adhoc

completed
2026-09-18T16:32:18.967243+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
261.9 s
total steps
164
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
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 black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick sits ahead and slightly left of the right gripper (right wrist cam), with the pot further left near the table centre. Flying the right arm to hover above the brick with the gripper open.
move_to
right_x0.4000right_y0.0900right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7948, 0.6052, -0.3801, -0.0223, -0.0257, 0.9996, -0.0212, 0.7933, 0.6037, -0.3786, -0.0135, -0.02, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993 state[joint_eff]: [-0.6222, -1.5248, 10.0444, 1.7607, -0.0415, 0.1197, -0.0513, -0.4718, -1.3744, 10.1812, 1.8437, -0.1148, 0.0464, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.09, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick sits ahead and slightly left of the right gripper (right wrist cam), with the pot further left near the table centre. Flying the right arm to hover above the brick with the gripper open."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteWrist cam shows the brick slightly left of the jaw column and its centre a few cm ahead of the fingertips. Advancing forward and a bit left while descending to just above the brick.
move_to
right_x0.4200right_y0.1050right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3878, -0.0227, -0.0261, 0.9996, 0.3264, 1.3735, 0.7536, -0.0658, 0.2413, 0.1432, 0.9993] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3815 right_y=0.0883 right_z=0.1245 right_yaw=0.0439 right_pitch=-0.0945 right_roll=-0.0305 right_gripper=0.9993 state[joint_eff]: [-0.2803, -1.4154, 6.8581, 1.8242, -0.022, -0.0708, -0.0171, 0.1436, -6.2017, 9.0325, 1.9756, 0.2564, 0.188, -0.0904] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.105, "right_z": 0.06, "right_gripper": 1.0}, "note": "Wrist cam shows the brick slightly left of the jaw column and its centre a few cm ahead of the fingertips. Advancing forward and a bit left while descending to just above the brick."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe brick fills the wrist view just left of the jaw column; descending to table level with the jaws straddling it.
move_to
right_x0.4200right_y0.1100right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0261, 0.9996, 0.3359, 1.6684, 0.7441, 0.1558, 0.2466, 0.1493, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0003 left_pitch=-0.0168 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4047 right_y=0.0994 right_z=0.0477 right_yaw=0.0425 right_pitch=-0.1727 right_roll=-0.053 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.4291, 7.2547, 1.7314, -0.0317, -0.0562, -0.0122, -0.0752, -7.6239, 7.0359, 1.6972, 0.0806, -0.0317, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.11, "right_z": 0.0, "right_gripper": 1.0}, "note": "The brick fills the wrist view just left of the jaw column; descending to table level with the jaws straddling it."})
tool
executing move_to over 4 steps (0.4s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe arm stopped at z≈0.047, possibly a jaw resting on the brick edge or just slow tracking; the brick sits slightly left of the jaw column. Shifting 1 cm left and continuing the descent to table level.
move_to
right_x0.4200right_y0.1150right_z-0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1459, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.0488 right_pitch=-0.143 right_roll=-0.0462 right_gripper=0.9993 state[joint_eff]: [-0.2393, -1.3197, 7.0085, 1.7265, -0.0562, -0.0562, -0.0122, -0.1709, -8.3077, 6.3658, 1.8584, 0.0562, -0.0024, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.115, "right_z": -0.01, "right_gripper": 1.0}, "note": "The arm stopped at z\u22480.047, possibly a jaw resting on the brick edge or just slow tracking; the brick sits slightly left of the jaw column. Shifting 1 cm left and continuing the descent to table level."})
tool
executing move_to over 4 steps (0.4s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe arm is not moving at all at z≈0.047, likely a fingertip resting on the brick's edge. Lifting clear and shifting 2 cm left before descending again.
move_to
right_x0.4200right_y0.1200right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1455, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.049 right_pitch=-0.143 right_roll=-0.0465 right_gripper=0.9993 state[joint_eff]: [-0.2256, -1.0735, 7.0496, 1.746, -0.0562, -0.0659, -0.0122, -0.2667, -8.3214, 6.3521, 1.9023, 0.0562, -0.0171, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.12, "right_z": 0.1, "right_gripper": 1.0}, "note": "The arm is not moving at all at z\u22480.047, likely a fingertip resting on the brick's edge. Lifting clear and shifting 2 cm left before descending again."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe right arm barely responds and shoulder effort is very high, suggesting it is stuck at a reach/IK limit near the brick. Pulling back toward the base and up to free it before re-approaching.
move_to
right_x0.3500right_y0.1200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.3565, 1.6901, 0.8097, 0.1066, 0.2546, 0.1513, 0.9993] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4137 right_y=0.1104 right_z=0.0551 right_yaw=0.0551 right_pitch=-0.1762 right_roll=-0.0586 right_gripper=0.9993 state[joint_eff]: [0.0615, -1.2239, 7.0359, 1.7265, -0.022, -0.0415, -0.0122, 1.1556, -12.8068, 10.6325, 2.2442, 0.359, 0.2076, -0.0904] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.12, "right_z": 0.15, "right_gripper": 1.0}, "note": "The right arm barely responds and shoulder effort is very high, suggesting it is stuck at a reach/IK limit near the brick. Pulling back toward the base and up to free it before re-approaching."})
tool
executing move_to over 7 steps (0.7s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteArm is free again; the brick is now centred on the jaw column with its near end at the bottom of the wrist view. Moving forward 5 cm and down to 8 cm, levelling the wrist pitch which had drifted.
move_to
right_x0.4000right_y0.1250right_z0.0800right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4744, 1.3422, 0.8459, -0.3008, 0.3115, 0.2146, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9996 right_x=0.3529 right_y=0.1244 right_z=0.135 right_yaw=0.09 right_pitch=-0.1823 right_roll=-0.0578 right_gripper=0.9993 state[joint_eff]: [-0.3077, -1.0735, 7.0496, 1.7167, -0.0855, -0.0464, -0.0122, 0.294, -5.6957, 9.4974, 1.6386, 0.4371, 0.232, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.125, "right_z": 0.08, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Arm is free again; the brick is now centred on the jaw column with its near end at the bottom of the wrist view. Moving forward 5 cm and down to 8 cm, levelling the wrist pitch which had drifted."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brick is centred between the open jaws in the wrist view. Descending straight to table level to grasp it across its width.
move_to
right_x0.4000right_y0.1250right_z0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.4313, 1.5749, 0.6651, 0.1947, 0.3065, 0.1402, 0.9993] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9996 right_x=0.3833 right_y=0.1216 right_z=0.0632 right_yaw=0.0956 right_pitch=-0.1098 right_roll=-0.0822 right_gripper=0.9993 state[joint_eff]: [-0.1846, -1.2786, 7.1316, 1.6874, -0.0513, -0.0269, -0.0122, -0.6085, -6.8308, 5.5863, 1.9219, 0.1587, 0.0806, -0.0904] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.125, "right_z": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick is centred between the open jaws in the wrist view. Descending straight to table level to grasp it across its width."})
tool
executing move_to over 5 steps (0.5s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
At table level with the brick between the jaws. Closing the gripper.
agent noteGripper is at table level with the brick filling the view between the jaws. Closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4309, 1.874, 0.5671, 0.6533, 0.318, 0.123, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9996 right_x=0.3937 right_y=0.1242 right_z=-0.0014 right_yaw=0.0966 right_pitch=-0.0503 right_roll=-0.0825 right_gripper=0.9993 state[joint_eff]: [-0.335, -1.5932, 7.1726, 1.6874, -0.0317, -0.0415, -0.0122, 0.1709, -6.4752, 3.6171, 0.8669, 0.1734, -0.1587, -0.0904] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
At table level with the brick between the jaws. Closing the gripper.
move_to({"targets": {"right_gripper": 0.0}, "note": "Gripper is at table level with the brick filling the view between the jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at ~0.75 (≈7 cm), consistent with gripping the brick across its width. Lifting 6 cm to verify the brick comes along.
move_to
right_z0.0600right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.4305, 1.8866, 0.5621, 0.6868, 0.3088, 0.1162, 0.7523] state[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0229 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3949 right_y=0.1262 right_z=-0.0018 right_yaw=0.1077 right_pitch=-0.0372 right_roll=-0.0777 right_gripper=0.7523 state[joint_eff]: [-0.2256, -1.3744, 7.159, 1.7314, -0.0269, -0.0366, -0.0122, -0.2393, -8.7316, 4.7248, 1.326, 0.149, 0.0464, 1.033] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.06, "right_gripper": 0.0}, "note": "Gripper settled at ~0.75 (\u22487 cm), consistent with gripping the brick across its width. Lifting 6 cm to verify the brick comes along."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe lift is tracking slowly (z only 2 cm so far) while the gripper holds ~0.75, so it may be carrying the brick's weight. Continuing the lift to 12 cm to confirm the brick rises in the overhead view.
move_to
right_x0.3900right_z0.1200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4007, -0.0227, -0.0261, 0.9996, 0.4305, 1.681, 0.5873, 0.3443, 0.2962, 0.1135, 0.7523] state[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1719 left_yaw=0.0006 left_pitch=-0.0374 left_roll=0.0004 left_gripper=0.9996 right_x=0.3744 right_y=0.1191 right_z=0.0216 right_yaw=0.1163 right_pitch=-0.146 right_roll=-0.1073 right_gripper=0.7523 state[joint_eff]: [-0.212, -1.5795, 7.1043, 1.8584, -0.0464, -0.0806, -0.0122, -0.253, -9.4701, 8.9231, 2.3321, 0.2125, -0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_z": 0.12, "right_gripper": 0.0}, "note": "The lift is tracking slowly (z only 2 cm so far) while the gripper holds ~0.75, so it may be carrying the brick's weight. Continuing the lift to 12 cm to confirm the brick rises in the overhead view."})
tool
executing move_to over 8 steps (0.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteOverhead view shows the brick lifted off the table, held by one end. Raising it high (30 cm) so the dangling brick will clear the pot's rim before moving over the pot.
move_to
right_x0.3800right_y0.1300right_z0.3000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4072, -0.0227, -0.0261, 0.9996, 0.4118, 1.5261, 0.7929, -0.1471, 0.2592, 0.0959, 0.7522] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1706 left_yaw=0.0006 left_pitch=-0.0439 left_roll=0.0006 left_gripper=0.9996 right_x=0.3684 right_y=0.1154 right_z=0.0708 right_yaw=0.1299 right_pitch=-0.2802 right_roll=-0.133 right_gripper=0.7522 state[joint_eff]: [-0.3214, -1.0188, 7.241, 1.8046, -0.0806, -0.0708, -0.0122, -0.6359, -10.1265, 10.5368, 2.1026, 0.3248, 0.0073, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.13, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "Overhead view shows the brick lifted off the table, held by one end. Raising it high (30 cm) so the dangling brick will clear the pot's rim before moving over the pot."})
tool
executing move_to over 15 steps (1.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe brick is securely held and raised, projecting forward from the jaws. Carrying it left toward the pot centre (near the table centre line) while keeping it high above the rim.
move_to
right_x0.4000right_y0.3100right_z0.3000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.4728, 1.3781, 1.2839, -0.6842, 0.3206, 0.0734, 0.7514] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0006 left_pitch=-0.0469 left_roll=0.0006 left_gripper=0.9996 right_x=0.3695 right_y=0.1305 right_z=0.241 right_yaw=0.1586 right_pitch=-0.1714 right_roll=-0.163 right_gripper=0.7514 state[joint_eff]: [-0.1709, -1.5795, 7.0906, 1.7558, -0.0317, -0.0611, -0.0122, 0.5675, -8.4718, 11.6444, 2.3321, 0.5055, -0.0415, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.31, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick is securely held and raised, projecting forward from the jaws. Carrying it left toward the pot centre (near the table centre line) while keeping it high above the rim."})
tool
executing move_to over 15 steps (1.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteWrist and overhead views show the pot interior still forward-left of the held brick. Shifting further left and slightly forward so the brick hangs over the pot's opening.
move_to
right_x0.4200right_y0.3700right_z0.2600right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8642, 1.8893, 1.8809, -0.8848, 0.59, 0.281, 0.7485] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0006 left_pitch=-0.0477 left_roll=0.0006 left_gripper=0.9996 right_x=0.3863 right_y=0.3068 right_z=0.2518 right_yaw=0.2188 right_pitch=-0.1572 right_roll=-0.2394 right_gripper=0.7485 state[joint_eff]: [-0.1983, -1.4017, 7.1863, 1.6874, -0.0415, -0.022, -0.0122, 0.1709, -11.7402, 10.5915, 2.0, 0.8181, 0.2906, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.37, "right_z": 0.26, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "Wrist and overhead views show the pot interior still forward-left of the held brick. Shifting further left and slightly forward so the brick hangs over the pot's opening."})
tool
executing move_to over 8 steps (0.8s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteThe arm is tracking slowly and the brick tip is just at the pot's near-right rim. Pushing further left to the workspace edge, raising a bit, and yawing the tool so the projecting brick swings over the pot opening.
move_to
right_x0.4200right_y0.4000right_z0.2800right_yaw0.6000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8799, 1.9682, 1.8954, -0.8948, 0.5755, 0.2695, 0.7484] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.3866 right_y=0.3223 right_z=0.2178 right_yaw=0.2424 right_pitch=-0.2254 right_roll=-0.2837 right_gripper=0.7484 state[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.6777, -0.0366, -0.0659, -0.0122, -0.1709, -12.9299, 9.0598, 1.6923, 0.6081, 0.0122, 1.0232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.4, "right_z": 0.28, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The arm is tracking slowly and the brick tip is just at the pot's near-right rim. Pushing further left to the workspace edge, raising a bit, and yawing the tool so the projecting brick swings over the pot opening."})
tool
executing move_to over 8 steps (0.8s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteWrist view now shows the pot opening straight ahead with the brick tip at the near rim. Advancing ~7 cm forward and keeping height so the brick moves over the pot interior.
move_to
right_x0.4700right_y0.4000right_z0.2800right_yaw0.6000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8722, 2.0525, 1.9633, -0.7406, 0.4053, -0.0116, 0.7478] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.4034 right_y=0.3776 right_z=0.2125 right_yaw=0.5301 right_pitch=-0.2113 right_roll=-0.3018 right_gripper=0.7478 state[joint_eff]: [-0.3624, -1.4017, 7.0085, 1.6679, -0.0122, -0.0611, -0.0122, -0.4444, -13.5863, 12.7385, 2.4347, 0.6471, -0.1441, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.4, "right_z": 0.28, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "Wrist view now shows the pot opening straight ahead with the brick tip at the near rim. Advancing ~7 cm forward and keeping height so the brick moves over the pot interior."})
tool
executing move_to over 8 steps (0.8s)
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 brick tip is just inside the pot's near rim; the grasp point is still behind the rim. Advancing another ~6 cm forward so the whole brick hangs over the water before releasing.
move_to
right_x0.5200right_y0.4000right_z0.2800right_yaw0.6000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0257, 0.9996, 0.8021, 2.2127, 2.2318, -0.7849, 0.3138, -0.1528, 0.7478] state[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0492 left_roll=0.001 left_gripper=0.9996 right_x=0.4493 right_y=0.3913 right_z=0.2232 right_yaw=0.6139 right_pitch=-0.1905 right_roll=-0.3244 right_gripper=0.7478 state[joint_eff]: [-0.1846, -1.4701, 7.1863, 1.6777, -0.0757, -0.0415, -0.0073, -0.9504, -13.1487, 11.3026, 2.5079, 0.3492, -0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.52, "right_y": 0.4, "right_z": 0.28, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick tip is just inside the pot's near rim; the grasp point is still behind the rim. Advancing another ~6 cm forward so the whole brick hangs over the water before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe brick now hangs over the pot interior with the far rim visible ahead in the wrist view. Opening the gripper to drop the brick into the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7357, 2.6118, 2.9147, -1.0214, 0.2634, -0.2188, 0.7478] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1681 left_yaw=0.0006 left_pitch=-0.053 left_roll=0.0008 left_gripper=0.9996 right_x=0.5067 right_y=0.4014 right_z=0.2175 right_yaw=0.6259 right_pitch=-0.1605 right_roll=-0.3328 right_gripper=0.7478 state[joint_eff]: [-0.335, -1.347, 7.1453, 1.663, -0.0806, -0.0317, -0.0122, -0.7453, -17.2513, 10.2085, 2.1563, 0.3004, 0.0024, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The brick now hangs over the pot interior with the far rim visible ahead in the wrist view. Opening the gripper to drop the brick into the water."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gripper reading is unchanged at 0.75, so the jaws have not opened yet; the brick still hangs over the pot. Re-sending the open command to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7319, 2.7041, 3.0333, -1.1007, 0.2516, -0.2214, 0.7478] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0006 left_pitch=-0.0538 left_roll=0.0008 left_gripper=0.9996 right_x=0.5065 right_y=0.4007 right_z=0.1918 right_yaw=0.6326 right_pitch=-0.2146 right_roll=-0.3323 right_gripper=0.7478 state[joint_eff]: [0.0615, -1.347, 7.3094, 1.6972, -0.0415, -0.0464, -0.0122, 0.0479, -18.2632, 7.8017, 2.044, 0.1636, -0.0171, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper reading is unchanged at 0.75, so the jaws have not opened yet; the brick still hangs over the pot. Re-sending the open command to release it."})
tool
executing move_to over 3 steps (0.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe gripper still reads 0.75 and has not released; the arm has sagged to ~16 cm. Raising the arm slightly while commanding the jaws open over a longer motion to get the release to execute.
move_to
right_x0.5000right_y0.4000right_z0.2600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7315, 2.7159, 2.9936, -1.1736, 0.2443, -0.2214, 0.7478] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.168 left_yaw=0.0006 left_pitch=-0.0534 left_roll=0.0008 left_gripper=0.9996 right_x=0.4954 right_y=0.392 right_z=0.1575 right_yaw=0.6352 right_pitch=-0.3388 right_roll=-0.3394 right_gripper=0.7478 state[joint_eff]: [-0.3624, -1.2513, 6.9949, 1.6825, -0.0708, -0.0562, -0.0122, -0.4034, -14.9812, 10.7829, 2.0195, 0.1343, -0.0269, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.4, "right_z": 0.26, "right_gripper": 1.0}, "note": "The gripper still reads 0.75 and has not released; the arm has sagged to ~16 cm. Raising the arm slightly while commanding the jaws open over a longer motion to get the release to execute."})
tool
executing move_to over 7 steps (0.7s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe jaws are open and both wrist cameras show the black brick lying inside the pot. Retracting the right arm up and back to clear the pot and give the overhead camera a view.
move_to
right_x0.3500right_y0.2000right_z0.3000right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 0.7326, 2.7663, 3.1119, -1.2232, 0.2459, -0.2359, 0.998] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0006 left_pitch=-0.058 left_roll=0.0009 left_gripper=0.9996 right_x=0.4948 right_y=0.3921 right_z=0.1627 right_yaw=0.6433 right_pitch=-0.3232 right_roll=-0.3485 right_gripper=0.998 state[joint_eff]: [-0.1709, -1.1556, 7.159, 1.7021, -0.0806, -0.0073, -0.0122, 0.0068, -14.4342, 8.1983, 1.5751, 0.1392, 0.0659, -0.0366] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.3, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The jaws are open and both wrist cameras show the black brick lying inside the pot. Retracting the right arm up and back to clear the pot and give the overhead camera a view."})
tool
executing move_to over 17 steps (1.7s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
The brick is no longer on the table and the wrist cameras earlier showed it lying inside the pot; the right arm has cleared the pot.
agent noteGrasped the black brick with the right arm across its width at (x≈0.40, y≈0.125), lifted it to ~25 cm, carried it to the pot near (x≈0.50, y≈0.40) with a 0.6 rad yaw so the projecting brick hung over the pot opening, and released it. Both wrist cameras confirmed the brick lying inside the pot before the arm retracted.
done
hindsightIn this scene the black brick (a power-bank-like block ~7 cm wide, ~10 cm long, with a cable) lay at right_x≈0.40, right_y≈0.125 with its long axis along x; grasp across the width at yaw 0 gives a gripper reading ≈0.75. The pot sat far forward-left for the right arm at roughly x≈0.50–0.55, y≈0.40 (the y bound), rim ~15–18 cm high; using positive yaw (~0.6) makes the forward-projecting held brick swing over the opening. The right arm tracks slowly under load with 'delta_clamped' approver steps: moves short by several cm are common, and a gripper-open command alone (3 steps) did not execute — combine gripper open with a small arm motion to get enough steps. Wrist pitch drifts negative (to −0.3) under load; command pitch 0 explicitly. A descent that stalls at z≈0.05 with the wrist pitched was freed by retracting toward the base and up, then re-approaching.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.849, 2.0476, 2.6049, -1.3872, 0.7784, 0.2672, 0.9987] state[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1664 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0009 left_gripper=0.9996 right_x=0.3875 right_y=0.2579 right_z=0.3827 right_yaw=0.0817 right_pitch=-0.0185 right_roll=-0.3183 right_gripper=0.9987 state[joint_eff]: [-0.3624, -1.1829, 7.1726, 1.7558, -0.0806, -0.0415, -0.0122, -0.212, -13.6547, 7.4598, 2.2979, 0.6813, 0.2955, -0.1538] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
The brick is no longer on the table and the wrist cameras earlier showed it lying inside the pot; the right arm has cleared the pot.
done({"summary": "Grasped the black brick with the right arm across its width at (x\u22480.40, y\u22480.125), lifted it to ~25 cm, carried it to the pot near (x\u22480.50, y\u22480.40) with a 0.6 rad yaw so the projecting brick hung over the pot opening, and released it. Both wrist cameras confirmed the brick lying inside the pot before the arm retracted.", "hindsight": "In this scene the black brick (a power-bank-like block ~7 cm wide, ~10 cm long, with a cable) lay at right_x\u22480.40, right_y\u22480.125 with its long axis along x; grasp across the width at yaw 0 gives a gripper reading \u22480.75. The pot sat far forward-left for the right arm at roughly x\u22480.50\u20130.55, y\u22480.40 (the y bound), rim ~15\u201318 cm high; using positive yaw (~0.6) makes the forward-projecting held brick swing over the opening. The right arm tracks slowly under load with 'delta_clamped' approver steps: moves short by several cm are common, and a gripper-open command alone (3 steps) did not execute \u2014 combine gripper open with a small arm motion to get enough steps. Wrist pitch drifts negative (to \u22120.3) under load; command pitch 0 explicitly. A descent that stalls at z\u22480.05 with the wrist pitched was freed by retracting toward the base and up, then re-approaching."})
tool
done: Grasped the black brick with the right arm across its width at (x≈0.40, y≈0.125), lifted it to ~25 cm, carried it to the pot near (x≈0.50, y≈0.40) with a 0.6 rad yaw so the projecting brick hung over the pot opening, and released it. Both wrist cameras confirmed the brick lying inside the pot before the arm retracted.
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 · 23.48 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6052, -0.3801, -0.0223, -0.0257, 0.9996, -0.0212, 0.7933, 0.6037, -0.3786, -0.0135, -0.02, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5248, 10.0444, 1.7607, -0.0415, 0.1197, -0.0513, -0.4718, -1.3744, 10.1812, 1.8437, -0.1148, 0.0464, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9463d2ed705c93d7cd7292d099a6063e64ab5fb026ad58cfe5c4dbb8c4a048f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81b5ae64e01b76f0d5bfa40c52219afb023bada9498d7ae920862173cf804ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52e6606bb64778f941a1d10d2918ea41ef152681a5c1012e9a4d71173f8fdb3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9463d2ed705c
wire blob b81b5ae64e01
wire blob 52e6606bb647
call 1 attempt 0 · /messages · status 200 · 9.475 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 black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6052, -0.3801, -0.0223, -0.0257, 0.9996, -0.0212, 0.7933, 0.6037, -0.3786, -0.0135, -0.02, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5248, 10.0444, 1.7607, -0.0415, 0.1197, -0.0513, -0.4718, -1.3744, 10.1812, 1.8437, -0.1148, 0.0464, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9463d2ed705c93d7cd7292d099a6063e64ab5fb026ad58cfe5c4dbb8c4a048f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b81b5ae64e01b76f0d5bfa40c52219afb023bada9498d7ae920862173cf804ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e6606bb64778f941a1d10d2918ea41ef152681a5c1012e9a4d71173f8fdb3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9463d2ed705c]
[blob b81b5ae64e01]
[blob 52e6606bb647]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hqt87JarYEWHLZBxiucpSh",
      "input": {
        "note": "The black brick sits ahead and slightly left of the right gripper (right wrist cam), with the pot further left near the table centre. Flying the right arm to hover above the brick with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.09,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Hqt87JarYEWHLZBxiucpSh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3878, -0.0227, -0.0261, 0.9996, 0.3264, 1.3735, 0.7536, -0.0658, 0.2413, 0.1432, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3815 right_y=0.0883 right_z=0.1245 right_yaw=0.0439 right_pitch=-0.0945 right_roll=-0.0305 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4154, 6.8581, 1.8242, -0.022, -0.0708, -0.0171, 0.1436, -6.2017, 9.0325, 1.9756, 0.2564, 0.188, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e428b3fa1a0fb220b38afa0222b38a0d9f0d5a532059cab8a5e1f3cb74d1ad5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0eeac3aacdc99c9031d35a2fd34428b147e839c7fa66400b6645b962779ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a122ba7ccfaa22db2fb204e1555b2f8ce5e12c8280433637b255ca9f8a2ac1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e428b3fa1a0f
wire blob 0c0eeac3aacd
wire blob a122ba7ccfaa
call 2 attempt 0 · /messages · status 200 · 7.593 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 black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6052, -0.3801, -0.0223, -0.0257, 0.9996, -0.0212, 0.7933, 0.6037, -0.3786, -0.0135, -0.02, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5248, 10.0444, 1.7607, -0.0415, 0.1197, -0.0513, -0.4718, -1.3744, 10.1812, 1.8437, -0.1148, 0.0464, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3878, -0.0227, -0.0261, 0.9996, 0.3264, 1.3735, 0.7536, -0.0658, 0.2413, 0.1432, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3815 right_y=0.0883 right_z=0.1245 right_yaw=0.0439 right_pitch=-0.0945 right_roll=-0.0305 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4154, 6.8581, 1.8242, -0.022, -0.0708, -0.0171, 0.1436, -6.2017, 9.0325, 1.9756, 0.2564, 0.188, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e428b3fa1a0fb220b38afa0222b38a0d9f0d5a532059cab8a5e1f3cb74d1ad5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0eeac3aacdc99c9031d35a2fd34428b147e839c7fa66400b6645b962779ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a122ba7ccfaa22db2fb204e1555b2f8ce5e12c8280433637b255ca9f8a2ac1af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e428b3fa1a0f]
[blob 0c0eeac3aacd]
[blob a122ba7ccfaa]
{
  "content": [
    {
      "signature": "CAQShgoKEAgRGAI4AUIIdGhpbmtpbmcSDMSIR/S2MtOjLodx9xoM+onUiTawiE92ejiuIjDCUeUKa8jANw8oVX8uejp7MU6CYO7j41XSgmRC5f3CwlbGBL9KIk6We3pt3aLGZOUqownQ+amUHE2CI9zByGcBiTft4zLiH/WXK1oVYKFl7ZO3ll9e8+742bimsAZq5OobyhgJulp20zqwjRBB8qjvRdcuvDxbA6zhR2DJIvVb2ks/6yj4jSMaKbQzdAt8e1IGQmwnsd6BRBA0ldHUVIU6yCJB8SMOv3l9XvBkN14ckAfL8lQ1ZX7Yh7ix7wr5qfoaqgv7fvaNPIga+rRSL8NMgBX4GW9a+Xim2jUUagBX+X5ePWNp8DDZjzKOV31L9inAI5fW4pnYJ4duS7zOZp42VZEXpKs42ez077R2V9C/kXv5p8pHARiaFdmHKygSN/Lw88SfDeWZmKfrWssO+Nr/M16zxNbf+KCLIdWe5/ifLwaXTz550+ZiT4CSuYLK38fuHJ7JhlU0J7HXMVWlOHLD7QKdq7iqPMLk68I2plQ11XpzddH9iqSRtzs4gMBJggM4FFAu6IP8Uf7E3NHSOFeraVN0Q2vDEtYOWZhIUR2jHI1bNDoGIFOdk/lGyMUqEotDjjTxBs7X3Csaa5DOENZhcRC/2GXAwHAxqt+e0VJzg1s/y6glC2XTrmAl5wveaIlqR4o/oHwlt3O3FshUFEVyPglDSVG70T39KXqDg8JjkHA3L8wOYUoWYtYIzhnaKM26PVlhL3960eGyNAnUQucbECMo81RVXxpwJ5E3eiLtGmdV1nwIsUfvd5zLkJOgaedHFOb/ivAUbcf0MWt+xCKjA6N5wVRr+2K/4V4tXUlixwkURvsvpe/SJxDx1www4n8Zth1mkFQrm7+Ko7ZlvQ9VZPSLOVR4eFi2zH9PIcLa8aSkin7ox7jsboRrDmq180Q5t3rlFI4XEBkMNj7zcZOWuSPGi3u96jJl3A6rP0dtIK1X8asZp/BQcFYe0T1qtS++3jh+8dkOsit4MZPZ6LlMpBHnKx08OWbNLQFej5t+Upa0F4dEXnr5RcuZNuDXEFc/wcKZ4Rl8W2ggLCv9eJ/7qOY7JpRLvVPlwz03egQiv5+sSxNMRQGw2Vdn8rG8jiJRQE1QLauvnoXklrFeshMCPcSuqYecvsdH/Fip+gtDU3cdF+Kj22JkIjI+MO+VgY7C9ITy9n2wujJY6zE12tIOKtdNaIAXTEqAFOS6F+cgtfkbQyVf2iz6UdlVcJWbfBfzSw8bLSCV3Um+GCEKGR/5yuu+suVNQsybV2YzbG5zpzH9WaEDIeafw1XAdcGF+OJt/v8/0+a43hv/gBax+MLEr+6AFb0OfRX4aH7ThxdI1m7jWnJ8epWkGBIir0bZtPzorSp1tgw6aRExT2c1hMmyWKhZOpbd0t5aZjowajLRbQR6Ce6O1oYu9Jz5u7CcNJOsPTPXzYTJrezz09jiRy9Ob8dkQkgkq8kl65TorN+jdW1lbuOwRxIWP0Ibz1y0inNY/J9uy1cLSsTU8/E+Vu/0wg6lTOcqQFVanDxsHn+zS4X0OW8m1NauwssrdfoCmKpAgysOT6wy0PeZNVY627uFpsxpGpfTNLGQx8w10iew3VHM+R8AAze8OUzPYRobplyL/9TX4Rlg+Gz26PxyVOclWFT/EwL1aJfVQfvBGiYZqvj8pOuRfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gaQ26HjWmnSDWnaNYhhTV",
      "input": {
        "note": "Wrist cam shows the brick slightly left of the jaw column and its centre a few cm ahead of the fingertips. Advancing forward and a bit left while descending to just above the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.105,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011gaQ26HjWmnSDWnaNYhhTV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0261, 0.9996, 0.3359, 1.6684, 0.7441, 0.1558, 0.2466, 0.1493, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0003 left_pitch=-0.0168 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4047 right_y=0.0994 right_z=0.0477 right_yaw=0.0425 right_pitch=-0.1727 right_roll=-0.053 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4291, 7.2547, 1.7314, -0.0317, -0.0562, -0.0122, -0.0752, -7.6239, 7.0359, 1.6972, 0.0806, -0.0317, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f6cc829c18c7bd9980ba1c76041a89f5ad136c1ce8b1194a759d3eeb13f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408520ad459cc4cd8a76373c7439a6114c896a7330edc4d2c81ce9b961f7b7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66dd5e4167865f2bafca86ff793bed8b119b8907e77a423dcbf1296bfb834dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2c2f6cc829c1
wire blob 408520ad459c
wire blob 66dd5e416786
call 3 attempt 0 · /messages · status 200 · 10.27 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 black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6052, -0.3801, -0.0223, -0.0257, 0.9996, -0.0212, 0.7933, 0.6037, -0.3786, -0.0135, -0.02, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1803 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9996 right_x=0.2949 right_y=-0.0003 right_z=0.1803 right_yaw=-0.0005 right_pitch=-0.0 right_roll=-0.0005 right_gripper=0.9993\nstate[joint_eff]: [-0.6222, -1.5248, 10.0444, 1.7607, -0.0415, 0.1197, -0.0513, -0.4718, -1.3744, 10.1812, 1.8437, -0.1148, 0.0464, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3878, -0.0227, -0.0261, 0.9996, 0.3264, 1.3735, 0.7536, -0.0658, 0.2413, 0.1432, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3815 right_y=0.0883 right_z=0.1245 right_yaw=0.0439 right_pitch=-0.0945 right_roll=-0.0305 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4154, 6.8581, 1.8242, -0.022, -0.0708, -0.0171, 0.1436, -6.2017, 9.0325, 1.9756, 0.2564, 0.188, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0261, 0.9996, 0.3359, 1.6684, 0.7441, 0.1558, 0.2466, 0.1493, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0003 left_pitch=-0.0168 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4047 right_y=0.0994 right_z=0.0477 right_yaw=0.0425 right_pitch=-0.1727 right_roll=-0.053 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4291, 7.2547, 1.7314, -0.0317, -0.0562, -0.0122, -0.0752, -7.6239, 7.0359, 1.6972, 0.0806, -0.0317, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2f6cc829c18c7bd9980ba1c76041a89f5ad136c1ce8b1194a759d3eeb13f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408520ad459cc4cd8a76373c7439a6114c896a7330edc4d2c81ce9b961f7b7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66dd5e4167865f2bafca86ff793bed8b119b8907e77a423dcbf1296bfb834dfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2c2f6cc829c1]
[blob 408520ad459c]
[blob 66dd5e416786]
{
  "content": [
    {
      "signature": "CAQSvAcKEAgRGAI4AUIIdGhpbmtpbmcSDIygJO/FtICXFzGFTxoMNN4ZDFavcX/pPWwqIjCIHtYTRRCyXxDECygikN2MK+JF7Q+jNig/NnLcr5kkUW8oHXxwSmFBY3m1P3WWA8gq2QZ138HSArPuOc02mvYz/IWtWfUpPic2Pbf5GK2gt9mL0jmOxqNkOaTCthF7CEnCn45XmFiPWanyvrf/0O3FYMNsH6SKIzpCtyJs+O8Lx5jjCrLqKQEQKRUDstpFVVVRMvnI8VkMVkxG3sMT94qM+60xnl4LDxhB1yBncqmoL2DSo7prnw+E40zJWFRanXQ7/S10RNsNuT2j1cK5Z0nSiir1fkepSAlBUj1hnCU5l8A5fPELL+KkPRrj7kxAojjZqVFhT7ttzOdsqfea6hBk9OrIwHVJ7aTT2h+2pTWiSUCv8+6k5JnC92IEXGngOkGvaFaj1NSY2QjKPb9hTs6+XJ6ydarPjWBHbGoa7KGuk2/qxdQtvJ8mWhqGwP/kv2xiKitVUAdI6zTBtac2tpD5yLZ7eBx2L7bnOj8zy12QrVF4UiSFsF34AoIykxHVa7x/e4l7S0stcYcBpkXwI9ud3dW0MYv97xKiLNwGQcng3Hi1IGVDfJ+Rgscg9WtlF1dM9aj2KPj8+MnoLRZwMLVetr48HKFxrAU58DKEsL+WbcZsUQTcwvUEHs0jHeH8BgJurExMvaTiXBcXZwKYen+yyC4niBUv4ahwyApG5N8tfh6+i6+cN0VmLEmzutR4AvDPQaJWMiFUOQp0+sd0LoEHgBBNC1QNq/jV39xkIv8eUBRBsJIyz42xUWZqkQ3BK/RrWNX/46IQph63wnUHowYq/Ck1K5FxKGgVP7M8fW1yhuS4v5PFIYwDihV0pOGOA4ag7I4qhdbkboHPgR6rhouQEn54egUKJcsKytLfQdYO5ZEp7GeAfrv8NS6DjKEXaWyKt6emu3oqtJ6A7hF0ZEG5qPedbj4RCwqwq6F77TZgMBRza4Fzy1w+Hn0Y2hbCQYvToTZkwiVcs+FFv7w7lpkrqIrVnf2+2E9++wW66MZnEsW9vbEt3hIfVKKUkX+tWZeNHFlzetcbtxJzVmC5votn73jLBN7t82Fh26xo+mYZbg1q+Dt4U13xqs4uXPxrWx2qItVHJqjFB/rBCBzg7wwbu7DC5D83dVEqOHJQTxpg0ylWIXnijMZfDQYCMPbDH3zvIyM7YBYU0kp745MkLl2TdrG1eY2CpOkJCyRZyxRU5EN84r3b5SSJuztt5RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SyYHgDcLQR43etCR9XVLMX",
      "input": {
        "note": "The brick fills the wrist view just left of the jaw column; descending to table level with the jaws straddling it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.11,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SyYHgDcLQR43etCR9XVLMX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1459, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.0488 right_pitch=-0.143 right_roll=-0.0462 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3197, 7.0085, 1.7265, -0.0562, -0.0562, -0.0122, -0.1709, -8.3077, 6.3658, 1.8584, 0.0562, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c17a9754dfcdc8f0039473e7edc978fea5e4d5b6c7164e2fdd5ac04d4735e17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315c2af8abb3faea1982be2992a57694e9db01ee23dfa5f226dcc95b58df69b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19840e441ff629df1fabe5c4121522ec6ef29b4233b52824ac4a91c83bec6714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob c17a9754dfcd
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 9.191 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3878, -0.0227, -0.0261, 0.9996, 0.3264, 1.3735, 0.7536, -0.0658, 0.2413, 0.1432, 0.9993]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1784 left_yaw=0.0006 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3815 right_y=0.0883 right_z=0.1245 right_yaw=0.0439 right_pitch=-0.0945 right_roll=-0.0305 right_gripper=0.9993\nstate[joint_eff]: [-0.2803, -1.4154, 6.8581, 1.8242, -0.022, -0.0708, -0.0171, 0.1436, -6.2017, 9.0325, 1.9756, 0.2564, 0.188, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0261, 0.9996, 0.3359, 1.6684, 0.7441, 0.1558, 0.2466, 0.1493, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0003 left_pitch=-0.0168 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4047 right_y=0.0994 right_z=0.0477 right_yaw=0.0425 right_pitch=-0.1727 right_roll=-0.053 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4291, 7.2547, 1.7314, -0.0317, -0.0562, -0.0122, -0.0752, -7.6239, 7.0359, 1.6972, 0.0806, -0.0317, -0.0904]\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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1459, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.0488 right_pitch=-0.143 right_roll=-0.0462 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3197, 7.0085, 1.7265, -0.0562, -0.0562, -0.0122, -0.1709, -8.3077, 6.3658, 1.8584, 0.0562, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c17a9754dfcdc8f0039473e7edc978fea5e4d5b6c7164e2fdd5ac04d4735e17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315c2af8abb3faea1982be2992a57694e9db01ee23dfa5f226dcc95b58df69b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19840e441ff629df1fabe5c4121522ec6ef29b4233b52824ac4a91c83bec6714",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob c17a9754dfcd]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgsKEAgRGAI4AUIIdGhpbmtpbmcSDKF6N6Aix5oVoI7RhxoMYMsJTEzRbDQn3c+UIjAiPn5KkzPDp6oj0XYLwNrPYATj7JY/Dfb0jegfp3M6h9tb/9UfJc6Bev8lQRRD7Hkqswrr1hHdSFSwnRC1rt5DJA8jxnbrGvbxgu8T7H0v+ru8hyCIiFJSl1AeOEEHGbBIZkNcVNDfz+M51y2Z/e4bOoPsKVBg/qGLB/Ljpm8xuXDw1HVSi1lywoe9HzeN/8CBNUl6T45BpXVOKvcltjwHc++jqxINBJoitJKQ0vXvSJen8Nmcwj9lvjq0Drwoq8J2NBAO3WpysKf+0p5ydd9nYHtXkStHnR6QAzZmHEty+axlWiRP4PuP3mLbcJDMrDjb1SExP77D2Z1qkNFe9qjMQd8/ZUd5BWL3HotN4EWPSP2y4F7DevS6lNu5siONSliFEESqBKX6b840jQxZNCHmxdTHqdioyh6RJ9yUmPd8aW6Q0YwVYQW7PnhPBA8r4aI7ZSA5Uo8DszvYZ7ZlhNJyqgL93tRKdtzQfaXT3T88FXTr/s45RQFXm3vbQyvIHh2vlb76G7LZBcqTQb9BHpg51ZNM84mTdKRgKlQGmvP7rQuX4lFPzXGn8cxa2uTS/F7g+40K3S6+t7ZjJztiPKDXKLhzPVwV7b5g/DExNo8qP0hcrN/dwJZ6z+ymSbPHgbykTv5EK+qBF3KmbXV/RSaE4fJrKsEU9myDPcY45WtWa++oSVHRBcI2U36XdbiRJZgWgmqYSYB+HvDon5GJ4zWLVQfAH/qA1Q9rQOyjgb4XR1vSC5QK6L2EkoHX8B5Y1M+IVo2GNVJBN85z1A54XRYyuNjxd0kxVB+8pojehsY7lk3NEqLH5BhpK1oS2ELW4cnDijCo6+p31S+tNsipsEOzuoeZVwmAerluXvBeDp7nemdWiKs9ZOO4IM1hkQm1wq7AA7HW2Z64rBXPLd276RH74fFOez+mGF/yCUQBiA7Z9tRKZSgHkFayfdqH7V8bEcSCZSrXOpg70QZvZbkqgby3e6s+B+AwsMxAq5Umi2Z/Zdn4ebZIph2JVARqRLQKoJSvF9hVXyAza5zVzr1Ks5NDHXm2UrpTsiHn+z0nXvYgzwHptucPUehTU60ThY5AQNitZ3gxYLD2/FNsXCuW45oMunnWecPcrIiYxMA7Gwva56YV/GND8/asdU9Xn3yT2sLjdj+bZxYBCwuyjmTxp2e0Wnlhd9qFgk2tcLQR9hJC2LwnKIen3QXFrg9Rg55dKi73Y03T2SRESeL+hbSymfpGWzWIN2VUXcYBeRNIKsQJrXdjgTq/XeinwSMZBNFoG4SdCK0+ei2JwzMD/qe8xbbbKKy9C6AEQY/qE2nl0dzbM8wziGKKb/RDomptZ5HLYhEiN6PnsJ37jFOg3Gc2eKTnIR5dsI5YB2uR6vmDgemwxALIJ2zGOw9ze3lomWoh05HjxKDDCm/I0AwE1evtiAfROB1hZHIsohKIv5X2RSJqk64VKuqb2GNxu40KDwFpdvDeeal+y+U27m8pLwMjYWUlWoUOX8ItGI0hrulpvn17m+gI6uPtWw7auB7UeEYuk1oVpQFcKTZWun4vEFTBdK4NOnJ9+gLUWXTwi4igYBQ36qsGzUbOSrl80hQJgeH2d64V2wbjuN36dON2DQpUKh7ZBkxzmaYjgPlWWq7jAD1Gl2VgxTG5FOtVCtRVQazB7SlJMUQGQiEwQtTrde8avkY7n8aQyWZtKUglgl1UY+IVUmFYe8e2N/VC9HJKzSSDHzGjIeSs/zEbCT096HXgksz7i/FdfZB5j7ouMHeQ5R9ggaUSluMn6Sigw5gePYNrZiRvrXZN5O9m/qcCYd6K677Mk2WO/VYQiUIMO86OMiUO1IZkMDP44RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtR93f4GgvD3ZbraaoNPHK",
      "input": {
        "note": "The arm stopped at z≈0.047, possibly a jaw resting on the brick edge or just slow tracking; the brick sits slightly left of the jaw column. Shifting 1 cm left and continuing the descent to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.115,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CtR93f4GgvD3ZbraaoNPHK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.049 right_pitch=-0.143 right_roll=-0.0465 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0496, 1.746, -0.0562, -0.0659, -0.0122, -0.2667, -8.3214, 6.3521, 1.9023, 0.0562, -0.0171, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aaee350322752128017a36be5b40694a329f38e9ec228569a7a45a2585f54cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3d1c4aea7c55385ae2a9aed067d4b01de2320f73ff62a8196581a39f9dfeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4f42acb57758decbd1dc056e539dbf08cc97d65111e7799e191d66152e26f00",
        "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 · 11.69 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0223, -0.0261, 0.9996, 0.3359, 1.6684, 0.7441, 0.1558, 0.2466, 0.1493, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1767 left_yaw=0.0003 left_pitch=-0.0168 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4047 right_y=0.0994 right_z=0.0477 right_yaw=0.0425 right_pitch=-0.1727 right_roll=-0.053 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.4291, 7.2547, 1.7314, -0.0317, -0.0562, -0.0122, -0.0752, -7.6239, 7.0359, 1.6972, 0.0806, -0.0317, -0.0904]\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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1459, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.0488 right_pitch=-0.143 right_roll=-0.0462 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3197, 7.0085, 1.7265, -0.0562, -0.0562, -0.0122, -0.1709, -8.3077, 6.3658, 1.8584, 0.0562, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.049 right_pitch=-0.143 right_roll=-0.0465 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0496, 1.746, -0.0562, -0.0659, -0.0122, -0.2667, -8.3214, 6.3521, 1.9023, 0.0562, -0.0171, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aaee350322752128017a36be5b40694a329f38e9ec228569a7a45a2585f54cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df3d1c4aea7c55385ae2a9aed067d4b01de2320f73ff62a8196581a39f9dfeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4f42acb57758decbd1dc056e539dbf08cc97d65111e7799e191d66152e26f00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwoKEAgRGAI4AUIIdGhpbmtpbmcSDKMQ2iNqeaQisi5zQxoMOgjKl+JinY2iF0onIjAqggWUVP6X9seHR3PtmHdljb1ZFTdF3+xAGmttrPqYo79BkI5NDGXYpfwhug0x+eEq2Allx8LxmEqjD9vhu0Le/2+QnTPq0/dC11NKOLnAmeU6W/UlXyBhuk/JDTd1KxjqfFEtcq33Bl01h9dCqLiYRPQYLM4zPbMUzllJBBaiv7k/Hkf06gJ4S/nr1shm4SjaopncFEQd60f1IeR4DwvCnqMCMbDP5+J70mMOivRIGCvEX6J/KRBpd6N1KHwuWRR1u30Pe9sLYEnWllDQ5Zub9THOVWk8BqMj2Zpoxz/NBXn/MWmL2h7OxGKNXW5f3xJZ7TbwAE+ZctXFiL7KV2dtTgiRM1XpTfhHNuGrE7gmH3qfoEsKSMUJ2qDCvmc3Ze7UgUo+L85tRZx9sqhwvwSXUc5yRvokxJ6XHw54sJR6e4l2XYyAZdLd0XjBSaVb6uN1eLLNDSAU8kYUTp4f8tslOV86CJWOKfEoYymZHmVX5tqMGsllsfl2WkIQ5ciY6cHN4b7HWmdyI9BHlh1TIyHVnn4wMGJ6TX6eboyoq/GJvcm0nJUJ1VkC0ha9E6aab+APVbo9fZaoHRfzOsd5oqR7BXR832bU38J2jBls4q4GKpiboBR3dpKMbxD3LD33NllLjIS7dGHgVxdRyNvCjxu09SGoQwqqzC5k5Tmjx644D14uu5USg36DswO+PLOPan2hNqnsIsvbn7ydPk8kjUBjLgASRQPmHQ1zwg2mKSNKNtReFxmVpb/wM2uB04xFd60S66O/lZmseyWp9KdpWV4N9WqxeMxAEwafOHQ6qiqcMWHJuNtgLosJdKsxppBuWjtElmjTPYWq9g324upflf3KrTTaXwM3fp72gQBnOHc8H3gxu///odRuL9d1dLy2/LVdLKlGbyFLy1FzWnWx02jxW9+6gi+JHpSyWSugFRq1Hb7i9QlsuVzwjhjjheLN0SmeESw66VN0cYxil7dSYhRjgTae6Xhoom9NNDP2F3KJOrTkcU9c8LfTMx8CRlNpvVKJ2sWj8txD3S+BOEcan/EgPSiQmOta4816iZuWOWqww7WHeH+8xdcHRx4lfPwhxEflf5kmwemtR44XxFHWLuPBIQgTAbSj31OBdcjMXtGKK+H/NPYqk7FGT0Ef5x+6ftO9Y9ffID89LN2oBYXfMIhzkU3wPVVMN4/x9jsW26YsQcrVajr/gcKAIWjjY83NwwjJTyx1QCeLLuo0uxaa4KjivLZoNNoFzeldiYFVg2u5pmGZKYz5ogQcnTaozyvJ7XxgdJiflaKgdUo7TlAIK4s/A+pHTuuFNUkgbD6K7EgcdYqacweDasLmMUg0iLEG72J9WjzRx++pJ2ZXWdJQgyfJ3mqED6ihKsQK4riWso3g3Iy0gcXdGf3grkf8g/OH+YPpQA341paVLtNvLIuDL+ZLOmvEoyYGuMBFUacsMjPq0FoUAO/99H3xISi45HS5RoIbB2jGaxg5cGjt/YnpCzhVQXT/FdHTmAPkj/IsjGE8710i96DcOt3a0fghHuHLZ/b2j8ePzsZYlX3rGUA5UpTJZhpO1QlyP6dgmvAF9M7ahJYLPjUILZ09mYvnLi4kXscJcMpMH0TCjVlmIuYi/KWCN4ajAwgItqELMjSw5/yIhJ4HO6JZdV1qsEzkFkKT/8egPM7AXIDMMQKEwtWMuaAQrS9Oz+7Yo4HFL2n2sCf2U2rCp3iDtzE5K+QgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MnLC1xCsJckGG6p3yg18hw",
      "input": {
        "note": "The arm is not moving at all at z≈0.047, likely a fingertip resting on the brick's edge. Lifting clear and shifting 2 cm left before descending again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MnLC1xCsJckGG6p3yg18hw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.3565, 1.6901, 0.8097, 0.1066, 0.2546, 0.1513, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4137 right_y=0.1104 right_z=0.0551 right_yaw=0.0551 right_pitch=-0.1762 right_roll=-0.0586 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.2239, 7.0359, 1.7265, -0.022, -0.0415, -0.0122, 1.1556, -12.8068, 10.6325, 2.2442, 0.359, 0.2076, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9795b66556f3c1ec74765354d80891f4f87b81d50a37f3920dabf167185e36b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd60015ab805c5b37dcdab6d1f7940f72caf1a136ba041092f76eb388ed1688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b7348b4e5ddfcb15f7aebc6e1b90439e950328ee4ff061717f9c3c5db321896",
        "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 · 10.13 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1459, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.0488 right_pitch=-0.143 right_roll=-0.0462 right_gripper=0.9993\nstate[joint_eff]: [-0.2393, -1.3197, 7.0085, 1.7265, -0.0562, -0.0562, -0.0122, -0.1709, -8.3077, 6.3658, 1.8584, 0.0562, -0.0024, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.049 right_pitch=-0.143 right_roll=-0.0465 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0496, 1.746, -0.0562, -0.0659, -0.0122, -0.2667, -8.3214, 6.3521, 1.9023, 0.0562, -0.0171, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.3565, 1.6901, 0.8097, 0.1066, 0.2546, 0.1513, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4137 right_y=0.1104 right_z=0.0551 right_yaw=0.0551 right_pitch=-0.1762 right_roll=-0.0586 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.2239, 7.0359, 1.7265, -0.022, -0.0415, -0.0122, 1.1556, -12.8068, 10.6325, 2.2442, 0.359, 0.2076, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9795b66556f3c1ec74765354d80891f4f87b81d50a37f3920dabf167185e36b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afd60015ab805c5b37dcdab6d1f7940f72caf1a136ba041092f76eb388ed1688",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7348b4e5ddfcb15f7aebc6e1b90439e950328ee4ff061717f9c3c5db321896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQ0KEAgRGAI4AUIIdGhpbmtpbmcSDDAaegRqd7Gb2MU0shoMg7Zu9m55/kbOk2I4IjAytrNHIuINy9mJQxk8YJehvHJOWnhxcLrxS3JMVuUFAvxc552yXpZL07Q7LFUnOl8qzgzGLU3FYTBCVa4abFgHCkbxxbd3G36F2NSLUSfWLfju0m6waSga4vVOHpv1EwaG7v6rPrltcdBsjU50E2F/z696vpJIQVDUFFUjFYtkzX1K4qX+k9PG1OC4uFacCdRcUIIGyeZMwBrMmdwnj1mdS4h2N5c0/N3M7ur4efoCN5o9Bzrz8iLyFaixFnLFoESaQsoRwt9bk68kDXLLqsfLAWo2f4COM2sAabLaH1wxVrbHJ1lsm/eQL1CraoKh6IZk33hyxZjHX1GRt2BcdcKVlIm3xvAhB5yAueycOTZVcaE6O5ANoeWxOp/OB4oGqpKC5sePgp3mXNFXfO9AJ/12Do1G6or5vuyuTShyCle01h1aC42XRMjFY9MZMe9IhD/TluUYHTGHcH/NEvMhQk0EThVR1ZweWTJ/U8dNUv+8sPo6Px4yEZaY1ONUSNCrzkgAKMpULajp0H8Yp0YzLQf/kaJqK96BrP60VxdR8am8pXCz1zR8B2F+ZrkZLFgBEmRyp+yTeTsHsFXz7hCSX9apw+hFEbNx6IyJhJMkrUexS514WVwYxT+VxPBSpM47AcsmH8Inchcc5snF4QC3EbWKJ6wuQayWMxtAKnJVQ/D0ilFi0B5m+f+cRbjyQbuXBz0JsD0tsCKzBMj5q1f3tFNNa2AG4hes/9lyFBLoetNFtXY6HjTKw2MARqG8ZSQHkJHiPJtX5pDIgnE6L/Y2J1lF9ha9szrRhSiXWKu1Tsrw17SyVi+Cz6oGyb4XG5HSKgxpOCGjpo6n5iqulRjJiC8si9Z4aY2A6VPiQlgl5s5W2jaKNP1a9BsUw+2rSGnK0ifNn0Mq+dNkoq9UX+rbUIRhDCtArkXQVKozRrzie4KHpOrioSK77hsO7NNZ4/kvWYvSVEu1nQyhMQXxacdXSgOZowu32ZKXWLGYXjmHH1ch4h/Bsghvi62UM0ezvV25Rmp7JEyEj7KMkje2SoaYF2i36lo/bTmDksCG2K9xvc3MpYQgk6jEWtMIQBPUUHI31p6IRVDeb0Hkw7SNU9l/goGNqegkoJJVwUGBhM0QGCfXeQkGBNA4xnQpp4DKl9iY85rZMUs1BUd5mqndj7UCObx32dd45IuAzNbP+4PnXKSLAslSs9elEC1GIP513e3tVytWBLXLZ5OWm1D3kj+R4w909AGj1NLtEzyCTtPh/+pj25zOXhcJDkK8Eu7F62Ylb1xeXBdEFeuSNQnEXByYvuu1VJPp+GmdHH3wvWaSeyEfU4phLM+6TZJFhhWv0EhiasIVuR1wI2rHm4n6yIvD2AJLGKo8VhmOwIdS1Ukcr1pkadm6rzNT98EBlm6ojRwsu5pVZ0iQWUYvyZMe5FW92gUB5ssYy673KsNALc7IpYZI1IEPqNliL0vyDxsHqNp7XfELuJRUy1ZoxZaXZWpGuyoqI/EGXu9JL8o4XzO6Tnl+j7MfcLPgza9qaawFUpEWfSzrZ7zF+OJeVnzE1T6pBHTlWXzbITHetSjjEexh+4Vc/VM/i+fQYOzgRnMwhVRxMIZoVwpfS4CgcdhGehDHxtcaPUACagbgmOL0F51V93B5ZFWkzihYBHwpAu1Z+2QXVidBHPV8NjVQdmflYnZ3vUn9CI/Gsiue0KY4e88GVDBm9MW2WIm3GO/L2Jvk+R+m9tVq903Vgy4Vz0OH5G8fqagWOyDJ+xc8hX8E8U6iHDSAOXlaRf97k1DjmxmxsqRMqL1mcl/vwVUPnsuFqI+aI7g6vhWi0cERlKUGsT4/fCXYOkd9qjyFXLcX7IWfIjzGMgzesIFLFYQFXrtxcb25TLGMQmJU3gKXEJ4mFZG7h8p/6E4DVoV8o1WrrQAWP9ky5Y90728GQFOQUugqY+HrIf70ABjPHJLoV31aMosce8LlXZk/GqWTTE/Mu0xRpzVhFWPZHvpjd7wpixKE/EOaJoFsCiokLxVW8lM562rU63iBzcZ4kKx+8Dzp/QLmyWp8x6Mu7PUboxx5tXGaKAd31gP2/4NN7xBqtzpYFRpK0n//IKvGEXwuNFCapu7NSqrdccDIyZVVVDhT9rB6W2FkPuqK/btt5avI6Cx1752NmoMjUAOC8hU8aqcxvXuNDiq7+PED/uJeqD1CxwsXqpPkpJUxlnlmCutxs0LzZjbZ8ZQwsnAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014eh92BFh7p7gk8D4umSfSo",
      "input": {
        "note": "The right arm barely responds and shoulder effort is very high, suggesting it is stuck at a reach/IK limit near the brick. Pulling back toward the base and up to free it before re-approaching.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.12,
          "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_014eh92BFh7p7gk8D4umSfSo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4744, 1.3422, 0.8459, -0.3008, 0.3115, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9996 right_x=0.3529 right_y=0.1244 right_z=0.135 right_yaw=0.09 right_pitch=-0.1823 right_roll=-0.0578 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.0735, 7.0496, 1.7167, -0.0855, -0.0464, -0.0122, 0.294, -5.6957, 9.4974, 1.6386, 0.4371, 0.232, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee1545dd72b864c8f531ab0fa855b48c53e3f2b80702162dde7cb37f7da736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a986ad0ce83e1e56f8b1688361e87a129ff9d4947312bb54f4a471ad7abb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3560233e8c36dbcd1a389301f9d6330c81d40c2a69c167391df3d706e614ac02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 13.61 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3386, 1.6966, 0.7441, 0.2153, 0.2462, 0.1455, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0006 left_pitch=-0.0164 left_roll=0.0 left_gripper=0.9996 right_x=0.4119 right_y=0.1032 right_z=0.0469 right_yaw=0.049 right_pitch=-0.143 right_roll=-0.0465 right_gripper=0.9993\nstate[joint_eff]: [-0.2256, -1.0735, 7.0496, 1.746, -0.0562, -0.0659, -0.0122, -0.2667, -8.3214, 6.3521, 1.9023, 0.0562, -0.0171, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.3565, 1.6901, 0.8097, 0.1066, 0.2546, 0.1513, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4137 right_y=0.1104 right_z=0.0551 right_yaw=0.0551 right_pitch=-0.1762 right_roll=-0.0586 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.2239, 7.0359, 1.7265, -0.022, -0.0415, -0.0122, 1.1556, -12.8068, 10.6325, 2.2442, 0.359, 0.2076, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4744, 1.3422, 0.8459, -0.3008, 0.3115, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9996 right_x=0.3529 right_y=0.1244 right_z=0.135 right_yaw=0.09 right_pitch=-0.1823 right_roll=-0.0578 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.0735, 7.0496, 1.7167, -0.0855, -0.0464, -0.0122, 0.294, -5.6957, 9.4974, 1.6386, 0.4371, 0.232, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cee1545dd72b864c8f531ab0fa855b48c53e3f2b80702162dde7cb37f7da736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14a986ad0ce83e1e56f8b1688361e87a129ff9d4947312bb54f4a471ad7abb1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3560233e8c36dbcd1a389301f9d6330c81d40c2a69c167391df3d706e614ac02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQsKEAgRGAI4AUIIdGhpbmtpbmcSDBkGp317tKXGkkhwQxoMqyAEOIMvQ3Ev7rVzIjCh23l6vhMnr3vEwdcyZV1KnhP7MT+zY+7maWKDyLJ+5d7a/19Im0p/efBSloH9G2Iq6gqXTdufiQyk5kiNNC2plLSEVE+K52FBC7LWt3Oa9hkZB0aqaf7yOmNtK1WgTZJls9yX8fBSv79ei9IAuI0DCsnaDtbWONfhdXnDD2k2OOaubRwMk/B/1iEhlejaT2JR0BgyneVGEmhq37zJm4rDespH8rkQo4+GMMO8/L7cOW/GbcZ1w9ZG4QdAEIXuEsMdsHh0ODTV7r0NDtbb2jr19ijttrMJDauOQXlv45OOYlK3JGut5/FWv+ukmnfo78iVDXhGmu6N3s3d8MNPwwCBVU0V8bMPVP8vidRwWbuWTxfEeQFafygWivK/T0kutE0iesN1PEbWzWq36g456WaQDzUe0tp83qPrnxNjph7rs7mvZDT6CoZcMeGoh4fXaxkyZBIQ5evSNBW9DlzgbFT+K7F+xdqQB2OWrtZ68RZw9MuDXFMLe3aljYhJMQSWwkfJdJthCBKhCk6ZcFWljOBTALnZbDvXlTBnRqW2Dz3U6QmA5VuquHw7oXGMepIVSDELJ7m2refL5GMX95GIZbl13QkGNjWqgzSbZc/N4rv1fBjzN1wP6504ZjfEqiYWO7cfmmjwYiSTNOI1qibdOKm/KoCZ6hvR4/CYnyckbwzpqFWklwZc60FsBseg/e0Ww5tPOvhuitKwwlorvYgEeAOBvoR7DmnCQzBkY4X5ofn1RevCiIx7R8kP0JiJgmzKnq/gYhUvYu9wM2S5zkUcaTddrtYPFIy1giEjf8trUMqNIZJKX+9jr+4fUjKAsKgKW4cOhUpQzUC2dfz21ZRaFs/WUqVCGzHumVEYT/cXEZOzHRmg+woAAeN5iemaa7es7uyaYg4FL0gfjEWjCOOhnNGizrAlvVBW7MNtLFRj+pkQ1ZocXWdpWcXZ80Ah2vAbdiJpWbZYC9lTi1ZKrItgiIr0yfCA3YexgCSalgIkZ5ySzWCK0iOQANvuSfgGbifl8f2kIyYFn3oaZ9ljUhyDJRUCHqQCUEIWLqI9yStQ5BYvQ1M/Vxv0FBFYbfKdD5I/spzy6cKWEL9G2XOKXf8NB4BY4lh/d+hSj5HjbRL1+3EM32HcXrTkwhUS7mV+j03YZrfWBtrF9du/UquEGUhzcSU2/7ouWCBPB2EL4ULuxKBFuvAFLdu1XbZl5pbIqsC3nKJaUxYI00N+F3UIseGC9Kk9hBFwpTTMzkLntIUtsCK4yOqHrP3QJ2CkpLlERl+3V08b1Aq09lTSs5tC7/KHe0QhOZWTL3uvXg8THnSgGWo0aW13vheVS92Fq22LSOblUQdeyGh1h4R4geJksMdgM1KhdWva6xw9zXbQl8aI1+frGdH2Y61UO6yqW/X5l2HjpXZddOdRd1IdflaIBzJW+4ZqsAas7aPHpxAHyrX21AGXwTYFUpH5sXp4+P4UWeFn4+L8ufr4csN0NFXo3Pz3uj4Fh3DrnRs0md9WPigyay6bvUeaoDclpK0h+OZBV6rOKGGfFmlwtTvKeDQkWhFAVEyQ1GqyXFwRXEl1CwsJBS8LxfKURx/q8jeCe3eqFCDfcOFzncIUdZeqmUWR6NwqAYw5/zML4R546+IpPXqMy/lGyL6VQU3ylvTfXfkU6LvM1ulnqQLdx+wlJ2cyUbBKwAgfez6tAd3cdgQ+I3RXZXmkX6322YRlWzeI9EIgUzouh92tFMa+iBYLuDGHpomvXpM0G+HTGuNqTPjRR0m9Fp/PrP9qZKTOwhCRJyJjBSNSzOpHiPIdu2+aRadGxdO3kqEje9oVVVe883Whwi8jfG1FBwJ3qOsywDVScntyfjADioOHFZ/CVYa1CkQYeLK4knuDq4ngIXHN5DHda3vsMQBvK6mCEZ78scMo148PpPAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGFNE1H1rdEEjHQKmKdxwe",
      "input": {
        "note": "Arm is free again; the brick is now centred on the jaw column with its near end at the bottom of the wrist view. Moving forward 5 cm and down to 8 cm, levelling the wrist pitch which had drifted.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.125,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LGFNE1H1rdEEjHQKmKdxwe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.4313, 1.5749, 0.6651, 0.1947, 0.3065, 0.1402, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9996 right_x=0.3833 right_y=0.1216 right_z=0.0632 right_yaw=0.0956 right_pitch=-0.1098 right_roll=-0.0822 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 7.1316, 1.6874, -0.0513, -0.0269, -0.0122, -0.6085, -6.8308, 5.5863, 1.9219, 0.1587, 0.0806, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69024868f2db65064cedf9e45c1905b280b0b881134f9447efe0f5cd7097b744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9d61283394ae2144053650f757417d8390ae20a73bd734b88e68b66247ec95f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1ea842441446e35f893ca447f4570b2d47a7450363ea28a176fabe4d8c39a1a",
        "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 · 5.262 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.3565, 1.6901, 0.8097, 0.1066, 0.2546, 0.1513, 0.9993]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1768 left_yaw=0.0003 left_pitch=-0.0164 left_roll=-0.0002 left_gripper=0.9996 right_x=0.4137 right_y=0.1104 right_z=0.0551 right_yaw=0.0551 right_pitch=-0.1762 right_roll=-0.0586 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.2239, 7.0359, 1.7265, -0.022, -0.0415, -0.0122, 1.1556, -12.8068, 10.6325, 2.2442, 0.359, 0.2076, -0.0904]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4744, 1.3422, 0.8459, -0.3008, 0.3115, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9996 right_x=0.3529 right_y=0.1244 right_z=0.135 right_yaw=0.09 right_pitch=-0.1823 right_roll=-0.0578 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.0735, 7.0496, 1.7167, -0.0855, -0.0464, -0.0122, 0.294, -5.6957, 9.4974, 1.6386, 0.4371, 0.232, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.4313, 1.5749, 0.6651, 0.1947, 0.3065, 0.1402, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9996 right_x=0.3833 right_y=0.1216 right_z=0.0632 right_yaw=0.0956 right_pitch=-0.1098 right_roll=-0.0822 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 7.1316, 1.6874, -0.0513, -0.0269, -0.0122, -0.6085, -6.8308, 5.5863, 1.9219, 0.1587, 0.0806, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69024868f2db65064cedf9e45c1905b280b0b881134f9447efe0f5cd7097b744",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9d61283394ae2144053650f757417d8390ae20a73bd734b88e68b66247ec95f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1ea842441446e35f893ca447f4570b2d47a7450363ea28a176fabe4d8c39a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgRGAI4AUIIdGhpbmtpbmcSDLDBxdC/VMtOOCbZ0BoMtzkHcW6Hbe/1TE01IjCPymq8WNLcT7f9DlFHacVjplIDPaFR3UWBI9Yvwy69hxMJlq8oysfOlkjjREpMCCIq0wb5Z6oTOfasS/7X+WHcDVkNV8VK2x414GrdtOIhFGp9L9m/4QupcNaR5Ko0JTXRBA/Ue++y7xqqVvUAEBnOAIJ9yzxVB2zwWfiSwMlxwNI9AQkp3+FsM31jFxBdRxvOXBq+8pFeL3ydqTfqfgmaVe4SWtaoASvCNAuqAxs2ADFzLJOLuvtx1oAzpswAvNeI+AXWj+Ces1+TdDidjm7XvwPn1ZE074JV0W4uKv2wcOBuRQOtIUOEiIoQbyymobWYz0b7N4w9wbLMRaFYAJnm0QRsLN3vQDlCztND7QynBqPQr4Q3WOM/P6dB5teaeGcC4578YGYy8ZWW+0ZOu25zIRv8Mqh8n5/ZysZqW3/+rN5cYFen/E0OyygvkWNZbUZHyICT+6pHm55Lp5MmM8dKFEoVRL2+hAHBhr6Z3ncjY6z6P0mfEOyOJ0RGTS6Ye/mrmiLenYibtt5VDNbk1KFQEo23r3gJZGIURvNvWyF6gdS/XoExdoGYb+gXdnFbVjphAOALjRdrQq7aLIALcJs4a+F7xuyCFnSpPiCkv4J0rvu6ndx/jdUlGagmB1deYNPbKg2Gpuc7HU7v41xmajBXI5HmiE0/gIWIEeOAZOV33gyEktjyL+Cl0qJusuWkhXJk4UJ9quO+NiznTVEqXPQ9AuWgsIchyiLwfYHYSWlXR3QrtY/7ZvsFOuPBysv/IZ026wLunxTODotVOx8varZJLxQn/ELkhidnZtzBeqv5r418hP88QxyqK4Q2VoXZ3uU0e5/wB0pjKn6YZJ9sQcsR7Q/dRlt9w8TEseMGlclmffmolO9jqzgGysHWm+u6I+j8b4mLpIOlPklXqSR0rehfX+2WsSUioVwI+Sm+qfyHUTHlU+LbOYkYQul+DvzjalSWmM9+zXjnezhxq6tl/ZQpgiATfdhfKsnNOX4AKZjEV+vDyfJOfExTsZfPjUL8OgQCJGZz5HY7Yur4oXIodbeXqigIu1+lCcoQh+O5DVgkKKc+Ize3hq4oZi37D7r6QzhKJuDIDo54QqDk+2r9CnwT6orVX+/hD9RsnbsE2QWOynsr7nEABQM/88Fm13YMuTj1sjYBq08jYov4VdU5W6Snw80JTD4pkl0tiXMT8cyUq7ROYn/36hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012RQNZ2NbZmpqbaSL8r1UJa",
      "input": {
        "note": "The brick is centred between the open jaws in the wrist view. Descending straight to table level to grasp it across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.125,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012RQNZ2NbZmpqbaSL8r1UJa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4309, 1.874, 0.5671, 0.6533, 0.318, 0.123, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9996 right_x=0.3937 right_y=0.1242 right_z=-0.0014 right_yaw=0.0966 right_pitch=-0.0503 right_roll=-0.0825 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 7.1726, 1.6874, -0.0317, -0.0415, -0.0122, 0.1709, -6.4752, 3.6171, 0.8669, 0.1734, -0.1587, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78ba5f0a74f6170f4839887f5723168929c65d6add1196683808fe478489897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da0b8b8a9d3272fd0c3a7ae835366f5368426f5cf13e8b150dcdfd506371c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbdc96efc400f3ea4d77a17d4e2b2a26a9f61a0140ea2d15c856aef4e098fa88",
        "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 · 6.829 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4744, 1.3422, 0.8459, -0.3008, 0.3115, 0.2146, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1765 left_yaw=0.0006 left_pitch=-0.0175 left_roll=0.0 left_gripper=0.9996 right_x=0.3529 right_y=0.1244 right_z=0.135 right_yaw=0.09 right_pitch=-0.1823 right_roll=-0.0578 right_gripper=0.9993\nstate[joint_eff]: [-0.3077, -1.0735, 7.0496, 1.7167, -0.0855, -0.0464, -0.0122, 0.294, -5.6957, 9.4974, 1.6386, 0.4371, 0.232, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.4313, 1.5749, 0.6651, 0.1947, 0.3065, 0.1402, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9996 right_x=0.3833 right_y=0.1216 right_z=0.0632 right_yaw=0.0956 right_pitch=-0.1098 right_roll=-0.0822 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 7.1316, 1.6874, -0.0513, -0.0269, -0.0122, -0.6085, -6.8308, 5.5863, 1.9219, 0.1587, 0.0806, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4309, 1.874, 0.5671, 0.6533, 0.318, 0.123, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9996 right_x=0.3937 right_y=0.1242 right_z=-0.0014 right_yaw=0.0966 right_pitch=-0.0503 right_roll=-0.0825 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 7.1726, 1.6874, -0.0317, -0.0415, -0.0122, 0.1709, -6.4752, 3.6171, 0.8669, 0.1734, -0.1587, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78ba5f0a74f6170f4839887f5723168929c65d6add1196683808fe478489897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da0b8b8a9d3272fd0c3a7ae835366f5368426f5cf13e8b150dcdfd506371c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbdc96efc400f3ea4d77a17d4e2b2a26a9f61a0140ea2d15c856aef4e098fa88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "At table level with the brick between the jaws. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UXZbJTC3TXmcpiEWEEBBHU",
      "input": {
        "note": "Gripper is at table level with the brick filling the view between the jaws. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UXZbJTC3TXmcpiEWEEBBHU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.4305, 1.8866, 0.5621, 0.6868, 0.3088, 0.1162, 0.7523]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0229 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3949 right_y=0.1262 right_z=-0.0018 right_yaw=0.1077 right_pitch=-0.0372 right_roll=-0.0777 right_gripper=0.7523\nstate[joint_eff]: [-0.2256, -1.3744, 7.159, 1.7314, -0.0269, -0.0366, -0.0122, -0.2393, -8.7316, 4.7248, 1.326, 0.149, 0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b165a38d47e9fc75064e312c924d0d15a5f5710db5ff7cd0b0358aa0b1cdd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94341108ed2dfaa8a6ece104ac3be8331e2f08bd79b1453f04188fe36facb81f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbe40ccaa82471d8db7440aa1134bf72f659f416eda807d6961c9e33cc2277d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 12.66 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.4313, 1.5749, 0.6651, 0.1947, 0.3065, 0.1402, 0.9993]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0006 left_pitch=-0.0187 left_roll=0.0001 left_gripper=0.9996 right_x=0.3833 right_y=0.1216 right_z=0.0632 right_yaw=0.0956 right_pitch=-0.1098 right_roll=-0.0822 right_gripper=0.9993\nstate[joint_eff]: [-0.1846, -1.2786, 7.1316, 1.6874, -0.0513, -0.0269, -0.0122, -0.6085, -6.8308, 5.5863, 1.9219, 0.1587, 0.0806, -0.0904]",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4309, 1.874, 0.5671, 0.6533, 0.318, 0.123, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9996 right_x=0.3937 right_y=0.1242 right_z=-0.0014 right_yaw=0.0966 right_pitch=-0.0503 right_roll=-0.0825 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 7.1726, 1.6874, -0.0317, -0.0415, -0.0122, 0.1709, -6.4752, 3.6171, 0.8669, 0.1734, -0.1587, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.4305, 1.8866, 0.5621, 0.6868, 0.3088, 0.1162, 0.7523]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0229 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3949 right_y=0.1262 right_z=-0.0018 right_yaw=0.1077 right_pitch=-0.0372 right_roll=-0.0777 right_gripper=0.7523\nstate[joint_eff]: [-0.2256, -1.3744, 7.159, 1.7314, -0.0269, -0.0366, -0.0122, -0.2393, -8.7316, 4.7248, 1.326, 0.149, 0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b165a38d47e9fc75064e312c924d0d15a5f5710db5ff7cd0b0358aa0b1cdd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94341108ed2dfaa8a6ece104ac3be8331e2f08bd79b1453f04188fe36facb81f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbe40ccaa82471d8db7440aa1134bf72f659f416eda807d6961c9e33cc2277d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwcKEAgRGAI4AUIIdGhpbmtpbmcSDDpkJMhSyTQHxSYYXRoM9Ptfp4WaHCZeTTj9IjAUkoNAGMe1k9eJ0Uhbqa8KeofKl+Lx193aGsX/0e3fFFeT1OK8imwT1Uy445CHsdcqrAbuFglkE2G4WAP0icdh2fR5irH/tttdp70uGw2A3vOCJMEYt0q20HsVdNyiorn1T1QlkRa1m/0FukmfavJKG7tvqzxKa5DFnbnfNAUXAmZa5lReCP9/DGk8Vi1PIInY4PiTwxze1xuwK7JbiZAEy+y2LEjia//+8MOZlOMKraAoxVzhoTAC+oa1MoGlyFvsN1zuYvr38nDhAsGLIPHTdzYf4zfzzvj72NkOiahrzm5ukQn+3BVHDO7ZAnp6rmd4xONe1U5bacrruImt4FfBWeSX4T1Rzv+SFCAW/HnuE6VCS6sCjuTNSMlr9jkOF8na7ppelhDEbW/RMikroixZcVJCsXQhxDA2Vuhc6K2J7GMTSkF2hVBCqvIFp4pbiZtfVpA9z7/FyOijzrKAIVCl9NhW3zEX+jo6BpsnZ1hEP0lVRXs5BEgHDoVKfp+8IMXvwCsCltEf3yj3L05ZWmdMdInkFPXVgtNRe7S8aKJ8d76KKzz32aDBWu0vN9brzQJeCJ4GLZRGGsrWeUffGu+e68JAe6M/rhyWvtOOsfw2s/Jcjg5paRqmpFX5gV0PqGoL0rMWOPVeXIaJ9rzjvxXkaWJfDf1UG2MVL4le+nCugqIWeIN+JOQBnevwA8RaCXXTdjdnYiqiHVsIhppa+G+zuo6K8INdmCMwZutqJsQKUFiePy6mITkoDm8Wzlb224up6scaZnV1EbUC032HaFEt+oMmqnBaA9UkCxtfme7dI4YANlAQwlYrzstBN/vOmz4X6czh288s52XnLCLfQ5ZrltxPy7MX25VcBtqbWDJPmUfQJcnQ01KG2/CfDiUt5ec5fRKsN/dkhwgQbcIvXtGapemUZpOIY6JLhfncYTzc3Lq+DTaV5/h+CZJBPBEt4xmBKSXaQuUaa+jUNDDfEa2E2gmmGqmm1OkhDaOy7ce1si00afLqeaWTyCVFed70NMdpbLobmnpZAt1pyp9QHj+OrWfamnbKFE+5BAhmiu12rILJHaovUV2FKBRDg+0VBh3jFhUNvb6HpZ6FuHJfN119bgMd4VTZ7thyNe7VN3I5Hr/SKnYUalFsguouIVYgFxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016nNizCVsmgQhNWHENeaHea",
      "input": {
        "note": "Gripper settled at ~0.75 (≈7 cm), consistent with gripping the brick across its width. Lifting 6 cm to verify the brick comes along.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016nNizCVsmgQhNWHENeaHea",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4007, -0.0227, -0.0261, 0.9996, 0.4305, 1.681, 0.5873, 0.3443, 0.2962, 0.1135, 0.7523]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1719 left_yaw=0.0006 left_pitch=-0.0374 left_roll=0.0004 left_gripper=0.9996 right_x=0.3744 right_y=0.1191 right_z=0.0216 right_yaw=0.1163 right_pitch=-0.146 right_roll=-0.1073 right_gripper=0.7523\nstate[joint_eff]: [-0.212, -1.5795, 7.1043, 1.8584, -0.0464, -0.0806, -0.0122, -0.253, -9.4701, 8.9231, 2.3321, 0.2125, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adda586f2708a0d4e6bf425b5f3b904ae2d0c04b7517413d009210943658a2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d67d1644e1f7037f9f4f307f24f2d9bb75dcde224e99772f397a3bcf5b9201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ba43ca15566e284db12869c4c666d424800a552b69cc67828d7c7b43653e06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 21.68 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.4309, 1.874, 0.5671, 0.6533, 0.318, 0.123, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0018 left_z=0.1752 left_yaw=0.0006 left_pitch=-0.0221 left_roll=0.0001 left_gripper=0.9996 right_x=0.3937 right_y=0.1242 right_z=-0.0014 right_yaw=0.0966 right_pitch=-0.0503 right_roll=-0.0825 right_gripper=0.9993\nstate[joint_eff]: [-0.335, -1.5932, 7.1726, 1.6874, -0.0317, -0.0415, -0.0122, 0.1709, -6.4752, 3.6171, 0.8669, 0.1734, -0.1587, -0.0904]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.4305, 1.8866, 0.5621, 0.6868, 0.3088, 0.1162, 0.7523]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0229 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3949 right_y=0.1262 right_z=-0.0018 right_yaw=0.1077 right_pitch=-0.0372 right_roll=-0.0777 right_gripper=0.7523\nstate[joint_eff]: [-0.2256, -1.3744, 7.159, 1.7314, -0.0269, -0.0366, -0.0122, -0.2393, -8.7316, 4.7248, 1.326, 0.149, 0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4007, -0.0227, -0.0261, 0.9996, 0.4305, 1.681, 0.5873, 0.3443, 0.2962, 0.1135, 0.7523]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1719 left_yaw=0.0006 left_pitch=-0.0374 left_roll=0.0004 left_gripper=0.9996 right_x=0.3744 right_y=0.1191 right_z=0.0216 right_yaw=0.1163 right_pitch=-0.146 right_roll=-0.1073 right_gripper=0.7523\nstate[joint_eff]: [-0.212, -1.5795, 7.1043, 1.8584, -0.0464, -0.0806, -0.0122, -0.253, -9.4701, 8.9231, 2.3321, 0.2125, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adda586f2708a0d4e6bf425b5f3b904ae2d0c04b7517413d009210943658a2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5d67d1644e1f7037f9f4f307f24f2d9bb75dcde224e99772f397a3bcf5b9201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ba43ca15566e284db12869c4c666d424800a552b69cc67828d7c7b43653e06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L749Pwq9bcUUUKYXgvhy5j",
      "input": {
        "note": "The lift is tracking slowly (z only 2 cm so far) while the gripper holds ~0.75, so it may be carrying the brick's weight. Continuing the lift to 12 cm to confirm the brick rises in the overhead view.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.39,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01L749Pwq9bcUUUKYXgvhy5j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4072, -0.0227, -0.0261, 0.9996, 0.4118, 1.5261, 0.7929, -0.1471, 0.2592, 0.0959, 0.7522]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1706 left_yaw=0.0006 left_pitch=-0.0439 left_roll=0.0006 left_gripper=0.9996 right_x=0.3684 right_y=0.1154 right_z=0.0708 right_yaw=0.1299 right_pitch=-0.2802 right_roll=-0.133 right_gripper=0.7522\nstate[joint_eff]: [-0.3214, -1.0188, 7.241, 1.8046, -0.0806, -0.0708, -0.0122, -0.6359, -10.1265, 10.5368, 2.1026, 0.3248, 0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a94ef6049cbcb78a7ec2bf87b7139468f2cec5d2801d7f6fa770294c5d3342a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd75fbae14939b401cabce63b31be1fd72f3d492401e901d14fc47eb430470de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85ca84b537a72b73684b66eef82c39fbbcdf14ce860b88baeaa7774724c1f3d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 9.805 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.3893, -0.0223, -0.0261, 0.9996, 0.4305, 1.8866, 0.5621, 0.6868, 0.3088, 0.1162, 0.7523]\nstate[eef_state]: left_x=0.2951 left_y=0.0017 left_z=0.175 left_yaw=0.0003 left_pitch=-0.0229 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3949 right_y=0.1262 right_z=-0.0018 right_yaw=0.1077 right_pitch=-0.0372 right_roll=-0.0777 right_gripper=0.7523\nstate[joint_eff]: [-0.2256, -1.3744, 7.159, 1.7314, -0.0269, -0.0366, -0.0122, -0.2393, -8.7316, 4.7248, 1.326, 0.149, 0.0464, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4007, -0.0227, -0.0261, 0.9996, 0.4305, 1.681, 0.5873, 0.3443, 0.2962, 0.1135, 0.7523]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1719 left_yaw=0.0006 left_pitch=-0.0374 left_roll=0.0004 left_gripper=0.9996 right_x=0.3744 right_y=0.1191 right_z=0.0216 right_yaw=0.1163 right_pitch=-0.146 right_roll=-0.1073 right_gripper=0.7523\nstate[joint_eff]: [-0.212, -1.5795, 7.1043, 1.8584, -0.0464, -0.0806, -0.0122, -0.253, -9.4701, 8.9231, 2.3321, 0.2125, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4072, -0.0227, -0.0261, 0.9996, 0.4118, 1.5261, 0.7929, -0.1471, 0.2592, 0.0959, 0.7522]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1706 left_yaw=0.0006 left_pitch=-0.0439 left_roll=0.0006 left_gripper=0.9996 right_x=0.3684 right_y=0.1154 right_z=0.0708 right_yaw=0.1299 right_pitch=-0.2802 right_roll=-0.133 right_gripper=0.7522\nstate[joint_eff]: [-0.3214, -1.0188, 7.241, 1.8046, -0.0806, -0.0708, -0.0122, -0.6359, -10.1265, 10.5368, 2.1026, 0.3248, 0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a94ef6049cbcb78a7ec2bf87b7139468f2cec5d2801d7f6fa770294c5d3342a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd75fbae14939b401cabce63b31be1fd72f3d492401e901d14fc47eb430470de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ca84b537a72b73684b66eef82c39fbbcdf14ce860b88baeaa7774724c1f3d2",
        "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_01Y77pGV5WvovBy71dqc4ExS",
      "input": {
        "note": "Overhead view shows the brick lifted off the table, held by one end. Raising it high (30 cm) so the dangling brick will clear the pot's rim before moving over the pot.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.13,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Y77pGV5WvovBy71dqc4ExS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.4728, 1.3781, 1.2839, -0.6842, 0.3206, 0.0734, 0.7514]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0006 left_pitch=-0.0469 left_roll=0.0006 left_gripper=0.9996 right_x=0.3695 right_y=0.1305 right_z=0.241 right_yaw=0.1586 right_pitch=-0.1714 right_roll=-0.163 right_gripper=0.7514\nstate[joint_eff]: [-0.1709, -1.5795, 7.0906, 1.7558, -0.0317, -0.0611, -0.0122, 0.5675, -8.4718, 11.6444, 2.3321, 0.5055, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9587c97a4c4234130642a33d297c0aeccb07a722745263d24bba88cfee78ed5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e912d680bbbb9da69489b2781261b800a86d377ef8e5517d6ee5a8f8c6ec29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17b58987ef7f62c98604edf87aba3ac8bf6df8ef587bf014ac3a65612bcf7dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 10.72 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4007, -0.0227, -0.0261, 0.9996, 0.4305, 1.681, 0.5873, 0.3443, 0.2962, 0.1135, 0.7523]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1719 left_yaw=0.0006 left_pitch=-0.0374 left_roll=0.0004 left_gripper=0.9996 right_x=0.3744 right_y=0.1191 right_z=0.0216 right_yaw=0.1163 right_pitch=-0.146 right_roll=-0.1073 right_gripper=0.7523\nstate[joint_eff]: [-0.212, -1.5795, 7.1043, 1.8584, -0.0464, -0.0806, -0.0122, -0.253, -9.4701, 8.9231, 2.3321, 0.2125, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4072, -0.0227, -0.0261, 0.9996, 0.4118, 1.5261, 0.7929, -0.1471, 0.2592, 0.0959, 0.7522]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1706 left_yaw=0.0006 left_pitch=-0.0439 left_roll=0.0006 left_gripper=0.9996 right_x=0.3684 right_y=0.1154 right_z=0.0708 right_yaw=0.1299 right_pitch=-0.2802 right_roll=-0.133 right_gripper=0.7522\nstate[joint_eff]: [-0.3214, -1.0188, 7.241, 1.8046, -0.0806, -0.0708, -0.0122, -0.6359, -10.1265, 10.5368, 2.1026, 0.3248, 0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.4728, 1.3781, 1.2839, -0.6842, 0.3206, 0.0734, 0.7514]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0006 left_pitch=-0.0469 left_roll=0.0006 left_gripper=0.9996 right_x=0.3695 right_y=0.1305 right_z=0.241 right_yaw=0.1586 right_pitch=-0.1714 right_roll=-0.163 right_gripper=0.7514\nstate[joint_eff]: [-0.1709, -1.5795, 7.0906, 1.7558, -0.0317, -0.0611, -0.0122, 0.5675, -8.4718, 11.6444, 2.3321, 0.5055, -0.0415, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9587c97a4c4234130642a33d297c0aeccb07a722745263d24bba88cfee78ed5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e912d680bbbb9da69489b2781261b800a86d377ef8e5517d6ee5a8f8c6ec29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b58987ef7f62c98604edf87aba3ac8bf6df8ef587bf014ac3a65612bcf7dbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwgsKEAgRGAI4AUIIdGhpbmtpbmcSDBYCZFO44mqjiL0UCxoM/VSqzfWZChA9JobRIjAFNS12pjLc6vu2XOGmPAbUEIhlP8BeREOuZ7Q+Coc6hwEKPF9i/2GIIXt0z/+GJsEq3wp3/TmWBNRPbrTzsAVDVO/Kwemh5jKdGLtdsGBi/HlCvMPxG4yXMrUqxPEd/wuzTspmTgub079XoGiOrhlPuv7Lx30Rd0bCZmXXLwBnYsn5eOgtuBHFrnw47u+EQCqBtvPhGxyIbeSpOsUhazDFtpe+atNSXP+DeuP0caYswkqCWhAVCWK/33trRAeqOBdvzCinRkOcfPH8q6rmCZUgZOFxkw7ltkNI3Qid+46AnVenbMgNZuAby1zVnkkuz1p0thHXD69mJZYCbc/kbUgF2PKUveGW+RdHFW/cIZPReMPT37lmYzeiw7O/XL+3KuKUKqGzUuuCfWm+cM2lBTDbzG1mxvi1BLisdgebgwXvIZx3z+pCO2ARw+BQUUqNLBDvRi9QRxBxRsU7GOB5QJUI0s1MVPAPB0aco8QH9SVFv1Kg78jyIj6FXVzP4oR7tse3PalkosuPW174JRhf/FW0lpq3iiAxWm4wZSy5vz4Z10IM0jJab1G4xUMi1Xmr8Y9ElmVhh7fnvJBKVsPNgfNBbCzFk5QQ5QH078DZZFJFOn8LU1XPdw8LYz83M1o3taw3xcZEib5LT5+QqE2JHoo+7dpFOhY3BM6AEetpdeFLbPS6R4jGUPevJgW32stFLrQF//LKlD7VvD0SaHadx9bmp7mb0cXA1rwDbI116+hbIf2xAgEHc95VrneWLsX1unZVHBy/1K7022nThB+LuYXx438R2WQBMAUbYphH+YMTCamRYhRa/6e2DPzvkhTfqS/oTVARrpR8Zph3gNutmAuiXd4D/i4W7IswPf5XU3nUxMCE801U+dO2t16Mw3MdNrhrj6SJIqEmVkm4+ndeeKigczkPDQAmB1BY3bwi1aQNyYHv+axfnJtK5l+bcgU3w+PL83Zvcx0LzWX5VptxXr+aGokzI3UBRYwx1WXb63anDwlnKaFKcLnkGSs2ROuOFzJv7oa4c1R3XhgzUnm/T+rCH/nPFBus5UonV0Sa12GrJ5WBOkdFZbK1YwrfTRznDBFcnAsN6/zo4pzpb7yAMcktdBYWQz3/p+biAKXXZJDg3l1Cgh/PvhxZHJUUQzMA9U7ujxtY4MgIuDiY71dnvp9Rl+mdL6YSoDD2DHTfPrKodk34y+yFBANUFCHCTaK/mK2wgZLBitS3YALtD1c6qNS/PdSj6piehae09cPQ7FmsVWLzXPeqhpaRb13+A20p8kyYkK31rP8dsYEo7N9DNitqXn8zDoRs3pXB3BMGjUGhvRZn/MW9zqzBAe1AHkSpT45/PmHsWSmahWuPPv4ya3L0xjY+PUtN8tjRsXZSap6O4M6OS1iBLgR1/U3OHQMO21Ks0Ts7gHFoN4FgtGAQLrj1YjnNx2c2Y63gQm3rkdFv6ouDmL2MCi0qe18dRxNuTNJTxDI+of/d6uDxscVd2xAY0JFd2tQEiQIxKw9H8igpJV6jr2Z17VpNBo+H5QPxSHdkNHWdK5mYNlfsVtb8ERnxfMgrBR6c5ndohjr/G7W+YFbTElKWNC21JWKRsLef1b/el76Ig2zHk3Ls6I+odmc5Jnl2BpLlCU4I0LFYHiSnt5/tb2uvL4kLHnWipmMv4XSLangNerFTOoL+pMq7pHWPymE0uL8mn7G2JhOJtEpZGx9hI5Ytl3OLunkyWkcZVEsqRnqOhtIJ/WSbwiekmHwdwG3PkGfYYH8Xx4AwUMWhSDfNCM/IBLgijA4N9gg5RYcCrvZOnj+1xdxFAYNkzCeFTYPz1Sx7FIZCh+8PdQ61HOyUCESVCyIUxKbXeeKvpb8w8aV0PL8UwwRs8dx0yho+NtY6423Adxn1Es/qPoJx3T5SGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbvKp9964c1nggJ4fvPSjw",
      "input": {
        "note": "The brick is securely held and raised, projecting forward from the jaws. Carrying it left toward the pot centre (near the table centre line) while keeping it high above the rim.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.31,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01HbvKp9964c1nggJ4fvPSjw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8642, 1.8893, 1.8809, -0.8848, 0.59, 0.281, 0.7485]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0006 left_pitch=-0.0477 left_roll=0.0006 left_gripper=0.9996 right_x=0.3863 right_y=0.3068 right_z=0.2518 right_yaw=0.2188 right_pitch=-0.1572 right_roll=-0.2394 right_gripper=0.7485\nstate[joint_eff]: [-0.1983, -1.4017, 7.1863, 1.6874, -0.0415, -0.022, -0.0122, 0.1709, -11.7402, 10.5915, 2.0, 0.8181, 0.2906, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dcff373278c84e321be9d6892671fd83e1f1999dc3396be7d08c69c13c7318f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee7c4857962de8a9dfcb5c7f62b9b965262ff38aae471626b0a70f813dfbdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1df3031acf997bb25117a6198426f4558db4aedf01de174de1840dda6fb01ca5",
        "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 · 14.87 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4072, -0.0227, -0.0261, 0.9996, 0.4118, 1.5261, 0.7929, -0.1471, 0.2592, 0.0959, 0.7522]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1706 left_yaw=0.0006 left_pitch=-0.0439 left_roll=0.0006 left_gripper=0.9996 right_x=0.3684 right_y=0.1154 right_z=0.0708 right_yaw=0.1299 right_pitch=-0.2802 right_roll=-0.133 right_gripper=0.7522\nstate[joint_eff]: [-0.3214, -1.0188, 7.241, 1.8046, -0.0806, -0.0708, -0.0122, -0.6359, -10.1265, 10.5368, 2.1026, 0.3248, 0.0073, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.4728, 1.3781, 1.2839, -0.6842, 0.3206, 0.0734, 0.7514]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0006 left_pitch=-0.0469 left_roll=0.0006 left_gripper=0.9996 right_x=0.3695 right_y=0.1305 right_z=0.241 right_yaw=0.1586 right_pitch=-0.1714 right_roll=-0.163 right_gripper=0.7514\nstate[joint_eff]: [-0.1709, -1.5795, 7.0906, 1.7558, -0.0317, -0.0611, -0.0122, 0.5675, -8.4718, 11.6444, 2.3321, 0.5055, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8642, 1.8893, 1.8809, -0.8848, 0.59, 0.281, 0.7485]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0006 left_pitch=-0.0477 left_roll=0.0006 left_gripper=0.9996 right_x=0.3863 right_y=0.3068 right_z=0.2518 right_yaw=0.2188 right_pitch=-0.1572 right_roll=-0.2394 right_gripper=0.7485\nstate[joint_eff]: [-0.1983, -1.4017, 7.1863, 1.6874, -0.0415, -0.022, -0.0122, 0.1709, -11.7402, 10.5915, 2.0, 0.8181, 0.2906, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dcff373278c84e321be9d6892671fd83e1f1999dc3396be7d08c69c13c7318f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee7c4857962de8a9dfcb5c7f62b9b965262ff38aae471626b0a70f813dfbdea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df3031acf997bb25117a6198426f4558db4aedf01de174de1840dda6fb01ca5",
        "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_01G5oPRBpGi2nTGcNjv3Mow6",
      "input": {
        "note": "Wrist and overhead views show the pot interior still forward-left of the held brick. Shifting further left and slightly forward so the brick hangs over the pot's opening.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.37,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01G5oPRBpGi2nTGcNjv3Mow6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8799, 1.9682, 1.8954, -0.8948, 0.5755, 0.2695, 0.7484]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.3866 right_y=0.3223 right_z=0.2178 right_yaw=0.2424 right_pitch=-0.2254 right_roll=-0.2837 right_gripper=0.7484\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.6777, -0.0366, -0.0659, -0.0122, -0.1709, -12.9299, 9.0598, 1.6923, 0.6081, 0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec48947a3b35c67b91b5a8aae1a5b520715545ee3f983a77c1b5121983d92991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae9e1a32c3ce25a591596df5e08076bba179699ef53a1ebc3e3890bd86a369ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e5dbbfe12875df66e31bcdd8093d12df2936e9a0297b5a71e8700d5c6e2ef94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 8.603 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.4728, 1.3781, 1.2839, -0.6842, 0.3206, 0.0734, 0.7514]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1698 left_yaw=0.0006 left_pitch=-0.0469 left_roll=0.0006 left_gripper=0.9996 right_x=0.3695 right_y=0.1305 right_z=0.241 right_yaw=0.1586 right_pitch=-0.1714 right_roll=-0.163 right_gripper=0.7514\nstate[joint_eff]: [-0.1709, -1.5795, 7.0906, 1.7558, -0.0317, -0.0611, -0.0122, 0.5675, -8.4718, 11.6444, 2.3321, 0.5055, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8642, 1.8893, 1.8809, -0.8848, 0.59, 0.281, 0.7485]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0006 left_pitch=-0.0477 left_roll=0.0006 left_gripper=0.9996 right_x=0.3863 right_y=0.3068 right_z=0.2518 right_yaw=0.2188 right_pitch=-0.1572 right_roll=-0.2394 right_gripper=0.7485\nstate[joint_eff]: [-0.1983, -1.4017, 7.1863, 1.6874, -0.0415, -0.022, -0.0122, 0.1709, -11.7402, 10.5915, 2.0, 0.8181, 0.2906, 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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8799, 1.9682, 1.8954, -0.8948, 0.5755, 0.2695, 0.7484]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.3866 right_y=0.3223 right_z=0.2178 right_yaw=0.2424 right_pitch=-0.2254 right_roll=-0.2837 right_gripper=0.7484\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.6777, -0.0366, -0.0659, -0.0122, -0.1709, -12.9299, 9.0598, 1.6923, 0.6081, 0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec48947a3b35c67b91b5a8aae1a5b520715545ee3f983a77c1b5121983d92991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae9e1a32c3ce25a591596df5e08076bba179699ef53a1ebc3e3890bd86a369ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e5dbbfe12875df66e31bcdd8093d12df2936e9a0297b5a71e8700d5c6e2ef94",
        "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_01WP4EBDHe4hK8SdaWGjc5Hj",
      "input": {
        "note": "The arm is tracking slowly and the brick tip is just at the pot's near-right rim. Pushing further left to the workspace edge, raising a bit, and yawing the tool so the projecting brick swings over the pot opening.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.4,
          "right_yaw": 0.6,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WP4EBDHe4hK8SdaWGjc5Hj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8722, 2.0525, 1.9633, -0.7406, 0.4053, -0.0116, 0.7478]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.4034 right_y=0.3776 right_z=0.2125 right_yaw=0.5301 right_pitch=-0.2113 right_roll=-0.3018 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.4017, 7.0085, 1.6679, -0.0122, -0.0611, -0.0122, -0.4444, -13.5863, 12.7385, 2.4347, 0.6471, -0.1441, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0387a8f3a4455d1eb6c466c820f98d286dcdf5ef7c10e16908fd8c72a1047b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51d591a9dd46d926a676a818c577680ab1b0c6a10648353d99cf9ccb917fa4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0660d3210c8594b99fef813a0d25bae601f64da6d98fc19fe36bc751daed57f3",
        "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 · 9.777 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8169, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8642, 1.8893, 1.8809, -0.8848, 0.59, 0.281, 0.7485]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1696 left_yaw=0.0006 left_pitch=-0.0477 left_roll=0.0006 left_gripper=0.9996 right_x=0.3863 right_y=0.3068 right_z=0.2518 right_yaw=0.2188 right_pitch=-0.1572 right_roll=-0.2394 right_gripper=0.7485\nstate[joint_eff]: [-0.1983, -1.4017, 7.1863, 1.6874, -0.0415, -0.022, -0.0122, 0.1709, -11.7402, 10.5915, 2.0, 0.8181, 0.2906, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8799, 1.9682, 1.8954, -0.8948, 0.5755, 0.2695, 0.7484]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.3866 right_y=0.3223 right_z=0.2178 right_yaw=0.2424 right_pitch=-0.2254 right_roll=-0.2837 right_gripper=0.7484\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.6777, -0.0366, -0.0659, -0.0122, -0.1709, -12.9299, 9.0598, 1.6923, 0.6081, 0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8722, 2.0525, 1.9633, -0.7406, 0.4053, -0.0116, 0.7478]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.4034 right_y=0.3776 right_z=0.2125 right_yaw=0.5301 right_pitch=-0.2113 right_roll=-0.3018 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.4017, 7.0085, 1.6679, -0.0122, -0.0611, -0.0122, -0.4444, -13.5863, 12.7385, 2.4347, 0.6471, -0.1441, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0387a8f3a4455d1eb6c466c820f98d286dcdf5ef7c10e16908fd8c72a1047b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51d591a9dd46d926a676a818c577680ab1b0c6a10648353d99cf9ccb917fa4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0660d3210c8594b99fef813a0d25bae601f64da6d98fc19fe36bc751daed57f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAkKEAgRGAI4AUIIdGhpbmtpbmcSDEuHb0euB0t4mM9GHxoMYJA57rw+s0v2Ta9PIjAwbk04AmdTuTxPUJsuD57kXEZtb4C3TIocJUV8fSTt+K0yRbmDvRApjXXkITd7rgQq6QizlT5yY3gB/Uk/t9S+HM8VJ55WLoeAnekzMemgp1/GF16Smp/Ku6HtHvuE5p6mlJVzG8olW/Yt1f9y6lGdmfKH6vZ7YuPTzJrFxXPhA9QhP+8gHtxf6K7/Aw/83/GQdmsHwEoy+bLl7GXx1i6iXtmz36jPEnpNtO28OvFIRSrG5zrTcOvNybwJV3doR1esLJGDIeI7vnUgHJW9R9xDtkE2xeCM+aUCSTMUSeeq09t+4ACs6cKtmIK/tXauGLZL9SdtjK7gpiecgji+0mc88z30iJAxgVd49RwvSEaARxTuQVScMZ8JGT9/hZjJp6MhYvQFFukfZMVRfNscdi7R7FdrD+2h55J+/XVS65mH1oY948N8N9yBXob8az4n4EuYetXZ/nntQtsWuXKadkrp8x+C/89XhqAvb3THCPspcy6LKzndI/+RPJ6tIEiAB+13sUw3boV37N3rOmrG50RavHwHMiX0ycu7L3PwaF9k12Sgqg8D7QNyVK/CKdorshxe5iiM9fiIsm9mJ1Ua/Qbtl5WQX3cg1Z7hFP4mofN3P2MWF4SbHJMAkH0JT7sOwBiet9bO+e7BmqF++zbahTBuKn7M3Gs7v2+aaAS3AxuW/iT9zAXhN92L+9VmgnoqHohTIiFotd+iCys58uKi3nC98w/j2nJS5LOeo6vUbZSmyvLtr1HUBbfN2b0RXnk9IAeHOgfmqszXDdD7JnrynRqsUAsjdyy5Sq4jbR3BTxj+s5gGrv40oL5WYPf4lubUnbmYUp4SPyNaBqUya5VdHXBfi2GBFs4++j1WZQB+3kWUcPEoUqCmWhqMPnBhdZZN10mkZM5xfMYCmeSjx6lPQsFgsfYCg9iu3WkDswAwricAtxZCVerTiG2uyHineNWlN7H3xYSx2g7GG+4l0h1yGTYJt3sEFUE1Ah4Oc9i6GtbQIJsGsmn82hq0WUPu0mL6dyBhXX9QbqKkevC/bb2x07qJurMhNQLUgVzUsQ9DBv4EVnn4tGn7fyvyB9qoB+4tmqFtuDUOt+OrIEeCkkWUmeCffC1G2YCpyBfmNlqgTjF75AJ34xi3ZngliX43tPjbaxVnyZBH8nVE9XrGQYVOk3afgWy7IA04lsCwNlqEqMgDK43I8r7XYC2mtriXQkQVzBF+TJYF/oENHu9k0HPCCV6s1Npteg/UzUVdZ7nJS7fg/phrWnjAky4zD5Rxur9pC9GsGt18u6tbc5J5A1Lx/KDXxkNQ09lQ4KmhwHNq4STNxj7UNdWa7TxiRazs+dp04aWB9dVwDR/30fADVEZ4EeCghKv6JjLoRz3aiOkGpySxtPacg0iQAScNQxNmfQmFJxmiU44pAwyNaPw3TWpmzORaIX7a17piel1vVBxSp86KRnJgSaNwDkYOgeRKiYkRidOIhqOKuHbtN4NE3XR0iGyo6gG2G4pJaxEFMBc5ujqKalPc4glUK45HqvSD9QzH9sWL1R66NFbUy6CEj/BkSz+7m3Isle9LiCZD3yeGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DkPMEHacEtvBg3aG7LTi9A",
      "input": {
        "note": "Wrist view now shows the pot opening straight ahead with the brick tip at the near rim. Advancing ~7 cm forward and keeping height so the brick moves over the pot interior.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.4,
          "right_yaw": 0.6,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DkPMEHacEtvBg3aG7LTi9A",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0257, 0.9996, 0.8021, 2.2127, 2.2318, -0.7849, 0.3138, -0.1528, 0.7478]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0492 left_roll=0.001 left_gripper=0.9996 right_x=0.4493 right_y=0.3913 right_z=0.2232 right_yaw=0.6139 right_pitch=-0.1905 right_roll=-0.3244 right_gripper=0.7478\nstate[joint_eff]: [-0.1846, -1.4701, 7.1863, 1.6777, -0.0757, -0.0415, -0.0073, -0.9504, -13.1487, 11.3026, 2.5079, 0.3492, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28335d7f9f4e44271e7476c3ab38922c11f9cafacb1441d64ffbb57178b9de56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23183381a6e703e25a4608fa9942cd061eb6f9802e42d8fd6bc3615e5142d3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd3e50dd0da923576aa1d3993609492acbdd504de778f21ac08e968bf3c1f0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 7.733 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8799, 1.9682, 1.8954, -0.8948, 0.5755, 0.2695, 0.7484]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.3866 right_y=0.3223 right_z=0.2178 right_yaw=0.2424 right_pitch=-0.2254 right_roll=-0.2837 right_gripper=0.7484\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.6777, -0.0366, -0.0659, -0.0122, -0.1709, -12.9299, 9.0598, 1.6923, 0.6081, 0.0122, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8722, 2.0525, 1.9633, -0.7406, 0.4053, -0.0116, 0.7478]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.4034 right_y=0.3776 right_z=0.2125 right_yaw=0.5301 right_pitch=-0.2113 right_roll=-0.3018 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.4017, 7.0085, 1.6679, -0.0122, -0.0611, -0.0122, -0.4444, -13.5863, 12.7385, 2.4347, 0.6471, -0.1441, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0257, 0.9996, 0.8021, 2.2127, 2.2318, -0.7849, 0.3138, -0.1528, 0.7478]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0492 left_roll=0.001 left_gripper=0.9996 right_x=0.4493 right_y=0.3913 right_z=0.2232 right_yaw=0.6139 right_pitch=-0.1905 right_roll=-0.3244 right_gripper=0.7478\nstate[joint_eff]: [-0.1846, -1.4701, 7.1863, 1.6777, -0.0757, -0.0415, -0.0073, -0.9504, -13.1487, 11.3026, 2.5079, 0.3492, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28335d7f9f4e44271e7476c3ab38922c11f9cafacb1441d64ffbb57178b9de56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23183381a6e703e25a4608fa9942cd061eb6f9802e42d8fd6bc3615e5142d3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3e50dd0da923576aa1d3993609492acbdd504de778f21ac08e968bf3c1f0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAsKEAgRGAI4AUIIdGhpbmtpbmcSDLf30GICeiXKM+MSiRoMoR4oH3d4evviFqbuIjDqBnMDqzrU9/3ZaDpjuHJn87Ta4NMVIj1cXNnrn9Ob2ZOY+sqIkURvRinvA1/SG3wqoQp+aOD+PVbW9sXUCFxSTYMpVYyMrPGfACrKi2V1M2rIUlec7+gK1tVU3Wk8HB/Il18e0USvX2A/c/Joa9C6v64vrJCf268eOqHSRdtQvVC92ixoB+HuTXqlzef2K+7rv83/15o/j5HBKYkLtG8oPhG3ddnp/3mf6G8TD0oJ4CSyQzW6GeJs1HClNi+c1TQe14Bko7o1OYg11L+LLZfzmg+05uDAifR9J7DxXu6a11jI05FWGeRKdT5esdYFNryQewTutaa91U1n8ldujCVjX1iJvbwz0iB2O4L0vnJE+mJCoZimhsmGe+Fr/1wClrkFPQJAyJGI+kPpKLuzaBomT7ibfYAo0P4ZMR1wqaJXUprWQMLa6PNEE/AMcRTdpn9kkYd87EeUPyR3WjtzDvV2OgfVMmJc6F9ncUOK1KE3O+CdAdkWrvpTpNtw8vCYR2Fhg5A1Fp1p6buOLdn97RcwzbhiAduXQ2+8ZVMkl/FH0ZRcqfaNeiqOdoMJcR1e28uE/H5kfVgVDyR+Gp+jZh+ONyoPXX6k68PmUPWuu3Sd70Ps4gHdizKNQCDR8a9HuNMoeZfiesiCN0KN32yoqh3PfrJY2gQEfyXgNuGCNtQY/m1Eo5OMfyV0p3b9+RlzMIwc+tQ/uyumHP8GPyp7R8Zjzl4Gmi9Y/KX6gx6i9W+KYqN6gN6IqC8OwPMHWJy8QKR8jttlwFfPIDy4nG/iUkOakMaXqdpimsVnH9YAXnVmSQyTAThIjPviR3m5Hr7yk+0U0Azb0mlnpT69r1c78Prr3tnu/tr7bUSyWDPe+Sga9GHp2s0WPtCr1TFm8n2YRmapqB46tdsXYN4yBEWpiecAdSV+jI5FTAeNG3mDjAPU8YNP4UXojmqd4wmUs/lAQDP+8qgBGGhPWO4QkQRAnSSWZ7KXxWm2iy6GFhSrJCqu75YTEazuNACGBDT/jP7AxLa5JRFefzS7yS2MF0/9clswnO8MffJF7dtWgMVafcolDUEwPECIxQOPyHAHAyQOBlDoXjB3E5VXKGioprXwHSptgWmbjbzgv+kZQIpJUXpz1iAzllzMX12KoR1S90tXUSYR8bw0LYnNnMuvNjap8LCE/28eCm/QeTDdQfMEUlvl4eUQbvXAeYlOI+TPRgsyepNDJIxsqwcajRIV5EAZQnCc+dZIminC0G/acOcYVKlYgMwaKf+phhcIJsRKfhSVt//jUpqnxmqjnDayeX4IS/Fbv6s0tB83q6tV6Sl7kdnHDuGufsl18rz1sR5yN9+yPvCxGetDqVPQDeBUBt6t+Ap+C+vS//DcYpMA9MUcsSWjWvLPrwN2UnNTZkStVY4cBntlQ1b4a95v5V9RRIdpoxcZNNJS+/LPpe/o9FEE9bHJdpPCOo0xzuFL9TKJdb29nKngLmKQ1AChj/wzCSB6qLNfW2RcKBTd7J6Iv+8AASo53JJGzzaHQ9n6Cf+//RCmvjR7+8q9vwhuXFIJ9QAiVKJG0jvBNs0kEJ4E6+HWIm+nBwlYGogWfLfl/cLYtrAVxU8Tyz0gAnadCXaMwvcggDVigFSwoLIq4OAVT6x+YmZzxgeoqrDYfX3eBDM5+ggipeLFIR9bclAvpwpYkJFBZY9/ahgiDSL+vfVe/LYK6ZlYIFwanqGWmcJKuVrIlDaBuyse627us5WqEbXkqErLXT8warmpvBh5uhvFluVJvz/KmplYLwz0xNL6gcLgsLhvoIKKnaCx+Ux8OOVd+N0AGC20J9lcyxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lt8jm5LGHpzXiy2iJUP2MY",
      "input": {
        "note": "The brick tip is just inside the pot's near rim; the grasp point is still behind the rim. Advancing another ~6 cm forward so the whole brick hangs over the water before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.52,
          "right_y": 0.4,
          "right_yaw": 0.6,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Lt8jm5LGHpzXiy2iJUP2MY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7357, 2.6118, 2.9147, -1.0214, 0.2634, -0.2188, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1681 left_yaw=0.0006 left_pitch=-0.053 left_roll=0.0008 left_gripper=0.9996 right_x=0.5067 right_y=0.4014 right_z=0.2175 right_yaw=0.6259 right_pitch=-0.1605 right_roll=-0.3328 right_gripper=0.7478\nstate[joint_eff]: [-0.335, -1.347, 7.1453, 1.663, -0.0806, -0.0317, -0.0122, -0.7453, -17.2513, 10.2085, 2.1563, 0.3004, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ade36fadc9dd3ba60e4cdab2d8fd65aeee78ea3062fa95f8657529c1656753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef852fe84583217b77775c35ca1fa3a2848c83b5c0c740379aca0db7e92664aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91f7741d46d9a95072de73023edf0639a2a5e7c6de9eca29555cbcfb663cdde4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 8.932 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.8722, 2.0525, 1.9633, -0.7406, 0.4053, -0.0116, 0.7478]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0006 left_pitch=-0.0481 left_roll=0.0007 left_gripper=0.9996 right_x=0.4034 right_y=0.3776 right_z=0.2125 right_yaw=0.5301 right_pitch=-0.2113 right_roll=-0.3018 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.4017, 7.0085, 1.6679, -0.0122, -0.0611, -0.0122, -0.4444, -13.5863, 12.7385, 2.4347, 0.6471, -0.1441, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0257, 0.9996, 0.8021, 2.2127, 2.2318, -0.7849, 0.3138, -0.1528, 0.7478]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0492 left_roll=0.001 left_gripper=0.9996 right_x=0.4493 right_y=0.3913 right_z=0.2232 right_yaw=0.6139 right_pitch=-0.1905 right_roll=-0.3244 right_gripper=0.7478\nstate[joint_eff]: [-0.1846, -1.4701, 7.1863, 1.6777, -0.0757, -0.0415, -0.0073, -0.9504, -13.1487, 11.3026, 2.5079, 0.3492, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7357, 2.6118, 2.9147, -1.0214, 0.2634, -0.2188, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1681 left_yaw=0.0006 left_pitch=-0.053 left_roll=0.0008 left_gripper=0.9996 right_x=0.5067 right_y=0.4014 right_z=0.2175 right_yaw=0.6259 right_pitch=-0.1605 right_roll=-0.3328 right_gripper=0.7478\nstate[joint_eff]: [-0.335, -1.347, 7.1453, 1.663, -0.0806, -0.0317, -0.0122, -0.7453, -17.2513, 10.2085, 2.1563, 0.3004, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94ade36fadc9dd3ba60e4cdab2d8fd65aeee78ea3062fa95f8657529c1656753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef852fe84583217b77775c35ca1fa3a2848c83b5c0c740379aca0db7e92664aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f7741d46d9a95072de73023edf0639a2a5e7c6de9eca29555cbcfb663cdde4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQgKEAgRGAI4AUIIdGhpbmtpbmcSDMKVmEUqQgNysvSPMBoM/icwhOFgvlWoQmznIjD4i1cAug7RDzOELBsG0zLLRHjwSJLJQmc2gZRTXcrvqyQdgmzgbr0Ox6OWGBGfvsgq0gejeYka1yzwhmKgfk1c7EadAmAgd+R0Ny/StpBuqZ6SRP75FijE58uJ1hUolfUoExyS8m3LOnC1OBNDJ6XlKuB0TQAXdpyiX/7Pkh5ihRp4J2/WNDWG3baTRU48yzd0OCb5k4yTN1qJ+rLsGpuC89JZnrU/+OZBvyZWdXYuOk3G8fkchSLmi5qp627EirwcIYWI42sD/IZ5F8XkGNhz+n+5Xu5/DkSCab2qrIzKOquNguPluFem/QoeAHMikXh3Ezj1PnraTBBDiwdY6oRwN0bLh3jon+vWSqZquyOX5hcOLDe1kT4HaVPx9cuWhSFDKnsimhNZG/2ijaklldc2vf3sgSuQpVFW+xz1+L8Rmn7AmxQEbOe/5rrKB/DGQhWWAfeFagqmBq4VcYap23i7KC/B1h/6w90e02xnFWCJcYKJklisgNvu3qCci1EevNCy62+A2/wYSyX+Or5Mg44O/+oaPQvioHpwodsPfZnx6pxFCP/HqMwfwFfaHJzT86rG3e2m3ps2o7dp/2r3OfgpsCoFsvWbEPe6RdDHFktOZNOr1a5N+vdfr/W1l/bOKYH1eswPRopWOy5El78hBxVd1gfKlYek0ZdDwmOQb7muqK82EnqT8tyM8dtRBVSrlYX0AUfljKQeBKnxecUOT182fpO5UXEQIpEARYY2fvs8HMwHZvTJt7f473e8eZBaJtZgtamVOaM4jhnQBuosx3vfbARyIxwIiJYH9HHFQ9jBZjptJQAYpCURkdIowCMqLgBqEkmEZr1Cp+JstGUkahdn63P4tO+n0vCbAYY/x/lD6NdQ7g84w+7NLwk5I7MOhrA8541X7KNoPHOwAqM92xCX7Baw79zoHCioueuMtM/9SZI9jzh7JK7/OH5GW17cwGfXuBtjzEOD9wC70zaNmTkbMfhTKTQ7Aa7l/WGuASnL/GwW83h4KdYZ7wpN7j4TVypBx0tu1rprttbicK7SOQRnQNVtBlram8PpYjUl2nC3QUHXSCLw/CADVv0e3MkpjjP2Rl4HhauzyuTFPS3HPX1cNTXaz3VmAJxOFUpPRQKo26JnYklP6issEb+bptQ2F23K2ILZHcrB4DyFpPAiiR1oPMK0mBgb4nWDz44V66TdGdzTksfkNKEnghd0i785PIYKmfQflvOZ+NbHVhv8T2j5Yk2Q159wcbIReyTxV7NP6NuLvBj1hEVs6xiEQxE2lKcXZYEcze/4Td8egDBx5IJi54QRiiGuNLyzojqpyvtwuv3qGEx58Yw6ZEBEWr+heEmJuvx/ngA2ECUEK1w/zfj/TzBFQnsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M2bCg1kb17YjWApZ8rMX4f",
      "input": {
        "note": "The brick now hangs over the pot interior with the far rim visible ahead in the wrist view. Opening the gripper to drop the brick into the water.",
        "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_01M2bCg1kb17YjWApZ8rMX4f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7319, 2.7041, 3.0333, -1.1007, 0.2516, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0006 left_pitch=-0.0538 left_roll=0.0008 left_gripper=0.9996 right_x=0.5065 right_y=0.4007 right_z=0.1918 right_yaw=0.6326 right_pitch=-0.2146 right_roll=-0.3323 right_gripper=0.7478\nstate[joint_eff]: [0.0615, -1.347, 7.3094, 1.6972, -0.0415, -0.0464, -0.0122, 0.0479, -18.2632, 7.8017, 2.044, 0.1636, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddc115a19bf8cf418dde45161d62ef992ff2d79c9196ac5a8404ab4ac3096f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb42167601318e49c275195587f6ce289e8dc66895e72eb5d7ebe3b47c0175c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:480548330baef767a358096d71cd62cc0b1267b9b38bb174556cdf60cd495149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 8.733 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.408, -0.0227, -0.0257, 0.9996, 0.8021, 2.2127, 2.2318, -0.7849, 0.3138, -0.1528, 0.7478]\nstate[eef_state]: left_x=0.2929 left_y=0.0018 left_z=0.1692 left_yaw=0.0004 left_pitch=-0.0492 left_roll=0.001 left_gripper=0.9996 right_x=0.4493 right_y=0.3913 right_z=0.2232 right_yaw=0.6139 right_pitch=-0.1905 right_roll=-0.3244 right_gripper=0.7478\nstate[joint_eff]: [-0.1846, -1.4701, 7.1863, 1.6777, -0.0757, -0.0415, -0.0073, -0.9504, -13.1487, 11.3026, 2.5079, 0.3492, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7357, 2.6118, 2.9147, -1.0214, 0.2634, -0.2188, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1681 left_yaw=0.0006 left_pitch=-0.053 left_roll=0.0008 left_gripper=0.9996 right_x=0.5067 right_y=0.4014 right_z=0.2175 right_yaw=0.6259 right_pitch=-0.1605 right_roll=-0.3328 right_gripper=0.7478\nstate[joint_eff]: [-0.335, -1.347, 7.1453, 1.663, -0.0806, -0.0317, -0.0122, -0.7453, -17.2513, 10.2085, 2.1563, 0.3004, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7319, 2.7041, 3.0333, -1.1007, 0.2516, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0006 left_pitch=-0.0538 left_roll=0.0008 left_gripper=0.9996 right_x=0.5065 right_y=0.4007 right_z=0.1918 right_yaw=0.6326 right_pitch=-0.2146 right_roll=-0.3323 right_gripper=0.7478\nstate[joint_eff]: [0.0615, -1.347, 7.3094, 1.6972, -0.0415, -0.0464, -0.0122, 0.0479, -18.2632, 7.8017, 2.044, 0.1636, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddc115a19bf8cf418dde45161d62ef992ff2d79c9196ac5a8404ab4ac3096f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb42167601318e49c275195587f6ce289e8dc66895e72eb5d7ebe3b47c0175c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:480548330baef767a358096d71cd62cc0b1267b9b38bb174556cdf60cd495149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgYKEAgRGAI4AUIIdGhpbmtpbmcSDMahxv0QRNDK/3UQVxoMnFeq9RIs81fR+2u2IjCXzoUBwsyHVPma+5D+NKlKmqM6PWADHLhZ1Ic30yKfPuiHIbBA3OghOY6MKLKr2E4q2wVDQXSXv2v+YsYOLJQZyCxKUuwtbKXm1zESr0gJA0hM9vsJqBleGC78fnvgoBz5AG9hIEPrUQPsbhkyoWtKuTJJjAb9iX+RfrFoz7cocAJ+9L+bZyAVmDgXvvY5hOGji18qnY5DjzHuEw+yimfy72wBtul3zdhhewM+9jKhLrE9gf9nSjumZdC5c71a3G3H/lzag00e3QF0Z2JMsBMNg8C+G3AVUQ2fwkId5vwxMObrafuBkEgPCNgvL/nPdK6ylXjSjAi2cJ96430JLFrqh1AcMn8gyzm+ZucqLMLhCaboIlr24LBWeXPQbQV8JfDlf3bf28qAv4Sfv6jGLt1ICbORWWB3UNFWd5KCznNgae7d7zlNF2Yo9SL/p234ezFhyit+Mr9CkxOqKEBYcHF6+CSChqJogcGBaft4wIQuBJtfDC4gUK2mz3IsXWSyTQmuXeIGvSFIjChLy5mqMSZ5skUK3+Dchmpk3MI5VI+DXFYTEFTiplXzxbCBlpenHqEwS9yRaOA6I/dJL36f2WH0tiWBwOXihOBH1bQtZgDBomqtotrHHm+v+q+DFgfzQ0oLbZwjBsM3Kuw1SZPKM5nSRsIpJ8hq2f4yXPpcuVFxb2JRaqIF2g9a1bc2sE9rh2lTaAE57EQe3a+63ZhiGjpiVwq8a6AmhiMnvbKCMexFwa1Ody1DERjHkQqKB+pXqlQ4thQ3M2TbPaxyeNwingt1G74yBWbedLXJ7xOeAFQZiojqAJaz6EJZ/o2kjPZI7DrX/iNC/HdxEOdz+Oa+TM2T/5VuHuCb7LQk3pRIV3KOglLeTQFR+4bQUt3rmSeDeK9JlAtnnBFrFoVZeu91LVB2amiAgRLCI9v78mAqPFcNNUwiLKxdO1LfdMz1SGa+DEMEHDsoIUEt4ifMf7F+xfU9huWeS5USG7Aw5IFsvG4PG2uRBJbRMEQOiAYfA/YywpoPgsS4ITFvHFwCcFxeDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JkjFZLhCsLyUeZQqpyZmjk",
      "input": {
        "note": "The gripper reading is unchanged at 0.75, so the jaws have not opened yet; the brick still hangs over the pot. Re-sending the open command 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_01JkjFZLhCsLyUeZQqpyZmjk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7315, 2.7159, 2.9936, -1.1736, 0.2443, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.168 left_yaw=0.0006 left_pitch=-0.0534 left_roll=0.0008 left_gripper=0.9996 right_x=0.4954 right_y=0.392 right_z=0.1575 right_yaw=0.6352 right_pitch=-0.3388 right_roll=-0.3394 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.2513, 6.9949, 1.6825, -0.0708, -0.0562, -0.0122, -0.4034, -14.9812, 10.7829, 2.0195, 0.1343, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a82f4559cfcfd3a4fcd7701a034dd5c7e131efc530fd1d27c161d7410dbfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b2634dc884ba5e4b4cea8e3575e7d06581aa5afd9cb3c479fa29b22798ca1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71908bcafb194f9f9d958d5fa215c9c47dffaaf397c612ed66f769b0ffcd43e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 6.664 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7357, 2.6118, 2.9147, -1.0214, 0.2634, -0.2188, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1681 left_yaw=0.0006 left_pitch=-0.053 left_roll=0.0008 left_gripper=0.9996 right_x=0.5067 right_y=0.4014 right_z=0.2175 right_yaw=0.6259 right_pitch=-0.1605 right_roll=-0.3328 right_gripper=0.7478\nstate[joint_eff]: [-0.335, -1.347, 7.1453, 1.663, -0.0806, -0.0317, -0.0122, -0.7453, -17.2513, 10.2085, 2.1563, 0.3004, 0.0024, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7319, 2.7041, 3.0333, -1.1007, 0.2516, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0006 left_pitch=-0.0538 left_roll=0.0008 left_gripper=0.9996 right_x=0.5065 right_y=0.4007 right_z=0.1918 right_yaw=0.6326 right_pitch=-0.2146 right_roll=-0.3323 right_gripper=0.7478\nstate[joint_eff]: [0.0615, -1.347, 7.3094, 1.6972, -0.0415, -0.0464, -0.0122, 0.0479, -18.2632, 7.8017, 2.044, 0.1636, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7315, 2.7159, 2.9936, -1.1736, 0.2443, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.168 left_yaw=0.0006 left_pitch=-0.0534 left_roll=0.0008 left_gripper=0.9996 right_x=0.4954 right_y=0.392 right_z=0.1575 right_yaw=0.6352 right_pitch=-0.3388 right_roll=-0.3394 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.2513, 6.9949, 1.6825, -0.0708, -0.0562, -0.0122, -0.4034, -14.9812, 10.7829, 2.0195, 0.1343, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12a82f4559cfcfd3a4fcd7701a034dd5c7e131efc530fd1d27c161d7410dbfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b2634dc884ba5e4b4cea8e3575e7d06581aa5afd9cb3c479fa29b22798ca1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71908bcafb194f9f9d958d5fa215c9c47dffaaf397c612ed66f769b0ffcd43e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSggsKEAgRGAI4AUIIdGhpbmtpbmcSDALq2wydfTqWHIl7TRoMnX7j9tteezhZabp1IjDr/OT20+zsClfo2+sCBoHszR4dnR8khFepMmwvHfC7ATj6apng99EKyCnojdP0G0gqnwo3qFEktMCXRIrvqRFm8UznVpAUU3VLn/Hotx3SZDgjSKi36mqoTAjJlhEThn3fAJgZq3d4mkzpsrV9ogV808x1H+3S0nymp1/RBk4frEYHwzHYfaP0OBbMgoWR7GRj07micjOAF5n+bHa7f4s7vPZcsUnIc93CGDl1W+5g7cFYD82IFfHalCjArqJW1AtDK2n7dWHajBXOZn8nB1VjcMMfxt+iv2BUMet44hqTgXheC4sbh5D2KhlifGam5OtRB0vlVKVJXyvccurHOIrftTn+n9BgFSXZTd/wLNe4UqsQIbd7QsOJagiXnbRL6jj1dMAUj+vKwbPQewlWvZYaUmzZv4c2TWeedAhDRxRCic2Wkn2Mw6rJPMTKEeYKJs5Vht5hQA7HhGcb7ewW4UGQE+cRDvBcDyroOTEvLz1T4rDyK0R0Jq3p7aGB+9rGpVBUHeJ3hA673ZDLVNieF0ivX1ShivWEuA8R8NTc7RoE1vE63nA7lUoFr/H1RQzpkmJpkPnOkFLgahK1PBea0hnZxiO5oqCbbQOBB3hpKdzsuaIEXJUqFKZ8mxWZF9miGrF0kZMHttPL4lyBbHILOtdAolTZcy+pzBAeWI9+3El+BlIxnv9N5MSsqwHdLrOnzyakeoyFrqt9f2+xukAsI+yl5XD+j7MU0c2FBCXMG6JoKvytsQ4pbX1W78AtbEGOSpqlT4G8Xvy2ZO3rLfzurQEgr2+ycHbkdldcq6r4htz/nfnlHAkJid4ZjxrpB4jpXzVIxhmRBdnBYgutlPbJZSJ/18YVMSfG8wqZ9/F6miYtrjR/rro18Wzq/afImxM8XXgBI3npBG1UUCXsQZnFwuhpJDmLph04hXI7twgoEVfWZmcF2zCPXwIV0jw6UoLdy/wZxCk8n47580ziRGnR+avYxOu9JsKTumqWinQYOdT/3AKjw+9G6oZWdPtPN/+OAvpHy5JnmBY7ZPOKvrq3aUO4bQy2aR/jwH0Aw44EDSG8btVRaM4gJfidQoq9MM7r0xkKbJ2YBKMMQ735dt1Cbc8o9frR8VDupEyC2BKtP/9DslEyBFTOKdSE9MjpMKOIJJt5lmcDhn5YvbQ5x9/KBLRm5LybBzrjCqU3Yu3mBeRK5hUsQb59RPXL5uKN5N7sV7zBWhIisvtqXjMK1D2iW6ZLZUOJliDwh4BtI/ZG00SHhhMXozrLXVyp6Nq/6PuyPm2mmP+X+GLZOKPH/5O8z0x5WCsNcRaCs2x+ZA+IFQL2EgkIZ1QliO0Pq9UT7NmL6vlnueH+Mr+8XSGc5EeQf1UKvAwW8agQ3I1JfUOxqkIF05SUdLXWJmLSmmmFdrO2JUNLjDzvbgMkeyfg1SAluNTJMMS6w73qzYaeSLdqOACiccKrMAreXtu4LVv8flP6xtiqikapfTjRh3WIOe4RD7e2FD2fWlor7wEc4iX3NhH6HKTPF7FlZexsePu9s9uSQnwaXDwZwPi/YVTKS84ld6rWtXCvIQ5k4NUaE+24Yb/vQ3m5ma+egWGQp3yaoLCM075tklZ73nrd1jUnjB+WSKD9spdJsY/Tkmp+l0gxesVnb2CGnWWfJeyYVHlb5vTn04BpoltvSqrEqPPD0ivciIkJE8PscfeJtoA+a0lMor4Zd9+ErITnyFRB0X1HgFBKsBTRFeMW/kyL+2LhK3Nahdd22fbKJit9hzcQG6nkIFelbVszGGE3EBaKXA9CfnHkkomD8mU0Q7d+aWaAQD4iwoWe4jUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L5k6MtLReGymtxUcuN97bt",
      "input": {
        "note": "The gripper still reads 0.75 and has not released; the arm has sagged to ~16 cm. Raising the arm slightly while commanding the jaws open over a longer motion to get the release to execute.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.5,
          "right_y": 0.4,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01L5k6MtLReGymtxUcuN97bt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 0.7326, 2.7663, 3.1119, -1.2232, 0.2459, -0.2359, 0.998]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0006 left_pitch=-0.058 left_roll=0.0009 left_gripper=0.9996 right_x=0.4948 right_y=0.3921 right_z=0.1627 right_yaw=0.6433 right_pitch=-0.3232 right_roll=-0.3485 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.1556, 7.159, 1.7021, -0.0806, -0.0073, -0.0122, 0.0068, -14.4342, 8.1983, 1.5751, 0.1392, 0.0659, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b33636536070b57ba216bc0467cefaad34630bdce1aa21fcbeefc1e57a4811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1290fc215f1761fa3851b7712ff65f0e933dc473a6a17726568b297535415ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac6c82608c41be6dd63053da71ca1a496010623cc4913b118fc8382a49aa330d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 11.62 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7319, 2.7041, 3.0333, -1.1007, 0.2516, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1679 left_yaw=0.0006 left_pitch=-0.0538 left_roll=0.0008 left_gripper=0.9996 right_x=0.5065 right_y=0.4007 right_z=0.1918 right_yaw=0.6326 right_pitch=-0.2146 right_roll=-0.3323 right_gripper=0.7478\nstate[joint_eff]: [0.0615, -1.347, 7.3094, 1.6972, -0.0415, -0.0464, -0.0122, 0.0479, -18.2632, 7.8017, 2.044, 0.1636, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7315, 2.7159, 2.9936, -1.1736, 0.2443, -0.2214, 0.7478]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.168 left_yaw=0.0006 left_pitch=-0.0534 left_roll=0.0008 left_gripper=0.9996 right_x=0.4954 right_y=0.392 right_z=0.1575 right_yaw=0.6352 right_pitch=-0.3388 right_roll=-0.3394 right_gripper=0.7478\nstate[joint_eff]: [-0.3624, -1.2513, 6.9949, 1.6825, -0.0708, -0.0562, -0.0122, -0.4034, -14.9812, 10.7829, 2.0195, 0.1343, -0.0269, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 0.7326, 2.7663, 3.1119, -1.2232, 0.2459, -0.2359, 0.998]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1668 left_yaw=0.0006 left_pitch=-0.058 left_roll=0.0009 left_gripper=0.9996 right_x=0.4948 right_y=0.3921 right_z=0.1627 right_yaw=0.6433 right_pitch=-0.3232 right_roll=-0.3485 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.1556, 7.159, 1.7021, -0.0806, -0.0073, -0.0122, 0.0068, -14.4342, 8.1983, 1.5751, 0.1392, 0.0659, -0.0366]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b33636536070b57ba216bc0467cefaad34630bdce1aa21fcbeefc1e57a4811f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1290fc215f1761fa3851b7712ff65f0e933dc473a6a17726568b297535415ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac6c82608c41be6dd63053da71ca1a496010623cc4913b118fc8382a49aa330d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4wcKEAgRGAI4AUIIdGhpbmtpbmcSDK0eRzpdvL4uxYRCIhoMRb+xVWwLmB/XwjDAIjDNmGXBOcTAlQ/PubrBbMo3L/tECqRvCGRew5tq0YMOn9hDvcxvJVFOU+2zVBP5RGoqgAeyzZ6RxHEyzOsXG/DUPfbBbCjb3RMC1KRsNuEwUGH/Eu3dujweUvorj88CC8Gmpq+55SjG8UQSf9k9aroP+wL6Sst75a+kydYUlpHkZKt/fA0U/lKcv3GMOvATjCCxaNjWZmwD6TxzSGKr+UUr41xhiLfb/APdyH5+qWqJoNM4NfQKHXH9oCKkhqeRR5spbwKYYUmOnTb3LfSFpIBY+qDbywQRax62o97/IMElyNS+gOd7YTiatinmH0eo8C6TNhSke6ccxA8nt4rxflkPSVY1IlBHimKpUmptnqRo82X/3ev/IJ1C9cYoE5BGFAcaUq95KnjNrxFQxRpX/mafygeXoMboVkKlkTqO0B/0SKeYh5Yx/DHyS0cYiokncivTvwOeNWaAkm9IrtqTOUiNPZKkz6gUlPUqSjHGfNmRP9IIXX58B3TybVtgNURvfc+/vUGaD6FvyUWZsGt4K4NP3uXwSVi4kjHIxA+Qa5w0wuDuFdc+nrgvCwc0EyfCRSHUqz1xYnsW6R5dAEMD1nGjU2qXdis27tTxpU2R2WX69cB5BNfSruXE7iW9WOochASioVCyhwWGhk9sqed1s9YVId0K6iCgVHyRLwrw0NLpn/WFkCmXe4PZj4tpVp6fBc2sj3rx7qRfh+1SlrjWnH+c569AJCn/cHHWrSXgJ0L3b+i5U5FwhjejBGZF9nL9ETZp1B6JhGDjvmoBjOHVpWuEbCcJDVQmDRdFnf036S8hpnM+HdF02DbosBENwki4kXm+wb5+pQshD0BeDCHVSImnqySQmW7ZOaRueUmqf+2y/esYXFTybIrOBWHpIrBrw/xhQnWAf6dQPomLV5za74iK1FxNr3mbcDwT1jBb/M6uX445ZRuU7fITGCjOYU3Ui1E33j66laHGUXlprQJ7ayK9Wx9oQPl4doxsCdySV7yJ9732Bobi+G6gRBJglcQBoJswplBpRmbSO9BcIIAIhd70PHYcwqgq1q6Bll20VeJzh5OKTjVogt1JDX+vlcE7Pn/gczfm/kVzBG4vmPmDYEbA5/kj9t0uFFEUn36qqTAP7iYrl9Um9ocmaEg9k+HLZOrSc2IqtV/b1XPNtYyOMGCNjXq2+2081mVLMaOUAcus5IklSIZFkIP50C6lSlOmGop/yJrkB3Z09P+bBHPMgKvL6KX7Ynm9N6oIigY6NmgAauPV6hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013GuLQeQYrnkeBbdidX9x6H",
      "input": {
        "note": "The jaws are open and both wrist cameras show the black brick lying inside the pot. Retracting the right arm up and back to clear the pot and give the overhead camera a view.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_013GuLQeQYrnkeBbdidX9x6H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.849, 2.0476, 2.6049, -1.3872, 0.7784, 0.2672, 0.9987]\nstate[eef_state]: left_x=0.2935 left_y=0.0018 left_z=0.1664 left_yaw=0.0006 left_pitch=-0.0591 left_roll=0.0009 left_gripper=0.9996 right_x=0.3875 right_y=0.2579 right_z=0.3827 right_yaw=0.0817 right_pitch=-0.0185 right_roll=-0.3183 right_gripper=0.9987\nstate[joint_eff]: [-0.3624, -1.1829, 7.1726, 1.7558, -0.0806, -0.0415, -0.0122, -0.212, -13.6547, 7.4598, 2.2979, 0.6813, 0.2955, -0.1538]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae6cce5234b637e00f6dd8e023cf881707cb1134a66206e818f54eccaef174f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4d8d2f1594aa6831ac97e63e9c73441455ebee31fb90617b4dab7ed79cb0945",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf7c0146d1cf31f275b98988f8394918033c1599755f01776deb90a3f88ad1fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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