adhoc

completed
2026-09-18T17:04:22.141591+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
250.5 s
total steps
179
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 is visible in the right wrist camera at the bottom-left, roughly 8-9 cm left of the right gripper and at similar forward distance. Moving the right arm above it to line up.
move_to
right_x0.2900right_y0.0900right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7948, 0.6044, -0.3801, -0.0196, -0.0265, 0.9996, -0.0212, 0.7929, 0.6025, -0.3782, -0.0158, -0.02, 0.9968] state[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0001 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968 state[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.8242, -0.0464, 0.1392, -0.0611, -0.4991, -1.4154, 10.1402, 1.9121, -0.0659, 0.0171, -0.3492] 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": 0.29, "right_y": 0.09, "right_z": 0.12, "right_gripper": 1.0}, "note": "The black brick is visible in the right wrist camera at the bottom-left, roughly 8-9 cm left of the right gripper and at similar forward distance. Moving the right arm above it to line up."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe brick is under the right gripper in the wrist view, long axis radial and about 3 cm left of the jaw column. Shifting slightly left and descending to just above it.
move_to
right_x0.2750right_y0.1200right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0223, -0.0269, 0.9995, 0.527, 0.9569, 0.4427, -0.1806, 0.3798, 0.252, 0.9968] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1791 left_yaw=0.0025 left_pitch=-0.0065 left_roll=0.0013 left_gripper=0.9995 right_x=0.2824 right_y=0.0927 right_z=0.1098 right_yaw=0.0706 right_pitch=-0.0687 right_roll=-0.0303 right_gripper=0.9968 state[joint_eff]: [-0.0205, -1.3744, 6.8034, 1.7558, -0.0024, -0.0513, -0.0171, -0.0205, -2.9197, 6.1607, 2.044, 0.2369, 0.1294, -0.3443] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.275, "right_y": 0.12, "right_z": 0.03, "right_gripper": 1.0}, "note": "The brick is under the right gripper in the wrist view, long axis radial and about 3 cm left of the jaw column. Shifting slightly left and descending to just above it."})
tool
executing move_to over 6 steps (0.6s)
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 sits between the open jaws in the wrist view, slightly left of centre. Descending to table level with a small leftward shift before closing.
move_to
right_x0.2700right_y0.1270right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3882, -0.0227, -0.0269, 0.9995, 0.6754, 1.2797, 0.2615, 0.2142, 0.4679, 0.3443, 0.9968] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0118 left_roll=0.0016 left_gripper=0.9995 right_x=0.2676 right_y=0.1169 right_z=0.024 right_yaw=0.0937 right_pitch=-0.1311 right_roll=-0.0642 right_gripper=0.9968 state[joint_eff]: [0.0342, -1.0872, 7.1453, 1.7216, -0.0317, -0.0513, -0.0073, 0.253, -3.0701, 4.1504, 1.0672, 0.3297, 0.0415, -0.3443] 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": 0.27, "right_y": 0.127, "right_z": 0.0, "right_gripper": 1.0}, "note": "The brick sits between the open jaws in the wrist view, slightly left of centre. Descending to table level with a small leftward shift before closing."})
tool
executing move_to over 2 steps (0.2s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick is between the jaws at about 2 cm height; closing the right gripper 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, 0.8024, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.701, 1.4017, 0.2543, 0.3935, 0.4938, 0.3698, 0.9968] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1773 left_yaw=0.0028 left_pitch=-0.0137 left_roll=0.0016 left_gripper=0.9995 right_x=0.2775 right_y=0.1293 right_z=0.0192 right_yaw=0.0884 right_pitch=-0.0789 right_roll=-0.031 right_gripper=0.9968 state[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.7118, -0.0513, -0.0562, -0.0122, 0.3487, -2.6325, 3.1111, -0.0708, -0.0806, -0.3297, -0.3492] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick is between the jaws at about 2 cm height; closing the right gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 close was empty (gripper 0.009); the brick appears left of and beyond the closed jaws in the wrist view. Opening, lifting slightly and advancing ~3 cm forward and 2 cm left to re-center over the brick.
move_to
right_x0.3100right_y0.1500right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.3897, -0.0227, -0.0269, 0.9995, 0.704, 1.4097, 0.2569, 0.4076, 0.4896, 0.3668, 0.009] state[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.1765 left_yaw=0.0035 left_pitch=-0.0167 left_roll=0.0017 left_gripper=0.9995 right_x=0.2787 right_y=0.1324 right_z=0.0199 right_yaw=0.0967 right_pitch=-0.0734 right_roll=-0.0261 right_gripper=0.009 state[joint_eff]: [-0.3761, -1.5385, 7.0496, 1.6972, -0.0464, -0.022, -0.0122, -0.3077, -4.547, 4.6154, 1.5116, 0.2027, 0.0317, 0.7057] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.31, "right_y": 0.15, "right_z": 0.06, "right_gripper": 1.0}, "note": "The close was empty (gripper 0.009); the brick appears left of and beyond the closed jaws in the wrist view. Opening, lifting slightly and advancing ~3 cm forward and 2 cm left to re-center over the brick."})
tool
executing move_to over 10 steps (1.0s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe brick now sits centred between the open jaws in the right wrist view. Descending to table level to grasp it.
move_to
right_x0.3100right_y0.1500right_z-0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.4046, -0.0231, -0.0269, 0.9995, 0.6773, 1.3979, 0.4274, 0.2024, 0.4633, 0.3393, 0.9954] state[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1735 left_yaw=0.0039 left_pitch=-0.0316 left_roll=0.0023 left_gripper=0.9995 right_x=0.3018 right_y=0.146 right_z=0.0455 right_yaw=0.1042 right_pitch=-0.103 right_roll=-0.0457 right_gripper=0.9954 state[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.8291, -0.0757, -0.0464, -0.0122, -0.7179, -5.8051, 8.212, 1.4383, 0.1685, 0.0464, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.15, "right_z": -0.01, "right_gripper": 1.0}, "note": "The brick now sits centred between the open jaws in the right wrist view. Descending to table level to grasp it."})
tool
executing move_to over 4 steps (0.4s)
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 noteDescent stopped at about 2 cm with the brick filling the space between the jaws; closing the gripper to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8082, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.672, 1.6516, 0.3992, 0.5678, 0.4713, 0.347, 0.9966] state[eef_state]: left_x=0.2922 left_y=0.0021 left_z=0.1719 left_yaw=0.0036 left_pitch=-0.0385 left_roll=0.0022 left_gripper=0.9995 right_x=0.3226 right_y=0.1587 right_z=0.0176 right_yaw=0.0914 right_pitch=-0.03 right_roll=0.0017 right_gripper=0.9966 state[joint_eff]: [-0.3214, -1.388, 7.0085, 1.7363, -0.0269, -0.0122, -0.0122, -0.6222, -3.5761, 2.1949, -0.0513, -0.359, -0.1099, -0.3736] 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_gripper": 0.0}, "note": "Descent stopped at about 2 cm with the brick filling the space between the jaws; closing the gripper to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteSecond empty close: the descent stops at ~2 cm, so the jaws are landing on top of the brick, whose long diagonal spans wider than the jaw opening. Lifting, opening and yawing the tool clockwise to align the jaws across the brick's short side.
move_to
right_x0.3200right_y0.1600right_z0.0800right_yaw-0.6000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8101, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.672, 1.6455, 0.4004, 0.5797, 0.4633, 0.3447, 0.0087] state[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1714 left_yaw=0.0036 left_pitch=-0.04 left_roll=0.0022 left_gripper=0.9995 right_x=0.3243 right_y=0.1617 right_z=0.0217 right_yaw=0.0993 right_pitch=-0.0167 right_roll=0.0144 right_gripper=0.0087 state[joint_eff]: [-0.212, -1.4838, 7.3504, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.0239, 5.135, 1.1697, 0.2125, 0.0708, 0.7253] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.16, "right_z": 0.08, "right_yaw": -0.6, "right_gripper": 1.0}, "note": "Second empty close: the descent stops at ~2 cm, so the jaws are landing on top of the brick, whose long diagonal spans wider than the jaw opening. Lifting, opening and yawing the tool clockwise to align the jaws across the brick's short side."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteWith the tool yawed, the brick now runs straight along the jaw gap and is slightly right of centre. Shifting ~1.5 cm toward the tool's right and descending to table level.
move_to
right_x0.3200right_y0.1630right_z0.0000right_yaw-0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4091, -0.0227, -0.0269, 0.9995, 0.8734, 1.7882, 1.01, -0.4946, 0.9207, 1.2251, 0.9953] state[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1708 left_yaw=0.0036 left_pitch=-0.0427 left_roll=0.0023 left_gripper=0.9995 right_x=0.3269 right_y=0.1768 right_z=0.0715 right_yaw=-0.4929 right_pitch=-0.0487 right_roll=0.0266 right_gripper=0.9953 state[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.707, -0.0415, -0.0366, -0.0073, 0.0068, -8.0752, 6.5162, 0.5397, 0.7106, 0.1636, -0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.163, "right_z": 0.0, "right_yaw": -0.5, "right_gripper": 1.0}, "note": "With the tool yawed, the brick now runs straight along the jaw gap and is slightly right of centre. Shifting ~1.5 cm toward the tool's right and descending to table level."})
tool
executing move_to over 5 steps (0.5s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
Brick is centered between the jaws at z≈0.9 cm. Closing.
agent noteThe brick is centred between the open jaws at about 1 cm height with the jaws across its short side. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.9057, 0.857, -0.2546, 0.923, 1.2358, 0.9966] state[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1709 left_yaw=0.0039 left_pitch=-0.0419 left_roll=0.0025 left_gripper=0.9995 right_x=0.3164 right_y=0.1613 right_z=0.0087 right_yaw=-0.5058 right_pitch=-0.0527 right_roll=0.005 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.1419, 7.241, 1.6679, -0.0269, -0.0366, -0.0122, -0.8547, -6.7897, 4.1915, 0.3687, 0.3492, -0.2222, -0.3639] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
Brick is centered between the jaws at z≈0.9 cm. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick is centred between the open jaws at about 1 cm height with the jaws across its short side. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteGripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 20 cm to confirm the brick comes along.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.812, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.8669, 1.9263, 0.8433, -0.234, 0.9077, 1.2346, 0.7467] state[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1709 left_yaw=0.0036 left_pitch=-0.0419 left_roll=0.0023 left_gripper=0.9995 right_x=0.3134 right_y=0.1596 right_z=-0.0017 right_yaw=-0.5034 right_pitch=-0.0698 right_roll=-0.0065 right_gripper=0.7467 state[joint_eff]: [-0.0752, -1.347, 7.0359, 1.7216, -0.0513, -0.0024, -0.0122, 0.0342, -9.9214, 5.7231, 0.5299, 0.5543, -0.022, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 20 cm to confirm the brick comes along."})
tool
executing move_to over 14 steps (1.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe brick lifted with the gripper (visible protruding forward past the fingertips in the wrist view, gone from its table spot). Carrying it high toward the pot, which is near the table centre line ahead.
move_to
right_x0.3800right_y0.3000right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.812, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.6402, 1.2854, -1.0149, 0.8257, 1.2297, 0.7467] state[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1708 left_yaw=0.0039 left_pitch=-0.0423 left_roll=0.0025 left_gripper=0.9995 right_x=0.3074 right_y=0.1678 right_z=0.1607 right_yaw=-0.4847 right_pitch=-0.159 right_roll=-0.0455 right_gripper=0.7467 state[joint_eff]: [-0.3487, -1.0872, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122, -0.1436, -10.359, 9.388, 0.7546, 1.116, 0.0171, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.3, "right_z": 0.3}, "note": "The brick lifted with the gripper (visible protruding forward past the fingertips in the wrist view, gone from its table spot). Carrying it high toward the pot, which is near the table centre line ahead."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe arm fell short of its target (z 0.23) and the pot appears at the left edge of the right wrist view, so the pot is still ~10 cm to the tool's left and slightly ahead. Moving further left/forward over the pot while keeping height.
move_to
right_x0.4100right_y0.3500right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8165, 0.6075, -0.4088, -0.0231, -0.0273, 0.9995, 0.8875, 2.1983, 2.3554, -1.5803, 0.7486, 1.2297, 0.7502] state[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1695 left_yaw=0.0041 left_pitch=-0.0472 left_roll=0.0023 left_gripper=0.9995 right_x=0.3662 right_y=0.2651 right_z=0.2262 right_yaw=-0.4595 right_pitch=-0.2448 right_roll=-0.0817 right_gripper=0.7502 state[joint_eff]: [-0.253, -1.7299, 6.9949, 1.6581, -0.0659, -0.0464, -0.0122, -0.6632, -11.8359, 9.5248, 0.6374, 1.1209, 0.0269, 1.033] approver: 1 step(s) modified (delta_clamped). 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": 0.41, "right_y": 0.35, "right_z": 0.3}, "note": "The arm fell short of its target (z 0.23) and the pot appears at the left edge of the right wrist view, so the pot is still ~10 cm to the tool's left and slightly ahead. Moving further left/forward over the pot while keeping height."})
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 barely moved and its pitch has drifted to -0.31, suggesting the IK is struggling at this pose. Re-commanding with pitch 0 and a slightly lower height to get over the pot, which now shows at the left of the wrist view and under the gripper in the top view.
move_to
right_x0.4000right_y0.3400right_z0.2700right_pitch0.0000right_yaw-0.4500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8165, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.8719, 2.3054, 2.4695, -1.5967, 0.6857, 1.166, 0.7502] state[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1696 left_yaw=0.0038 left_pitch=-0.0469 left_roll=0.0021 left_gripper=0.9995 right_x=0.3771 right_y=0.2803 right_z=0.2024 right_yaw=-0.429 right_pitch=-0.3111 right_roll=-0.1194 right_gripper=0.7502 state[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7314, -0.022, -0.0708, -0.0122, -0.7726, -12.5607, 9.3197, 0.7399, 0.9255, 0.0513, 1.0379] approver: 1 step(s) modified (delta_clamped). 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": 0.4, "right_y": 0.34, "right_z": 0.27, "right_pitch": 0.0, "right_yaw": -0.45}, "note": "The arm barely moved and its pitch has drifted to -0.31, suggesting the IK is struggling at this pose. Re-commanding with pitch 0 and a slightly lower height to get over the pot, which now shows at the left of the wrist view and under the gripper in the top view."})
tool
executing move_to over 11 steps (1.1s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe right arm is at its reach limit (wrist ~0.52 m from the shoulder) with the pot still ~8 cm to the tool's left. Pulling back slightly while rotating the tool so the brick points toward the pot and pitching it forward, which extends effective reach.
move_to
right_x0.3300right_y0.2700right_z0.2500right_yaw0.3000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8173, 0.6075, -0.4088, -0.0227, -0.0273, 0.9995, 0.9363, 2.405, 2.5366, -1.5959, 0.8711, 1.1774, 0.7502] state[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1693 left_yaw=0.0038 left_pitch=-0.048 left_roll=0.0021 left_gripper=0.9995 right_x=0.3845 right_y=0.3005 right_z=0.1984 right_yaw=-0.4108 right_pitch=-0.1393 right_roll=-0.1886 right_gripper=0.7502 state[joint_eff]: [-0.1299, -1.4154, 7.0222, 1.6728, -0.0122, -0.0513, -0.0122, 0.294, -13.9419, 9.8256, 0.6862, 1.3797, 0.2125, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.27, "right_z": 0.25, "right_yaw": 0.3, "right_pitch": 0.3}, "note": "The right arm is at its reach limit (wrist ~0.52 m from the shoulder) with the pot still ~8 cm to the tool's left. Pulling back slightly while rotating the tool so the brick points toward the pot and pitching it forward, which extends effective reach."})
tool
executing move_to over 15 steps (1.5s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteTop view now shows the pot just ahead and slightly left of the gripper, brick held. Yawing so the brick points at the pot, pitching the tool forward for extra reach, and advancing over the pot rim.
move_to
right_x0.3700right_y0.3100right_z0.2400right_yaw0.8000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8211, 0.6075, -0.408, -0.0231, -0.0273, 0.9995, 0.9649, 1.459, 0.9398, -0.0868, 0.7372, 0.1108, 0.7502] state[eef_state]: left_x=0.293 left_y=0.0021 left_z=0.1684 left_yaw=0.0041 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9995 right_x=0.3215 right_y=0.2618 right_z=0.1906 right_yaw=0.3008 right_pitch=0.1083 right_roll=-0.2869 right_gripper=0.7502 state[joint_eff]: [-0.3761, -1.6068, 7.0222, 1.7656, -0.0904, -0.0806, -0.0122, -0.5538, -9.5658, 9.2513, 2.7717, 0.4078, 0.0073, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.31, "right_z": 0.24, "right_yaw": 0.8, "right_pitch": 0.5}, "note": "Top view now shows the pot just ahead and slightly left of the gripper, brick held. Yawing so the brick points at the pot, pitching the tool forward for extra reach, and advancing over the pot rim."})
tool
executing move_to over 14 steps (1.4s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe wrist camera now shows the pot's white interior around the brick; the brick is over the pot with its held end near the rim. Advancing a few more cm so the whole brick is inside the rim before releasing.
move_to
right_x0.3950right_y0.3250right_z0.2000right_yaw0.8000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.823, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.7254, 1.5688, 0.77, 0.5236, 0.1295, -0.2558, 0.7502] state[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1678 left_yaw=0.0038 left_pitch=-0.0534 left_roll=0.0022 left_gripper=0.9995 right_x=0.3642 right_y=0.2972 right_z=0.1759 right_yaw=0.7497 right_pitch=0.2736 right_roll=-0.2831 right_gripper=0.7502 state[joint_eff]: [-0.294, -1.5385, 7.0359, 1.6777, -0.0366, -0.0757, -0.0122, -0.3897, -8.2667, 9.1556, 3.1966, -0.0904, -0.0415, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.325, "right_z": 0.2, "right_yaw": 0.8, "right_pitch": 0.5}, "note": "The wrist camera now shows the pot's white interior around the brick; the brick is over the pot with its held end near the rim. Advancing a few more cm so the whole brick is inside the rim before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe brick is now framed by the pot's white interior in the wrist view and the arm has settled lower, likely resting the brick at the rim. Opening the gripper to drop the brick into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8242, 0.6075, -0.4084, -0.0231, -0.0273, 0.9995, 0.7063, 1.7699, 0.7719, 0.6861, 0.0601, -0.2626, 0.7502] state[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1675 left_yaw=0.0041 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3775 right_y=0.3128 right_z=0.122 right_yaw=0.795 right_pitch=0.2372 right_roll=-0.2669 right_gripper=0.7502 state[joint_eff]: [-0.1709, -0.9231, 6.9949, 1.6728, -0.0659, -0.0806, -0.0073, -0.841, -9.6205, 10.7419, 3.3236, -0.1099, 0.0513, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The brick is now framed by the pot's white interior in the wrist view and the arm has settled lower, likely resting the brick at the rim. Opening the gripper to drop the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteGripper opened and the brick has left the jaws; the wrist view shows only the pot interior now. Retracting the right arm so the top camera can confirm the brick landed in the pot.
move_to
right_x0.2800right_y0.1000right_z0.2200right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8249, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.704, 1.8065, 0.7216, 0.8261, 0.0589, -0.2596, 0.9956] state[eef_state]: left_x=0.2932 left_y=0.0021 left_z=0.1673 left_yaw=0.0036 left_pitch=-0.0553 left_roll=0.0026 left_gripper=0.9995 right_x=0.3761 right_y=0.3104 right_z=0.1172 right_yaw=0.7933 right_pitch=0.2904 right_roll=-0.2685 right_gripper=0.9956 state[joint_eff]: [-0.1846, -1.1282, 7.3094, 1.6679, 0.0024, -0.0415, -0.0122, -0.0342, -8.0205, 5.5316, 2.1465, -0.105, 0.0415, -0.2369] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.1, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0}, "note": "Gripper opened and the brick has left the jaws; the wrist view shows only the pot interior now. Retracting the right arm so the top camera can confirm the brick landed in the pot."})
tool
executing move_to over 18 steps (1.8s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
The top camera shows the black brick lying inside the pot.
agent noteGrasped the black brick (a ~15×7×2 cm power-bank-shaped block) with the right arm after yawing the jaws across its short side, carried it over the pot near the table centre line, and released it; the top camera confirms the brick is inside the pot.
done
hindsightThe black brick is ~15 cm long and ~7 cm wide, ~2 cm thick: its long diagonal exceeds the 9.5 cm jaw opening, so a descent that stops at z≈0.02 with an empty close means the jaws landed on top of it — yaw the tool so the jaws cross the short side (here yaw ≈ -0.5) before descending. It sat at right_x≈0.32, right_y≈0.16. The pot (rim ~13-15 cm high, ~22 cm diameter) sits near the centre line around right_x≈0.40-0.42, right_y≈0.33-0.36, which is at the right arm's reach limit with the tool vertical (wrist sqrt(x²+y²+(z+0.1-0.114)²) must stay < 0.51). Approaching with the tool yawed so the held brick points at the pot and pitched forward ~0.3-0.5 gave enough reach to drop it in from the near rim. Expect 5-7 cm of z sag at that extended pose.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8288, 0.6075, -0.4156, -0.0227, -0.0269, 0.9995, 0.7502, 1.026, 0.8341, -0.289, 0.6937, 0.2035, 0.9958] state[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1648 left_yaw=0.0036 left_pitch=-0.0663 left_roll=0.0028 left_gripper=0.9995 right_x=0.3071 right_y=0.1367 right_z=0.2549 right_yaw=0.0588 right_pitch=0.2017 right_roll=-0.104 right_gripper=0.9958 state[joint_eff]: [-0.2803, -1.7026, 7.0085, 1.7363, -0.0171, -0.0073, -0.0122, -0.6496, -3.5487, 10.6325, 2.0098, 0.315, 0.1099, 0.0171] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
The top camera shows the black brick lying inside the pot.
done({"summary": "Grasped the black brick (a ~15\u00d77\u00d72 cm power-bank-shaped block) with the right arm after yawing the jaws across its short side, carried it over the pot near the table centre line, and released it; the top camera confirms the brick is inside the pot.", "hindsight": "The black brick is ~15 cm long and ~7 cm wide, ~2 cm thick: its long diagonal exceeds the 9.5 cm jaw opening, so a descent that stops at z\u22480.02 with an empty close means the jaws landed on top of it \u2014 yaw the tool so the jaws cross the short side (here yaw \u2248 -0.5) before descending. It sat at right_x\u22480.32, right_y\u22480.16. The pot (rim ~13-15 cm high, ~22 cm diameter) sits near the centre line around right_x\u22480.40-0.42, right_y\u22480.33-0.36, which is at the right arm's reach limit with the tool vertical (wrist sqrt(x\u00b2+y\u00b2+(z+0.1-0.114)\u00b2) must stay < 0.51). Approaching with the tool yawed so the held brick points at the pot and pitched forward ~0.3-0.5 gave enough reach to drop it in from the near rim. Expect 5-7 cm of z sag at that extended pose."})
tool
done: Grasped the black brick (a ~15×7×2 cm power-bank-shaped block) with the right arm after yawing the jaws across its short side, carried it over the pot near the table centre line, and released it; the top camera confirms the brick is inside the pot.
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 · 23.02 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]: [-0.0196, 0.7948, 0.6044, -0.3801, -0.0196, -0.0265, 0.9996, -0.0212, 0.7929, 0.6025, -0.3782, -0.0158, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0001 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.8242, -0.0464, 0.1392, -0.0611, -0.4991, -1.4154, 10.1402, 1.9121, -0.0659, 0.0171, -0.3492]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f705b3687faaccc30099abdf8d6d50f248c948b41f8f24899287317e44480cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:215ce8e44dac5e3169361719d0221a445cd243c0e33f2062952e06465b556eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cefc4724fe9acc76c63d7ef1b0291b3b7edad260faa4420c58702fa3b76e60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4f705b3687fa
wire blob 215ce8e44dac
wire blob 5cefc4724fe9
call 1 attempt 0 · /messages · status 200 · 11.02 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]: [-0.0196, 0.7948, 0.6044, -0.3801, -0.0196, -0.0265, 0.9996, -0.0212, 0.7929, 0.6025, -0.3782, -0.0158, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0001 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.8242, -0.0464, 0.1392, -0.0611, -0.4991, -1.4154, 10.1402, 1.9121, -0.0659, 0.0171, -0.3492]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f705b3687faaccc30099abdf8d6d50f248c948b41f8f24899287317e44480cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:215ce8e44dac5e3169361719d0221a445cd243c0e33f2062952e06465b556eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cefc4724fe9acc76c63d7ef1b0291b3b7edad260faa4420c58702fa3b76e60c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4f705b3687fa]
[blob 215ce8e44dac]
[blob 5cefc4724fe9]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019cAsmyohcjQgoWSWM13BDJ",
      "input": {
        "note": "The black brick is visible in the right wrist camera at the bottom-left, roughly 8-9 cm left of the right gripper and at similar forward distance. Moving the right arm above it to line up.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.09,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019cAsmyohcjQgoWSWM13BDJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0223, -0.0269, 0.9995, 0.527, 0.9569, 0.4427, -0.1806, 0.3798, 0.252, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1791 left_yaw=0.0025 left_pitch=-0.0065 left_roll=0.0013 left_gripper=0.9995 right_x=0.2824 right_y=0.0927 right_z=0.1098 right_yaw=0.0706 right_pitch=-0.0687 right_roll=-0.0303 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.3744, 6.8034, 1.7558, -0.0024, -0.0513, -0.0171, -0.0205, -2.9197, 6.1607, 2.044, 0.2369, 0.1294, -0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1102ae312dd4c6465e80f19083e0e80a65a5d3c84fef7d1c9a88ce57c23b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4fc7fd392e5a58b63840b7dac07ceb06ac0e844691a108b0c1ec16b8399bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d443f25805e67f887261ca07b425e82800faca09b58d24dc0b98d8245c2cbc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7e1102ae312d
wire blob 0c4fc7fd392e
wire blob 3d443f25805e
call 2 attempt 0 · /messages · status 200 · 6.653 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]: [-0.0196, 0.7948, 0.6044, -0.3801, -0.0196, -0.0265, 0.9996, -0.0212, 0.7929, 0.6025, -0.3782, -0.0158, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0001 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.8242, -0.0464, 0.1392, -0.0611, -0.4991, -1.4154, 10.1402, 1.9121, -0.0659, 0.0171, -0.3492]",
      "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, 0.7986, 0.6075, -0.3859, -0.0223, -0.0269, 0.9995, 0.527, 0.9569, 0.4427, -0.1806, 0.3798, 0.252, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1791 left_yaw=0.0025 left_pitch=-0.0065 left_roll=0.0013 left_gripper=0.9995 right_x=0.2824 right_y=0.0927 right_z=0.1098 right_yaw=0.0706 right_pitch=-0.0687 right_roll=-0.0303 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.3744, 6.8034, 1.7558, -0.0024, -0.0513, -0.0171, -0.0205, -2.9197, 6.1607, 2.044, 0.2369, 0.1294, -0.3443]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1102ae312dd4c6465e80f19083e0e80a65a5d3c84fef7d1c9a88ce57c23b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4fc7fd392e5a58b63840b7dac07ceb06ac0e844691a108b0c1ec16b8399bcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d443f25805e67f887261ca07b425e82800faca09b58d24dc0b98d8245c2cbc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7e1102ae312d]
[blob 0c4fc7fd392e]
[blob 3d443f25805e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TuzrDCiKwrLinPjyT1CTfa",
      "input": {
        "note": "The brick is under the right gripper in the wrist view, long axis radial and about 3 cm left of the jaw column. Shifting slightly left and descending to just above it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.275,
          "right_y": 0.12,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TuzrDCiKwrLinPjyT1CTfa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8017, 0.6075, -0.3882, -0.0227, -0.0269, 0.9995, 0.6754, 1.2797, 0.2615, 0.2142, 0.4679, 0.3443, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0118 left_roll=0.0016 left_gripper=0.9995 right_x=0.2676 right_y=0.1169 right_z=0.024 right_yaw=0.0937 right_pitch=-0.1311 right_roll=-0.0642 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -1.0872, 7.1453, 1.7216, -0.0317, -0.0513, -0.0073, 0.253, -3.0701, 4.1504, 1.0672, 0.3297, 0.0415, -0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aac03acd81a22b0fcfb313881b20de5605d4b42ecd01b8530ff9663e530e8e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18b9bdd05620cafadc481a6f1f887cb8ce1577d01cb1f4eb1af613b28ba9f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8df4e39dc69bca96acffa56bc249eea1fca73876ddfd5f668b0560c5ebaf96c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob aac03acd81a2
wire blob a18b9bdd0562
wire blob 8df4e39dc69b
call 3 attempt 0 · /messages · status 200 · 6.237 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]: [-0.0196, 0.7948, 0.6044, -0.3801, -0.0196, -0.0265, 0.9996, -0.0212, 0.7929, 0.6025, -0.3782, -0.0158, -0.02, 0.9968]\nstate[eef_state]: left_x=0.2949 left_y=0.0013 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2948 right_y=0.0001 right_z=0.18 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9968\nstate[joint_eff]: [-0.3761, -1.5795, 10.1265, 1.8242, -0.0464, 0.1392, -0.0611, -0.4991, -1.4154, 10.1402, 1.9121, -0.0659, 0.0171, -0.3492]",
      "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, 0.7986, 0.6075, -0.3859, -0.0223, -0.0269, 0.9995, 0.527, 0.9569, 0.4427, -0.1806, 0.3798, 0.252, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1791 left_yaw=0.0025 left_pitch=-0.0065 left_roll=0.0013 left_gripper=0.9995 right_x=0.2824 right_y=0.0927 right_z=0.1098 right_yaw=0.0706 right_pitch=-0.0687 right_roll=-0.0303 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.3744, 6.8034, 1.7558, -0.0024, -0.0513, -0.0171, -0.0205, -2.9197, 6.1607, 2.044, 0.2369, 0.1294, -0.3443]",
      "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, 0.8017, 0.6075, -0.3882, -0.0227, -0.0269, 0.9995, 0.6754, 1.2797, 0.2615, 0.2142, 0.4679, 0.3443, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0118 left_roll=0.0016 left_gripper=0.9995 right_x=0.2676 right_y=0.1169 right_z=0.024 right_yaw=0.0937 right_pitch=-0.1311 right_roll=-0.0642 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -1.0872, 7.1453, 1.7216, -0.0317, -0.0513, -0.0073, 0.253, -3.0701, 4.1504, 1.0672, 0.3297, 0.0415, -0.3443]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aac03acd81a22b0fcfb313881b20de5605d4b42ecd01b8530ff9663e530e8e47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18b9bdd05620cafadc481a6f1f887cb8ce1577d01cb1f4eb1af613b28ba9f9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df4e39dc69bca96acffa56bc249eea1fca73876ddfd5f668b0560c5ebaf96c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob aac03acd81a2]
[blob a18b9bdd0562]
[blob 8df4e39dc69b]
{
  "content": [
    {
      "signature": "CAQSmggKEAgRGAI4AUIIdGhpbmtpbmcSDPkzEx7jYg3zoEaVgRoMDcKntK1sL9Uzfx18IjDhQNXpD9VrmFodewas7LFxxhoLITjG9chJm+zd+K6mcIgdgXBGitvQEAG5LmrC3k0qtweNmv9sY50pPWXmUnM5TOImDYVHLRtleRy4lBNBlBYUE6qq+IRpMJXPYQF5OPEmZ3E4YHIERNDhn3jz+0IghRle8rksAzOttYC7rgcwaq5+jOCenYNlVwDoHqOt9uMGKD+dWSRRuzX3bkXVluZbzo/IPwaSuyfjccnxKnPHNgu9IqwUTg4O2NBi/iutlP3PwX5NeGfAMxWuBOmFZWzPpPfbZmM6AYEw6jJbMN3z6a20qSW4zRP89pqlf5fS8MvSG/GVhGVILy+5B9vPAR8432W/lTNCAEQC0/51YvleMHR+z5dC/nwReazNpHMWNOol6YDnqek103TNVD98mCL3S/rKjgbYUAhuNUYjzrVaJADTfZT+/ucwOnQO0mkuY5LdvtISSrkfd8tcTkZXsookM54J1vQm88E1EiB3KpSigVtnPHbdGE9YAeiSWhIFZb85sUKAia6MXXh8kc2eZR37nqd6DaNsUvzzDGPIRNrBU/yn2976Smfa2gcXiQbjke4wA1tcnvzXG/cKi2QojI7bu/I8rnLfGqrA2lcNiEorlCO/f6cvO/bFPSW9uPcOiwmw6YUsJ6bWVSw5C2SoDPZ/gf+a7CZ5XatyK3AO6va3S+t1dwC/xj8VPfouJv0kzIsIyqklXZKwtcPQVuIanWxxiyvHCs4amTHuKRtsw5NPGVzMnEuQpXObCy2IcKL0Ksb8rEo/LmZgfY34FOUxZXXegdXCk7rJh/SIV60sqM9h77GnRfMx89ffbUiY0edtj9oY90Rke4VIENJx34p+M70wIHoTI0+NRuQag/JqQ0r8evkmS97BqVR43/IlOV+JwgS80jzJ58WJxVcRiUyAXTHjYUZ8lgOWwc27SGEWExIQFSs+98Nof1azT7DVbIl2WvjAelU8+VMGifU9KbHUmKDYWerTW2wYjAbakAf2nK4L03lujGhQSDICXwa89S17zxSY3D9PBFJ4rAevrc+1VtdrlOhoy72tjid3Xd+ggg5/acCyMOhp7GJmcltx4tq8fz6fv/1P94D4o0xyEpuTwIeYjFU0Dnss8i87c+fPBoPVJUs+ViFAGBTWxDtPcxP1IXv5POyZsofFY1aD+NOvV62HqguAdCp1rX+yWVVejWshZH+jlR0a0iuTDTsALEkyQzVX258Wd/BFOOCof2uPVTPie2PVRNGfagbpNm0n2tup5VESYzORhZ6Vmjc5RvCRrvdYQJwfdzfzPCO9IY6w9eJRnYQlqV6RsO4gd07bsHirl8Yz78XuYFOMUfUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MJrwEyDCq5VLfXYkbpAZyR",
      "input": {
        "note": "The brick sits between the open jaws in the wrist view, slightly left of centre. Descending to table level with a small leftward shift before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.27,
          "right_y": 0.127,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01MJrwEyDCq5VLfXYkbpAZyR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8024, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.701, 1.4017, 0.2543, 0.3935, 0.4938, 0.3698, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1773 left_yaw=0.0028 left_pitch=-0.0137 left_roll=0.0016 left_gripper=0.9995 right_x=0.2775 right_y=0.1293 right_z=0.0192 right_yaw=0.0884 right_pitch=-0.0789 right_roll=-0.031 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.7118, -0.0513, -0.0562, -0.0122, 0.3487, -2.6325, 3.1111, -0.0708, -0.0806, -0.3297, -0.3492]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a2e709d35050bb4dcf4586e669061ada89603c5234e21cd28d3c141f75ed0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279b24fbddbb5733c270d073f80dd35b0c45d8c3983dad18013ee155a246db23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:050dae67598cae1ea9c2e28f9fcd4b05810c2df37f0b42cee54adc875f6d1031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 10a2e709d350
wire blob 279b24fbddbb
wire blob 050dae67598c
call 4 attempt 0 · /messages · status 200 · 13.07 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, 0.7986, 0.6075, -0.3859, -0.0223, -0.0269, 0.9995, 0.527, 0.9569, 0.4427, -0.1806, 0.3798, 0.252, 0.9968]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1791 left_yaw=0.0025 left_pitch=-0.0065 left_roll=0.0013 left_gripper=0.9995 right_x=0.2824 right_y=0.0927 right_z=0.1098 right_yaw=0.0706 right_pitch=-0.0687 right_roll=-0.0303 right_gripper=0.9968\nstate[joint_eff]: [-0.0205, -1.3744, 6.8034, 1.7558, -0.0024, -0.0513, -0.0171, -0.0205, -2.9197, 6.1607, 2.044, 0.2369, 0.1294, -0.3443]",
      "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, 0.8017, 0.6075, -0.3882, -0.0227, -0.0269, 0.9995, 0.6754, 1.2797, 0.2615, 0.2142, 0.4679, 0.3443, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0118 left_roll=0.0016 left_gripper=0.9995 right_x=0.2676 right_y=0.1169 right_z=0.024 right_yaw=0.0937 right_pitch=-0.1311 right_roll=-0.0642 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -1.0872, 7.1453, 1.7216, -0.0317, -0.0513, -0.0073, 0.253, -3.0701, 4.1504, 1.0672, 0.3297, 0.0415, -0.3443]\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, 0.8024, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.701, 1.4017, 0.2543, 0.3935, 0.4938, 0.3698, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1773 left_yaw=0.0028 left_pitch=-0.0137 left_roll=0.0016 left_gripper=0.9995 right_x=0.2775 right_y=0.1293 right_z=0.0192 right_yaw=0.0884 right_pitch=-0.0789 right_roll=-0.031 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.7118, -0.0513, -0.0562, -0.0122, 0.3487, -2.6325, 3.1111, -0.0708, -0.0806, -0.3297, -0.3492]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a2e709d35050bb4dcf4586e669061ada89603c5234e21cd28d3c141f75ed0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:279b24fbddbb5733c270d073f80dd35b0c45d8c3983dad18013ee155a246db23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:050dae67598cae1ea9c2e28f9fcd4b05810c2df37f0b42cee54adc875f6d1031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 10a2e709d350]
[blob 279b24fbddbb]
[blob 050dae67598c]
{
  "content": [
    {
      "signature": "CAQSnwgKEAgRGAI4AUIIdGhpbmtpbmcSDCaDnso1NN71U5D20hoMvGLWoQcB7tCtyx74IjCPTop55AM21Oz9N6kzZcI0h4/r/4NkWB29XlurEKsN+zRN8J665nTp9HHqJrbKZzEqvAdkpI6YbGLXxFmQ9HFhk/FPedAzK4S0kJy1Aeq6xkKXqFX3OvZCPTZ7VAA/29MufKoiUcUZzrPptc40x6eKBg20pDty854GSgONJ8CMAm4LbxNepDvV2lz9fGYKc5s3AV1lLzqzKSd0vWn9WibcD9Si/TRqp/3ez3hwLq37RnK0aGX9dcknwtBz0xi3iz1dcezWOePqCLf2D9ZCdLuV13IPJbjzXUbSm1EBmOQ+JnHjVHEME87XAhDierjcqBQ32UckJLsIi7uI8LiH/FYK4Zer+loDr8V686R2YD+UnGxMjaxlmJFrt8lTzZsMi2rrFm+u3wgkx7DMSIMGFKtbi4zaTbH12OBocrgdGXvx+5YUgXkg7RK8qS2CmFxLZ6lhF6F7mqG34/nYx4YVu0d9tcr33kpV+X6vQjpa9D7V0YtQ0kXCf3r/tqV+sPl6YLQeRZ9SQr8fiUW/CZcS5tHFryXcUDwJZQrWBgB42yOwVq3u9AQ5hBq9FXi2XKTeMHGYzoF12UdyGnWjdrr9WlbaAZEIHBGZvkcnx5IuUofFzWtoyowpgK970j3YzDgvvBtDVR4e1tnVaqN+NaVKVSyeRiHw0nXqPxHx0c/HHbRS12CxFbERjp7mCcidy7bOsmYV078DQWBz+33T2sPuVYK86kmm70qk8qUPZV/Awe9eaY9VfD4+5WKaoLKfa8C7CMuF6lj6L1KXDff5uNiV/v9bmFUQUsqDQ91qO8NAGbSP31ziI9D8uPd6PChUs/yOdWWRvM72GzLnSPbmck7ck8+F6vntTi5sUbIzvtm0AKFwtDMNckykybH8SzMilqANP+KBBCVbUR7VQgiwguOtVPxLqFNH6xdO9lNrBJOHZsrAKp2Uh0M6ux2Z/6ql36F9bU4aKtN52Af2B7VBOjmA7x/u9nr4r0ytB89Y03SGLXl4yRAjyHROUpVuG85VGMoRKr3zQehPtKeI95PF2a5MFxiWThzeOpmC7x9K2upA7G5D6lJ5h18aVKknAeMHirKBZ6omWF55xakwgWlLV2T3r5cWtiOCIIWesxs33Fmx0r4NREymOdLUMcd2Y1cYonQcgdIvrfej6CCxF70zoEGZ1+JBdoXEyo9PAF3t20W5Eu+3OiMLgMQCOC5KuaJxqEdiw7O33fAD5w0Q+u+3O7DwjJq0+rskLyZ1KHKOU1zShPiYC2OvWgu1JJYkpj98pMcDuGZz7AYlgZNfXllgEFcsGemyyCq2yyZQcmfp1W99mknhKXaJgjSMwE9STPxsqB9fshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RR3UPFFFBuBVznsL9pcR7C",
      "input": {
        "note": "The brick is between the jaws at about 2 cm height; closing the right gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RR3UPFFFBuBVznsL9pcR7C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.3897, -0.0227, -0.0269, 0.9995, 0.704, 1.4097, 0.2569, 0.4076, 0.4896, 0.3668, 0.009]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.1765 left_yaw=0.0035 left_pitch=-0.0167 left_roll=0.0017 left_gripper=0.9995 right_x=0.2787 right_y=0.1324 right_z=0.0199 right_yaw=0.0967 right_pitch=-0.0734 right_roll=-0.0261 right_gripper=0.009\nstate[joint_eff]: [-0.3761, -1.5385, 7.0496, 1.6972, -0.0464, -0.022, -0.0122, -0.3077, -4.547, 4.6154, 1.5116, 0.2027, 0.0317, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ae39edc15449bf24d8a965c4aa4c0f63bf9cdb64039ed0a41a8b95d9497950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f2f9c2479fc3f44386caa84a83eea493c6d718c2706383ac933020969bec0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58117460c518711f9c04391388df8c6f45fd59013bfb0235836b16f11f24aed1",
        "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 · 7.185 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, 0.8017, 0.6075, -0.3882, -0.0227, -0.0269, 0.9995, 0.6754, 1.2797, 0.2615, 0.2142, 0.4679, 0.3443, 0.9968]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0118 left_roll=0.0016 left_gripper=0.9995 right_x=0.2676 right_y=0.1169 right_z=0.024 right_yaw=0.0937 right_pitch=-0.1311 right_roll=-0.0642 right_gripper=0.9968\nstate[joint_eff]: [0.0342, -1.0872, 7.1453, 1.7216, -0.0317, -0.0513, -0.0073, 0.253, -3.0701, 4.1504, 1.0672, 0.3297, 0.0415, -0.3443]\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, 0.8024, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.701, 1.4017, 0.2543, 0.3935, 0.4938, 0.3698, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1773 left_yaw=0.0028 left_pitch=-0.0137 left_roll=0.0016 left_gripper=0.9995 right_x=0.2775 right_y=0.1293 right_z=0.0192 right_yaw=0.0884 right_pitch=-0.0789 right_roll=-0.031 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.7118, -0.0513, -0.0562, -0.0122, 0.3487, -2.6325, 3.1111, -0.0708, -0.0806, -0.3297, -0.3492]\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]: [-0.0189, 0.8051, 0.6075, -0.3897, -0.0227, -0.0269, 0.9995, 0.704, 1.4097, 0.2569, 0.4076, 0.4896, 0.3668, 0.009]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.1765 left_yaw=0.0035 left_pitch=-0.0167 left_roll=0.0017 left_gripper=0.9995 right_x=0.2787 right_y=0.1324 right_z=0.0199 right_yaw=0.0967 right_pitch=-0.0734 right_roll=-0.0261 right_gripper=0.009\nstate[joint_eff]: [-0.3761, -1.5385, 7.0496, 1.6972, -0.0464, -0.022, -0.0122, -0.3077, -4.547, 4.6154, 1.5116, 0.2027, 0.0317, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15ae39edc15449bf24d8a965c4aa4c0f63bf9cdb64039ed0a41a8b95d9497950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12f2f9c2479fc3f44386caa84a83eea493c6d718c2706383ac933020969bec0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58117460c518711f9c04391388df8c6f45fd59013bfb0235836b16f11f24aed1",
        "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_01VYQXLiRVGp7TEAcmEK7BBP",
      "input": {
        "note": "The close was empty (gripper 0.009); the brick appears left of and beyond the closed jaws in the wrist view. Opening, lifting slightly and advancing ~3 cm forward and 2 cm left to re-center over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "right_y": 0.15,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VYQXLiRVGp7TEAcmEK7BBP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.4046, -0.0231, -0.0269, 0.9995, 0.6773, 1.3979, 0.4274, 0.2024, 0.4633, 0.3393, 0.9954]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1735 left_yaw=0.0039 left_pitch=-0.0316 left_roll=0.0023 left_gripper=0.9995 right_x=0.3018 right_y=0.146 right_z=0.0455 right_yaw=0.1042 right_pitch=-0.103 right_roll=-0.0457 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.8291, -0.0757, -0.0464, -0.0122, -0.7179, -5.8051, 8.212, 1.4383, 0.1685, 0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3c3fc7d1f245f7fa53ef1da6199ee95bd593bdd8bab5e11e28b7129130cd696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8b68417806b72ea68188eabe6950cfee22d50f76c614e2935fbff5debec088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb04adc64b9a8d7996a88a088d5a4c7dc6cdc0feb86a0bad74399a1d7c3e6f54",
        "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 · 6.281 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, 0.8024, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.701, 1.4017, 0.2543, 0.3935, 0.4938, 0.3698, 0.9968]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1773 left_yaw=0.0028 left_pitch=-0.0137 left_roll=0.0016 left_gripper=0.9995 right_x=0.2775 right_y=0.1293 right_z=0.0192 right_yaw=0.0884 right_pitch=-0.0789 right_roll=-0.031 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.3333, 7.0085, 1.7118, -0.0513, -0.0562, -0.0122, 0.3487, -2.6325, 3.1111, -0.0708, -0.0806, -0.3297, -0.3492]\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]: [-0.0189, 0.8051, 0.6075, -0.3897, -0.0227, -0.0269, 0.9995, 0.704, 1.4097, 0.2569, 0.4076, 0.4896, 0.3668, 0.009]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.1765 left_yaw=0.0035 left_pitch=-0.0167 left_roll=0.0017 left_gripper=0.9995 right_x=0.2787 right_y=0.1324 right_z=0.0199 right_yaw=0.0967 right_pitch=-0.0734 right_roll=-0.0261 right_gripper=0.009\nstate[joint_eff]: [-0.3761, -1.5385, 7.0496, 1.6972, -0.0464, -0.022, -0.0122, -0.3077, -4.547, 4.6154, 1.5116, 0.2027, 0.0317, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.4046, -0.0231, -0.0269, 0.9995, 0.6773, 1.3979, 0.4274, 0.2024, 0.4633, 0.3393, 0.9954]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1735 left_yaw=0.0039 left_pitch=-0.0316 left_roll=0.0023 left_gripper=0.9995 right_x=0.3018 right_y=0.146 right_z=0.0455 right_yaw=0.1042 right_pitch=-0.103 right_roll=-0.0457 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.8291, -0.0757, -0.0464, -0.0122, -0.7179, -5.8051, 8.212, 1.4383, 0.1685, 0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3c3fc7d1f245f7fa53ef1da6199ee95bd593bdd8bab5e11e28b7129130cd696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8b68417806b72ea68188eabe6950cfee22d50f76c614e2935fbff5debec088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb04adc64b9a8d7996a88a088d5a4c7dc6cdc0feb86a0bad74399a1d7c3e6f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAkKEAgRGAI4AUIIdGhpbmtpbmcSDB5suK6t5LNl1Se0MhoMF5m1dJllfq48fazLIjBnu40cugShX5D6hAxkdmUoYDmihaHeOoadS7sHe5CcYvNoBs06TAOhulMtEIwj7/sq1QhJwYeC4wDo9f18sEEx2DYHgt2+4RSIasQYxXkJl04XTtfeFF6cTWOU8AtVtjnMOsRuD47YxZSX5CWmazzMA1Hq7oZJjsCKpjcsrD4PJUdn0Z2FgxaXyjGtj4tH+rbe6QJ6dzXpQZY2/P5qNNYCkO18ulpjQTFjYrRPALhgOsc/wUNlgssgAtxhn+6LDVZpx3qP0FUfMgdT+sSJgEo5UqUaV/z0KoGsG8hUfigfbgZ6x3jqZe9j4bkqp9BpmRPRLd5l7EKT+h6Jq5IGr84CD3RDtji04XxMNtKhqdy8YcEXaDUI9OPGlx7v1MdbT2A1L2sJPOQRg285hf1JcnDdT0OlYLXpNGm5L8bkG5lrl3mmbQDmojtt1g9IpdSTRXZ3FGRg+ZnCHiVtSNgLYRtPP6aRcEDyCGofVie0VOfoxux4tVdQbDB/lLHCBF4yYPNUl1/NsCOMEUu602oiOuAVbd/wg/jjB0mSPiuEkrEidmQatsMWKRZQG+Tk7KUZhf/4QhxVhrr6pHG4yBILNS9XB0496VMKYUoEgpys/+4TW1zDKJa59W3aQDLs+pNdA2+ahi2CJ0AJh3jRNZ+WBv75Z+xhvRKrLUZWsGB9IRqI1yHjDiMOM5QzY7fopwzMnMsioeGO7WwP5BJ8mRxrYHX7oj+kVi7SE3pDOjEA7cZkDAOIys019nfHwpreqsnjOtVvNatxd1mn4f/Wd0eiYXphlEMkAJnKkFdbktAYkVrIELh/iA1ceb3HQl0pfrYKoj8kpMcm2CLyHpuVjaOvQ2kpTgf8OVRcIm7tjEM3qTNagFg2mu0ZBf0yONwwGV1Ull4sdNR84/Ch4m1XOK63JJH7ddPABFG/Evpg5EHZ22yQUMG7/nLSn9KVc9fwByFkiNBVj96vvdI+0NyEnXtxEBx+6VKel6iWXB0eHB5QBkyL2wFkTPeeZ8FPKvclMOfEG9pKQywsnTfKdOvBm/gSGfis8S3jtekbd5EUfgYpGZsqz1CEPWgUeLd1IhjZihP8gCRg49yc913l1xroajikO7zdZiFd5r/W2HvS47eQY1ZfDv6ItXp90louTG4Jvq52Gjpk0/DGuyR8mtapCQ3r4/yJ/bkVlMSuLloOHYfGsHH/sOJtdtBO8t1zsnnJI2G/SogkXv/Pw+gqKRfHacUFN5EAMRuWlKW8aNRtm5eIJBJe37fMYvfFktiKn3Fhvj4gu05jKGWC3IxrX+vDrZ4uIr5nkVrTumYw04g0z6If8+TVLgRBEkqQf5l04WPOdODlG1G1cdnZpRfyi60vR5YkQb+z9bzrq14axvZUvmCk5yKD5O2ElJKaBeEFS+W67puWKNODxA9+k2+73sd6GdCzhSX4a8XBkZrTw/SeVuwQuU0j7DCerezh6eihsO1VRdlKUS0mzNxI//M6ErbKflBhAnVEhs8JsRNPqfxCxvef4aKyAJfV8A3D8ly+DtF0FQDwbJPGACeRugGMRRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TfTo3AxBdr2zdD6vhJ2RZA",
      "input": {
        "note": "The brick now sits centred between the open jaws in the right wrist view. Descending to table level to grasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.31,
          "right_y": 0.15,
          "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_01TfTo3AxBdr2zdD6vhJ2RZA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8082, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.672, 1.6516, 0.3992, 0.5678, 0.4713, 0.347, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=0.0021 left_z=0.1719 left_yaw=0.0036 left_pitch=-0.0385 left_roll=0.0022 left_gripper=0.9995 right_x=0.3226 right_y=0.1587 right_z=0.0176 right_yaw=0.0914 right_pitch=-0.03 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.388, 7.0085, 1.7363, -0.0269, -0.0122, -0.0122, -0.6222, -3.5761, 2.1949, -0.0513, -0.359, -0.1099, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feeb4b557cdf65d6ce8a034d4c9a3e18c8e99dc42653fd3e7dfcec1fb55afbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890b7cc03292e6daf41b3a9a81a89b471b0fe63b9b18b4b7b8c971119fbcddc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:803da3ee385d661d688fb53b143ee14fcc2af6135f7c993614eaf7e259c735f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 15.88 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]: [-0.0189, 0.8051, 0.6075, -0.3897, -0.0227, -0.0269, 0.9995, 0.704, 1.4097, 0.2569, 0.4076, 0.4896, 0.3668, 0.009]\nstate[eef_state]: left_x=0.2946 left_y=0.002 left_z=0.1765 left_yaw=0.0035 left_pitch=-0.0167 left_roll=0.0017 left_gripper=0.9995 right_x=0.2787 right_y=0.1324 right_z=0.0199 right_yaw=0.0967 right_pitch=-0.0734 right_roll=-0.0261 right_gripper=0.009\nstate[joint_eff]: [-0.3761, -1.5385, 7.0496, 1.6972, -0.0464, -0.022, -0.0122, -0.3077, -4.547, 4.6154, 1.5116, 0.2027, 0.0317, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8051, 0.6075, -0.4046, -0.0231, -0.0269, 0.9995, 0.6773, 1.3979, 0.4274, 0.2024, 0.4633, 0.3393, 0.9954]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1735 left_yaw=0.0039 left_pitch=-0.0316 left_roll=0.0023 left_gripper=0.9995 right_x=0.3018 right_y=0.146 right_z=0.0455 right_yaw=0.1042 right_pitch=-0.103 right_roll=-0.0457 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.8291, -0.0757, -0.0464, -0.0122, -0.7179, -5.8051, 8.212, 1.4383, 0.1685, 0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8082, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.672, 1.6516, 0.3992, 0.5678, 0.4713, 0.347, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=0.0021 left_z=0.1719 left_yaw=0.0036 left_pitch=-0.0385 left_roll=0.0022 left_gripper=0.9995 right_x=0.3226 right_y=0.1587 right_z=0.0176 right_yaw=0.0914 right_pitch=-0.03 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.388, 7.0085, 1.7363, -0.0269, -0.0122, -0.0122, -0.6222, -3.5761, 2.1949, -0.0513, -0.359, -0.1099, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feeb4b557cdf65d6ce8a034d4c9a3e18c8e99dc42653fd3e7dfcec1fb55afbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:890b7cc03292e6daf41b3a9a81a89b471b0fe63b9b18b4b7b8c971119fbcddc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:803da3ee385d661d688fb53b143ee14fcc2af6135f7c993614eaf7e259c735f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAgKEAgRGAI4AUIIdGhpbmtpbmcSDOt2ZwJ4SFb4pXXEXRoMRfE+Vzt95/dvsKPGIjBCDSVNEONhwpvdWKUm78JrruRLITQ1WElxJMZ7MHcYzjSSd3Ywf1VzZTev/y0SrWoqpQfwyZYypkvCoLbqbOLS4GbuTeP/XHRuw86GPbU3syO+N9RSR86hTSdwYofXZ+xErxKClPnU7pzCtCrGj2tHVoHVG7QdbIGWfFhFt2fCzd5B/tZyeKplWsRJn9C1Ksgs1dFmjWgOBr1crTPlrUnIWJPKumc5LcMs9pLhk0T4wBlzxL8JgXKKFuCiuIxme8cuvYsBE2AfsMm5yDsz9RJx4e+DY/zyUfGVs4xRNnvUNtguigUd/cSXFaT/07uz4o8Rnjs7akrhPYuUsqUlG58JCgeZGvZOuj1DZ4+CXvrJ9tHSj0wAgoV4xhwe+TRn7HdvfiZbzguvnPFgbP09oKQ9/GAD9QUmPi7zggezHuwSlXxgH5JcNbVUHHIUlgW93qj9qYqUHmG2DStPGHYiiuw6tebqUdl5dGfwLZ3Sb1es00Fx9A9S7MkksqXpx7lw5SW/stTVuCR3RSuj+A2g5xdnrwTq2qCPocRl/7lqZTdFH1/Kg7MbnLJfDgJOF+bjVGPoJ4DF8U9xVLYCqnYO6cpPv8og90VzafKHLWN9elpCe/cMRdGYx4psX04KEeF7xHUfKM1mmWpm1+dvK3maU35bwcabBc7tElmoq46Qvh+S9FJplMMgiSqeOtBQGxQAfgshJ281Qi3/EbfntfRZXJR29ksRLo4ZqsZiBFMQq+agLAk2ST9Dhid/Yfsb6Hpw3F4b/KgUEVunGrO5d/XPMIQB0IFmcsYjnlaVLH2cWlUfU+1IWlHoeKoQsAQj6yNcHDcroFbmFtrZuKnhYqpdyV05IA95Y/qsbvTHW00IRXXRQQnUy12Bd+wn42uVv1Wz7KAv0JAItiJtyKsR2taKkK2HTmZ4bYzh27Wp1fejS/PzBwqN4/8rg67mlzy/C2z6btOyS42eWDDIJNkMSF2/Jxyb0xSE3UTgqTtxQAV2nWlM5oFsHMfpyhgRGQkYWNtEukPVhY5yTNE+dvJ1cAaRgpGKjGFIExMiAv9Qxh4XSWqM3010xOa3mylO+nlWJommsh2eyLc8HzT5uKYHz9bw/iGSkLQasxnF9aG/zEDpGlEsSIBonlwuzuRjWlrSuOY3V/5CmeEmJ0LMxGM9bvIvRZlqteQZMgOf9MWnGXzSowi213pVGO6kuuGLmw8D3cWv4PVUf+adBO6bIBJRjYAokmL40C5Xbrx0RZKMxRzbFTeBB9EKSOE+r0gEGG5nqt0+oNoTfr+5d30BEsYaZrsV4coWDu+dD+YX7igYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0145x3NEkdRCYVgxANy4y3F3",
      "input": {
        "note": "Descent stopped at about 2 cm with the brick filling the space between the jaws; closing the gripper to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0145x3NEkdRCYVgxANy4y3F3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8101, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.672, 1.6455, 0.4004, 0.5797, 0.4633, 0.3447, 0.0087]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1714 left_yaw=0.0036 left_pitch=-0.04 left_roll=0.0022 left_gripper=0.9995 right_x=0.3243 right_y=0.1617 right_z=0.0217 right_yaw=0.0993 right_pitch=-0.0167 right_roll=0.0144 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.4838, 7.3504, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.0239, 5.135, 1.1697, 0.2125, 0.0708, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bcfd00e89bf552fdbe6c174b30294204f74840375089b6dc39d994dfc7fa0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0513fa517c00d724ea6b6354c0554de1de0c1c02ee1b36575da896e89c325c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91fe4ef314d6da816f40b916fc1fcf6f93006d9900a271f8d1eeec35c669420f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 11.01 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]: [-0.0189, 0.8051, 0.6075, -0.4046, -0.0231, -0.0269, 0.9995, 0.6773, 1.3979, 0.4274, 0.2024, 0.4633, 0.3393, 0.9954]\nstate[eef_state]: left_x=0.2926 left_y=0.0021 left_z=0.1735 left_yaw=0.0039 left_pitch=-0.0316 left_roll=0.0023 left_gripper=0.9995 right_x=0.3018 right_y=0.146 right_z=0.0455 right_yaw=0.1042 right_pitch=-0.103 right_roll=-0.0457 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.2923, 7.0222, 1.8291, -0.0757, -0.0464, -0.0122, -0.7179, -5.8051, 8.212, 1.4383, 0.1685, 0.0464, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0189, 0.8082, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.672, 1.6516, 0.3992, 0.5678, 0.4713, 0.347, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=0.0021 left_z=0.1719 left_yaw=0.0036 left_pitch=-0.0385 left_roll=0.0022 left_gripper=0.9995 right_x=0.3226 right_y=0.1587 right_z=0.0176 right_yaw=0.0914 right_pitch=-0.03 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.388, 7.0085, 1.7363, -0.0269, -0.0122, -0.0122, -0.6222, -3.5761, 2.1949, -0.0513, -0.359, -0.1099, -0.3736]",
      "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]: [-0.0189, 0.8101, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.672, 1.6455, 0.4004, 0.5797, 0.4633, 0.3447, 0.0087]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1714 left_yaw=0.0036 left_pitch=-0.04 left_roll=0.0022 left_gripper=0.9995 right_x=0.3243 right_y=0.1617 right_z=0.0217 right_yaw=0.0993 right_pitch=-0.0167 right_roll=0.0144 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.4838, 7.3504, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.0239, 5.135, 1.1697, 0.2125, 0.0708, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bcfd00e89bf552fdbe6c174b30294204f74840375089b6dc39d994dfc7fa0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0513fa517c00d724ea6b6354c0554de1de0c1c02ee1b36575da896e89c325c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91fe4ef314d6da816f40b916fc1fcf6f93006d9900a271f8d1eeec35c669420f",
        "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_015bNBhnrB6zdCFvUyH6vWxm",
      "input": {
        "note": "Second empty close: the descent stops at ~2 cm, so the jaws are landing on top of the brick, whose long diagonal spans wider than the jaw opening. Lifting, opening and yawing the tool clockwise to align the jaws across the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.16,
          "right_yaw": -0.6,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015bNBhnrB6zdCFvUyH6vWxm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4091, -0.0227, -0.0269, 0.9995, 0.8734, 1.7882, 1.01, -0.4946, 0.9207, 1.2251, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1708 left_yaw=0.0036 left_pitch=-0.0427 left_roll=0.0023 left_gripper=0.9995 right_x=0.3269 right_y=0.1768 right_z=0.0715 right_yaw=-0.4929 right_pitch=-0.0487 right_roll=0.0266 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.707, -0.0415, -0.0366, -0.0073, 0.0068, -8.0752, 6.5162, 0.5397, 0.7106, 0.1636, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c39423bd9784c418b315aa2f46607048d8bf38240ae02b644a427112327b528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aead39018aafb0149027bf8d353665381d8997c4949ad4615ad0dee7e623622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6183e884d6b4f0e89efb161c622669747b3cd4eabf52e3f8688132df8f68535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.779 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]: [-0.0189, 0.8082, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.672, 1.6516, 0.3992, 0.5678, 0.4713, 0.347, 0.9966]\nstate[eef_state]: left_x=0.2922 left_y=0.0021 left_z=0.1719 left_yaw=0.0036 left_pitch=-0.0385 left_roll=0.0022 left_gripper=0.9995 right_x=0.3226 right_y=0.1587 right_z=0.0176 right_yaw=0.0914 right_pitch=-0.03 right_roll=0.0017 right_gripper=0.9966\nstate[joint_eff]: [-0.3214, -1.388, 7.0085, 1.7363, -0.0269, -0.0122, -0.0122, -0.6222, -3.5761, 2.1949, -0.0513, -0.359, -0.1099, -0.3736]",
      "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]: [-0.0189, 0.8101, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.672, 1.6455, 0.4004, 0.5797, 0.4633, 0.3447, 0.0087]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1714 left_yaw=0.0036 left_pitch=-0.04 left_roll=0.0022 left_gripper=0.9995 right_x=0.3243 right_y=0.1617 right_z=0.0217 right_yaw=0.0993 right_pitch=-0.0167 right_roll=0.0144 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.4838, 7.3504, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.0239, 5.135, 1.1697, 0.2125, 0.0708, 0.7253]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4091, -0.0227, -0.0269, 0.9995, 0.8734, 1.7882, 1.01, -0.4946, 0.9207, 1.2251, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1708 left_yaw=0.0036 left_pitch=-0.0427 left_roll=0.0023 left_gripper=0.9995 right_x=0.3269 right_y=0.1768 right_z=0.0715 right_yaw=-0.4929 right_pitch=-0.0487 right_roll=0.0266 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.707, -0.0415, -0.0366, -0.0073, 0.0068, -8.0752, 6.5162, 0.5397, 0.7106, 0.1636, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c39423bd9784c418b315aa2f46607048d8bf38240ae02b644a427112327b528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5aead39018aafb0149027bf8d353665381d8997c4949ad4615ad0dee7e623622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6183e884d6b4f0e89efb161c622669747b3cd4eabf52e3f8688132df8f68535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5QsKEAgRGAI4AUIIdGhpbmtpbmcSDDaibJRKmkbE+dWAdxoM8ISWu889+OtgCeHQIjBu2LN5n1HLvSxz05Qjq8VV0g7y8bSOVplpPecFIKFYbBgwvsSzbpGNuK7664ulHzgqggvcSwndMLErp1BETRsZV9RxD0iyVuu5NHkaK1VbNQpWrYX/U8g0Tj6/+6CawH8WA4LQvXrx/Edx6qjzYJkY8tco6zBegyRI+4tO2GSbiO60QG3UkQfJV29Ehggkxt43U2HQlTFb4J6jD88tF4Sfgu58/nJD2ygiteDcpUhaPnLtLxSutLxwzDsC/9FkGf7HvlZsRJ4cjmc3nBMuhBqDBYkylo6rFXglmPNwE06VKlLMWplRLev9q8mYlIMbZumX7QkGscj6QMOblKTu/Dtb5v6JMlmE7aJ7SZaqAudSlNZTDURbgv7arYqoqsJWKs6Xu2lrZpeufLZNJmJ7m1bVrxQcrw3k48y1lsxXnziU9PzmiP/9VFvhCnHol2EdQbJZ5PIxCv6STHyAsM9cATxNdEsBKYExash4GdLNAvUJx7thQwBZo8U9903sh/vXKw7JbU94WQu+V1t90y92jbtn8wnA6Sht/GW6R6gUEERidGTCWC6yCA7wpIhxjAJD2pSpq+ltIyDIbk9OXeviTuD3Nek0pYJFl1Fh+9H1FZXmVn922W7P6pHDc4lkrRtxGbz5T5OhII66F+oZhpjWdD7So7ZUAoZEi/fnwQvVCaA8utzFoMKm7HbHK/K6RiM4BWiHHxa0+D8DluH84N0BGHonSS1xpIIKApADlUBv9N/Q/NUwsANxxZxoAqGFExZZyCbASV+xolaqVBWqOdzGIqL4ly5GsfRE/o2SmIEkGdUi89lxpmaJvP8ffT8rOJ9HwxxiwBJVyyEZbdia1geplXZyl5yOvkneDf2Q2kOhxpEnF2j328fDdzw8k0ezQ76saLSbIgPN9TYQWuP5rDvTKFskBbA8xAkFNI0DdS4EEn6FpzZuIj1Brqx1Ckh3mHlPtMra+sn41lGCjKQCv8V9Mp40zaoxTbsHbshkQMhFo4/KAqxXglKwEsHo9p4w0eQ6oKlQnS/godx74hRO4EP+nz0Jq8/cnIza+huKwJRgyIxr8rPX+V24Q40B2omCaZJ3tQoTarklH/qpdN3NhloK38W2elgs+nXD2T2bunW0YeU5r+vOR1LHPwfkv9EbgYR7whswXBDvddj03L0dwpMG/xRDyd5mkAPec7G9HOy5Gl8fx7sGxf1u5CxhRYQWMFN+bJwlW9BZG0v0WBwqW+rLUGJG1B0lVKpz8QxfAVzgBfsqkugi/rgDXGkxMmoun4wP0nW+GOChZt5ZXyxjA2AcgtGg2aDdHuoQiR7eDzUxbjA/w/vXyvn9MnW/G+PYRr2G6J5HO4jR93GkhiLvxZo2FOcwsfqanP5SAMlZg4qleomEc2lczg/Q/RoqIR+ZYmC5bYLtjCrtBZvGhfeUapDCyZnXaD5jdTs58Ee79WAZrJYkdmOxpwY/uGVg/MY/YrRHikKgy1x/lz9BW9TH264SGI5hjxp79cGyEUEb9EyLd58b66XsY0MaLLJ03ZLT7OJ8n3LUkENx8IvR0OoMrOQOnJJhuytjWPUZ2P1tmXBto/aNk+5arlhw+D37/nJJsfsCgXJshb3rcXrvlshAwgtzUW3ruSEeA4qpJIonNTrHS9gbXCgMoKQTxfCtUSqSW545FaB44ckLFp8/vrVsz66GHVnhbx/hAw2o5jv0ugKvTeplgaCjXXvrlMuIvw1D3sCzHpAtmmnr+9RUqSsTuLdOHMAg/FrAj0SjgK6onyQ9xfdW6AVCPLP/ZHZI6w5USDvDCYcpRzpfGiCC5afU6iKQMUY+TRIL5vDP+HKr/E1FyjySS1MJH9CI4j3EjG8JFGnokYmrUx3Qs+o9kcVbNzMDQ1GdKg/CZNULmke949cr3tq6T+cZJYjrA+ODqvY5ae8gRfP7BLpcx0SnI+nJ/oiDl0STrqSMx5MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B9tDmtzg4FvTTbJJrMR621",
      "input": {
        "note": "With the tool yawed, the brick now runs straight along the jaw gap and is slightly right of centre. Shifting ~1.5 cm toward the tool's right and descending to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.32,
          "right_y": 0.163,
          "right_yaw": -0.5,
          "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_01B9tDmtzg4FvTTbJJrMR621",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.9057, 0.857, -0.2546, 0.923, 1.2358, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1709 left_yaw=0.0039 left_pitch=-0.0419 left_roll=0.0025 left_gripper=0.9995 right_x=0.3164 right_y=0.1613 right_z=0.0087 right_yaw=-0.5058 right_pitch=-0.0527 right_roll=0.005 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1419, 7.241, 1.6679, -0.0269, -0.0366, -0.0122, -0.8547, -6.7897, 4.1915, 0.3687, 0.3492, -0.2222, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8c0b7b90b0d91cc9654d5a6e813ca099ce15d3a2c77e6d932c64a56591d097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd480bbd27d72999304afd59c739150c094a6195ad10005201d7df5345b2b8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f48518cb34b1ce2627eb44a9ff07bafecc7e9a633a9f8e4ce473cfaca57b2021",
        "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 · 5.661 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]: [-0.0189, 0.8101, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.672, 1.6455, 0.4004, 0.5797, 0.4633, 0.3447, 0.0087]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1714 left_yaw=0.0036 left_pitch=-0.04 left_roll=0.0022 left_gripper=0.9995 right_x=0.3243 right_y=0.1617 right_z=0.0217 right_yaw=0.0993 right_pitch=-0.0167 right_roll=0.0144 right_gripper=0.0087\nstate[joint_eff]: [-0.212, -1.4838, 7.3504, 1.6874, -0.0708, -0.0513, -0.0122, -0.212, -6.0239, 5.135, 1.1697, 0.2125, 0.0708, 0.7253]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.8116, 0.6075, -0.4091, -0.0227, -0.0269, 0.9995, 0.8734, 1.7882, 1.01, -0.4946, 0.9207, 1.2251, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1708 left_yaw=0.0036 left_pitch=-0.0427 left_roll=0.0023 left_gripper=0.9995 right_x=0.3269 right_y=0.1768 right_z=0.0715 right_yaw=-0.4929 right_pitch=-0.0487 right_roll=0.0266 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.707, -0.0415, -0.0366, -0.0073, 0.0068, -8.0752, 6.5162, 0.5397, 0.7106, 0.1636, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8116, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.9057, 0.857, -0.2546, 0.923, 1.2358, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1709 left_yaw=0.0039 left_pitch=-0.0419 left_roll=0.0025 left_gripper=0.9995 right_x=0.3164 right_y=0.1613 right_z=0.0087 right_yaw=-0.5058 right_pitch=-0.0527 right_roll=0.005 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1419, 7.241, 1.6679, -0.0269, -0.0366, -0.0122, -0.8547, -6.7897, 4.1915, 0.3687, 0.3492, -0.2222, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8c0b7b90b0d91cc9654d5a6e813ca099ce15d3a2c77e6d932c64a56591d097",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd480bbd27d72999304afd59c739150c094a6195ad10005201d7df5345b2b8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f48518cb34b1ce2627eb44a9ff07bafecc7e9a633a9f8e4ce473cfaca57b2021",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Brick is centered between the jaws at z≈0.9 cm. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BBzmCXSd1r7BbxPPT5GVXR",
      "input": {
        "note": "The brick is centred between the open jaws at about 1 cm height with the jaws across its short side. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BBzmCXSd1r7BbxPPT5GVXR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.812, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.8669, 1.9263, 0.8433, -0.234, 0.9077, 1.2346, 0.7467]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1709 left_yaw=0.0036 left_pitch=-0.0419 left_roll=0.0023 left_gripper=0.9995 right_x=0.3134 right_y=0.1596 right_z=-0.0017 right_yaw=-0.5034 right_pitch=-0.0698 right_roll=-0.0065 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.347, 7.0359, 1.7216, -0.0513, -0.0024, -0.0122, 0.0342, -9.9214, 5.7231, 0.5299, 0.5543, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dbcf49c69badae59f84e31fb5f51dff3ba15b9bcd0fe328582ac0a69192587d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0864f79de73654e9d32180815a12df54f715fb6eb3bbaae60e514ca28d1fc1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db4c7666fb38a322146867e67a3dbf7a7704912fdae7c3c887f6bbc9c18dcc4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 14.87 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]: [-0.0189, 0.8116, 0.6075, -0.4091, -0.0227, -0.0269, 0.9995, 0.8734, 1.7882, 1.01, -0.4946, 0.9207, 1.2251, 0.9953]\nstate[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1708 left_yaw=0.0036 left_pitch=-0.0427 left_roll=0.0023 left_gripper=0.9995 right_x=0.3269 right_y=0.1768 right_z=0.0715 right_yaw=-0.4929 right_pitch=-0.0487 right_roll=0.0266 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.707, -0.0415, -0.0366, -0.0073, 0.0068, -8.0752, 6.5162, 0.5397, 0.7106, 0.1636, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.0189, 0.8116, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.9057, 0.857, -0.2546, 0.923, 1.2358, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1709 left_yaw=0.0039 left_pitch=-0.0419 left_roll=0.0025 left_gripper=0.9995 right_x=0.3164 right_y=0.1613 right_z=0.0087 right_yaw=-0.5058 right_pitch=-0.0527 right_roll=0.005 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1419, 7.241, 1.6679, -0.0269, -0.0366, -0.0122, -0.8547, -6.7897, 4.1915, 0.3687, 0.3492, -0.2222, -0.3639]",
      "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]: [-0.0189, 0.812, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.8669, 1.9263, 0.8433, -0.234, 0.9077, 1.2346, 0.7467]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1709 left_yaw=0.0036 left_pitch=-0.0419 left_roll=0.0023 left_gripper=0.9995 right_x=0.3134 right_y=0.1596 right_z=-0.0017 right_yaw=-0.5034 right_pitch=-0.0698 right_roll=-0.0065 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.347, 7.0359, 1.7216, -0.0513, -0.0024, -0.0122, 0.0342, -9.9214, 5.7231, 0.5299, 0.5543, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dbcf49c69badae59f84e31fb5f51dff3ba15b9bcd0fe328582ac0a69192587d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0864f79de73654e9d32180815a12df54f715fb6eb3bbaae60e514ca28d1fc1f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4c7666fb38a322146867e67a3dbf7a7704912fdae7c3c887f6bbc9c18dcc4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgRGAI4AUIIdGhpbmtpbmcSDNFjrCYQ6hJkj5V0choMDq+rhlOGNHrGuDmrIjDKUzYxuGUhy42YrLibqVa3WSxpOIX4ZGZCt01kMaxh5j5xcL6ZWnog37RbAkCKaMQqiAaUWDrgqqY6gRWjVgspkuR9LZXYcsjmRmrjZHGvLWVL/IsNXYT7cbHF5YTfER5RN/NXP4fl0+3BzgtACkZRrIxv2GOh+HVjXEInuFlkhaW89pphN8CHyAIP3pknDQRAlPQa76hX8nztB+zGvCTeaerNR8jy6EG6nnNXQm+FpvEDu0+msh59rNt9TVaWdwMUT6wnAtjEH/6rgC3UcIskBzFwvtidhBgO+4tMe227OkDn+ixwvesO1J8kxnHCYR5XRR1V+bO67DH95w0cfD/qs/2H4s+T5uFLQU1qMFePNhbOv5Q7MhtDcQE6tlb2Fs7a9SAw46ZxOsBZe5GW2LRxKobq8VVEEs217JAWV8xZ5VyczcpzlSlq6sTQ0iQNp9fWPBG2fHnvZEIm82fX0bpU8a5XOzv558VJbB3iMCCInJQnHpRulEg/0I0B3IFlgO/X6yPaTVmbKFLYBQmV41Dit/6Cadv3HkM0G/PTpCzMmgSQuIpIDSummNCTsjHcWzvylwtSVumh7uzhphP3G9JlIOauEYAFveWlXp2LMgfHT+J/oa5+Dl2QdEMRszY3AxTezy3m4pA3xxV6pOTLy+6uZQoNMxRLvdnhMqRYg9BXTf1qSbamy2dXkhFF6QAQvYF9ME0j+EzzfSapjrZlN01uQIJ/4PN9Z2JA9gssHAE6jRvfWdPkX906dsh+CuiXGUCWBoQHqbuAXEjwl9LcJ/GZvrwvALfVGndlpbYscb3WNVTTdRRommGnKjcvTvHFyj8I1VECMFOlTe3N4wYvrrfQqGfi7eI3DgRtHpHJc0HaNdwjhIHuaYmnpK6fWVKPYGWANNTvGKIPikyb7eqI8i4+Y1wKe5BkhhV9oQi5jZLIT0EZk80n9jwH7cjBxhTqcYT2a+6P6VyjthQdn0Kh2//7G2+Wz4m8uahCAa4KjzH9hQgZdu21IUkrT8ay2cR7FDS+TuJpRvuu/B/Giu3w3DXOctf56zzUM4xrY4tU4C4aCo9xbb9Yl2xx31vNlcH5NpJcruvUCLv510cFdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RupGv2Jwfi11DaQnKonpoz",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 20 cm to confirm the brick comes along.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01RupGv2Jwfi11DaQnKonpoz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.812, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.6402, 1.2854, -1.0149, 0.8257, 1.2297, 0.7467]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1708 left_yaw=0.0039 left_pitch=-0.0423 left_roll=0.0025 left_gripper=0.9995 right_x=0.3074 right_y=0.1678 right_z=0.1607 right_yaw=-0.4847 right_pitch=-0.159 right_roll=-0.0455 right_gripper=0.7467\nstate[joint_eff]: [-0.3487, -1.0872, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122, -0.1436, -10.359, 9.388, 0.7546, 1.116, 0.0171, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e470ed120fa5291005f3415953674fe0c9f559f780dd92b2edc3e1d4ee11306b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:328516a9090003afdfb44067f9abc8084e5be7b9caa897cc54399a35814359a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a8262c040c21cca4a3bfa27572692eb6305b8e68b12038ab5b9ccdffa3900c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 16.15 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]: [-0.0189, 0.8116, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.9057, 0.857, -0.2546, 0.923, 1.2358, 0.9966]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1709 left_yaw=0.0039 left_pitch=-0.0419 left_roll=0.0025 left_gripper=0.9995 right_x=0.3164 right_y=0.1613 right_z=0.0087 right_yaw=-0.5058 right_pitch=-0.0527 right_roll=0.005 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1419, 7.241, 1.6679, -0.0269, -0.0366, -0.0122, -0.8547, -6.7897, 4.1915, 0.3687, 0.3492, -0.2222, -0.3639]",
      "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]: [-0.0189, 0.812, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.8669, 1.9263, 0.8433, -0.234, 0.9077, 1.2346, 0.7467]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1709 left_yaw=0.0036 left_pitch=-0.0419 left_roll=0.0023 left_gripper=0.9995 right_x=0.3134 right_y=0.1596 right_z=-0.0017 right_yaw=-0.5034 right_pitch=-0.0698 right_roll=-0.0065 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.347, 7.0359, 1.7216, -0.0513, -0.0024, -0.0122, 0.0342, -9.9214, 5.7231, 0.5299, 0.5543, -0.022, 1.0281]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.812, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.6402, 1.2854, -1.0149, 0.8257, 1.2297, 0.7467]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1708 left_yaw=0.0039 left_pitch=-0.0423 left_roll=0.0025 left_gripper=0.9995 right_x=0.3074 right_y=0.1678 right_z=0.1607 right_yaw=-0.4847 right_pitch=-0.159 right_roll=-0.0455 right_gripper=0.7467\nstate[joint_eff]: [-0.3487, -1.0872, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122, -0.1436, -10.359, 9.388, 0.7546, 1.116, 0.0171, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e470ed120fa5291005f3415953674fe0c9f559f780dd92b2edc3e1d4ee11306b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:328516a9090003afdfb44067f9abc8084e5be7b9caa897cc54399a35814359a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a8262c040c21cca4a3bfa27572692eb6305b8e68b12038ab5b9ccdffa3900c1",
        "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_012BTyyk4Eatbb5FH77vvMHn",
      "input": {
        "note": "The brick lifted with the gripper (visible protruding forward past the fingertips in the wrist view, gone from its table spot). Carrying it high toward the pot, which is near the table centre line ahead.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.3,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012BTyyk4Eatbb5FH77vvMHn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8165, 0.6075, -0.4088, -0.0231, -0.0273, 0.9995, 0.8875, 2.1983, 2.3554, -1.5803, 0.7486, 1.2297, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1695 left_yaw=0.0041 left_pitch=-0.0472 left_roll=0.0023 left_gripper=0.9995 right_x=0.3662 right_y=0.2651 right_z=0.2262 right_yaw=-0.4595 right_pitch=-0.2448 right_roll=-0.0817 right_gripper=0.7502\nstate[joint_eff]: [-0.253, -1.7299, 6.9949, 1.6581, -0.0659, -0.0464, -0.0122, -0.6632, -11.8359, 9.5248, 0.6374, 1.1209, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e842862e264d68639f5a04cdf1ef5aafda60aa49044427efdb22ca454079b91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c9d3a569e0b5b78fe12d1058b37df32982c22e2abae7270b5fbfb0a022f2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfc9b115c9154695bdf7e40a7cdff7f189cb0b7d862d6b2b07508085ae8732e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 14.41 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]: [-0.0189, 0.812, 0.6075, -0.408, -0.0227, -0.0269, 0.9995, 0.8669, 1.9263, 0.8433, -0.234, 0.9077, 1.2346, 0.7467]\nstate[eef_state]: left_x=0.2925 left_y=0.0021 left_z=0.1709 left_yaw=0.0036 left_pitch=-0.0419 left_roll=0.0023 left_gripper=0.9995 right_x=0.3134 right_y=0.1596 right_z=-0.0017 right_yaw=-0.5034 right_pitch=-0.0698 right_roll=-0.0065 right_gripper=0.7467\nstate[joint_eff]: [-0.0752, -1.347, 7.0359, 1.7216, -0.0513, -0.0024, -0.0122, 0.0342, -9.9214, 5.7231, 0.5299, 0.5543, -0.022, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0189, 0.812, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.6402, 1.2854, -1.0149, 0.8257, 1.2297, 0.7467]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1708 left_yaw=0.0039 left_pitch=-0.0423 left_roll=0.0025 left_gripper=0.9995 right_x=0.3074 right_y=0.1678 right_z=0.1607 right_yaw=-0.4847 right_pitch=-0.159 right_roll=-0.0455 right_gripper=0.7467\nstate[joint_eff]: [-0.3487, -1.0872, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122, -0.1436, -10.359, 9.388, 0.7546, 1.116, 0.0171, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8165, 0.6075, -0.4088, -0.0231, -0.0273, 0.9995, 0.8875, 2.1983, 2.3554, -1.5803, 0.7486, 1.2297, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1695 left_yaw=0.0041 left_pitch=-0.0472 left_roll=0.0023 left_gripper=0.9995 right_x=0.3662 right_y=0.2651 right_z=0.2262 right_yaw=-0.4595 right_pitch=-0.2448 right_roll=-0.0817 right_gripper=0.7502\nstate[joint_eff]: [-0.253, -1.7299, 6.9949, 1.6581, -0.0659, -0.0464, -0.0122, -0.6632, -11.8359, 9.5248, 0.6374, 1.1209, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e842862e264d68639f5a04cdf1ef5aafda60aa49044427efdb22ca454079b91b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78c9d3a569e0b5b78fe12d1058b37df32982c22e2abae7270b5fbfb0a022f2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfc9b115c9154695bdf7e40a7cdff7f189cb0b7d862d6b2b07508085ae8732e8",
        "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_01MVH7GFQjPgrQZzR4iQS6C7",
      "input": {
        "note": "The arm fell short of its target (z 0.23) and the pot appears at the left edge of the right wrist view, so the pot is still ~10 cm to the tool's left and slightly ahead. Moving further left/forward over the pot while keeping height.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.35,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MVH7GFQjPgrQZzR4iQS6C7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8165, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.8719, 2.3054, 2.4695, -1.5967, 0.6857, 1.166, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1696 left_yaw=0.0038 left_pitch=-0.0469 left_roll=0.0021 left_gripper=0.9995 right_x=0.3771 right_y=0.2803 right_z=0.2024 right_yaw=-0.429 right_pitch=-0.3111 right_roll=-0.1194 right_gripper=0.7502\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7314, -0.022, -0.0708, -0.0122, -0.7726, -12.5607, 9.3197, 0.7399, 0.9255, 0.0513, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af25d9a16eb7a4509b358c4a9956934e99d611109f11be923275933c560a9d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a8c4c557bd02d61d4de0bef8c9904c718a85481760eb6a3b28bbd3c76b5ecb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e68f57aabc71bcc4e76cf5ccbd36dad49e07e0fb234c4a567a821201642fb3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 24.46 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]: [-0.0189, 0.812, 0.6075, -0.4084, -0.0231, -0.0269, 0.9995, 0.8684, 1.6402, 1.2854, -1.0149, 0.8257, 1.2297, 0.7467]\nstate[eef_state]: left_x=0.2924 left_y=0.0021 left_z=0.1708 left_yaw=0.0039 left_pitch=-0.0423 left_roll=0.0025 left_gripper=0.9995 right_x=0.3074 right_y=0.1678 right_z=0.1607 right_yaw=-0.4847 right_pitch=-0.159 right_roll=-0.0455 right_gripper=0.7467\nstate[joint_eff]: [-0.3487, -1.0872, 7.0222, 1.7118, -0.0708, -0.0464, -0.0122, -0.1436, -10.359, 9.388, 0.7546, 1.116, 0.0171, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0189, 0.8165, 0.6075, -0.4088, -0.0231, -0.0273, 0.9995, 0.8875, 2.1983, 2.3554, -1.5803, 0.7486, 1.2297, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1695 left_yaw=0.0041 left_pitch=-0.0472 left_roll=0.0023 left_gripper=0.9995 right_x=0.3662 right_y=0.2651 right_z=0.2262 right_yaw=-0.4595 right_pitch=-0.2448 right_roll=-0.0817 right_gripper=0.7502\nstate[joint_eff]: [-0.253, -1.7299, 6.9949, 1.6581, -0.0659, -0.0464, -0.0122, -0.6632, -11.8359, 9.5248, 0.6374, 1.1209, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8165, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.8719, 2.3054, 2.4695, -1.5967, 0.6857, 1.166, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1696 left_yaw=0.0038 left_pitch=-0.0469 left_roll=0.0021 left_gripper=0.9995 right_x=0.3771 right_y=0.2803 right_z=0.2024 right_yaw=-0.429 right_pitch=-0.3111 right_roll=-0.1194 right_gripper=0.7502\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7314, -0.022, -0.0708, -0.0122, -0.7726, -12.5607, 9.3197, 0.7399, 0.9255, 0.0513, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af25d9a16eb7a4509b358c4a9956934e99d611109f11be923275933c560a9d3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a8c4c557bd02d61d4de0bef8c9904c718a85481760eb6a3b28bbd3c76b5ecb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e68f57aabc71bcc4e76cf5ccbd36dad49e07e0fb234c4a567a821201642fb3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172ZFmJrVur99uKwEHQkN1X",
      "input": {
        "note": "The arm barely moved and its pitch has drifted to -0.31, suggesting the IK is struggling at this pose. Re-commanding with pitch 0 and a slightly lower height to get over the pot, which now shows at the left of the wrist view and under the gripper in the top view.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.34,
          "right_yaw": -0.45,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_0172ZFmJrVur99uKwEHQkN1X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8173, 0.6075, -0.4088, -0.0227, -0.0273, 0.9995, 0.9363, 2.405, 2.5366, -1.5959, 0.8711, 1.1774, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1693 left_yaw=0.0038 left_pitch=-0.048 left_roll=0.0021 left_gripper=0.9995 right_x=0.3845 right_y=0.3005 right_z=0.1984 right_yaw=-0.4108 right_pitch=-0.1393 right_roll=-0.1886 right_gripper=0.7502\nstate[joint_eff]: [-0.1299, -1.4154, 7.0222, 1.6728, -0.0122, -0.0513, -0.0122, 0.294, -13.9419, 9.8256, 0.6862, 1.3797, 0.2125, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616a4d3748eb68888210c210e5efa7cb16fba84fafb4d9ce45dacb0d88ce74ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30158f1431e0863553c92532343fbdc96de9418ff68cc2ab13181271801b042f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b42921d13e9454f36a645070d72033b203b04ccc6655a673ceae9aa608c2f2cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 11.45 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]: [-0.0189, 0.8165, 0.6075, -0.4088, -0.0231, -0.0273, 0.9995, 0.8875, 2.1983, 2.3554, -1.5803, 0.7486, 1.2297, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1695 left_yaw=0.0041 left_pitch=-0.0472 left_roll=0.0023 left_gripper=0.9995 right_x=0.3662 right_y=0.2651 right_z=0.2262 right_yaw=-0.4595 right_pitch=-0.2448 right_roll=-0.0817 right_gripper=0.7502\nstate[joint_eff]: [-0.253, -1.7299, 6.9949, 1.6581, -0.0659, -0.0464, -0.0122, -0.6632, -11.8359, 9.5248, 0.6374, 1.1209, 0.0269, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0189, 0.8165, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.8719, 2.3054, 2.4695, -1.5967, 0.6857, 1.166, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1696 left_yaw=0.0038 left_pitch=-0.0469 left_roll=0.0021 left_gripper=0.9995 right_x=0.3771 right_y=0.2803 right_z=0.2024 right_yaw=-0.429 right_pitch=-0.3111 right_roll=-0.1194 right_gripper=0.7502\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7314, -0.022, -0.0708, -0.0122, -0.7726, -12.5607, 9.3197, 0.7399, 0.9255, 0.0513, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8173, 0.6075, -0.4088, -0.0227, -0.0273, 0.9995, 0.9363, 2.405, 2.5366, -1.5959, 0.8711, 1.1774, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1693 left_yaw=0.0038 left_pitch=-0.048 left_roll=0.0021 left_gripper=0.9995 right_x=0.3845 right_y=0.3005 right_z=0.1984 right_yaw=-0.4108 right_pitch=-0.1393 right_roll=-0.1886 right_gripper=0.7502\nstate[joint_eff]: [-0.1299, -1.4154, 7.0222, 1.6728, -0.0122, -0.0513, -0.0122, 0.294, -13.9419, 9.8256, 0.6862, 1.3797, 0.2125, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616a4d3748eb68888210c210e5efa7cb16fba84fafb4d9ce45dacb0d88ce74ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30158f1431e0863553c92532343fbdc96de9418ff68cc2ab13181271801b042f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b42921d13e9454f36a645070d72033b203b04ccc6655a673ceae9aa608c2f2cb",
        "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_01JNCoHaQZmvhmZiYyiGHcWi",
      "input": {
        "note": "The right arm is at its reach limit (wrist ~0.52 m from the shoulder) with the pot still ~8 cm to the tool's left. Pulling back slightly while rotating the tool so the brick points toward the pot and pitching it forward, which extends effective reach.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.33,
          "right_y": 0.27,
          "right_yaw": 0.3,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JNCoHaQZmvhmZiYyiGHcWi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8211, 0.6075, -0.408, -0.0231, -0.0273, 0.9995, 0.9649, 1.459, 0.9398, -0.0868, 0.7372, 0.1108, 0.7502]\nstate[eef_state]: left_x=0.293 left_y=0.0021 left_z=0.1684 left_yaw=0.0041 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9995 right_x=0.3215 right_y=0.2618 right_z=0.1906 right_yaw=0.3008 right_pitch=0.1083 right_roll=-0.2869 right_gripper=0.7502\nstate[joint_eff]: [-0.3761, -1.6068, 7.0222, 1.7656, -0.0904, -0.0806, -0.0122, -0.5538, -9.5658, 9.2513, 2.7717, 0.4078, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df68cb19a3258107bc0c38c78e62ca6b69b25f5e5bf2d281e3b830e49587791e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db3434e95b4b628a783ba8f637cd92d8d7589c8d02a24355f6dc53c0ed85462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2d1d02990542d4082140383dc86b0e9ac2e0aafb91093ff4a2b0a994118a47e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 11.51 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]: [-0.0189, 0.8165, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.8719, 2.3054, 2.4695, -1.5967, 0.6857, 1.166, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1696 left_yaw=0.0038 left_pitch=-0.0469 left_roll=0.0021 left_gripper=0.9995 right_x=0.3771 right_y=0.2803 right_z=0.2024 right_yaw=-0.429 right_pitch=-0.3111 right_roll=-0.1194 right_gripper=0.7502\nstate[joint_eff]: [-0.1983, -1.3607, 7.0359, 1.7314, -0.022, -0.0708, -0.0122, -0.7726, -12.5607, 9.3197, 0.7399, 0.9255, 0.0513, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8173, 0.6075, -0.4088, -0.0227, -0.0273, 0.9995, 0.9363, 2.405, 2.5366, -1.5959, 0.8711, 1.1774, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1693 left_yaw=0.0038 left_pitch=-0.048 left_roll=0.0021 left_gripper=0.9995 right_x=0.3845 right_y=0.3005 right_z=0.1984 right_yaw=-0.4108 right_pitch=-0.1393 right_roll=-0.1886 right_gripper=0.7502\nstate[joint_eff]: [-0.1299, -1.4154, 7.0222, 1.6728, -0.0122, -0.0513, -0.0122, 0.294, -13.9419, 9.8256, 0.6862, 1.3797, 0.2125, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8211, 0.6075, -0.408, -0.0231, -0.0273, 0.9995, 0.9649, 1.459, 0.9398, -0.0868, 0.7372, 0.1108, 0.7502]\nstate[eef_state]: left_x=0.293 left_y=0.0021 left_z=0.1684 left_yaw=0.0041 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9995 right_x=0.3215 right_y=0.2618 right_z=0.1906 right_yaw=0.3008 right_pitch=0.1083 right_roll=-0.2869 right_gripper=0.7502\nstate[joint_eff]: [-0.3761, -1.6068, 7.0222, 1.7656, -0.0904, -0.0806, -0.0122, -0.5538, -9.5658, 9.2513, 2.7717, 0.4078, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df68cb19a3258107bc0c38c78e62ca6b69b25f5e5bf2d281e3b830e49587791e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4db3434e95b4b628a783ba8f637cd92d8d7589c8d02a24355f6dc53c0ed85462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2d1d02990542d4082140383dc86b0e9ac2e0aafb91093ff4a2b0a994118a47e",
        "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_01QUpap9CJn6riFBV5fpQD1S",
      "input": {
        "note": "Top view now shows the pot just ahead and slightly left of the gripper, brick held. Yawing so the brick points at the pot, pitching the tool forward for extra reach, and advancing over the pot rim.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.37,
          "right_y": 0.31,
          "right_yaw": 0.8,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01QUpap9CJn6riFBV5fpQD1S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.823, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.7254, 1.5688, 0.77, 0.5236, 0.1295, -0.2558, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1678 left_yaw=0.0038 left_pitch=-0.0534 left_roll=0.0022 left_gripper=0.9995 right_x=0.3642 right_y=0.2972 right_z=0.1759 right_yaw=0.7497 right_pitch=0.2736 right_roll=-0.2831 right_gripper=0.7502\nstate[joint_eff]: [-0.294, -1.5385, 7.0359, 1.6777, -0.0366, -0.0757, -0.0122, -0.3897, -8.2667, 9.1556, 3.1966, -0.0904, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2d4b780f2e1d8e1598f1b7a406846c00a5c68d8e666520b2d5fdffeea12952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76e2faf7fb5956c0c624f7cf1d2e41d0ebef90d19ec61183e21ba35e9841c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce47519deb25896c2fcbf22a5678361f4c8a35237ed27765f0c282108e94de95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.176 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]: [-0.0189, 0.8173, 0.6075, -0.4088, -0.0227, -0.0273, 0.9995, 0.9363, 2.405, 2.5366, -1.5959, 0.8711, 1.1774, 0.7502]\nstate[eef_state]: left_x=0.2927 left_y=0.0021 left_z=0.1693 left_yaw=0.0038 left_pitch=-0.048 left_roll=0.0021 left_gripper=0.9995 right_x=0.3845 right_y=0.3005 right_z=0.1984 right_yaw=-0.4108 right_pitch=-0.1393 right_roll=-0.1886 right_gripper=0.7502\nstate[joint_eff]: [-0.1299, -1.4154, 7.0222, 1.6728, -0.0122, -0.0513, -0.0122, 0.294, -13.9419, 9.8256, 0.6862, 1.3797, 0.2125, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8211, 0.6075, -0.408, -0.0231, -0.0273, 0.9995, 0.9649, 1.459, 0.9398, -0.0868, 0.7372, 0.1108, 0.7502]\nstate[eef_state]: left_x=0.293 left_y=0.0021 left_z=0.1684 left_yaw=0.0041 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9995 right_x=0.3215 right_y=0.2618 right_z=0.1906 right_yaw=0.3008 right_pitch=0.1083 right_roll=-0.2869 right_gripper=0.7502\nstate[joint_eff]: [-0.3761, -1.6068, 7.0222, 1.7656, -0.0904, -0.0806, -0.0122, -0.5538, -9.5658, 9.2513, 2.7717, 0.4078, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.823, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.7254, 1.5688, 0.77, 0.5236, 0.1295, -0.2558, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1678 left_yaw=0.0038 left_pitch=-0.0534 left_roll=0.0022 left_gripper=0.9995 right_x=0.3642 right_y=0.2972 right_z=0.1759 right_yaw=0.7497 right_pitch=0.2736 right_roll=-0.2831 right_gripper=0.7502\nstate[joint_eff]: [-0.294, -1.5385, 7.0359, 1.6777, -0.0366, -0.0757, -0.0122, -0.3897, -8.2667, 9.1556, 3.1966, -0.0904, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2d4b780f2e1d8e1598f1b7a406846c00a5c68d8e666520b2d5fdffeea12952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f76e2faf7fb5956c0c624f7cf1d2e41d0ebef90d19ec61183e21ba35e9841c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce47519deb25896c2fcbf22a5678361f4c8a35237ed27765f0c282108e94de95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwsKEAgRGAI4AUIIdGhpbmtpbmcSDH6Gs3LV0C+Tr0ouyxoMfJ3/4iyaT7VD0FiYIjCg7CMIyBHRpp8V4pSJTVcytemBukt4QrX8uCHjT0d6uQO0u8LlboZkiPdOscVivkoq1Ap7Sn0EBThCHA405N88qziOBeR+ErsGJKDmX7pXRfj65kbq+tgg3ETIpMK4mVrb0he2gd2Ifde0e1FMOH9CNONnOSGmIz6EJQ9un0LizXa6aJjBhpmQ2zxktkEXz307174qGoRndicNBma81fh3f8HfjrRca6vPDliUYwzFn/uHxLoZnrKa+GANnNt43dPxvU+9JMC24ci1KJqK6iegzqq6jiJt3Qg0Fgna2AMlJ37Dop5F8VUiceVpj1+47PYTibmeP6Y4jmUHFx0TNsCgtvA695qmLKHLSyeS3SGUAAELA/dIDEzFD4F2dDEDXAN8iWV4PHQJF9bKIj6PDxdzaVcXnHfPf9XF7ziL0GzXdywc39tIt+YDCHSvRZA7b6gSbD82fMjIPs8g8CXrf3eOaVkbdJAeN/Xi48+qjEnLX4L0pZ3Igq0Jl2PCHFru2MOVtEn0FhFI217oq3FXf07r9XPoi9C2bh2zQ7J8jNaCxu80+ABb/NJoyzawYkoQfGrYOvzWktguRjRHzJM4cxkUmwqtVynZoDGS3DQQRyk6bphTdINwTvLwz6emUTEGdgHxMon2csVcbRmicu5g6uyJxEMVGZv3ivJSHd0Qrw64Y3Q3gMbaHW2K0SWD5vQW9F5MSraM4keXNt1jYlp74lTPlQG/LoCX+ZAenxyZqJgkiGgfJMs5x7Pto9ft9WTM4blrOY0IDuPSUmdaNNeNSlBzk+ZDyYrqhVyMqLXuhKkXt6BDpjlhAnMoXeKek6Ea/jGPY6NEg8XavdbpQjp7JywKhrK/T8exQWQTGJv1KV4WZ5Yuf4U2G6us76jUllgYgcIlmJVRzr3POZlhq7IxzD9lUItaBpZ14sosELHZHE3XotfuHTQTDBAk9iYUoCBlF89PC+muIPiQcDHV3QSO84fa8kxyY/YXfhq8jy/DrTZIMVfhSgLZk8lVumnIZBQBf/4V9acvFTkf9ng7okRnI0NFynxA7ctbHwNd3YZbxlP1T5lfWodddRUtxLrFthEhAj5zONdjunfiYDkdce0QTvUds2pvkQHWsNPD2THA6esG7foENJsNunEzPz6PfA39mCip+rHb9Fz8cdM1imWQhfoBih7oPTLKLi3Lx2coRStPe5G4lWwAXMJJ1cuopnTNuxtXSmvCvJmZ8LWLBSuMvqz4LrVWEDloIpTDRq9Iyk55yIBlR/rCh0iMdKOUiujpFQ+gWKjQPk+/CWIGgwLcEzMhJU4/af5d6Y+r4Tz33WqcFicDvtfzz36IGLEMmtaNeCsVOnNkT50sDxUzk6PsZVC7Bm6HDsN7OY5t4PrUP6MnhwS3t7HsNi10HxjTRqPCXcdXHImdxTOcGENk3Ge3RtWygRw3VuY/EzHNPrcjC5vAHS+S3azrqWw3BdwxvQZ4Rw/m5FMXGL2Xq4XjCKuE2SmoxD2HaCtayvPE6DT5LV9sk1VxBsvX9AlNI+fN+bGNui2dyS27mYUu3ZztF6IvhCKwklsziFj+cvMy+4yKx+FOOjvBH/ny6RadIhq4eZM1dzdy7FH+zcdiHvhDVypcWZY3dB0oIVk0XPy/f+0rGrYa4aBzT/CGHxiN6jEZ42zoqawepkzpJhI8+EakTBzfc620sfDoqTtrukjv9WgJX49GG0X7Xui8nsLCRNT3Eu4iwB3A5UGOx6/63EkKzL2qUNAM66F4qBeNExe7tZztaBH80Uawr0lBy/0TgarhyG9ieo4OqSZiRLe2Q+yGYRId98xKTACF0BbWOV99RXgeecFvrn3QNn/DqcIHSvhH64wRuvhZxekfuvymKTvBQm/gs3HGx08Md/XcjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015R4LtMZYkTVjx45GYcGE3j",
      "input": {
        "note": "The wrist camera now shows the pot's white interior around the brick; the brick is over the pot with its held end near the rim. Advancing a few more cm so the whole brick is inside the rim before releasing.",
        "targets": {
          "right_pitch": 0.5,
          "right_x": 0.395,
          "right_y": 0.325,
          "right_yaw": 0.8,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015R4LtMZYkTVjx45GYcGE3j",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8242, 0.6075, -0.4084, -0.0231, -0.0273, 0.9995, 0.7063, 1.7699, 0.7719, 0.6861, 0.0601, -0.2626, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1675 left_yaw=0.0041 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3775 right_y=0.3128 right_z=0.122 right_yaw=0.795 right_pitch=0.2372 right_roll=-0.2669 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -0.9231, 6.9949, 1.6728, -0.0659, -0.0806, -0.0073, -0.841, -9.6205, 10.7419, 3.3236, -0.1099, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a38c4327a18b76e05e91c28d784dbda041b71fc5dd704bff64ed6edd6b40a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b883fad5b3faad99f34686f5b207d68445b382a8bd0889de50d6a6abf367049",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34d1a60707f6d523909beec82fcd6504251b2fd097354b9350ab75f0fc172220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.016 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]: [-0.0189, 0.8211, 0.6075, -0.408, -0.0231, -0.0273, 0.9995, 0.9649, 1.459, 0.9398, -0.0868, 0.7372, 0.1108, 0.7502]\nstate[eef_state]: left_x=0.293 left_y=0.0021 left_z=0.1684 left_yaw=0.0041 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9995 right_x=0.3215 right_y=0.2618 right_z=0.1906 right_yaw=0.3008 right_pitch=0.1083 right_roll=-0.2869 right_gripper=0.7502\nstate[joint_eff]: [-0.3761, -1.6068, 7.0222, 1.7656, -0.0904, -0.0806, -0.0122, -0.5538, -9.5658, 9.2513, 2.7717, 0.4078, 0.0073, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.823, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.7254, 1.5688, 0.77, 0.5236, 0.1295, -0.2558, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1678 left_yaw=0.0038 left_pitch=-0.0534 left_roll=0.0022 left_gripper=0.9995 right_x=0.3642 right_y=0.2972 right_z=0.1759 right_yaw=0.7497 right_pitch=0.2736 right_roll=-0.2831 right_gripper=0.7502\nstate[joint_eff]: [-0.294, -1.5385, 7.0359, 1.6777, -0.0366, -0.0757, -0.0122, -0.3897, -8.2667, 9.1556, 3.1966, -0.0904, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8242, 0.6075, -0.4084, -0.0231, -0.0273, 0.9995, 0.7063, 1.7699, 0.7719, 0.6861, 0.0601, -0.2626, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1675 left_yaw=0.0041 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3775 right_y=0.3128 right_z=0.122 right_yaw=0.795 right_pitch=0.2372 right_roll=-0.2669 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -0.9231, 6.9949, 1.6728, -0.0659, -0.0806, -0.0073, -0.841, -9.6205, 10.7419, 3.3236, -0.1099, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a38c4327a18b76e05e91c28d784dbda041b71fc5dd704bff64ed6edd6b40a3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b883fad5b3faad99f34686f5b207d68445b382a8bd0889de50d6a6abf367049",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d1a60707f6d523909beec82fcd6504251b2fd097354b9350ab75f0fc172220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2wcKEAgRGAI4AUIIdGhpbmtpbmcSDP+2sBjNlWxaSh4CBhoMY3BxHm7Z5FjtS6k0IjB4UUbaqwezBPq4t0b+UwDuzqAWQFb7kvfoDTbpRhhwsvUzaT+W/hAQg1LrEVEoB9wq+Aazj+HgDTsV1xh4oR5+qclslHkpqCRz257/rfNR7YOLbOMv1byvt/Pgqtr9z52z/o0n7CcFEqGg2zhXbLvhUzCAnJcSJxL9MfTJPk0lj2lHVP9UdvC0FBKOatIFq8LXAECeCuV4J38DM5sUn01Nju06YZo0+wxkJMeuAcoroLNeOYjtZOQ23g4wfx2QUX+xzgjNxthbDeMVw86rtpNnJqEIwuqgC9LS9uIE1luLN8NV8eMp7IWa2/d5HjXEzzdy/0NYLVO2Vt5eaeqKcK78OfPvIzfWunYO5UFqG9BR0tDOIRJqcav90dBBHd6tmOUkv79JQ+pGveFkPXkhpj3NKc6Or8Wfa4t8LulIGvrtQVvMhDsUQwlRgzGbzKS4bATzmPgCUXREqMvsRdVNEc4Y5Jm2GrSLviaf7K4QPvFzRvCEndeK6iTrw9mqC+YTms46GmM3y03BjwGrI1jVCbvUiMIuqq2iYHTsg9J80u9Jgk2kOSZOffmA6gcxpS4MD6LwAXaD+Wn8ayxJ/seHoCyQsW9O6xSYvuropvs5ESy160hXa5n/KcK64LcOedFMPXV7cwxT8n4zUOAg0x8xwDU9n1NY25NApTcIPbn2AmYGJGAZ8aqLBvyQQ1wcvXluCmjpn54UGkv1vlgxgZzRmUqZ0whGpau5z8xsxW/SlHYSdYqxfa/wj81iX91YoIXdYTUlvnWZAjTsDKIkjDMPjGZLhFPOUz9IVBS8lty4jGqDEy13mZCLdQf0qFSWr++cAKNOC/IZW8zO7oA7ZZVK1171AEI474edS4/GJMkHmpa5e6NRPRhq8yhrw18GrO+WWVRxJ2PwYO+UPZxRWlBWjUv6TWfJcIGGkI8mO1X0F9DOGgBdLIL/wVHlNav2M5n3BzJ8pA8v+cBotQ3fw8cWqOm5k76W38jlM99lnRsvg15VmGUf0u9GL7eLiGLalVMuz2LWTepFz52w4M8KSrsStuBTIAp7T/Byt3VnO5H2LHVKUBa2zAKfkBhiAXGnhLAj90wA8WrG473iTKheFv7tyLauQYE9X3ILQBqF43BaqsimX6Hw5G2hj681Hsi9JywNV5dmcELXtJK3uZqCrvgCuRTIbXLQOnAoZSpVeHRlkOAkekDyYrLg+paoW2R5dX0T8a330LxY+Lhc4C7SLEQ/YwcKQz/oBebDcHRH9osYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MpdgSAqQk96YNbHs2yakSw",
      "input": {
        "note": "The brick is now framed by the pot's white interior in the wrist view and the arm has settled lower, likely resting the brick at the rim. Opening the gripper to drop the brick into the pot.",
        "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_01MpdgSAqQk96YNbHs2yakSw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8249, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.704, 1.8065, 0.7216, 0.8261, 0.0589, -0.2596, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0021 left_z=0.1673 left_yaw=0.0036 left_pitch=-0.0553 left_roll=0.0026 left_gripper=0.9995 right_x=0.3761 right_y=0.3104 right_z=0.1172 right_yaw=0.7933 right_pitch=0.2904 right_roll=-0.2685 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.1282, 7.3094, 1.6679, 0.0024, -0.0415, -0.0122, -0.0342, -8.0205, 5.5316, 2.1465, -0.105, 0.0415, -0.2369]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccb9bd05ce1cdea1dbe0b1dfaa0071d305efd9b87eb53c9d37e8ba61982e97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b79b0d7ddbeb7cc36f6c33447e67f54916f65eff60280ae8d7b8e741c2f5bf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16dad95353ab22f9f63a529114b0ea3ce7911a70779c5199ebed7f4f30afe5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 9.432 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]: [-0.0189, 0.823, 0.6075, -0.4084, -0.0227, -0.0273, 0.9995, 0.7254, 1.5688, 0.77, 0.5236, 0.1295, -0.2558, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1678 left_yaw=0.0038 left_pitch=-0.0534 left_roll=0.0022 left_gripper=0.9995 right_x=0.3642 right_y=0.2972 right_z=0.1759 right_yaw=0.7497 right_pitch=0.2736 right_roll=-0.2831 right_gripper=0.7502\nstate[joint_eff]: [-0.294, -1.5385, 7.0359, 1.6777, -0.0366, -0.0757, -0.0122, -0.3897, -8.2667, 9.1556, 3.1966, -0.0904, -0.0415, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0189, 0.8242, 0.6075, -0.4084, -0.0231, -0.0273, 0.9995, 0.7063, 1.7699, 0.7719, 0.6861, 0.0601, -0.2626, 0.7502]\nstate[eef_state]: left_x=0.2931 left_y=0.0021 left_z=0.1675 left_yaw=0.0041 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3775 right_y=0.3128 right_z=0.122 right_yaw=0.795 right_pitch=0.2372 right_roll=-0.2669 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -0.9231, 6.9949, 1.6728, -0.0659, -0.0806, -0.0073, -0.841, -9.6205, 10.7419, 3.3236, -0.1099, 0.0513, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8249, 0.6075, -0.4084, -0.0227, -0.0269, 0.9995, 0.704, 1.8065, 0.7216, 0.8261, 0.0589, -0.2596, 0.9956]\nstate[eef_state]: left_x=0.2932 left_y=0.0021 left_z=0.1673 left_yaw=0.0036 left_pitch=-0.0553 left_roll=0.0026 left_gripper=0.9995 right_x=0.3761 right_y=0.3104 right_z=0.1172 right_yaw=0.7933 right_pitch=0.2904 right_roll=-0.2685 right_gripper=0.9956\nstate[joint_eff]: [-0.1846, -1.1282, 7.3094, 1.6679, 0.0024, -0.0415, -0.0122, -0.0342, -8.0205, 5.5316, 2.1465, -0.105, 0.0415, -0.2369]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dccb9bd05ce1cdea1dbe0b1dfaa0071d305efd9b87eb53c9d37e8ba61982e97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b79b0d7ddbeb7cc36f6c33447e67f54916f65eff60280ae8d7b8e741c2f5bf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16dad95353ab22f9f63a529114b0ea3ce7911a70779c5199ebed7f4f30afe5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpAcKEAgRGAI4AUIIdGhpbmtpbmcSDCfJFbq6CkW9V73xNBoMtZcV6B5PUF7Hbt46IjAiobvn8vLGzhs7t72keKhUGZDRwKFnUA+kr9kr/a13ui2FlHOEubwnCm+yb5PO4McqwQYcjOuAx2xi1YbyEYMKoilH1HGjrFUdJWiBaFyFc8bPn/OkqbdeFvX7c+Mcow3l/+TU0NHoYPjPPEwjO8nx/Skbrkd8lN10PC5GKU8Uo762SjeP9wZQvAKVf4ZaJEnG8QsAIyvHH9KL7xPeABl+jamA+6AB1UdXUi2EXWTzIsMwjozfL6pEhBDIi7ujYmetoDL1iDiKhyYehLRdLVrR7SvWdB6rua6iFOY7WqolQwzwPKH/SW/KRZilo8dVYNUoeHiw6nvAe+IHIarUrl4j1WiqZkv4TlvG5If6Lw6tW1t1xvbxFl5aLpG25pcOtgXbIMnKYz/VyBFFkXPJEqrDwcuw07e3fY8YUOzAfS7e2LG0YpL9wXm0QoEi5uAwDSHmSnZjTSwe6/POudoPwgR4XW37Yj1PIp9Y1JsSpJHpNQcGYp9FCIBEakGoGFhhdtqEaavjp2QOENZXf3Oe2pbNnGnKN21c0EC9pFdk7pZRg0yAyB1/hZs/dE3mgWl+OXIGNlPIFnKvTf0wfKYb9DeOVkkqoh1M/YIibJzzKv2JZn8bPb4/w0kMJPWoNeEOcf9/qStFGfDfwUWBO2Wu6LjBYf83AQJzYZsx5VRDBZ4tgwV5n/kKBfGGHtKq64VnTsjvMDDVFTSjV1nWTZONIOZVIa5N7JOyckZGkQagm1Jo76fTpCFQV08RCP0b5ldAZoKVpZ2c1PLRBj9GDRZNTn7ossRXz5/yMzEzKO1YmKT4JVIMuc+Ai74QsryvsbKo7w91Kn06/2uBl0unmLg4PY8nvQ0ePw5uQ7xV1GfZgrFrzA1tqqE0r3EVh7gv4dVf5RyMZ24j0F4TB3+d/S2KL22TQPnKTpcdjT+bpH5B00KQTN5NNyWmffmAG+GQKXdCVh2oQXuqeVsgdllQqdmCY8sanQHCaf36SBwnJ81XWyOL1EeK2FDY9+VdyQwPw5zmK9jsULob9R7+5cQKdNcm/LVycNcCiZiAC7x4HTMsdt/pGtj97/iuBHL7rLbclfvIyaselW6pqJvYFAB9jRUJSYgTUcup4x2C+hOC7an7cARL6ns2yWJM1TXzOXUf65w4uhFXXGtTx4u9WSOwkbBQ9eEK/JjzIBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C3dZVaskgDzD956kSqh5Sf",
      "input": {
        "note": "Gripper opened and the brick has left the jaws; the wrist view shows only the pot interior now. Retracting the right arm so the top camera can confirm the brick landed in the pot.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.28,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01C3dZVaskgDzD956kSqh5Sf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8288, 0.6075, -0.4156, -0.0227, -0.0269, 0.9995, 0.7502, 1.026, 0.8341, -0.289, 0.6937, 0.2035, 0.9958]\nstate[eef_state]: left_x=0.2923 left_y=0.0021 left_z=0.1648 left_yaw=0.0036 left_pitch=-0.0663 left_roll=0.0028 left_gripper=0.9995 right_x=0.3071 right_y=0.1367 right_z=0.2549 right_yaw=0.0588 right_pitch=0.2017 right_roll=-0.104 right_gripper=0.9958\nstate[joint_eff]: [-0.2803, -1.7026, 7.0085, 1.7363, -0.0171, -0.0073, -0.0122, -0.6496, -3.5487, 10.6325, 2.0098, 0.315, 0.1099, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6766a91f776a7f1ff717065132e6682acf442bcc00678d1013f63274e91ad5d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b8822139635a10104ef2f4e4af11560989e932bb01899583d262e53b115e240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:90718158ee11556558db5acbdf1714b7f24444de1d5a7623cee7b598f35d4137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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