.0513, -0.0415, -0.0122, -0.2393, -9.6342, 6.7487, 0.8864, 0.6422, 0.105, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214e5e8146b37f399fae1142637c8e5cd6c037fea7039529bc07f1d34f085d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e772cb48862daf768a051da6129d02f2564ac07ce45c221309cb23d444a86bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dff6b2be1fcc290f65d1baac91f2d8543d9c5a781e116b6665c74827ae807fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 4.745 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.8318, 0.6067, -0.6525, -0.0189, -0.0387, 0.999, 1.1919, 1.7943, 1.6127, -1.1259, 0.693, 0.9695, 0.5294]\nstate[eef_state]: left_x=0.2522 left_y=0.0021 left_z=0.1213 left_yaw=0.0027 left_pitch=-0.2982 left_roll=0.0019 left_gripper=0.999 right_x=0.2435 right_y=0.3162 right_z=0.1855 right_yaw=0.037 right_pitch=-0.2618 right_roll=-0.1408 right_gripper=0.5294\nstate[joint_eff]: [-0.3077, -1.3607, 6.7624, 1.5849, 0.0122, -0.0659, -0.0122, 0.1573, -8.8274, 8.294, 0.6032, 0.823, 0.1392, 0.7448]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6605, -0.0189, -0.0387, 0.999, 1.1843, 1.8542, 1.4048, -0.9485, 0.6693, 0.9932, 0.5314]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.12 left_yaw=0.0031 left_pitch=-0.3066 left_roll=0.0021 left_gripper=0.999 right_x=0.24 right_y=0.3086 right_z=0.1077 right_yaw=-0.001 right_pitch=-0.3162 right_roll=-0.2023 right_gripper=0.5314\nstate[joint_eff]: [-0.253, -1.2513, 6.7487, 1.4579, -0.0464, -0.0659, -0.0122, -0.335, -8.6906, 6.694, 0.7839, 0.5788, 0.1148, 0.8327]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6685, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8948, 0.6697, 0.9924, 0.5328]\nstate[eef_state]: left_x=0.2491 left_y=0.0022 left_z=0.1187 left_yaw=0.0032 left_pitch=-0.3146 left_roll=0.0023 left_gripper=0.999 right_x=0.243 right_y=0.3157 right_z=0.102 right_yaw=0.0081 right_pitch=-0.3047 right_roll=-0.1744 right_gripper=0.5328\nstate[joint_eff]: [-0.0752, -0.9094, 6.735, 1.5214, -0.0513, -0.0415, -0.0122, -0.2393, -9.6342, 6.7487, 0.8864, 0.6422, 0.105, 0.8474]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214e5e8146b37f399fae1142637c8e5cd6c037fea7039529bc07f1d34f085d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e772cb48862daf768a051da6129d02f2564ac07ce45c221309cb23d444a86bd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dff6b2be1fcc290f65d1baac91f2d8543d9c5a781e116b6665c74827ae807fae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwcKEAgRGAI4AUIIdGhpbmtpbmcSDL7YC26b13zXSUV29BoM4QDdBlm20GZOl9lWIjA9O9l9dQR3k95UZiPtgkFQdFkIp5KlEMZFCyvdkdIgnn3bMx2CL8w8tRbLKBnUPJkqrAaa/t56umJecpB9MN3V45bXIK0x5yFkPwc8gTsSl1Ubr5p1KjGfu2ki07iM5k38+goGZnbkcUnRzo81jvRmbiErD1l5RDr7CytlFX+eszVn9LVeiabRX7RwzkT3YT/c4nsgQMl292AeVlQKzFtNqSXTpRLuxD8y4kSXpgbl+QoSH1Zw5rrDjmsRJtDio1fbdr1t2pDc+grNWXKKsLVjaZNX16i+05A6cr7WZZdfzvRkc4sjkZLjsuqWizLiS1m8tqUYdDyz/C5aAekxgPDItstJT+kpFdSJqHEVaMTO/wnpLtAGwUirUQV/dbLsAQ56dK988ArJIkaJhwSl6tj1aBIv0O7RpH0Nqpcf9GFkwX1iH9vE33U4NsR1AYhLyxpk4NiExXW4QY9zfBzpVvFjYFr8pwD14T4JC4SqIOzNzIyE3N2eLXrEoktHAfIdnq+aGG1uLTaaq9kgbcKG4OmqjUJaaUbRF+bw92mDiYz1GjwIdGcK8HqxIC2vgzYdU/FtZnxJafvy9E+ufMbKYujD1rF5O/K99H0XKLDLVo2dYDTFCnSNk707yGPbgCeyCVKpSAyXT+MzSDOv0jDcScvqqL0jP8QsApfJij0KrTAkEizG9PfAcEGNFhd9ss1+3ukNYk9NlSt36/i8hIrPGEysLe7O+ElW4LL35vnPZRzIiJCkyEjluNDz0gNL1v+kGoCkm1MFjfEJk4XSYpzFPf3C8VBCv+7gDlh1Sl0YVBHkSdDSiYnRVFvdkpjSeDpz//RVF4NeYxpSYe6DbXTZgipS+vv+GNNxPav2/2aSaG/SDUvcAbxY3lADrW8UCDBEWUwiWsijg2bGHyVuVQOPHojnu7rcXLCIZBbgII3ZOs+ylLg10Po+mlmRN6/LqEludwPqKSnBjpjvHn6TTgV7GkPW/xEijcS2hGpDJ8LhJhdq1DAFtp/C3+RtxuVyJxIVoaZEVsuSMijoNgjhgA9XVeLfq/ycq5n0YxHmjXHBX0Hu7CBwlI8VDcDaaHXWXr7abl3LePZQ6TnBSPzj9DYdAX+PF3SmpM40Fdd1Dije089cqg0qvF9JEzzLra+pYuvsFRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MUM8JMzXeqt6pNQarciwgp",
      "input": {
        "note": "The descent stalled at z≈0.10 and the overhead view shows the can lying across the burner coil. Opening the gripper to release it there.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MUM8JMzXeqt6pNQarciwgp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6827, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8951, 0.675, 0.992, 0.9946]\nstate[eef_state]: left_x=0.2464 left_y=0.0023 left_z=0.1166 left_yaw=0.0033 left_pitch=-0.3288 left_roll=0.0026 left_gripper=0.999 right_x=0.2436 right_y=0.3153 right_z=0.1026 right_yaw=0.0065 right_pitch=-0.3001 right_roll=-0.1772 right_gripper=0.9946\nstate[joint_eff]: [-0.3214, -0.8, 6.9128, 1.5116, -0.0269, -0.0562, -0.0122, -0.212, -9.6205, 6.4889, 0.9255, 0.5348, 0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31221c192544e16f57f98d23e2bc763264e046addb9b0b1dded8d7dd24391c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ceba14fb274b61b02650f44030b94d9d8bbaa9eb2d08765bf3db8053892796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac770b929130629fcc64f6404dc95b832cefe2f0165a7cea8f743df1bda03c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 13.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6605, -0.0189, -0.0387, 0.999, 1.1843, 1.8542, 1.4048, -0.9485, 0.6693, 0.9932, 0.5314]\nstate[eef_state]: left_x=0.2506 left_y=0.0022 left_z=0.12 left_yaw=0.0031 left_pitch=-0.3066 left_roll=0.0021 left_gripper=0.999 right_x=0.24 right_y=0.3086 right_z=0.1077 right_yaw=-0.001 right_pitch=-0.3162 right_roll=-0.2023 right_gripper=0.5314\nstate[joint_eff]: [-0.253, -1.2513, 6.7487, 1.4579, -0.0464, -0.0659, -0.0122, -0.335, -8.6906, 6.694, 0.7839, 0.5788, 0.1148, 0.8327]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6685, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8948, 0.6697, 0.9924, 0.5328]\nstate[eef_state]: left_x=0.2491 left_y=0.0022 left_z=0.1187 left_yaw=0.0032 left_pitch=-0.3146 left_roll=0.0023 left_gripper=0.999 right_x=0.243 right_y=0.3157 right_z=0.102 right_yaw=0.0081 right_pitch=-0.3047 right_roll=-0.1744 right_gripper=0.5328\nstate[joint_eff]: [-0.0752, -0.9094, 6.735, 1.5214, -0.0513, -0.0415, -0.0122, -0.2393, -9.6342, 6.7487, 0.8864, 0.6422, 0.105, 0.8474]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6827, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8951, 0.675, 0.992, 0.9946]\nstate[eef_state]: left_x=0.2464 left_y=0.0023 left_z=0.1166 left_yaw=0.0033 left_pitch=-0.3288 left_roll=0.0026 left_gripper=0.999 right_x=0.2436 right_y=0.3153 right_z=0.1026 right_yaw=0.0065 right_pitch=-0.3001 right_roll=-0.1772 right_gripper=0.9946\nstate[joint_eff]: [-0.3214, -0.8, 6.9128, 1.5116, -0.0269, -0.0562, -0.0122, -0.212, -9.6205, 6.4889, 0.9255, 0.5348, 0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31221c192544e16f57f98d23e2bc763264e046addb9b0b1dded8d7dd24391c7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ceba14fb274b61b02650f44030b94d9d8bbaa9eb2d08765bf3db8053892796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac770b929130629fcc64f6404dc95b832cefe2f0165a7cea8f743df1bda03c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Released; the can is lying on the burner. Retracting the arm to home to confirm in the overhead view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tsj1ai2XoyiZ1gbA5S3hnx",
      "input": {
        "note": "The can has been released and rests on the burner in both camera views. Moving the right arm up and back to home to clear the view and confirm the placement.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01Tsj1ai2XoyiZ1gbA5S3hnx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6941, -0.0193, -0.0383, 0.999, 0.0952, 1.0515, 0.955, -0.8547, 0.1864, -0.0326, 0.999]\nstate[eef_state]: left_x=0.2441 left_y=0.0024 left_z=0.1148 left_yaw=0.0035 left_pitch=-0.3402 left_roll=0.0034 left_gripper=0.999 right_x=0.2816 right_y=-0.0024 right_z=0.1791 right_yaw=-0.0542 right_pitch=-0.3583 right_roll=-0.1838 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1829, 6.7077, 1.453, -0.0562, -0.0317, -0.0122, -0.1573, -3.4667, 10.1402, 1.5067, 0.0611, -0.0757, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51f8d3e644955dcb089ac61fce06c706332b60505c619f46c5c8f490073cfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6601077460b5718b0e875d6a4db9add645de7b5f6baeb19b67993bc8470a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aff59355aa37fd51de81f8055204836220cbeef6e4ea69e2cb3288a5404bb4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 6.732 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6685, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8948, 0.6697, 0.9924, 0.5328]\nstate[eef_state]: left_x=0.2491 left_y=0.0022 left_z=0.1187 left_yaw=0.0032 left_pitch=-0.3146 left_roll=0.0023 left_gripper=0.999 right_x=0.243 right_y=0.3157 right_z=0.102 right_yaw=0.0081 right_pitch=-0.3047 right_roll=-0.1744 right_gripper=0.5328\nstate[joint_eff]: [-0.0752, -0.9094, 6.735, 1.5214, -0.0513, -0.0415, -0.0122, -0.2393, -9.6342, 6.7487, 0.8864, 0.6422, 0.105, 0.8474]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6827, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8951, 0.675, 0.992, 0.9946]\nstate[eef_state]: left_x=0.2464 left_y=0.0023 left_z=0.1166 left_yaw=0.0033 left_pitch=-0.3288 left_roll=0.0026 left_gripper=0.999 right_x=0.2436 right_y=0.3153 right_z=0.1026 right_yaw=0.0065 right_pitch=-0.3001 right_roll=-0.1772 right_gripper=0.9946\nstate[joint_eff]: [-0.3214, -0.8, 6.9128, 1.5116, -0.0269, -0.0562, -0.0122, -0.212, -9.6205, 6.4889, 0.9255, 0.5348, 0.0611, -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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6941, -0.0193, -0.0383, 0.999, 0.0952, 1.0515, 0.955, -0.8547, 0.1864, -0.0326, 0.999]\nstate[eef_state]: left_x=0.2441 left_y=0.0024 left_z=0.1148 left_yaw=0.0035 left_pitch=-0.3402 left_roll=0.0034 left_gripper=0.999 right_x=0.2816 right_y=-0.0024 right_z=0.1791 right_yaw=-0.0542 right_pitch=-0.3583 right_roll=-0.1838 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1829, 6.7077, 1.453, -0.0562, -0.0317, -0.0122, -0.1573, -3.4667, 10.1402, 1.5067, 0.0611, -0.0757, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b51f8d3e644955dcb089ac61fce06c706332b60505c619f46c5c8f490073cfa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb6601077460b5718b0e875d6a4db9add645de7b5f6baeb19b67993bc8470a1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff59355aa37fd51de81f8055204836220cbeef6e4ea69e2cb3288a5404bb4b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LH6ut7fkL8gVqzQK5jC6uX",
      "input": {
        "note": "The can slid off the burner and now lies on the table just in front of it, near the bases. Going straight to grasp height over the can's middle to pick it up again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.19,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01LH6ut7fkL8gVqzQK5jC6uX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6983, -0.0189, -0.0383, 0.999, 1.3098, 1.9629, 1.2594, -0.8028, 0.6205, 1.1366, 0.999]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1142 left_yaw=0.0032 left_pitch=-0.3444 left_roll=0.0032 left_gripper=0.999 right_x=0.1887 right_y=0.3224 right_z=0.0301 right_yaw=0.0162 right_pitch=-0.3819 right_roll=-0.203 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.1692, 6.8855, 1.3944, -0.0269, -0.0171, -0.0122, 0.3761, -8.6632, 6.5436, 0.315, 0.5006, 0.2711, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb3fdba5aa1b86adb56fc87b76b9b4972e3bf0b585d934f3a3c4312c5c075d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1277e2d7dbc41e494adf9a4d1fa440e5d4991a41c7077a58dd8ddd40cdad69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db0237d0930479dd3487f6aa904632109634d7ecf16dc55061ce1d2548652e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 16.04 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6827, -0.0189, -0.0387, 0.999, 1.1843, 1.8664, 1.3926, -0.8951, 0.675, 0.992, 0.9946]\nstate[eef_state]: left_x=0.2464 left_y=0.0023 left_z=0.1166 left_yaw=0.0033 left_pitch=-0.3288 left_roll=0.0026 left_gripper=0.999 right_x=0.2436 right_y=0.3153 right_z=0.1026 right_yaw=0.0065 right_pitch=-0.3001 right_roll=-0.1772 right_gripper=0.9946\nstate[joint_eff]: [-0.3214, -0.8, 6.9128, 1.5116, -0.0269, -0.0562, -0.0122, -0.212, -9.6205, 6.4889, 0.9255, 0.5348, 0.0611, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6941, -0.0193, -0.0383, 0.999, 0.0952, 1.0515, 0.955, -0.8547, 0.1864, -0.0326, 0.999]\nstate[eef_state]: left_x=0.2441 left_y=0.0024 left_z=0.1148 left_yaw=0.0035 left_pitch=-0.3402 left_roll=0.0034 left_gripper=0.999 right_x=0.2816 right_y=-0.0024 right_z=0.1791 right_yaw=-0.0542 right_pitch=-0.3583 right_roll=-0.1838 right_gripper=0.999\nstate[joint_eff]: [-0.1709, -1.1829, 6.7077, 1.453, -0.0562, -0.0317, -0.0122, -0.1573, -3.4667, 10.1402, 1.5067, 0.0611, -0.0757, -0.1148]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6983, -0.0189, -0.0383, 0.999, 1.3098, 1.9629, 1.2594, -0.8028, 0.6205, 1.1366, 0.999]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1142 left_yaw=0.0032 left_pitch=-0.3444 left_roll=0.0032 left_gripper=0.999 right_x=0.1887 right_y=0.3224 right_z=0.0301 right_yaw=0.0162 right_pitch=-0.3819 right_roll=-0.203 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.1692, 6.8855, 1.3944, -0.0269, -0.0171, -0.0122, 0.3761, -8.6632, 6.5436, 0.315, 0.5006, 0.2711, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bb3fdba5aa1b86adb56fc87b76b9b4972e3bf0b585d934f3a3c4312c5c075d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc1277e2d7dbc41e494adf9a4d1fa440e5d4991a41c7077a58dd8ddd40cdad69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db0237d0930479dd3487f6aa904632109634d7ecf16dc55061ce1d2548652e12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsAkKEAgRGAI4AUIIdGhpbmtpbmcSDFFPBN1s9EPvCYQoAxoMg0o9DMT4y0SFKVFiIjB/oTWOJiMHoSy/Vy86H4q1KgeaQFy3nScBAlip9fFTmKoOoo6D64CQLsXwZ1bUST4qzQgm+PIDhW5pojNV8DaSNrk9FEUJKdKC4RR5D1kYJXwKDVGNIcQcEp4O4r6MsqlCwRAoIQVgjryVc+4FwxstNmKrbvXBodYO0ztcGH0uhuq3PqU4Kk852RErt9vAvNvXE3rEnQsqbjObXpnI98o5kJg+PR+rDy1UYr2rm01j/dy2KFSFYcuGrjmh3jVH10ivXpO6tz2533IOSV/n/Y1jkWH8lUzKRHF6prxbhvEjMANyIW6+HngXREyKmf6EJFq5Gxqw2nxSbO4avrdd1no88NEEx1ZKsAQvIia43HJ3W6fDg9Hy3/63ywELCRLLch8ZyJ2shQZjD8nxRTm4/QIzUyJFsK0PvHnukR6Wi8uJ3ksPkR2Arn7l28nNAeJ3hs3nBg/ji1dvR4POKzLCrnXzXq5qg1L8ACby7bf7Qi/43Y5fRxegJT29ZgxTfIEw7dcIwqhgqMD7ASuyhIe82fsTJeWiQimwhxuORbkvcLqMwkZy+Gsco+mZon5XGxEKvhg7DVJAHXBVxhgVfgMHW+yG7cZ2m/+CGNObAUCVCRPopopqQjASFwS1ye98AzE/Ni3De6Omhp8ll6l6TVzHauDeNUPJRWFhtIPD7mSklsrXvcxCX727VjBq1rfEczdQBqA8dsqD4C3gkgYEfKoTT74P6VjQVNPmzugcpseEuULU3tk1YyakUF1iZ3cD04ti1o7PgZUtx58tVF1DbfFXPe0GzjpWe3DpqMZyM3TmsM0m2bai5E1U9ZdLNcP26WNfPa/zn7KyAECNHLnUMrUVwwrzeX6FjiqlDIHqWHnHyRVOWVWh26Ny7QauzojR5LPQx+te4v+awaQB8pxKNYf9UHOQhJDGhRd0eUSyEc//TXlQH/Ih7DEW10DwELI9aHnuM5zrhU4Qkbp5xsJGc6ci0aK+R3SNqnaxXvow4iKC/GL5WwVPatogAfOC9pZ1H+4q4wRidbYhcBCoPJkQXPz7ekdGQfKS2N0j6dJxTHw5xnoCh/B6tr8o7ORsosS7qVlZv1xeOPGfIAukG1RTy2v4GU0/VuQARzqYd9evrQtQbq6BO8+5OBclWBzyWF3UrKe9zW44rkkABfENx1E0WfH3fqce9tJ134Bsb8WFK+s6Z0FkLQl/Wvni2E6gT6Eghd1JYVml6SPSivXAxwaFvDx7zETMCkGr4hLHtsyqUxTdodBh+GmW3Sen+Om6T2hNTPn3RGXqitwWhVzOgXUJfSJHmxa7KdH8H8PBEWu3duScVagDZ7Nh8Q67dvIgqiFqBykjptiWvHe5CPdtp5d2jRam5SneDiiFWx8kGwdtnRNADpfkMaK6A4kyNhIf8FbU18sqHtnRupm6obf7CEyJuV43nYDOv0x9daHIcu07hCiT3gbYMaXbsjkQ7OURRf8dm0HHYUTEaVk7zXHHjbC0RBKlZrIEYxVDcymJDh+XUX+YLdqX8XM56fboiwe+cKYKy5rIe7gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gzrNuvpTdxK4U6bdSGuH9",
      "input": {
        "note": "The gripper is at table level where the can was seen; the can is out of the wrist camera's view, which is expected if it is right between the jaws. Closing to test for a grasp.",
        "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_011gzrNuvpTdxK4U6bdSGuH9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.7048, -0.0189, -0.0387, 0.999, 1.3117, 1.9823, 1.2629, -0.8051, 0.6128, 1.1301, 0.0087]\nstate[eef_state]: left_x=0.242 left_y=0.0024 left_z=0.1133 left_yaw=0.0034 left_pitch=-0.3509 left_roll=0.0031 left_gripper=0.999 right_x=0.1868 right_y=0.3221 right_z=0.0235 right_yaw=0.016 right_pitch=-0.395 right_roll=-0.2238 right_gripper=0.0087\nstate[joint_eff]: [-0.1026, -1.0462, 6.9128, 1.3993, -0.0855, -0.0611, -0.0122, -0.294, -11.2205, 5.1624, 0.3736, 0.4322, 0.0562, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c25a8f4cad74de6408bc60cee3f3004c803b9e22d4c2f6384672541b0394d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 302):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf7888c2819001add1b1ec1cf756bc6e798570cb976d1b33fdb6e7251e00b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 302):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4d0592acf8c59b0d1c0fe8175a0c784253ebc88cce1f1dfa1a04dd7e8bbbd49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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