adhoc

completed
2026-09-18T04:43:03.967824+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (80 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
360.2 s
total steps
262
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 right wrist camera shows the black brick just ahead of and slightly left of the jaws; the pot is on the left side of the table. Moving the right arm forward a few cm and left to hover above the brick.
move_to
right_x0.3500right_y0.0300right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0227, -0.0334, 0.9996, -0.0219, 0.794, 0.6041, -0.3763, -0.0132, -0.0196, 0.9973] state[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1807 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9973 state[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.8339, -0.0611, 0.1343, -0.0611, -0.3897, -1.4974, 10.1128, 1.8584, -0.1392, 0.0562, -0.2906] 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": 0.35, "right_y": 0.03, "right_z": 0.15, "right_gripper": 1.0}, "note": "The right wrist camera shows the black brick just ahead of and slightly left of the jaws; the pot is on the left side of the table. Moving the right arm forward a few cm and left to hover above the brick."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe brick is now centred on the jaw column in the right wrist view, its far end near mid-frame, so its centre is a few cm beyond the fingertips. Advancing ~4 cm and descending to 6 cm above the table.
move_to
right_x0.3750right_y0.0320right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.1261, 1.0851, 0.5926, -0.1642, 0.0811, 0.0349, 0.9973] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.0103 left_roll=0.0056 left_gripper=0.9995 right_x=0.3348 right_y=0.0316 right_z=0.1324 right_yaw=0.0392 right_pitch=-0.0881 right_roll=-0.0121 right_gripper=0.9973 state[joint_eff]: [-0.253, -1.2376, 6.8034, 1.8242, -0.0317, -0.1197, -0.0171, 0.2667, -3.6444, 7.5556, 1.8291, 0.2076, 0.2759, -0.2906] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.032, "right_z": 0.06, "right_gripper": 1.0}, "note": "The brick is now centred on the jaw column in the right wrist view, its far end near mid-frame, so its centre is a few cm beyond the fingertips. Advancing ~4 cm and descending to 6 cm above the table."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe brick now fills the right wrist view, centred on the jaw column and running under the jaws. Advancing the last couple of cm and descending to table level to straddle it.
move_to
right_x0.3800right_y0.0300right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0265, 0.9995, 0.1093, 1.4345, 0.5064, 0.1658, 0.0685, 0.0254, 0.9973] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=-0.0037 left_pitch=-0.0184 left_roll=0.0061 left_gripper=0.9995 right_x=0.356 right_y=0.0305 right_z=0.0434 right_yaw=0.0372 right_pitch=-0.1942 right_roll=-0.0196 right_gripper=0.9973 state[joint_eff]: [-0.1026, -1.5795, 7.5145, 1.6972, -0.0269, -0.0659, -0.0122, -0.4718, -6.2017, 5.8598, 1.8291, -0.0171, -0.1001, -0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.03, "right_z": 0.01, "right_gripper": 1.0}, "note": "The brick now fills the right wrist view, centred on the jaw column and running under the jaws. Advancing the last couple of cm and descending to table level to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe brick sits between the open jaws in the right wrist view, centred on the jaw column at about 2 cm height. Closing the 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, 0.8074, 0.6037, -0.392, -0.0227, -0.0265, 0.9995, 0.1009, 1.6135, 0.5262, 0.3569, 0.0486, 0.028, 0.9974] state[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1737 left_yaw=-0.0037 left_pitch=-0.0237 left_roll=0.0062 left_gripper=0.9995 right_x=0.3806 right_y=0.0335 right_z=0.0224 right_yaw=0.0447 right_pitch=-0.163 right_roll=-0.0019 right_gripper=0.9974 state[joint_eff]: [-0.1436, -1.0051, 7.0632, 1.8339, -0.0366, -0.0269, -0.0122, -0.5538, -4.4103, 4.7658, 1.0232, 0.1001, -0.0366, -0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick sits between the open jaws in the right wrist view, centred on the jaw column at about 2 cm height. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteThe close was empty (reading 0.009); the wrist view shows the jaws closed just short of the brick's near end, so the brick lies further out. Opening, lifting slightly and advancing ~5 cm.
move_to
right_x0.4400right_y0.0350right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.3939, -0.0227, -0.0265, 0.9995, 0.1005, 1.6409, 0.535, 0.4004, 0.0422, 0.0154, 0.009] state[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1731 left_yaw=-0.0037 left_pitch=-0.0264 left_roll=0.0062 left_gripper=0.9995 right_x=0.3882 right_y=0.0353 right_z=0.0235 right_yaw=0.0569 right_pitch=-0.1386 right_roll=-0.0059 right_gripper=0.009 state[joint_eff]: [-0.0205, -1.388, 7.0222, 1.6972, -0.0464, -0.0757, -0.0122, -0.1709, -5.1487, 4.9162, 1.2674, 0.1734, -0.0122, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.035, "right_z": 0.05, "right_gripper": 1.0}, "note": "The close was empty (reading 0.009); the wrist view shows the jaws closed just short of the brick's near end, so the brick lies further out. Opening, lifting slightly and advancing ~5 cm."})
tool
executing move_to over 10 steps (1.0s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe brick now runs right under the jaws in the right wrist view, between the two fingers. Descending to table level with a small further advance before closing.
move_to
right_x0.4450right_y0.0350right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4068, -0.0227, -0.0265, 0.9995, 0.0883, 1.7195, 0.7452, 0.2394, 0.0357, -0.0048, 0.9951] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1699 left_yaw=-0.0037 left_pitch=-0.0412 left_roll=0.0064 left_gripper=0.9995 right_x=0.428 right_y=0.0352 right_z=0.0389 right_yaw=0.061 right_pitch=-0.1683 right_roll=-0.018 right_gripper=0.9951 state[joint_eff]: [-0.2256, -1.4701, 7.0085, 1.8291, -0.0708, -0.0464, -0.0122, -0.8137, -6.6667, 8.335, 1.7558, -0.1294, 0.1343, -0.0269] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.035, "right_z": 0.01, "right_gripper": 1.0}, "note": "The brick now runs right under the jaws in the right wrist view, between the two fingers. Descending to table level with a small further advance before closing."})
tool
executing move_to over 2 steps (0.2s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe brick is squarely between the jaws in the right wrist view and the descent stopped at ~2.5 cm. Closing the gripper on 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, 0.8097, 0.6037, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.7988, 0.77, 0.297, 0.0357, -0.0086, 0.9972] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=-0.0037 left_pitch=-0.042 left_roll=0.0064 left_gripper=0.9995 right_x=0.4395 right_y=0.0364 right_z=0.0256 right_yaw=0.0635 right_pitch=-0.1654 right_roll=-0.0208 right_gripper=0.9972 state[joint_eff]: [-0.0342, -1.2239, 7.3641, 1.6728, -0.0611, -0.0562, -0.0122, -0.294, -7.159, 5.7368, 1.3455, -0.0415, -0.0415, -0.2906] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick is squarely between the jaws in the right wrist view and the descent stopped at ~2.5 cm. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteEmpty again (0.0097) and the wrist view still shows the brick starting just beyond the closed fingertips, so it is being nudged ahead of the jaws. Opening and advancing another ~3 cm at low height.
move_to
right_x0.4780right_y0.0400right_z0.0500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8139, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.8462, 0.7807, 0.3817, 0.0139, -0.0147, 0.0097] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1685 left_yaw=-0.0037 left_pitch=-0.0466 left_roll=0.0065 left_gripper=0.9995 right_x=0.4524 right_y=0.0414 right_z=0.025 right_yaw=0.0854 right_pitch=-0.1176 right_roll=-0.0105 right_gripper=0.0097 state[joint_eff]: [-0.0479, -1.4291, 7.0359, 1.6777, -0.0366, -0.0269, -0.0122, -0.3897, -6.9538, 4.8889, 1.3993, 0.149, 0.0611, 0.7399] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.478, "right_y": 0.04, "right_z": 0.05, "right_gripper": 1.0}, "note": "Empty again (0.0097) and the wrist view still shows the brick starting just beyond the closed fingertips, so it is being nudged ahead of the jaws. Opening and advancing another ~3 cm at low height."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe brick now sits deep between the jaws with its far end at mid-frame, so the fingertips should be over its body. Descending to the table before closing.
move_to
right_x0.4780right_y0.0400right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8165, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0837, 1.8462, 0.8856, 0.2424, 0.009, -0.0299, 0.995] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1678 left_yaw=-0.0037 left_pitch=-0.0493 left_roll=0.0066 left_gripper=0.9995 right_x=0.4654 right_y=0.0411 right_z=0.0375 right_yaw=0.0929 right_pitch=-0.1521 right_roll=-0.019 right_gripper=0.995 state[joint_eff]: [-0.0889, -1.5932, 6.9949, 1.6923, -0.022, -0.0757, -0.0122, -0.6632, -8.4308, 8.8821, 1.8046, -0.0952, 0.1538, 0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.478, "right_y": 0.04, "right_z": 0.0, "right_gripper": 1.0}, "note": "The brick now sits deep between the jaws with its far end at mid-frame, so the fingertips should be over its body. Descending to the table before closing."})
tool
executing move_to over 3 steps (0.3s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe brick is at the bottom of the right wrist view between the fingers, with the descent again stopping near 2 cm. Closing the gripper.
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, 0.8185, 0.6033, -0.4084, -0.0231, -0.0265, 0.9995, 0.083, 1.9472, 0.9028, 0.3767, -0.0101, -0.0261, 0.9972] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1672 left_yaw=-0.0034 left_pitch=-0.0515 left_roll=0.0068 left_gripper=0.9995 right_x=0.4837 right_y=0.0456 right_z=0.0232 right_yaw=0.1062 right_pitch=-0.1015 right_roll=-0.0045 right_gripper=0.9972 state[joint_eff]: [-0.0889, -0.9368, 7.159, 1.663, -0.0513, -0.0317, -0.0122, -0.2803, -6.8855, 5.3402, 0.7448, 0.1197, -0.1343, -0.3004] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick is at the bottom of the right wrist view between the fingers, with the descent again stopping near 2 cm. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThird empty close; the brick vanished from the wrist view, so the fingertips were resting on top of it (descents keep stopping at ~2 cm). Lifting and backing off to look at the brick from above and re-align laterally.
move_to
right_x0.4300right_y0.0450right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.9583, 0.9016, 0.3927, -0.017, -0.0277, 0.0093] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1673 left_yaw=-0.0039 left_pitch=-0.0512 left_roll=0.0069 left_gripper=0.9995 right_x=0.4846 right_y=0.0478 right_z=0.0207 right_yaw=0.1148 right_pitch=-0.0976 right_roll=-0.0016 right_gripper=0.0093 state[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6679, -0.0171, -0.0171, -0.0122, -0.1709, -10.4274, 5.4222, 1.4921, 0.0806, -0.0122, 0.7204] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.045, "right_z": 0.12, "right_gripper": 1.0}, "note": "Third empty close; the brick vanished from the wrist view, so the fingertips were resting on top of it (descents keep stopping at ~2 cm). Lifting and backing off to look at the brick from above and re-align laterally."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteFrom 11 cm up the brick shows at the bottom of the right wrist view, centred ~1.5 cm to the arm's right of the jaw column and fairly wide. Shifting right ~2 cm and lowering to 6 cm to check alignment before the descent.
move_to
right_x0.4500right_y0.0250right_z0.0600right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.5574, 0.8501, 0.0441, -0.0162, -0.0269, 0.9953] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1665 left_yaw=-0.0039 left_pitch=-0.0538 left_roll=0.0069 left_gripper=0.9995 right_x=0.4341 right_y=0.0434 right_z=0.1107 right_yaw=0.1137 right_pitch=-0.0969 right_roll=-0.0015 right_gripper=0.9953 state[joint_eff]: [-0.0889, -1.3607, 7.1726, 1.7216, -0.0415, -0.0269, -0.0122, 0.4034, -8.0615, 7.3231, 1.663, -0.022, -0.0513, -0.105] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.025, "right_z": 0.06, "right_gripper": 1.0}, "note": "From 11 cm up the brick shows at the bottom of the right wrist view, centred ~1.5 cm to the arm's right of the jaw column and fairly wide. Shifting right ~2 cm and lowering to 6 cm to check alignment before the descent."})
tool
executing move_to over 4 steps (0.4s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe brick is now centred on the jaw column between the fingers with its far end mid-frame. Descending straight down to table level to straddle it.
move_to
right_x0.4400right_y0.0230right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4084, -0.0231, -0.0265, 0.9995, 0.0261, 1.7226, 0.8005, 0.1738, -0.0463, -0.0566, 0.9972] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1656 left_yaw=-0.0034 left_pitch=-0.0573 left_roll=0.0069 left_gripper=0.9995 right_x=0.4361 right_y=0.0232 right_z=0.0464 right_yaw=0.0974 right_pitch=-0.181 right_roll=-0.0004 right_gripper=0.9972 state[joint_eff]: [-0.0889, -1.6068, 7.2137, 1.6825, -0.0464, -0.022, -0.0122, -0.1436, -8.4855, 6.0513, 2.1954, -0.188, -0.022, -0.3004] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.023, "right_z": 0.0, "right_gripper": 1.0}, "note": "The brick is now centred on the jaw column between the fingers with its far end mid-frame. Descending straight down to table level to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteDescent stopped at 1.5 cm with the brick still centred between the fingers in the wrist view. Closing the gripper now.
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, 0.8265, 0.6029, -0.408, -0.0231, -0.0265, 0.9995, 0.0208, 1.8488, 0.7708, 0.3546, -0.0719, -0.0563, 0.9972] state[eef_state]: left_x=0.2927 left_y=0.0019 left_z=0.1649 left_yaw=-0.0034 left_pitch=-0.0596 left_roll=0.0069 left_gripper=0.9995 right_x=0.4455 right_y=0.0255 right_z=0.0155 right_yaw=0.1134 right_pitch=-0.1549 right_roll=0.0152 right_gripper=0.9972 state[joint_eff]: [-0.0068, -1.1966, 7.1316, 1.7021, -0.0806, -0.0464, -0.0122, 0.1162, -7.6376, 3.8085, 0.8523, 0.2222, -0.1978, -0.3004] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Descent stopped at 1.5 cm with the brick still centred between the fingers in the wrist view. Closing the gripper now."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteEmpty close again; the overhead view now shows the brick sitting to the right of and closer to the base than the gripper, so it was squeezed out sideways. Moving above its new position to re-approach.
move_to
right_x0.4000right_y-0.0400right_z0.1000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8284, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 0.0261, 1.8664, 0.7589, 0.445, -0.0616, -0.0631, 0.009] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4539 right_y=0.0263 right_z=0.0208 right_yaw=0.113 right_pitch=-0.0947 right_roll=-0.0022 right_gripper=0.009 state[joint_eff]: [-0.0479, -1.6205, 6.9812, 1.6581, -0.0904, -0.0269, -0.0122, -0.1162, -7.3915, 4.6017, 1.0183, 0.1392, 0.0562, 0.7057] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": -0.04, "right_z": 0.1, "right_gripper": 1.0}, "note": "Empty close again; the overhead view now shows the brick sitting to the right of and closer to the base than the gripper, so it was squeezed out sideways. Moving above its new position to re-approach."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe wrist view shows the brick at bottom-left, now lying with its long axis roughly along the arm's y, about 7 cm to the arm's left. Shifting left over it and yawing the tool 90° so the jaws close across its short side.
move_to
right_x0.3900right_y0.0300right_z0.1000right_yaw1.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, -0.207, 1.494, 0.7048, 0.1013, -0.2222, -0.2035, 0.9948] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4024 right_y=-0.041 right_z=0.0898 right_yaw=0.0913 right_pitch=-0.1018 right_roll=-0.0094 right_gripper=0.9948 state[joint_eff]: [-0.0615, -1.347, 6.9812, 1.7118, -0.0464, -0.0513, -0.0171, -0.3214, -7.1043, 7.5829, 1.6679, -0.2418, 0.0806, -0.0269] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.03, "right_z": 0.1, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The wrist view shows the brick at bottom-left, now lying with its long axis roughly along the arm's y, about 7 cm to the arm's left. Shifting left over it and yawing the tool 90\u00b0 so the jaws close across its short side."})
tool
executing move_to over 9 steps (0.9s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe IK overshot in x and only reached yaw 1.28; the brick shows large at bottom-left of the wrist view with its long axis along image-x, so the jaws would close along its length. Rotating back to yaw −0.3 (equivalent 90° change) and moving back over the brick.
move_to
right_x0.3850right_y0.0250right_z0.0900right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6029, -0.4171, -0.0227, -0.0265, 0.9995, -0.3023, 2.1197, 1.6226, -1.0405, -0.8516, -1.6035, 0.9972] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1612 left_yaw=-0.0037 left_pitch=-0.0756 left_roll=0.007 left_gripper=0.9995 right_x=0.4299 right_y=0.0089 right_z=0.087 right_yaw=1.2817 right_pitch=-0.1536 right_roll=-0.0487 right_gripper=0.9972 state[joint_eff]: [-0.0889, -1.5521, 7.0222, 1.8193, -0.0562, -0.0366, -0.0122, 0.2803, -11.8906, 5.9556, -0.3834, -0.7399, -0.0806, -0.3004] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.025, "right_z": 0.09, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The IK overshot in x and only reached yaw 1.28; the brick shows large at bottom-left of the wrist view with its long axis along image-x, so the jaws would close along its length. Rotating back to yaw \u22120.3 (equivalent 90\u00b0 change) and moving back over the brick."})
tool
executing move_to over 11 steps (1.1s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteThe brick is now centred between the jaws in the wrist view with its long axis running toward the base, so the jaws will close across its short side. Descending to the table with a slight yaw to match its tilt.
move_to
right_x0.3800right_y0.0480right_z0.0000right_yaw-0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4309, -0.0227, -0.0265, 0.9995, 0.2249, 1.4776, 0.7204, -0.0654, 0.2325, 0.0975, 0.9972] state[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1573 left_yaw=-0.0036 left_pitch=-0.0939 left_roll=0.0073 left_gripper=0.9995 right_x=0.3781 right_y=0.0484 right_z=0.073 right_yaw=-0.0292 right_pitch=-0.232 right_roll=-0.095 right_gripper=0.9972 state[joint_eff]: [-0.1299, -1.853, 6.9812, 1.7509, -0.0317, -0.0415, -0.0122, 0.0615, -5.3128, 9.4974, 1.5165, 0.1929, 0.1538, -0.3004] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.048, "right_z": 0.0, "right_yaw": -0.25, "right_gripper": 1.0}, "note": "The brick is now centred between the jaws in the wrist view with its long axis running toward the base, so the jaws will close across its short side. Descending to the table with a slight yaw to match its tilt."})
tool
executing move_to over 5 steps (0.5s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteBrick lies squarely between the fingers in the wrist view, aligned with the jaw axis. Closing the gripper.
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, 0.8402, 0.6029, -0.4343, -0.0223, -0.0265, 0.9995, 0.3084, 1.7123, 0.6697, 0.1833, 0.403, 0.2985, 0.9972] state[eef_state]: left_x=0.2894 left_y=0.0018 left_z=0.156 left_yaw=-0.004 left_pitch=-0.0996 left_roll=0.0071 left_gripper=0.9995 right_x=0.3862 right_y=0.0541 right_z=0.016 right_yaw=-0.1991 right_pitch=-0.2078 right_roll=-0.0842 right_gripper=0.9972 state[joint_eff]: [-0.0068, -1.6615, 6.9675, 1.6923, 0.0171, -0.0513, -0.0122, -0.6085, -5.7504, 4.7521, 0.5397, -0.3932, 0.1685, -0.3004] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Brick lies squarely between the fingers in the wrist view, aligned with the jaw axis. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteGripper settled at 0.75 (~7 cm), so the brick is grasped across its width. Lifting to 17 cm to confirm it comes along.
move_to
right_z0.1700right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8421, 0.6029, -0.4412, -0.0227, -0.0265, 0.9995, 0.3122, 1.7508, 0.6605, 0.1848, 0.4129, 0.3344, 0.7473] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1542 left_yaw=-0.0036 left_pitch=-0.1084 left_roll=0.0075 left_gripper=0.9995 right_x=0.3793 right_y=0.0517 right_z=-0.0001 right_yaw=-0.2281 right_pitch=-0.2421 right_roll=-0.0888 right_gripper=0.7473 state[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.6972, -0.0562, -0.0317, -0.0122, -0.253, -6.8855, 4.8342, 1.4628, 0.3443, 0.0659, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), so the brick is grasped across its width. Lifting to 17 cm to confirm it comes along."})
tool
executing move_to over 11 steps (1.1s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe brick is gone from its spot on the table and rides with the gripper. Carrying it high toward the pot, which sits left of the table's centre line ahead of the right arm.
move_to
right_x0.4500right_y0.3000right_z0.2600right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4416, -0.0227, -0.0265, 0.9995, 0.3126, 1.4761, 1.0317, -0.5743, 0.3805, 0.3214, 0.7473] state[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1537 left_yaw=-0.0036 left_pitch=-0.1103 left_roll=0.0075 left_gripper=0.9995 right_x=0.3662 right_y=0.0532 right_z=0.1245 right_yaw=-0.2125 right_pitch=-0.354 right_roll=-0.1338 right_gripper=0.7473 state[joint_eff]: [-0.1709, -1.4154, 7.1316, 1.6337, -0.0611, -0.0464, -0.0122, -0.1846, -9.9487, 10.7692, 1.8046, 0.4908, 0.0806, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.3, "right_z": 0.26, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "The brick is gone from its spot on the table and rides with the gripper. Carrying it high toward the pot, which sits left of the table's centre line ahead of the right arm."})
tool
executing move_to over 21 steps (2.1s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteOverhead shows the gripper just right of and beyond the pot, sagging to 18 cm with the brick hanging low. Raising to 30 cm and shifting left and back to centre over the pot opening.
move_to
right_x0.4000right_y0.3700right_z0.3000right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8452, 0.6029, -0.4526, -0.0227, -0.0265, 0.9995, 0.7258, 2.492, 2.801, -1.5436, 0.4286, 0.4988, 0.7473] state[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1512 left_yaw=-0.0036 left_pitch=-0.1229 left_roll=0.0077 left_gripper=0.9995 right_x=0.4364 right_y=0.2938 right_z=0.1857 right_yaw=0.004 right_pitch=-0.4877 right_roll=-0.2029 right_gripper=0.7473 state[joint_eff]: [0.0615, -1.2376, 7.0085, 1.7167, -0.0757, -0.0415, -0.0122, 0.3897, -19.2205, 9.8393, 1.3407, 0.6862, 0.1099, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.37, "right_z": 0.3, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "Overhead shows the gripper just right of and beyond the pot, sagging to 18 cm with the brick hanging low. Raising to 30 cm and shifting left and back to centre over the pot opening."})
tool
executing move_to over 8 steps (0.8s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteThe arm is in an awkward stretched pose and stopped short at y=0.32, z=0.18, hovering over the pot's right rim. Pulling x back and pushing further left to get the brick over the pot centre.
move_to
right_x0.3300right_y0.3700right_z0.2500right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4538, -0.0227, -0.0265, 0.9995, 0.852, 2.368, 2.587, -1.5951, 0.4149, 0.5991, 0.7472] state[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.1509 left_yaw=-0.0036 left_pitch=-0.1244 left_roll=0.0078 left_gripper=0.9995 right_x=0.3667 right_y=0.3165 right_z=0.181 right_yaw=0.0194 right_pitch=-0.5854 right_roll=-0.2539 right_gripper=0.7472 state[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0611, -0.0415, -0.0122, 0.4308, -17.7983, 6.147, 0.9548, 0.7399, 0.1392, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.37, "right_z": 0.25, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "The arm is in an awkward stretched pose and stopped short at y=0.32, z=0.18, hovering over the pot's right rim. Pulling x back and pushing further left to get the brick over the pot centre."})
tool
executing move_to over 8 steps (0.8s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteThe arm keeps sagging and pitching back (−0.67) at y≈0.33, with the brick hanging over the pot's right rim rather than its interior. Commanding pitch and roll back to zero while pulling x in and pushing y further left over the pot centre.
move_to
right_x0.3000right_y0.3600right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4599, -0.0227, -0.0265, 0.9995, 0.9524, 2.3028, 2.3795, -1.5894, 0.4015, 0.6941, 0.7472] state[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.1497 left_yaw=-0.0036 left_pitch=-0.1305 left_roll=0.0079 left_gripper=0.9995 right_x=0.3139 right_y=0.3283 right_z=0.1549 right_yaw=-0.0101 right_pitch=-0.666 right_roll=-0.3305 right_gripper=0.7472 state[joint_eff]: [-0.0479, -1.3744, 7.1863, 1.663, -0.0269, -0.0708, -0.0122, 0.3897, -18.4547, 6.4615, 0.569, 0.5348, 0.1734, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.36, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The arm keeps sagging and pitching back (\u22120.67) at y\u22480.33, with the brick hanging over the pot's right rim rather than its interior. Commanding pitch and roll back to zero while pulling x in and pushing y further left over the pot centre."})
tool
executing move_to over 23 steps (2.3s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent notePitch recovered; overhead shows the gripper now short of the pot (closer to the base) and slightly right of its centre. Moving forward and a little left to bring the hanging brick over the pot opening.
move_to
right_x0.3600right_y0.3800right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8497, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 1.1587, 1.9617, 1.689, -0.9188, 0.7864, 0.8898, 0.7472] state[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1471 left_yaw=-0.0036 left_pitch=-0.1427 left_roll=0.0081 left_gripper=0.9995 right_x=0.2894 right_y=0.3589 right_z=0.167 right_yaw=0.0335 right_pitch=-0.1553 right_roll=-0.1184 right_gripper=0.7472 state[joint_eff]: [-0.0615, -1.306, 6.9675, 1.746, -0.0562, -0.0366, -0.0122, 0.7179, -15.4872, 8.1026, 1.4042, 1.2332, 0.022, 1.0379] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.38, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "Pitch recovered; overhead shows the gripper now short of the pot (closer to the base) and slightly right of its centre. Moving forward and a little left to bring the hanging brick over the pot opening."})
tool
executing move_to over 8 steps (0.8s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteThe gripper is over the pot's near-right rim; the wrist view shows the pot interior ahead and to the left of the brick. Nudging forward and left so the brick hangs over the water.
move_to
right_x0.3900right_y0.4000right_z0.2200right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0679, 2.0464, 1.8427, -0.8566, 0.7513, 0.7692, 0.7472] state[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1469 left_yaw=-0.0036 left_pitch=-0.1435 left_roll=0.0081 left_gripper=0.9995 right_x=0.3388 right_y=0.3732 right_z=0.1822 right_yaw=0.0415 right_pitch=-0.1279 right_roll=-0.0791 right_gripper=0.7472 state[joint_eff]: [-0.1846, -1.5795, 7.1179, 1.5995, -0.0562, -0.0366, -0.0122, -0.7726, -10.6872, 10.8513, 1.5995, 1.116, 0.0562, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.4, "right_z": 0.22, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The gripper is over the pot's near-right rim; the wrist view shows the pot interior ahead and to the left of the brick. Nudging forward and left so the brick hangs over the water."})
tool
executing move_to over 8 steps (0.8s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
assistant
agent noteOverhead shows the gripper roughly over the pot's centre, with the brick hanging below it. Lowering toward the rim height before releasing so the brick drops into the water.
move_to
right_x0.3750right_y0.4000right_z0.1300right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8555, 0.6029, -0.469, -0.0227, -0.0265, 0.9995, 1.0306, 2.2044, 2.0632, -0.8886, 0.7273, 0.7166, 0.7472] state[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1496 left_roll=0.0082 left_gripper=0.9995 right_x=0.3709 right_y=0.3971 right_z=0.1767 right_yaw=0.0494 right_pitch=-0.1316 right_roll=-0.0826 right_gripper=0.7472 state[joint_eff]: [-0.0205, -1.812, 6.9402, 1.6386, -0.0659, -0.0171, -0.0122, -0.9504, -12.9709, 11.0564, 1.7705, 1.0916, 0.0757, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.4, "right_z": 0.13, "right_gripper": 0.0}, "note": "Overhead shows the gripper roughly over the pot's centre, with the brick hanging below it. Lowering toward the rim height before releasing so the brick drops into the water."})
tool
executing move_to over 8 steps (0.8s)
step 235
assistant
agent noteThe wrist view shows the pot's white interior all around the hanging brick, so it is over the water. Opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9198, -0.7746, 0.6868, 0.7094, 0.7472] state[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3669 right_y=0.3974 right_z=0.117 right_yaw=0.0645 right_pitch=-0.1961 right_roll=-0.1196 right_gripper=0.7472 state[joint_eff]: [-0.0342, -1.5795, 6.9265, 1.5751, -0.0415, -0.0171, -0.0122, -0.4444, -14.0103, 5.7094, 1.4383, 0.5788, -0.0024, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view shows the pot's white interior all around the hanging brick, so it is over the water. Opening the gripper to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 238
assistant
agent noteThe gripper still reads 0.75 — the open command was clamped and did not complete. Re-sending the open command to release 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]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9091, -0.7532, 0.6807, 0.7101, 0.7472] state[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3672 right_y=0.3996 right_z=0.1147 right_yaw=0.0693 right_pitch=-0.1943 right_roll=-0.107 right_gripper=0.7472 state[joint_eff]: [-0.0342, -1.5248, 6.9675, 1.58, -0.0122, -0.0171, -0.0122, -0.1026, -12.7521, 7.7607, 0.9109, 0.3834, -0.0317, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper still reads 0.75 \u2014 the open command was clamped and did not complete. Re-sending the open command to release the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 241
assistant
agent noteThe gripper is still not opening (reads 0.75) with short 3-step commands. Combining the open with a small lift to give the command more steps to execute.
move_to
right_x0.3700right_y0.4000right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8604, 0.6029, -0.4694, -0.0227, -0.0265, 0.9995, 1.0264, 2.2368, 1.9091, -0.7528, 0.6754, 0.7097, 0.7472] state[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.144 left_yaw=-0.0035 left_pitch=-0.1549 left_roll=0.0083 left_gripper=0.9995 right_x=0.3671 right_y=0.4 right_z=0.1142 right_yaw=0.0718 right_pitch=-0.198 right_roll=-0.1042 right_gripper=0.7472 state[joint_eff]: [-0.1026, -1.7983, 6.9675, 1.6288, -0.0513, -0.0122, -0.0122, 0.1299, -12.8615, 6.5709, 1.072, 0.3834, -0.0366, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.4, "right_z": 0.14, "right_gripper": 1.0}, "note": "The gripper is still not opening (reads 0.75) with short 3-step commands. Combining the open with a small lift to give the command more steps to execute."})
tool
executing move_to over 3 steps (0.3s)
step 244
assistant
agent noteThe gripper opened and the wrist view shows the brick lying inside the white pot. Lifting and pulling the arm away to clear the overhead view and confirm.
move_to
right_x0.3000right_y0.2000right_z0.2500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8612, 0.6029, -0.4679, -0.0231, -0.0265, 0.9995, 1.0256, 2.2402, 1.9617, -0.8257, 0.6636, 0.6994, 0.8954] state[eef_state]: left_x=0.2848 left_y=0.0021 left_z=0.1441 left_yaw=-0.0032 left_pitch=-0.1541 left_roll=0.0085 left_gripper=0.9995 right_x=0.3648 right_y=0.3986 right_z=0.1226 right_yaw=0.0793 right_pitch=-0.2209 right_roll=-0.1251 right_gripper=0.8954 state[joint_eff]: [-0.0479, -1.6479, 6.9402, 1.5995, -0.0562, -0.0269, -0.0122, -0.5538, -12.5744, 9.5385, 1.2723, 0.3346, 0.0952, -0.0366] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.2, "right_z": 0.25, "right_gripper": 1.0}, "note": "The gripper opened and the wrist view shows the brick lying inside the white pot. Lifting and pulling the arm away to clear the overhead view and confirm."})
tool
executing move_to over 17 steps (1.7s)
step 261
assistant
The overhead view shows the black brick lying inside the pot.
agent noteGrasped the black brick (power bank, ~7 cm wide) with the right arm after several empty closes, carried it over to the pot at right_x≈0.37, right_y≈0.40, and released it; the top camera confirms the brick is inside the pot.
done
hindsight1) The "black brick" is a rounded power bank ~7 cm wide × ~13 cm long × ~2 cm thick with a cable attached; it ejects sideways when closed on off-centre, and descents that stall at z≈0.02 mean a fingertip is resting on top of it. It only grasped when the brick was centred on the jaw column with its long axis along the arm's radial direction (jaws across the 7 cm width) — settled reading 0.75. 2) The right wrist cam shows the object "between the jaws" even when the fingertips are several cm short or on top of it; combine with the overhead view after each empty close because the brick moves each time. 3) The pot centre is at about right_x≈0.37–0.39, right_y≈0.40 (the right arm's y bound) — it is reachable from the right arm but the arm sags/pitches back heavily there (z reads ~0.18 when 0.26 is commanded); command pitch/roll = 0 explicitly to recover. 4) Gripper-only commands run only 3 steps and can be clamped so the gripper barely moves; combine an open with a small motion or re-send. 5) Rim of the pot is ~12 cm high; releasing from z≈0.12 with the brick hanging below the fingers dropped it cleanly inside.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8642, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 0.8547, 1.4704, 1.4307, -0.9733, 0.5804, 0.5243, 0.997] state[eef_state]: left_x=0.2849 left_y=0.002 left_z=0.1433 left_yaw=-0.0035 left_pitch=-0.1572 left_roll=0.0083 left_gripper=0.9995 right_x=0.3041 right_y=0.2073 right_z=0.2403 right_yaw=0.0715 right_pitch=-0.2301 right_roll=-0.1321 right_gripper=0.997 state[joint_eff]: [-0.2256, -1.853, 6.9675, 1.6044, -0.0464, -0.0611, -0.0122, -0.335, -7.2547, 6.8581, 1.3114, 0.1734, -0.0317, -0.3199] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
The overhead view shows the black brick lying inside the pot.
done({"summary": "Grasped the black brick (power bank, ~7 cm wide) with the right arm after several empty closes, carried it over to the pot at right_x\u22480.37, right_y\u22480.40, and released it; the top camera confirms the brick is inside the pot.", "hindsight": "1) The \"black brick\" is a rounded power bank ~7 cm wide \u00d7 ~13 cm long \u00d7 ~2 cm thick with a cable attached; it ejects sideways when closed on off-centre, and descents that stall at z\u22480.02 mean a fingertip is resting on top of it. It only grasped when the brick was centred on the jaw column with its long axis along the arm's radial direction (jaws across the 7 cm width) \u2014 settled reading 0.75. 2) The right wrist cam shows the object \"between the jaws\" even when the fingertips are several cm short or on top of it; combine with the overhead view after each empty close because the brick moves each time. 3) The pot centre is at about right_x\u22480.37\u20130.39, right_y\u22480.40 (the right arm's y bound) \u2014 it is reachable from the right arm but the arm sags/pitches back heavily there (z reads ~0.18 when 0.26 is commanded); command pitch/roll = 0 explicitly to recover. 4) Gripper-only commands run only 3 steps and can be clamped so the gripper barely moves; combine an open with a small motion or re-send. 5) Rim of the pot is ~12 cm high; releasing from z\u22480.12 with the brick hanging below the fingers dropped it cleanly inside."})
tool
done: Grasped the black brick (power bank, ~7 cm wide) with the right arm after several empty closes, carried it over to the pot at right_x≈0.37, right_y≈0.40, 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 · 20.68 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0227, -0.0334, 0.9996, -0.0219, 0.794, 0.6041, -0.3763, -0.0132, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1807 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.8339, -0.0611, 0.1343, -0.0611, -0.3897, -1.4974, 10.1128, 1.8584, -0.1392, 0.0562, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396e4f81b6f3bdba93bd3b201525b665399a37c89c2500a09ad1afe6e43eff1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae8cd5f053811303352837d22843fbdae1d66ebb7714e7964b05fbd2c5aa063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bffd28d12ab6c9086d36f3824d7b398c344b0a52f1c0f77abc7d71222f3cf954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.293 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0227, -0.0334, 0.9996, -0.0219, 0.794, 0.6041, -0.3763, -0.0132, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1807 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.8339, -0.0611, 0.1343, -0.0611, -0.3897, -1.4974, 10.1128, 1.8584, -0.1392, 0.0562, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396e4f81b6f3bdba93bd3b201525b665399a37c89c2500a09ad1afe6e43eff1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae8cd5f053811303352837d22843fbdae1d66ebb7714e7964b05fbd2c5aa063",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bffd28d12ab6c9086d36f3824d7b398c344b0a52f1c0f77abc7d71222f3cf954",
        "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_01EXPK9aXTxcTpgyqijPKh3J",
      "input": {
        "note": "The right wrist camera shows the black brick just ahead of and slightly left of the jaws; the pot is on the left side of the table. Moving the right arm forward a few cm and left to hover above the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.03,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EXPK9aXTxcTpgyqijPKh3J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.1261, 1.0851, 0.5926, -0.1642, 0.0811, 0.0349, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.0103 left_roll=0.0056 left_gripper=0.9995 right_x=0.3348 right_y=0.0316 right_z=0.1324 right_yaw=0.0392 right_pitch=-0.0881 right_roll=-0.0121 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.2376, 6.8034, 1.8242, -0.0317, -0.1197, -0.0171, 0.2667, -3.6444, 7.5556, 1.8291, 0.2076, 0.2759, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d73f24c85728e77b8cb3fc14484fa1b34ec43fcd72e875f0e520e2483d798d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2abbc64ea2a4673d6a1238b0fe8500c3cb1aca0db2d4a75ed4f47af28d1bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86c2f37797ecb623beb4c3e780040de03f824501e5b1635be2bd155ecdcdce5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 8.886 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0227, -0.0334, 0.9996, -0.0219, 0.794, 0.6041, -0.3763, -0.0132, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1807 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.8339, -0.0611, 0.1343, -0.0611, -0.3897, -1.4974, 10.1128, 1.8584, -0.1392, 0.0562, -0.2906]",
      "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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.1261, 1.0851, 0.5926, -0.1642, 0.0811, 0.0349, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.0103 left_roll=0.0056 left_gripper=0.9995 right_x=0.3348 right_y=0.0316 right_z=0.1324 right_yaw=0.0392 right_pitch=-0.0881 right_roll=-0.0121 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.2376, 6.8034, 1.8242, -0.0317, -0.1197, -0.0171, 0.2667, -3.6444, 7.5556, 1.8291, 0.2076, 0.2759, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d73f24c85728e77b8cb3fc14484fa1b34ec43fcd72e875f0e520e2483d798d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2abbc64ea2a4673d6a1238b0fe8500c3cb1aca0db2d4a75ed4f47af28d1bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86c2f37797ecb623beb4c3e780040de03f824501e5b1635be2bd155ecdcdce5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6wkKEAgRGAI4AUIIdGhpbmtpbmcSDF009AJn+o2RemgoyBoMTJ8/5QyyrllmCK+CIjDcsenQNA+HY9ktYETSZqtxNv9Rh50c8d+B3LxCObWDti2lY1oG6BWZKBjGdnd58JYqiAnQKKCsOF9M7ddcKXVwjs4VoZ3sEWATDB+KtJOhf+uWvBjfXUuVqiDMV2T1eJLMSGTA8lp9ErrXD7XggHjxgsMv6nOjCLnRDnrmCbXFpyuxl1reKspZccknxyd5DSF+CvpfNN5rmUR08kGbcG6cScQvr7YquuHZwnPSUK3t7bKcUu7rXyCfBvlWzPKiiP0jzXe8eOquIoWJ4Ht21nZ89bhovEWgkkkExrU9Emdmq7XFkYhMz4QBNRry+qoAu/Owe/Goq1e4LtBY4Xcd3onbFroWhXorrf9d9VCxCQkCq9JMw8xReBhDN+cRrmWO0InSjYPH0Ej8OwLSv9uFbnI1cUb0C2K5NfuQe2PM/Q7TygMD/J9HEI8BUwaxbV/uLB/M4ngUNgGpWj5NnxOfTc4LLWjoRLZZmUulfZQWdemTJUZdE9wButKAEI/5t7RyKxUKEUBxVt8KjJks42hWvAI3iW1hdc9SEuor0sMU+Ll5AEATRpzE/ddyT3HHWhXM59ZfUaX+8/3Eh61zQrwLuPHHlc0x68HzXGWz029XvO7h0hbX6BtCMK445nKWAikUNREdxT/ytnEP8Y4fhnlm/Zv3xryUd4IOzsHEB1XyHRLnTKJFzmez+aVMgHZkIRBo+gK4ksj49A8wwaWlqMAaVTDZaF8TZM4oJ0JNuiRP5eJvk1nWwommQHR78rs64zL7HQMCn7C+GDC7ohgpdIfyjgnf3a//UADcR+iBkytBEo8ByoE01s6G2eJXCNXuTDgmOh1uxGtDrdUBOif2O5rF32hme3wv0qN/mo+6wrQA6d5e+JcchFwnTuY9kxmFj6tnyr9vcL7wr98TooPFhsuQaRhypNUHFMi25Xm1JKb09bbtDN6ZCIF/5R0nP4Eq5vBJBQ1lQx9uksFr0JP5FoIH/YWtkZa4c1U8PyAxzS/rrdASCXd2ZiPi4o34CoSCjg8WiqCYLuAPY0B6QNz0hcOP1ybs5TvSKsDaabzWZUjaaSfGZ1Njm+q95u8OyHd1plKz2QskMrr4V0DjANUUxEq5fT03WmY4jU2KWhSGg2lg3aoS1fXi8tGJScGriRVljtadZDDPm/uTekH3Mktbw+k8AEl+6Cfp+uCo+Ds0iGDgWE2z3DoOCsmUiAJr+mqXaOBX+KntvLx8nwJmLy08lL4p8Uxr+OR1fzGph72ifxi8y1/tr3ol6JZI62UAq2RZkscA5JqfVzvj8xP9g8ZP8foiY4IwyIOFGV2ezMMDexy08P6eJgk8gumZ/Yl58XhohD8g/I0pxFG7OnQQHp01UaSwVMvZ86/+JHMDqXaz9AW/7YXvFnwU7eziENwA+Mu8odmCALWM6QddhVap7cqUB7WSEPdQAMmKlTIj3vPxnMupC/UVwWlj01Uv395AiiDHOPPVhc3d1IsRMTTSWkcGg1+J+FvgDI+BZohhvG5EHnL/x+oLhr5NWFT95h5oSP3dpGS+QKBMeaCaIyNx7BuCl2IdN5nvWkql6H1Ra6x2S5FOX+buqTh0oJiFf1zFG6PGU833V9mBc57zoWuhGfdTXxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014rdCpo1C8moCUHvTXESBPE",
      "input": {
        "note": "The brick is now centred on the jaw column in the right wrist view, its far end near mid-frame, so its centre is a few cm beyond the fingertips. Advancing ~4 cm and descending to 6 cm above the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.375,
          "right_y": 0.032,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014rdCpo1C8moCUHvTXESBPE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0265, 0.9995, 0.1093, 1.4345, 0.5064, 0.1658, 0.0685, 0.0254, 0.9973]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=-0.0037 left_pitch=-0.0184 left_roll=0.0061 left_gripper=0.9995 right_x=0.356 right_y=0.0305 right_z=0.0434 right_yaw=0.0372 right_pitch=-0.1942 right_roll=-0.0196 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.5795, 7.5145, 1.6972, -0.0269, -0.0659, -0.0122, -0.4718, -6.2017, 5.8598, 1.8291, -0.0171, -0.1001, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd64f1a0ee60612dbac208e99a4096544c01e741e0f637f0387915ec4e6bdf0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a5cd21216d00a235c42877814f17fe4058e0dc633b487b07697e05af879ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79c7dac426600999a1a25ab2e81e913746ddb2a3e3fe6cf563bf7f2643d515a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.705 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0227, -0.0334, 0.9996, -0.0219, 0.794, 0.6041, -0.3763, -0.0132, -0.0196, 0.9973]\nstate[eef_state]: left_x=0.2947 left_y=0.0017 left_z=0.1795 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2953 right_y=-0.0006 right_z=0.1807 right_yaw=0.0003 right_pitch=0.0 right_roll=0.0002 right_gripper=0.9973\nstate[joint_eff]: [-0.3761, -1.6068, 10.1128, 1.8339, -0.0611, 0.1343, -0.0611, -0.3897, -1.4974, 10.1128, 1.8584, -0.1392, 0.0562, -0.2906]",
      "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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.1261, 1.0851, 0.5926, -0.1642, 0.0811, 0.0349, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.0103 left_roll=0.0056 left_gripper=0.9995 right_x=0.3348 right_y=0.0316 right_z=0.1324 right_yaw=0.0392 right_pitch=-0.0881 right_roll=-0.0121 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.2376, 6.8034, 1.8242, -0.0317, -0.1197, -0.0171, 0.2667, -3.6444, 7.5556, 1.8291, 0.2076, 0.2759, -0.2906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0265, 0.9995, 0.1093, 1.4345, 0.5064, 0.1658, 0.0685, 0.0254, 0.9973]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=-0.0037 left_pitch=-0.0184 left_roll=0.0061 left_gripper=0.9995 right_x=0.356 right_y=0.0305 right_z=0.0434 right_yaw=0.0372 right_pitch=-0.1942 right_roll=-0.0196 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.5795, 7.5145, 1.6972, -0.0269, -0.0659, -0.0122, -0.4718, -6.2017, 5.8598, 1.8291, -0.0171, -0.1001, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd64f1a0ee60612dbac208e99a4096544c01e741e0f637f0387915ec4e6bdf0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01a5cd21216d00a235c42877814f17fe4058e0dc633b487b07697e05af879ccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79c7dac426600999a1a25ab2e81e913746ddb2a3e3fe6cf563bf7f2643d515a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8ggKEAgRGAI4AUIIdGhpbmtpbmcSDBuF70OWghelioNMwBoM17zDL3dpynOrd/mwIjB3dFyrWByWtl37LTZ6fJi8mlb8ix4wo1TzWjHNG9GMjALao97iy+ypQt6ILXYNIPAqjwhC6TH3PfFiAqKHPfV+bjWylnXIilmEhUU2e3h0Gf+4w1JvqeFppyHnOoijQQv+Ta/2uoNNMtXUGG7DPXpGZtXd/0SlkSmFeh1gW/hD5zoUDddm29KTakdsLA9WIXzrZtoCOijVcFYHSyjvhNxVGBZl+BXkEFswTe90OCj6b0+9riRVyb3CQ1s7nNZyjPX0f9VBVzRWvDxaiVCTZVfJrM0tW21cUOI9EzRWkWD6ZULuvIWzcAqaJEskYqPdu8I+c5gBJ233u4hmvNtid3zRZnjXBu9cpp4e4hRQs/KWea6/JuSL2WndR0v+sKJXLh1MG4jpyAUg/6bygw54DLNwb7t4nPPj1lFSGwaPMaoVpckS0pRN+yykaeyG/jQA7KZlkc+z9ftUd3D7jp4x8VnAsSqHB9yWgPqLC3QCFWAvv0fTDWCx0HsELs6edVICUz8tj09960tlEk/HPhBysZeKJSCWxdqyr3DzUsmK7EThwvvOqLxVdWLZb/PrUOAtcLAeyjewzO218NfUCJFL5a/nZndLSXurWY90hDccPc8jqbPU0EcbKovv6FEdx4inONo9ZvlQYp/TgA/0phXrhQblSAdGAL4acg/MMcfhjw/3EHUEEysZOQH16mAlc4JGAYWVxmsjlKJjNxFyqlpDQ7tWuP78JfhtfdfYtwh6n23XCnsUCMXMbcEAef49wz8ifgV/nX6u0sh52/9upBgaid6Dww6oX/ZsL++bCoG+VIfFjAD90y6adcvuc3zvKPBGQlW1sneGlxKddl0zY6yO/q2AH0moRl/k+CY4bgCTWgVC+f4PDRSwVGfBnp7aOxZj382UDuhK+8MVF4YNqZv1r1Q9HF1bTX01UfajED6A433ksEAY1h3JTcCQ7rr1drN4SM//XUGRSXe4B/I645VCtq6X6sBH74MxECFXJkNRsbJFSdsMmExaFQDUK0UVNiJZhAuazAGmzaSVuHfMn2cwiouolDAAaH5dHE9SRpQfPtiCFR+qYPRQqL8BFgogd60EroVq57CGxSB2vzL1iGc2oHkOrLDkSPPoniRXe39ruiFw/a2Nf7s9yPvqFJggSavEa63Uvy6VfYnezMjhtyzapLwG+o3o7xeyYYPAPtqkoeEGizXTgHIFlT8YntQu+G/zTdg7UuAhjD/14T8L2sAOFDznCzHJfqbVDTRWB/WHHPnURHHgVV195neN55EcCueyXwt+h/VZpzqAfMwxTSufYMZJlU5aDC3KXEe41VNTZq9wFmqwbk4yNXrHs5LKnlGf51rQNjnWoHawE0TBe3NGDTMfb8X069wbt5I5Q3tzUuq4+MvakIvjaRd1SKQLX9mBhLPpvxQtqhy2IAKS0D2TWRas6LHaFXSFeoApDMOoOFokQ4AIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBPmVjqTh3MdhVLyAeRrEJ",
      "input": {
        "note": "The brick now fills the right wrist view, centred on the jaw column and running under the jaws. Advancing the last couple of cm and descending to table level to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.03,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MBPmVjqTh3MdhVLyAeRrEJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6037, -0.392, -0.0227, -0.0265, 0.9995, 0.1009, 1.6135, 0.5262, 0.3569, 0.0486, 0.028, 0.9974]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1737 left_yaw=-0.0037 left_pitch=-0.0237 left_roll=0.0062 left_gripper=0.9995 right_x=0.3806 right_y=0.0335 right_z=0.0224 right_yaw=0.0447 right_pitch=-0.163 right_roll=-0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -1.0051, 7.0632, 1.8339, -0.0366, -0.0269, -0.0122, -0.5538, -4.4103, 4.7658, 1.0232, 0.1001, -0.0366, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d00ecf26328d05d3e5947fa9050615d8d4622ebfcc325a192c25834094dbb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b300c77d9b745464df25ad8c051962429a0c2ebce3847f5926019918f86d9846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3be15f51ccd9d429bcc7d0c897f02f22fb13afe652ea98603dd9b0303dc24d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.421 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, 0.8005, 0.6075, -0.3893, -0.0227, -0.0269, 0.9995, 0.1261, 1.0851, 0.5926, -0.1642, 0.0811, 0.0349, 0.9973]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1779 left_yaw=-0.0035 left_pitch=-0.0103 left_roll=0.0056 left_gripper=0.9995 right_x=0.3348 right_y=0.0316 right_z=0.1324 right_yaw=0.0392 right_pitch=-0.0881 right_roll=-0.0121 right_gripper=0.9973\nstate[joint_eff]: [-0.253, -1.2376, 6.8034, 1.8242, -0.0317, -0.1197, -0.0171, 0.2667, -3.6444, 7.5556, 1.8291, 0.2076, 0.2759, -0.2906]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0265, 0.9995, 0.1093, 1.4345, 0.5064, 0.1658, 0.0685, 0.0254, 0.9973]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=-0.0037 left_pitch=-0.0184 left_roll=0.0061 left_gripper=0.9995 right_x=0.356 right_y=0.0305 right_z=0.0434 right_yaw=0.0372 right_pitch=-0.1942 right_roll=-0.0196 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.5795, 7.5145, 1.6972, -0.0269, -0.0659, -0.0122, -0.4718, -6.2017, 5.8598, 1.8291, -0.0171, -0.1001, -0.2906]\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, 0.8074, 0.6037, -0.392, -0.0227, -0.0265, 0.9995, 0.1009, 1.6135, 0.5262, 0.3569, 0.0486, 0.028, 0.9974]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1737 left_yaw=-0.0037 left_pitch=-0.0237 left_roll=0.0062 left_gripper=0.9995 right_x=0.3806 right_y=0.0335 right_z=0.0224 right_yaw=0.0447 right_pitch=-0.163 right_roll=-0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -1.0051, 7.0632, 1.8339, -0.0366, -0.0269, -0.0122, -0.5538, -4.4103, 4.7658, 1.0232, 0.1001, -0.0366, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d00ecf26328d05d3e5947fa9050615d8d4622ebfcc325a192c25834094dbb3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b300c77d9b745464df25ad8c051962429a0c2ebce3847f5926019918f86d9846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be15f51ccd9d429bcc7d0c897f02f22fb13afe652ea98603dd9b0303dc24d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wcKEAgRGAI4AUIIdGhpbmtpbmcSDFtMI0EWKZvo013BABoMuTovFSrxOVmzIj6GIjDYDP1FxmmOyu/J3qFayXvsQSDApGW41mSrGYwt0x2ryoy8VARzFIw3ud41TthMkXYq9AZdciO4gc4KXMMrFZ8vOp0mHc+RHhu4JxgAoE/IGGig3WNg9vJxB/gbKM92T5TGvoYr5kZODVz/X4nCe5kOL17BjQDjSVDc9kZPhBsqZWeAwUlzv6B8R459cRIDk0rZn1DT9OKXeaExOzcYvrNLGSE7dy9/q+iOwlQKVHip+Ea6mL0DzkiqYXqneRAgCnd/cOp/3azwqwfXUDfr1sy5P9JZJzufPBGXXkPPg7ZxQ60Ug071zo9zDPTCjFoOa0+IykpgLz+pEGwnO39eo4n6PCnS3prGPrJ3/hodFmY72jZpA+mbSHJkGKZie5fc1TmtsyFqJNjTEsHryUt68CyfcXLJzZff98b2VHrdPx8mov99LkPHQ0ZMPR7k7iprlwnTsyRRQCUAvdbztHfAFB42GLfnzE00jMio7YWeYt28qaEusPfolBoyyf0ZSre37j87570J0B2wgBx0DLmo4VNdicpngs8epkM0XTfEMJUUZ0fiWDTpnjT1/9uWLHR0qBBrnZvJrWMhT2CBzqaaxKh/x1oJY2/9kJLoaOLb4qQs/Tqga6LkdlyOF5DanB8IgM33HK4NsAi3fhvF/ela2LI9NDpEs5n1Q1FcDaSCDjzGP2BC0Ym1CYI7Q+gheR4Wtjae21Lu7GaCAaICCwl25vQpkFYOijtph75oBMboyMylRA7h09u2wuG+Hq0JytrGWskt59PZhgJai7W75zcR+YeB9jm01ZDS9NtA0uP+aYwg4XyA2BHAi+kMl3aaxMIc83xE/Zqg/Wc3tj3S7Pl86S/GuweSTLG2AWBIJfNIDBAmVqsFwJapaA676kiI5SSjhNJ3hBFSypmMdM4RpiPEYDZD0nZTWGi3UjcI06YH0tKO5FbBpa7I4mLZXo5vLuFeI0fwsvKyAT9F1HbRGivd7l/aRbiSI7Q5WC6KrGt90d4hD+pykz0h4jMRFqvQbSjU6WcckAivfc1T5vc7xmPe4ws6VihN5MuuRuibqArFUmcqfFHMTaEaQLPiw2IPbuthoI7lGJZeu8CAVryiopfspkdv2zxCclnComnkYetGhu3qWrPzH5poZ/9xBAJcdDx7tOkfFSXumfpm432X7lR/A5QxKuo5rpNFyNqQ+8D/TX+3gNbKW8/62d+dfkN3g+QVMuShxuVnghRS6ubgFgKw8RmEYHs7FqjyrhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LvReFgio7FfH9EGfkvurUt",
      "input": {
        "note": "The brick sits between the open jaws in the right wrist view, centred on the jaw column at about 2 cm height. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LvReFgio7FfH9EGfkvurUt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.3939, -0.0227, -0.0265, 0.9995, 0.1005, 1.6409, 0.535, 0.4004, 0.0422, 0.0154, 0.009]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1731 left_yaw=-0.0037 left_pitch=-0.0264 left_roll=0.0062 left_gripper=0.9995 right_x=0.3882 right_y=0.0353 right_z=0.0235 right_yaw=0.0569 right_pitch=-0.1386 right_roll=-0.0059 right_gripper=0.009\nstate[joint_eff]: [-0.0205, -1.388, 7.0222, 1.6972, -0.0464, -0.0757, -0.0122, -0.1709, -5.1487, 4.9162, 1.2674, 0.1734, -0.0122, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6bc9b2893acc2a0270cc589d0be20053534e40caee4c3046cf9c8d3a3bf70a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f89e2dceb406c01d7b7f315a3965c478804be07713a41d3c2bf75b0813c4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f14679160f20f9d4b15e539cebbe3cdfae6dc45be57d5119e9866ccf33b88a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.411 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.3897, -0.0227, -0.0265, 0.9995, 0.1093, 1.4345, 0.5064, 0.1658, 0.0685, 0.0254, 0.9973]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.175 left_yaw=-0.0037 left_pitch=-0.0184 left_roll=0.0061 left_gripper=0.9995 right_x=0.356 right_y=0.0305 right_z=0.0434 right_yaw=0.0372 right_pitch=-0.1942 right_roll=-0.0196 right_gripper=0.9973\nstate[joint_eff]: [-0.1026, -1.5795, 7.5145, 1.6972, -0.0269, -0.0659, -0.0122, -0.4718, -6.2017, 5.8598, 1.8291, -0.0171, -0.1001, -0.2906]\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, 0.8074, 0.6037, -0.392, -0.0227, -0.0265, 0.9995, 0.1009, 1.6135, 0.5262, 0.3569, 0.0486, 0.028, 0.9974]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1737 left_yaw=-0.0037 left_pitch=-0.0237 left_roll=0.0062 left_gripper=0.9995 right_x=0.3806 right_y=0.0335 right_z=0.0224 right_yaw=0.0447 right_pitch=-0.163 right_roll=-0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -1.0051, 7.0632, 1.8339, -0.0366, -0.0269, -0.0122, -0.5538, -4.4103, 4.7658, 1.0232, 0.1001, -0.0366, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.3939, -0.0227, -0.0265, 0.9995, 0.1005, 1.6409, 0.535, 0.4004, 0.0422, 0.0154, 0.009]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1731 left_yaw=-0.0037 left_pitch=-0.0264 left_roll=0.0062 left_gripper=0.9995 right_x=0.3882 right_y=0.0353 right_z=0.0235 right_yaw=0.0569 right_pitch=-0.1386 right_roll=-0.0059 right_gripper=0.009\nstate[joint_eff]: [-0.0205, -1.388, 7.0222, 1.6972, -0.0464, -0.0757, -0.0122, -0.1709, -5.1487, 4.9162, 1.2674, 0.1734, -0.0122, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6bc9b2893acc2a0270cc589d0be20053534e40caee4c3046cf9c8d3a3bf70a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f89e2dceb406c01d7b7f315a3965c478804be07713a41d3c2bf75b0813c4e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f14679160f20f9d4b15e539cebbe3cdfae6dc45be57d5119e9866ccf33b88a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwoKEAgRGAI4AUIIdGhpbmtpbmcSDKgkZDwWZPFTW1+blBoMBKGlHG0MW4s7w70+IjBo28n7q+Fg0Q6P7TSWMJNlM+m17H04+UDxqNr6CyQ1hs6ohvtncPdK4Fn/Djbq8HQq2Al33ahQE2paDI7DiJsYvXJNa4yeTyJ38fIQj5mZ/zEOJMYAdiBWQDdmJJZUnKGGI2seAF3sv7z3+wnMBb49bI3RYh1kwX0KBc4wUg0myITJWeu9Xm0Dzkmqu/hCmh69mav6C5cCYYaUV22G8g3g+3rQLoP8c2404555rMM1YP85FjXD0LYDYoyst9g4lExdumGsZinVr2HDVzJU1N4HFkxOSWNuT7F0d9kOjLQ4xHkXY/oOKMgBJ3wgRCpzYKFXiE5lzXdfMsc/VMJr4FRaoyfPaCuXhkEAKImbaeN1n6hogfuULh9PGfDPzrK3eVwSBoStiMitiC2nxVOBXn7EYa35LcB9evi/EeDpe+HBzoghyzpZKV0o3F5zkEq0uKnv+AFoAMKEhR88cYYjpcUNeKBg3inYpYeH2/bhoFXBqHF3orUe4hIa3V0gwd7gYl9DpSGK+6c61TgtLPIi/kZ+mZ+uVQf+KJowJeXc/O0pDnm3efsxCKuTSbRo+q2MXK8/Opn9hz92FuGwM2gL8GYJN0MaKoypArSISB67Jx5oAT1kxVlbmIUvs1CoJFzRYxk+tJqIQsv496M7L65ynmpMpfonj56Y1IAkMwCQRUkyANoyNROqqaDaUoX2Ld7OpLWmtp/04qhT/fsfhnI3OkxB2jtqoE+FwE9CHTzb2W4FiZzZt1HkAlpaWHgsCv1zVD859wppTwDdzfVQyEsv1Mn6XT9YVMHClhRdCPhO/AQ0GVYprw/9TORRrEgoAVhEdKDhJxYHNQUuSHIJE8ZON6ECTpdnnuxChFiGV3ZSOKMv4NW7c1WQ6Kfk7zUW8Lq7Pn0lPSuSDWD0loZ6/Ys/Tafyoy0HyzAW1lmyvPPMpxxuf2Toous6Rg1SFk1lBmhkUYNdd0b8RHw4kA+T0UjyYHp78w2on2VhhW4mwgvUaMWJWI+QWfhEEPIiOp5ABTG4Txef9+G4b72chcpxPjYY9AMQG8GcHUiNj3rxdssT2Gh9QMAY8SQ/leaHFtVqBz6AM6Z15NFQqrxCX5ymSp8A27X3z3WwVbFbvwYM1YgkUVYBBuzzduEL3tKwXcmVyMgIEdI4y5P/2DkQ0mz3sc5h/t0xmHUoGUgfOfoJZsfJ/MBzkkFI+e5YMVoARelxZ2NCySm6OwAnxrnwUbx50OKs34lXHXmn8rqaCj9PoFE4qc0vXGH7HvoKq11E8LgG+2YmDh/4qXVAyNWOUac8TEpkvSOhV+Wt+7eE/Zp5n4n0JB6CgcIietPmheZ5z/CYNb4AfFbE1G+MkzTLyT/iN6TjpOmG/M0/GECH0tf9QSsgvOnTm4TrI8C23vEXNz7CQypEr7xC2uEwj7q1k4LR8BsJydXxbmUMC6C59e7XVsGyz8u8kkQkjjnfEtCFheWGA6z+mKlDCeF4UHi58xsITCHoXzMOmclFBrq7pa+7Cgpx9QjyGLxw4ksDkL09IdHcNwC5DEiJHCA8NfdJi+0K23saXLYJ/80HgQxPgiBEqOqv7DvEs0YWv9XGdU6rLvSVWRii2mdvmLVtqpp1cRMQvfo3pOiq1DsldHXv2wevo2s0UX/XlOBACn5Fe7juNQAaqiDmjy/46WOcZLEY0cZkmTPwZTZ4rPHcklTFJRmhGKLblwqm8rrp8GnhcJWb4JjQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012wntyQwcSCgvdaNYany6dy",
      "input": {
        "note": "The close was empty (reading 0.009); the wrist view shows the jaws closed just short of the brick's near end, so the brick lies further out. Opening, lifting slightly and advancing ~5 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.035,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012wntyQwcSCgvdaNYany6dy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4068, -0.0227, -0.0265, 0.9995, 0.0883, 1.7195, 0.7452, 0.2394, 0.0357, -0.0048, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1699 left_yaw=-0.0037 left_pitch=-0.0412 left_roll=0.0064 left_gripper=0.9995 right_x=0.428 right_y=0.0352 right_z=0.0389 right_yaw=0.061 right_pitch=-0.1683 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4701, 7.0085, 1.8291, -0.0708, -0.0464, -0.0122, -0.8137, -6.6667, 8.335, 1.7558, -0.1294, 0.1343, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a41c7787dfbadd873a394f7cded620c167278f6dc6f01df4b429c5aa24629d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99dcde4fe23a9b283d685ac81be4e519163047b769ee22433fe45a2f8aed13cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79dc61db0ab26c40576c2250649cc42d5f96f0f2360727396a19c9b85477c61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.2 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, 0.8074, 0.6037, -0.392, -0.0227, -0.0265, 0.9995, 0.1009, 1.6135, 0.5262, 0.3569, 0.0486, 0.028, 0.9974]\nstate[eef_state]: left_x=0.294 left_y=0.0018 left_z=0.1737 left_yaw=-0.0037 left_pitch=-0.0237 left_roll=0.0062 left_gripper=0.9995 right_x=0.3806 right_y=0.0335 right_z=0.0224 right_yaw=0.0447 right_pitch=-0.163 right_roll=-0.0019 right_gripper=0.9974\nstate[joint_eff]: [-0.1436, -1.0051, 7.0632, 1.8339, -0.0366, -0.0269, -0.0122, -0.5538, -4.4103, 4.7658, 1.0232, 0.1001, -0.0366, -0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.3939, -0.0227, -0.0265, 0.9995, 0.1005, 1.6409, 0.535, 0.4004, 0.0422, 0.0154, 0.009]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1731 left_yaw=-0.0037 left_pitch=-0.0264 left_roll=0.0062 left_gripper=0.9995 right_x=0.3882 right_y=0.0353 right_z=0.0235 right_yaw=0.0569 right_pitch=-0.1386 right_roll=-0.0059 right_gripper=0.009\nstate[joint_eff]: [-0.0205, -1.388, 7.0222, 1.6972, -0.0464, -0.0757, -0.0122, -0.1709, -5.1487, 4.9162, 1.2674, 0.1734, -0.0122, 0.7741]\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]: [-0.0196, 0.8101, 0.6037, -0.4068, -0.0227, -0.0265, 0.9995, 0.0883, 1.7195, 0.7452, 0.2394, 0.0357, -0.0048, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1699 left_yaw=-0.0037 left_pitch=-0.0412 left_roll=0.0064 left_gripper=0.9995 right_x=0.428 right_y=0.0352 right_z=0.0389 right_yaw=0.061 right_pitch=-0.1683 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4701, 7.0085, 1.8291, -0.0708, -0.0464, -0.0122, -0.8137, -6.6667, 8.335, 1.7558, -0.1294, 0.1343, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a41c7787dfbadd873a394f7cded620c167278f6dc6f01df4b429c5aa24629d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99dcde4fe23a9b283d685ac81be4e519163047b769ee22433fe45a2f8aed13cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79dc61db0ab26c40576c2250649cc42d5f96f0f2360727396a19c9b85477c61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgRGAI4AUIIdGhpbmtpbmcSDEl4osFgrgoMZMaLFxoMlZAjsx2pMe5Vtc/ZIjBMCsNMdtXtYJDBS+SZdlxHWDDxTWwhFhQNsiJvEBbHwAXOs9OqCqx/QbjiJsAIoIcqwwbfYvWg6eeZO979Zf4IltCHCO2heGcNahuGhYF4WATkfboLctIXaq4hvQHpaR/dnN6zf+LZooAhFmL+EPROanM8AB9jfvFI5G4zeiOV7/wHTtksaIuwvSfKay0TCTY4UcX+jQgGodEwJJsYMxxQ8gUk/R117ZIDBTlMa2ZY4dpGwuD24QZaww0meJanjT+Hx3ZBPfIib34xkvMLox8oAJhztfZogTTqaaDA/qiDogaLinqBw0pCc0nKpMel7IjlnKuAhBuYT5B3y92CbeaWymPBEHhywHuHSrASnnJT+nND2sG0VAgIv8dLl0iDKGMBgksDRA6Dh7exISav6PZZk24hRW7BL7WR7KbuAseVwKE5Oel/kEXoVx71ZJZdCDUDT33lSv1mayiut8DwF7tHIJh166hMh2YoG31oJ57a2Dcu4uGC3x3tdzcuXj9cKmBIJTPWzE9qXR6oM0yuVazQt03QrjJ3vzEk5T95ECouxPm+6s6F9K9GgKloldT5ZwwgvEueQYu60gYC4hBrPHD1I6YoHt+ZVE/rzaoHTmnx/DE5mtv0Hp7NMj+peY6/PnchY5Qn+5IgL8CE6Hb/y8TgyFUtwlwfYrqKsn3GIGrpnXkJ5+RjA9w841yKBykmjGjgrAR4PAX3xXKW7/nAPAXniMlC/qo7JIAcBDhbjtEIHj8UxQwANS/2Z39V07TPen9ggunfzbaFvkSoG6MRdxrWR79fR7xqTA9i4ascNvILBfD0wZowu7NSwww4TRM6xFAVQBlIfZxU5xmc4L/18bfxTuEoc5Jhxg8BMEFykH5iOPjbpOGDgeSdSAft0Gm12fHq6WOmk8JvW+9m6GRjHMkyIMitjhqqSRw8zPr6ePssHnfIJeOWU5j7Jxvzl0AJVVgubb2mfgikozGqWuL6TFX7sy1VYdUarKfClcFG0jlUQXAk1H/YG7+y+jJWNH+RgHEkxeg4W4YsrTOWD50XYTBPXztA4BsfPOaxF8VidpVAJdBWn1i59hrhz3XR/VdOVcOS+4qKHoww64mvFQtgU6KCbQxlvySGOpYU6bIK13MFPlLwmIdWw93TBw6KSOodUmDa1/zdm9IZzSWrpcFbVpXXQwbxhXB0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SH16dkfB8jC2YvxWtUscF",
      "input": {
        "note": "The brick now runs right under the jaws in the right wrist view, between the two fingers. Descending to table level with a small further advance before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.445,
          "right_y": 0.035,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_019SH16dkfB8jC2YvxWtUscF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6037, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.7988, 0.77, 0.297, 0.0357, -0.0086, 0.9972]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=-0.0037 left_pitch=-0.042 left_roll=0.0064 left_gripper=0.9995 right_x=0.4395 right_y=0.0364 right_z=0.0256 right_yaw=0.0635 right_pitch=-0.1654 right_roll=-0.0208 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.2239, 7.3641, 1.6728, -0.0611, -0.0562, -0.0122, -0.294, -7.159, 5.7368, 1.3455, -0.0415, -0.0415, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c94a0f403727b314cc604920f27a8fde3c9c7ab36dceada61e355be9e6b9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcf83b295f6e552ce7a3a6b4b3fb00f2f7f903777c335b642ac763484108189a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:260b1e306d716d20d2dabc00881fdd3dbba4cccb41c32c6862e7f8df8c96905a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 13.42 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6037, -0.3939, -0.0227, -0.0265, 0.9995, 0.1005, 1.6409, 0.535, 0.4004, 0.0422, 0.0154, 0.009]\nstate[eef_state]: left_x=0.2938 left_y=0.0018 left_z=0.1731 left_yaw=-0.0037 left_pitch=-0.0264 left_roll=0.0062 left_gripper=0.9995 right_x=0.3882 right_y=0.0353 right_z=0.0235 right_yaw=0.0569 right_pitch=-0.1386 right_roll=-0.0059 right_gripper=0.009\nstate[joint_eff]: [-0.0205, -1.388, 7.0222, 1.6972, -0.0464, -0.0757, -0.0122, -0.1709, -5.1487, 4.9162, 1.2674, 0.1734, -0.0122, 0.7741]\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]: [-0.0196, 0.8101, 0.6037, -0.4068, -0.0227, -0.0265, 0.9995, 0.0883, 1.7195, 0.7452, 0.2394, 0.0357, -0.0048, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1699 left_yaw=-0.0037 left_pitch=-0.0412 left_roll=0.0064 left_gripper=0.9995 right_x=0.428 right_y=0.0352 right_z=0.0389 right_yaw=0.061 right_pitch=-0.1683 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4701, 7.0085, 1.8291, -0.0708, -0.0464, -0.0122, -0.8137, -6.6667, 8.335, 1.7558, -0.1294, 0.1343, -0.0269]\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]: [-0.0196, 0.8097, 0.6037, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.7988, 0.77, 0.297, 0.0357, -0.0086, 0.9972]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=-0.0037 left_pitch=-0.042 left_roll=0.0064 left_gripper=0.9995 right_x=0.4395 right_y=0.0364 right_z=0.0256 right_yaw=0.0635 right_pitch=-0.1654 right_roll=-0.0208 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.2239, 7.3641, 1.6728, -0.0611, -0.0562, -0.0122, -0.294, -7.159, 5.7368, 1.3455, -0.0415, -0.0415, -0.2906]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09c94a0f403727b314cc604920f27a8fde3c9c7ab36dceada61e355be9e6b9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcf83b295f6e552ce7a3a6b4b3fb00f2f7f903777c335b642ac763484108189a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:260b1e306d716d20d2dabc00881fdd3dbba4cccb41c32c6862e7f8df8c96905a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/AgKEAgRGAI4AUIIdGhpbmtpbmcSDIHiPZCbAGwnTUE1GBoMeaFUMny2RrqrzEoDIjAjKh370+61H+zTg+czaEAgNCCK+6GGfBXcWMdJi2TukAbxkFYWT9cXNzE8+tAtHXsqmQhCQQtcx5ZGfi8MLnx5k1YiyDTRgELb9MwwxU7RT/MBoposuuvoVluIYP7eusWr1GDJ2w/KFu2+HKo5HuGhORrz+RUVC47pUOgV7Fbuq8+Qpwjb8lnCMHmMcX9+2ckeb+ZR0B4DqP5YCU42+rHk4Hv4dgff2CriiWQJFFcfJz4TaAewUFV2GSq6iNJGmio1kqG9XenTH21wuiB1Wlwi0T7ra/DrWhdDNWMQIx52ZSK3kAf+SJycmFWKJx5vSQVjtH0wOX7u1fpj/AYJfzNzSCuXUaPaBCtlt9rVUq+tOt0jPhfo3YdB/l6Pb/7sNK24JdemJd32YbJtRo1fTBPOTy7dLLHyr5bLYJtm8ajxziyNA7OOoUBtns7kMus5gRyr3FZmrB6gFsc5RMYA5SWXZV7BV7qmVqTbCHSnUTe24/YG3lu3gzc3xupYst2L2jAk8slHYGFhslBSX3MXR54qsiIi3yrePa+xxQob7sQPQJMyUzOl6Fu/K+Q0QgFl9gFy7j539KVfEYVwVfIOcKZacI/W2rBYhPUFVse9qqlwDpMgBRhZy6TMLJ+HPGTtDf/rdQ2ce4bd3IUHbl1l3pBo8zA7NvvnEWUpsqHBq2YyLW1pxenYhoMjgXw7SgoxSwAs7xBmt7RJvxDL6GsV/2ZdK9c5SdwxIcScs6uOmpQtleeIjDPsGXo1XYxf6SzihE5L7UQw2y2J/9ZJNUzM0gUv3KB8oehG/Jg2BCaqavrhDv933mc6cqUV8mX/2m9r/9DlLtFXxkuMRqEsvye6jdy+i/0NczZc4+nDC5DOu5kVfkc4Rj4glIrmcV32eDpGrHM8ihf9JWb9LEEm+SNMmP6ebH6Zgz9FokI1pBUxWXuC/1B+r4+Qyu3obbO4KRrn8UWBUEuytUm5Dvm0g8EJbhnvqN69/ZQ/6yQy1F8A1UFKgbByPLeGEG5C2BdVQEZluDOE++bi/6arXojMvnmAQVdnm3K7DCJ1UTIsp8MhUVyKCZGGyZSlTzfRR86GXvo3SkRcGXUS8pVrxNGIkG/9CMmtiwWWSu3qVTuU/UASVYAVq1/nQ/6NFhTy1JMb2spA7xVRTmWURMwLTMBwWJqF2my4zVsiwDwU8NBqc09OOonQKlb171JHrjwemUyA8Y84eY4VqDGgyKg4OYBRADKBJBO3KAFMDsiMU6tuENSZ5U5zH4QCF4a1U7cwtdudkDeD+cr/eR6mEWHbzG5S87Q++bfIQXb2E4BI28WSB8qBuxACJV4yCPlGfJIpRiZVbDI7+c9aLZXlLkX7b8frKtVUBJFB8EWr1pfGoPmKeaa2byIzmc1B5LYRDZjByrr86pXyoW0WSKGW5rMTW4WiswwmqYjp/661Pi8pHbQkC0vjX2YVWs45GrR+LG+7MXx+3BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BgaZFKyFLHWcYPzRVSPyj4",
      "input": {
        "note": "The brick is squarely between the jaws in the right wrist view and the descent stopped at ~2.5 cm. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BgaZFKyFLHWcYPzRVSPyj4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.8462, 0.7807, 0.3817, 0.0139, -0.0147, 0.0097]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1685 left_yaw=-0.0037 left_pitch=-0.0466 left_roll=0.0065 left_gripper=0.9995 right_x=0.4524 right_y=0.0414 right_z=0.025 right_yaw=0.0854 right_pitch=-0.1176 right_roll=-0.0105 right_gripper=0.0097\nstate[joint_eff]: [-0.0479, -1.4291, 7.0359, 1.6777, -0.0366, -0.0269, -0.0122, -0.3897, -6.9538, 4.8889, 1.3993, 0.149, 0.0611, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f2d6304ddcbc8b9d1d967efe1efa4c176a284d61d46910a3cb3bd2547c3c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24467ddf61f6412f8de7eaf4b6d16b5e641b6f9aaea24182f9d364797a56669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efecd033964cf28e871d30fc96af4e83e9b27b4d2b3a8abf89422ba74972b896",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 6.371 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4068, -0.0227, -0.0265, 0.9995, 0.0883, 1.7195, 0.7452, 0.2394, 0.0357, -0.0048, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1699 left_yaw=-0.0037 left_pitch=-0.0412 left_roll=0.0064 left_gripper=0.9995 right_x=0.428 right_y=0.0352 right_z=0.0389 right_yaw=0.061 right_pitch=-0.1683 right_roll=-0.018 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.4701, 7.0085, 1.8291, -0.0708, -0.0464, -0.0122, -0.8137, -6.6667, 8.335, 1.7558, -0.1294, 0.1343, -0.0269]\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]: [-0.0196, 0.8097, 0.6037, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.7988, 0.77, 0.297, 0.0357, -0.0086, 0.9972]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=-0.0037 left_pitch=-0.042 left_roll=0.0064 left_gripper=0.9995 right_x=0.4395 right_y=0.0364 right_z=0.0256 right_yaw=0.0635 right_pitch=-0.1654 right_roll=-0.0208 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.2239, 7.3641, 1.6728, -0.0611, -0.0562, -0.0122, -0.294, -7.159, 5.7368, 1.3455, -0.0415, -0.0415, -0.2906]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.8462, 0.7807, 0.3817, 0.0139, -0.0147, 0.0097]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1685 left_yaw=-0.0037 left_pitch=-0.0466 left_roll=0.0065 left_gripper=0.9995 right_x=0.4524 right_y=0.0414 right_z=0.025 right_yaw=0.0854 right_pitch=-0.1176 right_roll=-0.0105 right_gripper=0.0097\nstate[joint_eff]: [-0.0479, -1.4291, 7.0359, 1.6777, -0.0366, -0.0269, -0.0122, -0.3897, -6.9538, 4.8889, 1.3993, 0.149, 0.0611, 0.7399]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51f2d6304ddcbc8b9d1d967efe1efa4c176a284d61d46910a3cb3bd2547c3c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24467ddf61f6412f8de7eaf4b6d16b5e641b6f9aaea24182f9d364797a56669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efecd033964cf28e871d30fc96af4e83e9b27b4d2b3a8abf89422ba74972b896",
        "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_01C2cMx6x4iSh6C3ZsSe4VDR",
      "input": {
        "note": "Empty again (0.0097) and the wrist view still shows the brick starting just beyond the closed fingertips, so it is being nudged ahead of the jaws. Opening and advancing another ~3 cm at low height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.478,
          "right_y": 0.04,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01C2cMx6x4iSh6C3ZsSe4VDR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0837, 1.8462, 0.8856, 0.2424, 0.009, -0.0299, 0.995]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1678 left_yaw=-0.0037 left_pitch=-0.0493 left_roll=0.0066 left_gripper=0.9995 right_x=0.4654 right_y=0.0411 right_z=0.0375 right_yaw=0.0929 right_pitch=-0.1521 right_roll=-0.019 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5932, 6.9949, 1.6923, -0.022, -0.0757, -0.0122, -0.6632, -8.4308, 8.8821, 1.8046, -0.0952, 0.1538, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45846d357ffa79559d0ff5efa3d5c3f174d9566bf099f47eb5dae2ea75d71750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c739ecdc61745f76691959068e4827fd965bf704ef231db59233357410cfa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:135db4a353d7ae13e931e857a354ef3edd0f47e6b82b08bf123d59ad28804ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.141 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6037, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.7988, 0.77, 0.297, 0.0357, -0.0086, 0.9972]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=-0.0037 left_pitch=-0.042 left_roll=0.0064 left_gripper=0.9995 right_x=0.4395 right_y=0.0364 right_z=0.0256 right_yaw=0.0635 right_pitch=-0.1654 right_roll=-0.0208 right_gripper=0.9972\nstate[joint_eff]: [-0.0342, -1.2239, 7.3641, 1.6728, -0.0611, -0.0562, -0.0122, -0.294, -7.159, 5.7368, 1.3455, -0.0415, -0.0415, -0.2906]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.8462, 0.7807, 0.3817, 0.0139, -0.0147, 0.0097]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1685 left_yaw=-0.0037 left_pitch=-0.0466 left_roll=0.0065 left_gripper=0.9995 right_x=0.4524 right_y=0.0414 right_z=0.025 right_yaw=0.0854 right_pitch=-0.1176 right_roll=-0.0105 right_gripper=0.0097\nstate[joint_eff]: [-0.0479, -1.4291, 7.0359, 1.6777, -0.0366, -0.0269, -0.0122, -0.3897, -6.9538, 4.8889, 1.3993, 0.149, 0.0611, 0.7399]\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]: [-0.0196, 0.8165, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0837, 1.8462, 0.8856, 0.2424, 0.009, -0.0299, 0.995]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1678 left_yaw=-0.0037 left_pitch=-0.0493 left_roll=0.0066 left_gripper=0.9995 right_x=0.4654 right_y=0.0411 right_z=0.0375 right_yaw=0.0929 right_pitch=-0.1521 right_roll=-0.019 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5932, 6.9949, 1.6923, -0.022, -0.0757, -0.0122, -0.6632, -8.4308, 8.8821, 1.8046, -0.0952, 0.1538, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45846d357ffa79559d0ff5efa3d5c3f174d9566bf099f47eb5dae2ea75d71750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c739ecdc61745f76691959068e4827fd965bf704ef231db59233357410cfa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:135db4a353d7ae13e931e857a354ef3edd0f47e6b82b08bf123d59ad28804ac6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AcKEAgRGAI4AUIIdGhpbmtpbmcSDFlAtaJ+cGpEpiuPwxoMqXE08JabTbY/DgI5IjA8pCwvvOU751oQ3wiNHzh9qS9dJ+wUyprgXQo2xNJi2RY4IRN/GuTQgDq1XsiYdc8qgQfCLAKoqt5hXHVwQ8b3HZnp/l7cZNx/nK/Z4cv8nr8YzrUoH3Z769z8qV8C2jH0r/9Q9PIbCor05S3MjjZPqnbEZH7Hn0FoN1EaVe69hfw3dP5RhigjZKiYsaT9wR5amNqhRhWcAXQOkFnRjziue2dZCrWzVvh7uIDREOZkqlUExaKIiqO8aMYFurKiINUBYZGNguKFmaVRN33JwgJjgV/rkXseSjahSGPrrypTk8vQ+9Ny22Q9VEG8637XAnXajPXsc+ZwhQB/yoq9olCMF5tbOs0O9JRdFpquxAj2Z6dQT0yRV4Px8J8v9WN7gSOU5DLFnOC0dxPXwrP9w0CIJyEYAFvVlaavRT0r3+LRT42ff/CMMTOZXVx992m6EaZ93jfBpFHJvLyZ15i/W0Alq3ZYa4Rg0F0iTTu016sTosQb1ATE64IYCifRW8P59nkRafJ2M56QLyzaNnvdNmrWQaKJzI9inTM3980RYR/SaMqFx90Ftxy2Aav2y/yIVqJpCGnb49G2h+u3hD8gJTCUbCqJGeKKwTjEXZf3ZSXiFZAAvKKVQLpg+bBsc5ju6JGrBr+3EhI2diHQjYSGzH5PRdUo4uvX2Xh6V6sBSimZc0GKf5gXtJPbBUffvNhilD/6CdP0n/AKLcTxnozfqK2mYNQqHyYGABEWga4zTo1Uj45IQpiUeJzQAg0NLAsXDxTTVKl06ArDF6AHFXqfPVo1+xavbJ7MYWkcOCFmt0lXjgajBNh4IqufGGJbQRr5V+iHiI1Q3Ifj3NqdWGoJqPrOkyC6yUPwKXClSWNKyFZO8GBzNhXqEMRqu1ThLild14R+pgn6JZ91JpK39S0UVJOdI4ulO0z1NJU3NexqJ1eyzMvDKFIHTd6wuslC0F1NnCt3gku8QVVlhyE4W5CHdCw+c9xLhBZv2NeI/By6ElW6l2EMsy1AuxMyI1JRJKE30O38gnFFS33sJ/M5GuvATO/dFGW3foBEcQxjwnS30ESwgPkcQpqvWJC28MG3mEH/Bl55+PdhnP6tiHsCKKrFlfqgjYFamT9lcc65Hzv/3LdjiYCMMKndA5r2BYlTW+g6T6Fy7GH7E4I/8kG4FQOqRgGXx/7+mfMTXKY2cb8of9uCT6iBJUMLhk0YgSgZSAGYZ1zZVeldqwtmo8Fy12wwD8WEdTtp5PPa/1TYEPXvYfBwLOnJKtYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gTt7dpNcD98mcwVeDMRe3",
      "input": {
        "note": "The brick now sits deep between the jaws with its far end at mid-frame, so the fingertips should be over its body. Descending to the table before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.478,
          "right_y": 0.04,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018gTt7dpNcD98mcwVeDMRe3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.4084, -0.0231, -0.0265, 0.9995, 0.083, 1.9472, 0.9028, 0.3767, -0.0101, -0.0261, 0.9972]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1672 left_yaw=-0.0034 left_pitch=-0.0515 left_roll=0.0068 left_gripper=0.9995 right_x=0.4837 right_y=0.0456 right_z=0.0232 right_yaw=0.1062 right_pitch=-0.1015 right_roll=-0.0045 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9368, 7.159, 1.663, -0.0513, -0.0317, -0.0122, -0.2803, -6.8855, 5.3402, 0.7448, 0.1197, -0.1343, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40f6d87a04ae2d64e482c0d2049ee0829c9c361d395c98075a699c9174b624e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d1e7f4ce8a2bc912bd3a0ee8c8c09df35eba8897da06e36d3609b5c8e5fb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3867a8ad5d57ef64d2b6cd12b28234d34919521cb09a308a80bd724c69cbc015",
        "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 · 24.27 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0887, 1.8462, 0.7807, 0.3817, 0.0139, -0.0147, 0.0097]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1685 left_yaw=-0.0037 left_pitch=-0.0466 left_roll=0.0065 left_gripper=0.9995 right_x=0.4524 right_y=0.0414 right_z=0.025 right_yaw=0.0854 right_pitch=-0.1176 right_roll=-0.0105 right_gripper=0.0097\nstate[joint_eff]: [-0.0479, -1.4291, 7.0359, 1.6777, -0.0366, -0.0269, -0.0122, -0.3897, -6.9538, 4.8889, 1.3993, 0.149, 0.0611, 0.7399]\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]: [-0.0196, 0.8165, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0837, 1.8462, 0.8856, 0.2424, 0.009, -0.0299, 0.995]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1678 left_yaw=-0.0037 left_pitch=-0.0493 left_roll=0.0066 left_gripper=0.9995 right_x=0.4654 right_y=0.0411 right_z=0.0375 right_yaw=0.0929 right_pitch=-0.1521 right_roll=-0.019 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5932, 6.9949, 1.6923, -0.022, -0.0757, -0.0122, -0.6632, -8.4308, 8.8821, 1.8046, -0.0952, 0.1538, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.4084, -0.0231, -0.0265, 0.9995, 0.083, 1.9472, 0.9028, 0.3767, -0.0101, -0.0261, 0.9972]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1672 left_yaw=-0.0034 left_pitch=-0.0515 left_roll=0.0068 left_gripper=0.9995 right_x=0.4837 right_y=0.0456 right_z=0.0232 right_yaw=0.1062 right_pitch=-0.1015 right_roll=-0.0045 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9368, 7.159, 1.663, -0.0513, -0.0317, -0.0122, -0.2803, -6.8855, 5.3402, 0.7448, 0.1197, -0.1343, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40f6d87a04ae2d64e482c0d2049ee0829c9c361d395c98075a699c9174b624e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d1e7f4ce8a2bc912bd3a0ee8c8c09df35eba8897da06e36d3609b5c8e5fb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3867a8ad5d57ef64d2b6cd12b28234d34919521cb09a308a80bd724c69cbc015",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AcKEAgRGAI4AUIIdGhpbmtpbmcSDHgwsYLdze/XBErZHBoMX9HpYJMLNuTvrI27IjB5UOt69Dgs7GO5Zy78OsUksrgr2opzYfyU2p2xForUFoqdxv+/UNGdS4qIftz8U/gqiQf36BZmr4nb2bdleJHO0hEtmfw963KKOIGVl5pgm7NzK2hG5D9MOdr1fX04zQz8ips7V1rFhTaWdMiFsT7rO3aPbM6sVGft8yw4YDClUuzHKtYuQ2Kf65WlwL4mTOw9CbtxRqGMA0KUiCxIrssD+Q6lGj5crcUJGBGHVxeCXlj/rYiBZk0a+Y6YuNGGtY5zRhmnc6Gl2Rdgng6KAKEbfYMXVStcV51XqJfeYkRWG7XOWQwWbxP1NVy7eFlqXwEBei8q2uWNKSS7X+z5Vh9Df0xQrnbSG+bAXtlYm1i7hwT1CGRuryKwKrjOW9qODKYc5iyTPJ3EVR4iCRUKdEJLAUcZA8Mvtjn9AqYyrtMcS/iQpI6NxDPj7tET81FAoCMrnjWDWFmHut/A5rRIFlisSCAmT5X2Ng6B995QWDxHup0mBJTm0i7usRxDM7Z3SutbwKTvlwu1ryNFUgbL4wXmZNSTDxeZRc5SiUGdIpmp7wgFco0A+TONq+OTS9DYyab62HaIgy9OBTVW3Bx6uKoB/P8KZUgIjlmtkqmjU97nEG+5XS2eJMmuG/ealrsRZvDVv12NE00Hk0Yogr/mhRN43+xsfdx2zC9PMxR3BxMlM8lu/0HOZsVDUqYwSD8Uvh+F/GUpfG7bR+07mDe+6WK+3L5q3/9K2jdamXMS8mYbVhHSYDBwDbS3R3FCt7gkpUwvP2Uf44+xtXo6iVHai48z5+0zPo8FJAlEINzwrly6GzmDfGvpKBEt3SwJkZaSYnvmRwPTLEbXcq+4PlRDVJQOlHCzgfUQuxMh55NGSE8HNGysx/kcxRr7Wmw61OCOUY2CLXYL2sQJUaWPvgTv1u3G+Z3LWj6aZzSvULv0Qqo7fgkykqDXZMwYMFKOq2OeESmyPgCvSGOVycU5+levhnTES5L8/+4lgEMUAOjKl9jEbYb3n6JoPQVS6kt5xwxJi5bWz0xDpFYSFAhwZasDSTABt9vw32zM3fL5AtjB0cWRYa7krSi33EnR9c00mR7fDiiaEuwca9NuePgyUl9licrnoCEBmZBTpfcUKIs8ovYcIWp4X4igOkXfx0xcsUnqAdIBFbIUV4jRZp/kjwbiq3lbPe7EJfyT5gLgHOQtsd/YKD1eVUjA1uTpN5kmy3SPq6rcQeLajhx2XLjJRH85HD/Tpu8jt/llKunrcSjzAGv0vk8rI7b/jjOuJeTQmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011xzUAfnqaaJQCSEjLfPg2c",
      "input": {
        "note": "The brick is at the bottom of the right wrist view between the fingers, with the descent again stopping near 2 cm. Closing the gripper.",
        "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_011xzUAfnqaaJQCSEjLfPg2c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.9583, 0.9016, 0.3927, -0.017, -0.0277, 0.0093]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1673 left_yaw=-0.0039 left_pitch=-0.0512 left_roll=0.0069 left_gripper=0.9995 right_x=0.4846 right_y=0.0478 right_z=0.0207 right_yaw=0.1148 right_pitch=-0.0976 right_roll=-0.0016 right_gripper=0.0093\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6679, -0.0171, -0.0171, -0.0122, -0.1709, -10.4274, 5.4222, 1.4921, 0.0806, -0.0122, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebbaee52708ad420d54837ddc3e4803dc2a5b1f75aee0b5e2fdf51ac57ec133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857c2cebded5d516450f98215144f068360c89b9a2baf4af7978d034c77f3894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:263b2f5705e1cb1686d2c7b0a1f15689db331d2c60b8d99fb23e7a2a4708c0cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 16.21 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6033, -0.408, -0.0227, -0.0265, 0.9995, 0.0837, 1.8462, 0.8856, 0.2424, 0.009, -0.0299, 0.995]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1678 left_yaw=-0.0037 left_pitch=-0.0493 left_roll=0.0066 left_gripper=0.9995 right_x=0.4654 right_y=0.0411 right_z=0.0375 right_yaw=0.0929 right_pitch=-0.1521 right_roll=-0.019 right_gripper=0.995\nstate[joint_eff]: [-0.0889, -1.5932, 6.9949, 1.6923, -0.022, -0.0757, -0.0122, -0.6632, -8.4308, 8.8821, 1.8046, -0.0952, 0.1538, 0.0122]\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]: [-0.0196, 0.8185, 0.6033, -0.4084, -0.0231, -0.0265, 0.9995, 0.083, 1.9472, 0.9028, 0.3767, -0.0101, -0.0261, 0.9972]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1672 left_yaw=-0.0034 left_pitch=-0.0515 left_roll=0.0068 left_gripper=0.9995 right_x=0.4837 right_y=0.0456 right_z=0.0232 right_yaw=0.1062 right_pitch=-0.1015 right_roll=-0.0045 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9368, 7.159, 1.663, -0.0513, -0.0317, -0.0122, -0.2803, -6.8855, 5.3402, 0.7448, 0.1197, -0.1343, -0.3004]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.9583, 0.9016, 0.3927, -0.017, -0.0277, 0.0093]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1673 left_yaw=-0.0039 left_pitch=-0.0512 left_roll=0.0069 left_gripper=0.9995 right_x=0.4846 right_y=0.0478 right_z=0.0207 right_yaw=0.1148 right_pitch=-0.0976 right_roll=-0.0016 right_gripper=0.0093\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6679, -0.0171, -0.0171, -0.0122, -0.1709, -10.4274, 5.4222, 1.4921, 0.0806, -0.0122, 0.7204]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ebbaee52708ad420d54837ddc3e4803dc2a5b1f75aee0b5e2fdf51ac57ec133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857c2cebded5d516450f98215144f068360c89b9a2baf4af7978d034c77f3894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263b2f5705e1cb1686d2c7b0a1f15689db331d2c60b8d99fb23e7a2a4708c0cb",
        "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_01MeiqQX2quk163Wi7RnTqcQ",
      "input": {
        "note": "Third empty close; the brick vanished from the wrist view, so the fingertips were resting on top of it (descents keep stopping at ~2 cm). Lifting and backing off to look at the brick from above and re-align laterally.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.045,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MeiqQX2quk163Wi7RnTqcQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.5574, 0.8501, 0.0441, -0.0162, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1665 left_yaw=-0.0039 left_pitch=-0.0538 left_roll=0.0069 left_gripper=0.9995 right_x=0.4341 right_y=0.0434 right_z=0.1107 right_yaw=0.1137 right_pitch=-0.0969 right_roll=-0.0015 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.3607, 7.1726, 1.7216, -0.0415, -0.0269, -0.0122, 0.4034, -8.0615, 7.3231, 1.663, -0.022, -0.0513, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5295e112514910f283df773a33cd48305ac835ef5bfe9b3a42c0cffc9f8219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35cc25b7576077137bab0ea832db6b0835893add707cae49ac4ce44fc9821031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d40fbe705638b361e499417018e343190efc6600fefbc636e706b66db458f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 12.56 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.4084, -0.0231, -0.0265, 0.9995, 0.083, 1.9472, 0.9028, 0.3767, -0.0101, -0.0261, 0.9972]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1672 left_yaw=-0.0034 left_pitch=-0.0515 left_roll=0.0068 left_gripper=0.9995 right_x=0.4837 right_y=0.0456 right_z=0.0232 right_yaw=0.1062 right_pitch=-0.1015 right_roll=-0.0045 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -0.9368, 7.159, 1.663, -0.0513, -0.0317, -0.0122, -0.2803, -6.8855, 5.3402, 0.7448, 0.1197, -0.1343, -0.3004]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.9583, 0.9016, 0.3927, -0.017, -0.0277, 0.0093]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1673 left_yaw=-0.0039 left_pitch=-0.0512 left_roll=0.0069 left_gripper=0.9995 right_x=0.4846 right_y=0.0478 right_z=0.0207 right_yaw=0.1148 right_pitch=-0.0976 right_roll=-0.0016 right_gripper=0.0093\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6679, -0.0171, -0.0171, -0.0122, -0.1709, -10.4274, 5.4222, 1.4921, 0.0806, -0.0122, 0.7204]\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]: [-0.0196, 0.8211, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.5574, 0.8501, 0.0441, -0.0162, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1665 left_yaw=-0.0039 left_pitch=-0.0538 left_roll=0.0069 left_gripper=0.9995 right_x=0.4341 right_y=0.0434 right_z=0.1107 right_yaw=0.1137 right_pitch=-0.0969 right_roll=-0.0015 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.3607, 7.1726, 1.7216, -0.0415, -0.0269, -0.0122, 0.4034, -8.0615, 7.3231, 1.663, -0.022, -0.0513, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff5295e112514910f283df773a33cd48305ac835ef5bfe9b3a42c0cffc9f8219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35cc25b7576077137bab0ea832db6b0835893add707cae49ac4ce44fc9821031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d40fbe705638b361e499417018e343190efc6600fefbc636e706b66db458f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzRMKEAgRGAI4AUIIdGhpbmtpbmcSDGXE7uCb6bEVUlZdHxoMm0vB0JVU4prwRoJ8IjAMclKUpJJpzPMutSpik7V91+3olr/95AOj5HK+yG1/b9XqmUlGNgVrlyXvk3/zhs8q6hI7jFmWRdCwEzFFTzhDaiQIb2meHkBR6EZxg/ML/YS+vj4AR67G5GlfUzRRK2jN30tRbusdUCRyMOkxlahb8jE6Q4ScTwqG2INxjzJwT0OUAx1O4yrWl0V7HnSTySCm7vQqKStN4f4/8QrOLrhhwTjTw4A6rwCC47jsszc1naqlG3f1FVSwaIg6YJC6m31HNn6P5NPRbogdLLrFgeVud8dpwYovua+ihvaa6To4lzYcciBXyuxzv8K/o1BuIQyKXIH3DfdOgA+vV7UoOaPDLE/icTtuq7ElaasTm1jtDz9Kdg1Ye+n75LIzjJ5dUZSFj2EFATRAio32nbRLK+X1RTOM0khSj2Hy9h/zmNMC7k8M3fLbTch0DKCHYLPSObKzMM+uazhHGBl46bXkwNVHB7MnVdY/Wh+NrWByVOzYyX7YVMktD4mcSLe3jSpNao11PzdnLhjP+ZKyowscofXaseb3S8tD81QYCCTY7g9OhB5zbDpT/RLfq59YguJXJ9J8Jfn6bALHRMLgYVAUwunqDsr3O6FCVrXWnnlzyJIyWG1/YFaRPv1KiFWu4Rjigm5vUOy35QUB0lRbtiFBgiPx6KfeJ9G+qQsRpPGTFZDEbL9aN4CXW0ea6ai012jxiW7DJKErgqvnwcnMuSTA4swpg+leg8mZMjgM5EXXukiTX4Thfhpa/UCT1B+4Rhr0HUgxLNWbXDD5U81qTEeN15SWbcdVxgUULB776YGcM0Tom7RL9v62/4TlgzlnYvHSo8lOHE+9yHbrJbdexA8P/xpUlNukJA2BwMdD6H3js/5qqA9e0vwfm3STnaNTwgazNIVpEhOJ4h7oqMsIxFpPYX9snZGRmJcfbnyVorS7OZtLVgEs5bLadQ0NUHDORw/o7XBJYdfbW5vjpN2CBIT7EXx2iVd5+uT9xn3UY2Lzxr5JqU1ditYosX+LzN7VmEp+Lw7OQnJ8kmLDGB8uY/xfxamCvp4xhngNs9aDAdOwc5zipOuWpAquV46QcAUwrB8bML7Fewe7+pD8fdX7LlxDUrcqC0z60s4WjhOxdRo84dArURFpyP3TtryS006vxnkg3mTuBIKtT5j4wm07hxw/GkouWjzfee5PJ+EvY2M0J6OTp02987BbfK86H3RaUcLRQGKS/R7oTo1kAPSEmfIiVGCOn3ION07dFGVtR2fZLCNtsZhDD9It5n7AvdegOyG83bmoFHt1A5VT7T+ijl4DUGqc8vFHJ1DL7IG7vzidjQp3QeBc6BkIiuo8RqKkdOFlfwFoFdQcaqiervee2YkVvKynm1CzGQUOobvLG506j1kXniaLq5lIuX1pFgsHDdb2yeBxfZAjMBUIcCAFr5AfOp54EBasZmv/xvNXX0NcOf39eRWTsbPMQzT4uHuS5W3qQqucCRlqcoEalA40bC9TaHUsBJcPsX/0qfEaa3ogTRAwmAjATLF7rNbWB/oJ0mPlAr+eM8UmqBmuMtDe/HeVI+VHGosE9vEA10EKlubsW6+LrVrdM6d4Eq45JI0gMeSHntI5Jv/tWyYMGepfGmFncfeGlwpBZrsQ2c4WpUubsGbmgshb7TNdtpUnW73kigcenqQFO+OL+32xPpocDTkcSFLrDdwqW8v7ms2XGR8zrPb5PnG4Pn9HsFSz/amyTeIe7743Aepfx07VmZO0g8UFDHl2MxcwqE5inw/eEpbfJVY9lDF1b30VH4BK5A+pog9T5RtWYymB+qizxmHBwXC1omI8LVM09TtbVYsbH3CVxa4NYFHIQs3Arw5e4p1+lR6Fmr0LdRjTEL9LsDvcY4sHncehiYN4sPUBfLq8qeEhlqGAPjfOiSMTTkDORrhb4IyOlDxB3n2YJ0H3+zrqb8brH11FGDl4UMPV91xx1LXae0/+acMl5mWhTsjlZf/KliR1cTRzzGBdit+tQTi2fIPrvQ8ICCVCyk1zmv4I2Cx1Yu+rQ3cn77ptMbDMTa2jXPvTg7TMXWSWl7UwkrVb8gmMxEnAd5elb29abUoaIqY+Dok6ZwE6ICYX4wBKljAjZiBZuvmDAJTAXF3PVcU72jCks9R+Utg2gk8xbbKMJxYZDqraiv3j9L/i8bItmCUt0JpX+mI4DRv0/D4T/hU8jwU80KXWP/esPtDn0zrNvIbFyMS7tHbxzes45jJUI9U1UXAYra8flNjiWGjKw4VIpiWv0e8jUDgShNyq3jEPCyZaQwdeDMRtTQYbPmM5UmKstWhkr1rlILy7MX8h47DRQbMG7wGM60eLImIzpF5ClZHE4rDnraNUu+tqLDJ/RPfe46rzgv/CdVq06+RZP5YcgUEYYnPyheTUyo0JY3IEIu6B0lFMW812hbzT4DDHAH90kCYMbFkD6TK9Gxm4lal5eimPYD9QFUMGSFY4l6YJ2sth8EcdhkitTHNu7qLq8OtNgIQif1zsqRU0mm09RwOZvARk6Lw2/N9KQs1ehcjaNLLl0kTGgruKPxi0TMj9RNMYsRxf48g8rckgJfe6tNp/uDgZ4wSZ/Cw4iIBlJDi/2odAmOE633ZT9BacRNkv4TYd733yCCnb5JtwFlX4z/S5Y3UnRRu2dHd9GW+jsqoeU65qteOvLT1DXy2lhWgVg5DYEeMGxO9F45mxj7pWv4iNBTEnkQr13ohNMLpGgk2RWKxYsJ4CBfShdyYrzIQyUHRTbnSv6QZrTDFxIzP3GtuHy2NA6p/7R+mbfL6Gip3agrN0T2CzdkgSM4Pk0vZKAP0BwOWSkbBJEkKGU0Duh7fZT0Byd1fR6zrSM7ygNgXGCw0hrLSgYQL3XNZA5NfhYMEkqjFO3DlPKWAxa69xjlNtMbVBWaLwr03vZ+cIqh2S7r3b69hIjdtViSK3TyPxfvmwJNjrkfhEwi1U0FbYZ0t44qf2nOPEGlaIjemRo8fk60N7ClNL+sEPJyu6GE3rrtJJy9DpUh9KqSFNvXPg5Bb3bO8UPCXJR/wIkBNfkh/3SC9zCz3uetcQLnOif9DLP8h6xzexT/BNix+GA87xEFS2UCf3+A4yn+bl9OG3KbO+dygBbgXloaTp5Hh2hJRjwsTr79857c/MkiXFe87Hpn0DmjnKjrQ13QyFj+ZHWES6YUVWjDv0duT3tPeTUi7jaXBliVUGW0WTQUnQ6LLb+tLlOXsWVPTrG0wnQlQS8jjz6P8gx4CkSKWaZPziz3rveOPNrqNTuxHipt9xcairHn0NTXO+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011jTLYRHC2t4fryQBtNHKJ6",
      "input": {
        "note": "From 11 cm up the brick shows at the bottom of the right wrist view, centred ~1.5 cm to the arm's right of the jaw column and fairly wide. Shifting right ~2 cm and lowering to 6 cm to check alignment before the descent.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_y": 0.025,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011jTLYRHC2t4fryQBtNHKJ6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4084, -0.0231, -0.0265, 0.9995, 0.0261, 1.7226, 0.8005, 0.1738, -0.0463, -0.0566, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1656 left_yaw=-0.0034 left_pitch=-0.0573 left_roll=0.0069 left_gripper=0.9995 right_x=0.4361 right_y=0.0232 right_z=0.0464 right_yaw=0.0974 right_pitch=-0.181 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.6068, 7.2137, 1.6825, -0.0464, -0.022, -0.0122, -0.1436, -8.4855, 6.0513, 2.1954, -0.188, -0.022, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30b2444b9c4e1b575b71cd4c32a5e3b41ca8f7f94d851d4540e306364ea25364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398ac224cf3559b7366c8248554ef57492a7bd566ce7dfc243c4f5856fd9bbf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d85c0cab4be43a20a9849f1d471d1fec6dff6ff4210697497b41bbf4f511210",
        "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 · 4.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.9583, 0.9016, 0.3927, -0.017, -0.0277, 0.0093]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1673 left_yaw=-0.0039 left_pitch=-0.0512 left_roll=0.0069 left_gripper=0.9995 right_x=0.4846 right_y=0.0478 right_z=0.0207 right_yaw=0.1148 right_pitch=-0.0976 right_roll=-0.0016 right_gripper=0.0093\nstate[joint_eff]: [-0.0205, -1.3744, 6.9949, 1.6679, -0.0171, -0.0171, -0.0122, -0.1709, -10.4274, 5.4222, 1.4921, 0.0806, -0.0122, 0.7204]\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]: [-0.0196, 0.8211, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.5574, 0.8501, 0.0441, -0.0162, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1665 left_yaw=-0.0039 left_pitch=-0.0538 left_roll=0.0069 left_gripper=0.9995 right_x=0.4341 right_y=0.0434 right_z=0.1107 right_yaw=0.1137 right_pitch=-0.0969 right_roll=-0.0015 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.3607, 7.1726, 1.7216, -0.0415, -0.0269, -0.0122, 0.4034, -8.0615, 7.3231, 1.663, -0.022, -0.0513, -0.105]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4084, -0.0231, -0.0265, 0.9995, 0.0261, 1.7226, 0.8005, 0.1738, -0.0463, -0.0566, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1656 left_yaw=-0.0034 left_pitch=-0.0573 left_roll=0.0069 left_gripper=0.9995 right_x=0.4361 right_y=0.0232 right_z=0.0464 right_yaw=0.0974 right_pitch=-0.181 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.6068, 7.2137, 1.6825, -0.0464, -0.022, -0.0122, -0.1436, -8.4855, 6.0513, 2.1954, -0.188, -0.022, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30b2444b9c4e1b575b71cd4c32a5e3b41ca8f7f94d851d4540e306364ea25364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398ac224cf3559b7366c8248554ef57492a7bd566ce7dfc243c4f5856fd9bbf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d85c0cab4be43a20a9849f1d471d1fec6dff6ff4210697497b41bbf4f511210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ELjKL5uvotauHMtfLV7MSi",
      "input": {
        "note": "The brick is now centred on the jaw column between the fingers with its far end mid-frame. Descending straight down to table level to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.023,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ELjKL5uvotauHMtfLV7MSi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8265, 0.6029, -0.408, -0.0231, -0.0265, 0.9995, 0.0208, 1.8488, 0.7708, 0.3546, -0.0719, -0.0563, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0019 left_z=0.1649 left_yaw=-0.0034 left_pitch=-0.0596 left_roll=0.0069 left_gripper=0.9995 right_x=0.4455 right_y=0.0255 right_z=0.0155 right_yaw=0.1134 right_pitch=-0.1549 right_roll=0.0152 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.1966, 7.1316, 1.7021, -0.0806, -0.0464, -0.0122, 0.1162, -7.6376, 3.8085, 0.8523, 0.2222, -0.1978, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139356f0a12b3b5679b162e4a3da9e299aa4a65f1d6f904aae8d195281214211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ad1052f923f8b66bd5701ede93be6f01bd88db74291ea9b35aeaa15b4afbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ba58e7c5f09dbdd50d9e08b2b6055b7313174d4ca73214fce6d8b4986acaa48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 15.41 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6033, -0.408, -0.0227, -0.0261, 0.9995, 0.0849, 1.5574, 0.8501, 0.0441, -0.0162, -0.0269, 0.9953]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1665 left_yaw=-0.0039 left_pitch=-0.0538 left_roll=0.0069 left_gripper=0.9995 right_x=0.4341 right_y=0.0434 right_z=0.1107 right_yaw=0.1137 right_pitch=-0.0969 right_roll=-0.0015 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -1.3607, 7.1726, 1.7216, -0.0415, -0.0269, -0.0122, 0.4034, -8.0615, 7.3231, 1.663, -0.022, -0.0513, -0.105]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4084, -0.0231, -0.0265, 0.9995, 0.0261, 1.7226, 0.8005, 0.1738, -0.0463, -0.0566, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1656 left_yaw=-0.0034 left_pitch=-0.0573 left_roll=0.0069 left_gripper=0.9995 right_x=0.4361 right_y=0.0232 right_z=0.0464 right_yaw=0.0974 right_pitch=-0.181 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.6068, 7.2137, 1.6825, -0.0464, -0.022, -0.0122, -0.1436, -8.4855, 6.0513, 2.1954, -0.188, -0.022, -0.3004]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8265, 0.6029, -0.408, -0.0231, -0.0265, 0.9995, 0.0208, 1.8488, 0.7708, 0.3546, -0.0719, -0.0563, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0019 left_z=0.1649 left_yaw=-0.0034 left_pitch=-0.0596 left_roll=0.0069 left_gripper=0.9995 right_x=0.4455 right_y=0.0255 right_z=0.0155 right_yaw=0.1134 right_pitch=-0.1549 right_roll=0.0152 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.1966, 7.1316, 1.7021, -0.0806, -0.0464, -0.0122, 0.1162, -7.6376, 3.8085, 0.8523, 0.2222, -0.1978, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139356f0a12b3b5679b162e4a3da9e299aa4a65f1d6f904aae8d195281214211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ad1052f923f8b66bd5701ede93be6f01bd88db74291ea9b35aeaa15b4afbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ba58e7c5f09dbdd50d9e08b2b6055b7313174d4ca73214fce6d8b4986acaa48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS5AYKEAgRGAI4AUIIdGhpbmtpbmcSDHNrMOoWXnC17/0dtxoMtJuXF1p0XUAop+4IIjBlt3UL5Ct0OlcxV9kifW3lg4/rEd2qhXOqa+DdsXhNGzxZwWsTDYliucDu8/LGcVoqgQYFMMsuzgSlF9aZu68mncsmYql0G4HaSGg36S6KO4a3LYF8a5VSElLw+x+ZUO/13l0KTvO6xF5hsjsqrpO37qNYZYXfz5Q5Ad7CxuXv23wsNVtGTRGdBmb4HQdS48TJ/ZNwHSfATUh5u0tXWVki8eRjI68XgA4j6pk2nUz8uaDD7gKaF42msXkDrOHDUv3dkejkRSp9uUKsyiqZKjWeqnwqQE9rZLNY7SKPKf27XYs8qD1rNCTrEzXOo1Y4g1oc24VcdXXPejjfnS4Grf6cVzwSxC4XZJue2a/WRg4Y1JD6+2SZVljc1cExM4rTHUBhghEFNT6rMQd4U/LhgIgYNbSqu3igm9OrZJ6IK/Ey2p5djKxp629nCle+zYxPmtUmWoGHKuFIbQ7/ej6Oi5+LpK0/teQXnr1rZXXGIx5TEHbL01V04iAxMnsY4cMloqi8PAnQ+rCaHD7gmo+pVicbr5JD2YpMhnvEDNEmjYFaEGSAxQuY58HIXzaU0dXFTDSKA/rKtrSl+5FVGOlfuF+o0Ul67IFW5lUeh7hYAJxDbQUsWy0qXuSgqfxN9spIu+dM0IRheXAN+UgReyq3xnwBmIxEYQmQWZ5pZEE84cDDziv8CxjTqvBtd8DbYoQK2UrLOtKy1fcyqj1Yo8djzqLejGG93G9THplP6BtXEyIBY07WXmN6WaER+l/KOfTvoJRv43Z6GK7VpTLDpL+R5qWEFqsFNGUxCF++CyC77EPfJJL/MUhvSKJogNyZUeBZhS9xP+HMJpBPPo/SKGExuxYCPrM5IndvnrO07bMsPmhqYH/Gzl+C9fljn8Kyt+/Dc6gh6j3e1/dMThPLYzt/5DakwYkYBdsR5TZ8K+/2h9KwrPhERM1nncpHY0NcrrjkxPoO388MCqG2rZW3L30Vlh054GQCIb7jXuXIiJoyuvKWicDMmJdTp73a1K9s76dP8DSZGuv3c8fSwYBPNIUreZYLfKCW54RVRBRw6aSv+5FRyrNFu+RIK1bU7Kb4eeEFFZ6YUmSjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KyMm5J7LYqAKZYM6Thox6e",
      "input": {
        "note": "Descent stopped at 1.5 cm with the brick still centred between the fingers in the wrist view. Closing the gripper now.",
        "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_01KyMm5J7LYqAKZYM6Thox6e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 0.0261, 1.8664, 0.7589, 0.445, -0.0616, -0.0631, 0.009]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4539 right_y=0.0263 right_z=0.0208 right_yaw=0.113 right_pitch=-0.0947 right_roll=-0.0022 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -1.6205, 6.9812, 1.6581, -0.0904, -0.0269, -0.0122, -0.1162, -7.3915, 4.6017, 1.0183, 0.1392, 0.0562, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8312693b7ad8a2044e7299d71f855952a547a3a7cc1949fb31130c56d9013b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f143609a274ca036539129c439890f044b82898dd707f82a2c006fdffc591f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e38eb3958217d32acec70c20e8395213a738c336fd82c78780a6350708a8384a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 18.67 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4084, -0.0231, -0.0265, 0.9995, 0.0261, 1.7226, 0.8005, 0.1738, -0.0463, -0.0566, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1656 left_yaw=-0.0034 left_pitch=-0.0573 left_roll=0.0069 left_gripper=0.9995 right_x=0.4361 right_y=0.0232 right_z=0.0464 right_yaw=0.0974 right_pitch=-0.181 right_roll=-0.0004 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.6068, 7.2137, 1.6825, -0.0464, -0.022, -0.0122, -0.1436, -8.4855, 6.0513, 2.1954, -0.188, -0.022, -0.3004]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8265, 0.6029, -0.408, -0.0231, -0.0265, 0.9995, 0.0208, 1.8488, 0.7708, 0.3546, -0.0719, -0.0563, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0019 left_z=0.1649 left_yaw=-0.0034 left_pitch=-0.0596 left_roll=0.0069 left_gripper=0.9995 right_x=0.4455 right_y=0.0255 right_z=0.0155 right_yaw=0.1134 right_pitch=-0.1549 right_roll=0.0152 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.1966, 7.1316, 1.7021, -0.0806, -0.0464, -0.0122, 0.1162, -7.6376, 3.8085, 0.8523, 0.2222, -0.1978, -0.3004]\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]: [-0.0196, 0.8284, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 0.0261, 1.8664, 0.7589, 0.445, -0.0616, -0.0631, 0.009]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4539 right_y=0.0263 right_z=0.0208 right_yaw=0.113 right_pitch=-0.0947 right_roll=-0.0022 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -1.6205, 6.9812, 1.6581, -0.0904, -0.0269, -0.0122, -0.1162, -7.3915, 4.6017, 1.0183, 0.1392, 0.0562, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8312693b7ad8a2044e7299d71f855952a547a3a7cc1949fb31130c56d9013b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f143609a274ca036539129c439890f044b82898dd707f82a2c006fdffc591f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e38eb3958217d32acec70c20e8395213a738c336fd82c78780a6350708a8384a",
        "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_01LVNmLV2T2XHQW4fXpxjusb",
      "input": {
        "note": "Empty close again; the overhead view now shows the brick sitting to the right of and closer to the base than the gripper, so it was squeezed out sideways. Moving above its new position to re-approach.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": -0.04,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LVNmLV2T2XHQW4fXpxjusb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, -0.207, 1.494, 0.7048, 0.1013, -0.2222, -0.2035, 0.9948]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4024 right_y=-0.041 right_z=0.0898 right_yaw=0.0913 right_pitch=-0.1018 right_roll=-0.0094 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.7118, -0.0464, -0.0513, -0.0171, -0.3214, -7.1043, 7.5829, 1.6679, -0.2418, 0.0806, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76f0e88b223a0d3a56abbf64e9b728b0a238b4e97a67f4e50e02e0c2e4d58fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf11fb8be404ee6a2e4242c09f5bf18417b869a9a925be59f9124f2dd4f7704f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59e86944d2e5157a01137ffb38f5a2005389d584843e96aa68b9573b0fb90f8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 25.29 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8265, 0.6029, -0.408, -0.0231, -0.0265, 0.9995, 0.0208, 1.8488, 0.7708, 0.3546, -0.0719, -0.0563, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0019 left_z=0.1649 left_yaw=-0.0034 left_pitch=-0.0596 left_roll=0.0069 left_gripper=0.9995 right_x=0.4455 right_y=0.0255 right_z=0.0155 right_yaw=0.1134 right_pitch=-0.1549 right_roll=0.0152 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.1966, 7.1316, 1.7021, -0.0806, -0.0464, -0.0122, 0.1162, -7.6376, 3.8085, 0.8523, 0.2222, -0.1978, -0.3004]\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]: [-0.0196, 0.8284, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 0.0261, 1.8664, 0.7589, 0.445, -0.0616, -0.0631, 0.009]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4539 right_y=0.0263 right_z=0.0208 right_yaw=0.113 right_pitch=-0.0947 right_roll=-0.0022 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -1.6205, 6.9812, 1.6581, -0.0904, -0.0269, -0.0122, -0.1162, -7.3915, 4.6017, 1.0183, 0.1392, 0.0562, 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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, -0.207, 1.494, 0.7048, 0.1013, -0.2222, -0.2035, 0.9948]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4024 right_y=-0.041 right_z=0.0898 right_yaw=0.0913 right_pitch=-0.1018 right_roll=-0.0094 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.7118, -0.0464, -0.0513, -0.0171, -0.3214, -7.1043, 7.5829, 1.6679, -0.2418, 0.0806, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c76f0e88b223a0d3a56abbf64e9b728b0a238b4e97a67f4e50e02e0c2e4d58fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf11fb8be404ee6a2e4242c09f5bf18417b869a9a925be59f9124f2dd4f7704f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e86944d2e5157a01137ffb38f5a2005389d584843e96aa68b9573b0fb90f8a",
        "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_011EU5ezq7ox3TepznFEEH8T",
      "input": {
        "note": "The wrist view shows the brick at bottom-left, now lying with its long axis roughly along the arm's y, about 7 cm to the arm's left. Shifting left over it and yawing the tool 90° so the jaws close across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.03,
          "right_yaw": 1.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011EU5ezq7ox3TepznFEEH8T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6029, -0.4171, -0.0227, -0.0265, 0.9995, -0.3023, 2.1197, 1.6226, -1.0405, -0.8516, -1.6035, 0.9972]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1612 left_yaw=-0.0037 left_pitch=-0.0756 left_roll=0.007 left_gripper=0.9995 right_x=0.4299 right_y=0.0089 right_z=0.087 right_yaw=1.2817 right_pitch=-0.1536 right_roll=-0.0487 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 7.0222, 1.8193, -0.0562, -0.0366, -0.0122, 0.2803, -11.8906, 5.9556, -0.3834, -0.7399, -0.0806, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ada7c309058e0928b24654896833e68991c0b320f450c8c26316c13aa08f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464a567a35b7256aa2ab5f4e0a89ed2b1baa18da0a4e149fd6d8d4498c07d39a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:706d1ed48787a8a891b44f1ca0ece778466bc6a38ef1ca436c28a3f056a600b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 8.493 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6029, -0.4084, -0.0227, -0.0265, 0.9995, 0.0261, 1.8664, 0.7589, 0.445, -0.0616, -0.0631, 0.009]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4539 right_y=0.0263 right_z=0.0208 right_yaw=0.113 right_pitch=-0.0947 right_roll=-0.0022 right_gripper=0.009\nstate[joint_eff]: [-0.0479, -1.6205, 6.9812, 1.6581, -0.0904, -0.0269, -0.0122, -0.1162, -7.3915, 4.6017, 1.0183, 0.1392, 0.0562, 0.7057]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, -0.207, 1.494, 0.7048, 0.1013, -0.2222, -0.2035, 0.9948]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4024 right_y=-0.041 right_z=0.0898 right_yaw=0.0913 right_pitch=-0.1018 right_roll=-0.0094 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.7118, -0.0464, -0.0513, -0.0171, -0.3214, -7.1043, 7.5829, 1.6679, -0.2418, 0.0806, -0.0269]\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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6029, -0.4171, -0.0227, -0.0265, 0.9995, -0.3023, 2.1197, 1.6226, -1.0405, -0.8516, -1.6035, 0.9972]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1612 left_yaw=-0.0037 left_pitch=-0.0756 left_roll=0.007 left_gripper=0.9995 right_x=0.4299 right_y=0.0089 right_z=0.087 right_yaw=1.2817 right_pitch=-0.1536 right_roll=-0.0487 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 7.0222, 1.8193, -0.0562, -0.0366, -0.0122, 0.2803, -11.8906, 5.9556, -0.3834, -0.7399, -0.0806, -0.3004]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84ada7c309058e0928b24654896833e68991c0b320f450c8c26316c13aa08f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:464a567a35b7256aa2ab5f4e0a89ed2b1baa18da0a4e149fd6d8d4498c07d39a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:706d1ed48787a8a891b44f1ca0ece778466bc6a38ef1ca436c28a3f056a600b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WhGr5jrQwcNkiSgc3tCd6o",
      "input": {
        "note": "The IK overshot in x and only reached yaw 1.28; the brick shows large at bottom-left of the wrist view with its long axis along image-x, so the jaws would close along its length. Rotating back to yaw −0.3 (equivalent 90° change) and moving back over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.385,
          "right_y": 0.025,
          "right_yaw": -0.3,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01WhGr5jrQwcNkiSgc3tCd6o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4309, -0.0227, -0.0265, 0.9995, 0.2249, 1.4776, 0.7204, -0.0654, 0.2325, 0.0975, 0.9972]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1573 left_yaw=-0.0036 left_pitch=-0.0939 left_roll=0.0073 left_gripper=0.9995 right_x=0.3781 right_y=0.0484 right_z=0.073 right_yaw=-0.0292 right_pitch=-0.232 right_roll=-0.095 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.853, 6.9812, 1.7509, -0.0317, -0.0415, -0.0122, 0.0615, -5.3128, 9.4974, 1.5165, 0.1929, 0.1538, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ded45b22f936dfa6dbb17768adc84ca920f554a3621de21cbcec73e4ce4561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec401c5ff3d3330fb9783c13cb22193c9b676e3fd151ed1858db637f1dbd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdea71903ebe5490c7e60f8e61eed4b5f55cbc7ab7e7e8c217f52d7abf5ad248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 4.932 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6029, -0.408, -0.0227, -0.0265, 0.9995, -0.207, 1.494, 0.7048, 0.1013, -0.2222, -0.2035, 0.9948]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1643 left_yaw=-0.0037 left_pitch=-0.0618 left_roll=0.0068 left_gripper=0.9995 right_x=0.4024 right_y=-0.041 right_z=0.0898 right_yaw=0.0913 right_pitch=-0.1018 right_roll=-0.0094 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.347, 6.9812, 1.7118, -0.0464, -0.0513, -0.0171, -0.3214, -7.1043, 7.5829, 1.6679, -0.2418, 0.0806, -0.0269]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6029, -0.4171, -0.0227, -0.0265, 0.9995, -0.3023, 2.1197, 1.6226, -1.0405, -0.8516, -1.6035, 0.9972]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1612 left_yaw=-0.0037 left_pitch=-0.0756 left_roll=0.007 left_gripper=0.9995 right_x=0.4299 right_y=0.0089 right_z=0.087 right_yaw=1.2817 right_pitch=-0.1536 right_roll=-0.0487 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 7.0222, 1.8193, -0.0562, -0.0366, -0.0122, 0.2803, -11.8906, 5.9556, -0.3834, -0.7399, -0.0806, -0.3004]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4309, -0.0227, -0.0265, 0.9995, 0.2249, 1.4776, 0.7204, -0.0654, 0.2325, 0.0975, 0.9972]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1573 left_yaw=-0.0036 left_pitch=-0.0939 left_roll=0.0073 left_gripper=0.9995 right_x=0.3781 right_y=0.0484 right_z=0.073 right_yaw=-0.0292 right_pitch=-0.232 right_roll=-0.095 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.853, 6.9812, 1.7509, -0.0317, -0.0415, -0.0122, 0.0615, -5.3128, 9.4974, 1.5165, 0.1929, 0.1538, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6ded45b22f936dfa6dbb17768adc84ca920f554a3621de21cbcec73e4ce4561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec401c5ff3d3330fb9783c13cb22193c9b676e3fd151ed1858db637f1dbd40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdea71903ebe5490c7e60f8e61eed4b5f55cbc7ab7e7e8c217f52d7abf5ad248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnwsKEAgRGAI4AUIIdGhpbmtpbmcSDM9mJOb28Q/cyGuTFxoMNN4yvVZtYMgQcp7JIjC+5ltGBfl/Ip2o/LzhGg8efDxT+s8EH9Nh+0Zm6YEn3QAvCxW+6OqB8bR/lvnHP70qvAqVBs+b699XGKJEes2mla9+IrL8MgWYJkZECn18cLC1nxuuOCy1Ah7YGE7/nbK6agCTFM7irrBVUlNOfxVBz9RsUdAaXwhl+ryxk4r1oS1IujI0X9b7GdPaBMLiXDJiYta9sbrya5OS/cNewAejK1dItxS8/NrSmMYVyQiw1AHR+Q2UQTeEZJrt8g3dtUcV5y61H88wSQgz9KxvYbiJV1HkXcHvwjXBPx6W2JNcdfIrMOHNPVGWiTRglmRcUazJ4fdJDFmw/QHTSfmhhKHVGzeJP81m1eVIrhtc/U1a9OgnJ5fVbP9q12zOK9G4Jgh57RiogkAj1ZAbLKgKVn1lTCf00wMNlWgvqXTs+r1ySHwNOTICOWqjuVEuqH3YQzDL572GYFk/lNniPC0BRmS9va1aYZsWyqiNQdw9eQihONF74DcOrFCQ/SAywSdnLwpPwX/OQCzCSA629M4d7FHGQ4+WEwt9tB0e/w27ssWvDo4zTJaTjsZQ06CCfq7zRiSsiJosWu0FUfauCKRzX4xw2eWjC8zZhB85G9DzDGDIPuKge+nAVvcSWyIp/4cp7onEmBwVL5XXf5wjp7U0BKaL7xIX04jCOpHX9Y/GpSlAMJNUowyGfgCHsRfhHWsLBvpHMyPsdGio5JsLCS0yY/aNRZuWCn5YG8aKUhk13v/DnkXA5MsASh69icTSINniiI2Ks3jOwJsWZW1mg9TtBj7Jsjyvch4eczS2RB2zp3svR++q/oGr3cRYNV4gFVSnsXbFjevSivcqqSsz0UWWi6CI87CqaNdC9oTa9DQJ3gA9cpw0BKeivridA2j9xl1lmoRklmIzBgak9Qd0efx6Tr4BQFFKJGQl5zLI/a1AftIP+FczsfqNJPQQR08/7qCFYfcXSt0+tQ+93ZBy7UfGNZQxlg/QPPyweeaS3sypWIONyZ7qzbnm0MLMDVnVJYTTxxb9ix/uMz3M7eDaVE9pVBPw52I4AQSSWKI111tEdlvuNgMruFVcyWlQAsn8BpaAXxzqIDopCX3MsWjl18TmU9vlvWrMCyIDzuynRlPlyi//YcrQjEUGDbXXc82uJrjwSUQFzviV7eumgbnRAVl8aFoDjKDNKZkMIdBhKdu2h8L/fmD/2Jm/iZOs5rtWrxwIqGimwXhKESpRkjy+7eM7TzG/kWiCCaVgL8GUo2vCAvX5l6JSQYeJ/xsMOAuib3wa3a0bvS9eGJhK+poJa/eaQWa8IOVKpdbtX/Yb6f/rGmr3l16zXpcyyLPfC14XubYVlL+XsZI0BKIHomSXyhoVIUzpMJIVICYkCsocqiqHTaBzhdTwdpGCTtr19IkcOCsZkmw2U8QyJ4xgh8Mgc/FlKl97WW7cHrhXP+O4t+bkhwXnZV+2k0gI6GDByMMwghU4jYgH3vCyT7gUkgsILdL2XXsWMwbIrN1CL7YzfyjNA8l/bW0mSh00qyyqFRo4q8Hr/WnB5SU2D7w80MXRLQNXTSDDu0nJrvz3B3yZiKB4EeUk5AKgVxbjJbH7ZS/IkYQ2MSPcdrAXJ4uqAEsuCkDK0WMtkDdkNS3GEFHIZiVL5M6husZ2FJwXllaabBNP2DzHglvIYPU6tDiSWlrAtHcY3bgwInUs+HZ+K9Dd7QZE4WFPph14E4XXNxaVoqjGKD0HD5ZoaWIkvRnZXSIK81dE52j8T0VeowbgT70dgjW3wb2ynC0eaKnzMLIixKbPhYBtvRgGz8trUp2OrV5WzyAEptRFutasTrVGbwxK27fKMbOVY6ugXk6rohUFzlVLfo2gnRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017p6H8L2ChqMiNRuetEsAmH",
      "input": {
        "note": "The brick is now centred between the jaws in the wrist view with its long axis running toward the base, so the jaws will close across its short side. Descending to the table with a slight yaw to match its tilt.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.048,
          "right_yaw": -0.25,
          "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_017p6H8L2ChqMiNRuetEsAmH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4343, -0.0223, -0.0265, 0.9995, 0.3084, 1.7123, 0.6697, 0.1833, 0.403, 0.2985, 0.9972]\nstate[eef_state]: left_x=0.2894 left_y=0.0018 left_z=0.156 left_yaw=-0.004 left_pitch=-0.0996 left_roll=0.0071 left_gripper=0.9995 right_x=0.3862 right_y=0.0541 right_z=0.016 right_yaw=-0.1991 right_pitch=-0.2078 right_roll=-0.0842 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.6615, 6.9675, 1.6923, 0.0171, -0.0513, -0.0122, -0.6085, -5.7504, 4.7521, 0.5397, -0.3932, 0.1685, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3461cd5d6bd8c5288aeea5750df21f3b2b3ab034a13a941d1cc02ea006f9fe76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc4189827577798e153083124dbd0597a3a13c42c31e1706a0a516472c8df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:101019e17381f7c049e7dc304d2f926cc0cb5a96f43fc13f3af1b735e6c997b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 4.756 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6029, -0.4171, -0.0227, -0.0265, 0.9995, -0.3023, 2.1197, 1.6226, -1.0405, -0.8516, -1.6035, 0.9972]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1612 left_yaw=-0.0037 left_pitch=-0.0756 left_roll=0.007 left_gripper=0.9995 right_x=0.4299 right_y=0.0089 right_z=0.087 right_yaw=1.2817 right_pitch=-0.1536 right_roll=-0.0487 right_gripper=0.9972\nstate[joint_eff]: [-0.0889, -1.5521, 7.0222, 1.8193, -0.0562, -0.0366, -0.0122, 0.2803, -11.8906, 5.9556, -0.3834, -0.7399, -0.0806, -0.3004]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4309, -0.0227, -0.0265, 0.9995, 0.2249, 1.4776, 0.7204, -0.0654, 0.2325, 0.0975, 0.9972]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1573 left_yaw=-0.0036 left_pitch=-0.0939 left_roll=0.0073 left_gripper=0.9995 right_x=0.3781 right_y=0.0484 right_z=0.073 right_yaw=-0.0292 right_pitch=-0.232 right_roll=-0.095 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.853, 6.9812, 1.7509, -0.0317, -0.0415, -0.0122, 0.0615, -5.3128, 9.4974, 1.5165, 0.1929, 0.1538, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4343, -0.0223, -0.0265, 0.9995, 0.3084, 1.7123, 0.6697, 0.1833, 0.403, 0.2985, 0.9972]\nstate[eef_state]: left_x=0.2894 left_y=0.0018 left_z=0.156 left_yaw=-0.004 left_pitch=-0.0996 left_roll=0.0071 left_gripper=0.9995 right_x=0.3862 right_y=0.0541 right_z=0.016 right_yaw=-0.1991 right_pitch=-0.2078 right_roll=-0.0842 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.6615, 6.9675, 1.6923, 0.0171, -0.0513, -0.0122, -0.6085, -5.7504, 4.7521, 0.5397, -0.3932, 0.1685, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3461cd5d6bd8c5288aeea5750df21f3b2b3ab034a13a941d1cc02ea006f9fe76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fc4189827577798e153083124dbd0597a3a13c42c31e1706a0a516472c8df2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101019e17381f7c049e7dc304d2f926cc0cb5a96f43fc13f3af1b735e6c997b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgRGAI4AUIIdGhpbmtpbmcSDMbjQJVeA7+wWlUNNRoMdpm934xM1YwPSyyJIjAZPHyW16+/eOEIuJFnoy6AoD+JUYVpdDNw+iU3xGy3lHWJdi+9Xq3nPrLTVyjZs9gqpQaDbSBXN8R6VaKpsmH6r8nh+hPTT1Tf8ZJyhCRgVBHmUVd8JinKPL2bmnE90EdjOIobre+x8C6/NtEGg4exwJutcizF4st4MG5pFeTK+Nk2VJ4ecu1cZx8gZ7lmxUM43fZJ2z1H8f7kIH5ZbuDjXk9qWXUIVpYfr8VdaEiTKnJBJhPZrBxvWK3vcZQNrBZY1MclhMpD9dQCcrEO1J1a9sE5ODmDjCdf0GMBGF1tFUVRZi9CxmdBRxO2yt33D92B6lf4OYKw8lDJIqTw0WgdNx98AFxzq7x8jDxhLHxZF1P6V/quqhoALasWw8LD9JD5Z/t8rJoK9cG1VmvXpfmrYybeHItiQkIQJmARrZquwry7VY+LPLVFbPtdYCjWLGC9BanYvgT8tzhSCyXzf5a1G0QE9xRICQERMBTqfSfs0MDr4HwbsL91OZyMRWN0arcRsL99tx+valboI0o1dYNuVCX8sRxJQbbWsiLO6aTHAEqui3Ry3XoaJtoWo+AsA4bXoACKpgOMXMLFMF9J5Kv6eclXAmLYdETCiBPwjTXSmSDq5U01oVS2SKNZxmbQEPzyuroyZB2tCHtnWNe6ADyTrXP7JM7Tb65dRZEHCr3IeSOyqFXTSrI66PdrIm0AU2ruPevnP9JjR98oZkVn0y/R0F+ItoI8Vr+hfILJ5aV/B7ZntFHachjsFOG7b9nuJkRZwJNndzsGAlUXnt2LcGMaNlb7Z7/au6G3tfOJdZm0NGQ8xnQeJnjHqUhcxYxsbp1g1OF2nq8I1ATjns0OKnxh3UGGG9zOttTX4+06vsNRvQiSQDVWEN+IuePzM/UA+p2bGJWsKLuygx6bYHlMFKY/ZYNdi/JO9ZlIeDKiejl6tmzjdRKyd0usXH6mTL9TfMDh8wGiUSt0pcpjQeS9gfLPMcV5tH3422MkRv9IPT1leNEaY+VmY6w/2XAg6u4h3uU2finzPt+zRLYq25jQNMQ44+AFFilVCNE3L1CoCDQlKwp5mwxvzWW9Rz7OKaE40miDILFebY4MNRzROYv2cysM8TGztOoIsODgd7rZlzAmVIB4ufIfdx5PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Db6k1fN9UoWTkJxge7ZsWP",
      "input": {
        "note": "Brick lies squarely between the fingers in the wrist view, aligned with the jaw axis. Closing the gripper.",
        "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_01Db6k1fN9UoWTkJxge7ZsWP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8421, 0.6029, -0.4412, -0.0227, -0.0265, 0.9995, 0.3122, 1.7508, 0.6605, 0.1848, 0.4129, 0.3344, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1542 left_yaw=-0.0036 left_pitch=-0.1084 left_roll=0.0075 left_gripper=0.9995 right_x=0.3793 right_y=0.0517 right_z=-0.0001 right_yaw=-0.2281 right_pitch=-0.2421 right_roll=-0.0888 right_gripper=0.7473\nstate[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.6972, -0.0562, -0.0317, -0.0122, -0.253, -6.8855, 4.8342, 1.4628, 0.3443, 0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35841a72aabe311d9ba2125cf20866cbed3dec87ad63ed16c7e203c2a4908491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b1972b27f6890b8317aa5aa0337a73cdd3afc8d63877f98f593797ef76e66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34bb41afbe071825a66983d939c6ac0cdf73a241f821a97ab7b67e2c6996dbdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 14.11 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4309, -0.0227, -0.0265, 0.9995, 0.2249, 1.4776, 0.7204, -0.0654, 0.2325, 0.0975, 0.9972]\nstate[eef_state]: left_x=0.2898 left_y=0.0019 left_z=0.1573 left_yaw=-0.0036 left_pitch=-0.0939 left_roll=0.0073 left_gripper=0.9995 right_x=0.3781 right_y=0.0484 right_z=0.073 right_yaw=-0.0292 right_pitch=-0.232 right_roll=-0.095 right_gripper=0.9972\nstate[joint_eff]: [-0.1299, -1.853, 6.9812, 1.7509, -0.0317, -0.0415, -0.0122, 0.0615, -5.3128, 9.4974, 1.5165, 0.1929, 0.1538, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4343, -0.0223, -0.0265, 0.9995, 0.3084, 1.7123, 0.6697, 0.1833, 0.403, 0.2985, 0.9972]\nstate[eef_state]: left_x=0.2894 left_y=0.0018 left_z=0.156 left_yaw=-0.004 left_pitch=-0.0996 left_roll=0.0071 left_gripper=0.9995 right_x=0.3862 right_y=0.0541 right_z=0.016 right_yaw=-0.1991 right_pitch=-0.2078 right_roll=-0.0842 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.6615, 6.9675, 1.6923, 0.0171, -0.0513, -0.0122, -0.6085, -5.7504, 4.7521, 0.5397, -0.3932, 0.1685, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8421, 0.6029, -0.4412, -0.0227, -0.0265, 0.9995, 0.3122, 1.7508, 0.6605, 0.1848, 0.4129, 0.3344, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1542 left_yaw=-0.0036 left_pitch=-0.1084 left_roll=0.0075 left_gripper=0.9995 right_x=0.3793 right_y=0.0517 right_z=-0.0001 right_yaw=-0.2281 right_pitch=-0.2421 right_roll=-0.0888 right_gripper=0.7473\nstate[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.6972, -0.0562, -0.0317, -0.0122, -0.253, -6.8855, 4.8342, 1.4628, 0.3443, 0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35841a72aabe311d9ba2125cf20866cbed3dec87ad63ed16c7e203c2a4908491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67b1972b27f6890b8317aa5aa0337a73cdd3afc8d63877f98f593797ef76e66a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34bb41afbe071825a66983d939c6ac0cdf73a241f821a97ab7b67e2c6996dbdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrwcKEAgRGAI4AUIIdGhpbmtpbmcSDDBeqfliVBqUeAx1lhoMn52VN7e4y3EnyUPNIjADob1xANMXtMTLXV7VNutu9jT7YgT9Ks2ijOzGYoDP7doBdc5ZnMlInW+hnt0pvI8qzAbhNG7oHNAVNAaPavqGI05a2M2+KPv8RehjzQFV8ivOJ01jJEwc8x7yq0m15X9xMsDzG6TFO4yQj3G95xA/cpzPSH3xF6s5NuAgQNfnYRoVI/lr09s/p5ttau+pkeKAeFRN+/TPyAoZvA1eYOc5X2I2batJMVud+Vte8C4q1cVeftMK+V878d7DEZi0I/bnDmRN9U9RlaZYM1gDMUt3NP7HRmLZjuAbLCwpa5/6cK/kRILdvS4t163xqFvLW8dzIl8/bwiuOWKA59xT6BIA39hXBqiRTATgRzX5yhSTPQYWfV5MkAnqXjfFAAGec/Ql5HHsNWVfAC6oL5vpkmHrVVc1/ZRO6ciKV1noFne80DhymU1DXt4A1lp5c2RL6XANX/ItGwfbCtkLy+Pw2mYEa993OE4692QUhHx0m2viwW2lwkpVoXyG05NOW9ltvxoJW2GlgN8vz3ZFb7aOGRi/KXcmZhN85TWsZGucjYIjAwEiI7hkhSbknpAG+U0YxE16axNIh7tt6Fc+cjcJ7OD44dPahq6hG5fVOxZS2cOBoflpSRpYGWEmD9ipFNfcTPyXguAZDu45lmN2Pw6B8qs4Y/xLVPTwuZcuyCfg/3z+229otMsifzQQ8C7iGu1Lst8e6M7jeewSzZR3Bpb8heff4sEYCkxUQsQ4pG1aAjbR+Ul+qxrrnMQ4xhp5jLFqQ8uBGi9IWuQ6Sx69oq+CmNAZq4px98wQEy5NFcMJHw+EAjKtF31wuzvz9gjvZ+veBSxSZOsIF9IV0jQaH3wLBzUXtZqJtqfRT74sbxEGn7tVbYBdKz3t9usHEk+85mLjbWvqY8w9jBOPPGGjCSbdsD3h4KRpStmuhaNt2f37eK8Ud/u0DjFKUyhtlEdNe5WOAP0C04PzsbgH3i14YwMWoehyis3/G8+VlO5m2RCH1TLJeF+hISkkXuIXoRva87Nr/YPbT7YZO2RnNAfcIG09flZa+diYaIWuSqd5qpWjAbY7hrrqOiEcxN/G7y86yLuwXDdQls/NSe6tnHIwFQBo2Yb2kjKscK5qBPzXBMLWvgb46RqVPqyHkM6jMUeQsuF72V8UnomZtLJPgvO1BtUtk3B+LMAA+d9pFtFj85uhO+oiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RwEs5DfEaP8Ujr5U5KcH7W",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), so the brick is grasped across its width. Lifting to 17 cm to confirm it comes along.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01RwEs5DfEaP8Ujr5U5KcH7W",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4416, -0.0227, -0.0265, 0.9995, 0.3126, 1.4761, 1.0317, -0.5743, 0.3805, 0.3214, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1537 left_yaw=-0.0036 left_pitch=-0.1103 left_roll=0.0075 left_gripper=0.9995 right_x=0.3662 right_y=0.0532 right_z=0.1245 right_yaw=-0.2125 right_pitch=-0.354 right_roll=-0.1338 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.4154, 7.1316, 1.6337, -0.0611, -0.0464, -0.0122, -0.1846, -9.9487, 10.7692, 1.8046, 0.4908, 0.0806, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375e9b69b26d0c0311fae94c0e5bb79fe2a06c55fed7b9d78c8b84962834cd80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7b30316e3e3fed4a49454d0a4db8b219809b5b9891d78faaf29cec79fd2e081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70a56c80942ba681a0e664f40efb2e8eadd42119866f88bf0ee680441278d343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 10.46 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8402, 0.6029, -0.4343, -0.0223, -0.0265, 0.9995, 0.3084, 1.7123, 0.6697, 0.1833, 0.403, 0.2985, 0.9972]\nstate[eef_state]: left_x=0.2894 left_y=0.0018 left_z=0.156 left_yaw=-0.004 left_pitch=-0.0996 left_roll=0.0071 left_gripper=0.9995 right_x=0.3862 right_y=0.0541 right_z=0.016 right_yaw=-0.1991 right_pitch=-0.2078 right_roll=-0.0842 right_gripper=0.9972\nstate[joint_eff]: [-0.0068, -1.6615, 6.9675, 1.6923, 0.0171, -0.0513, -0.0122, -0.6085, -5.7504, 4.7521, 0.5397, -0.3932, 0.1685, -0.3004]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8421, 0.6029, -0.4412, -0.0227, -0.0265, 0.9995, 0.3122, 1.7508, 0.6605, 0.1848, 0.4129, 0.3344, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1542 left_yaw=-0.0036 left_pitch=-0.1084 left_roll=0.0075 left_gripper=0.9995 right_x=0.3793 right_y=0.0517 right_z=-0.0001 right_yaw=-0.2281 right_pitch=-0.2421 right_roll=-0.0888 right_gripper=0.7473\nstate[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.6972, -0.0562, -0.0317, -0.0122, -0.253, -6.8855, 4.8342, 1.4628, 0.3443, 0.0659, 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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4416, -0.0227, -0.0265, 0.9995, 0.3126, 1.4761, 1.0317, -0.5743, 0.3805, 0.3214, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1537 left_yaw=-0.0036 left_pitch=-0.1103 left_roll=0.0075 left_gripper=0.9995 right_x=0.3662 right_y=0.0532 right_z=0.1245 right_yaw=-0.2125 right_pitch=-0.354 right_roll=-0.1338 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.4154, 7.1316, 1.6337, -0.0611, -0.0464, -0.0122, -0.1846, -9.9487, 10.7692, 1.8046, 0.4908, 0.0806, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375e9b69b26d0c0311fae94c0e5bb79fe2a06c55fed7b9d78c8b84962834cd80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7b30316e3e3fed4a49454d0a4db8b219809b5b9891d78faaf29cec79fd2e081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a56c80942ba681a0e664f40efb2e8eadd42119866f88bf0ee680441278d343",
        "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_01F5pWCDBtibQm9aQNLoTHBu",
      "input": {
        "note": "The brick is gone from its spot on the table and rides with the gripper. Carrying it high toward the pot, which sits left of the table's centre line ahead of the right arm.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.3,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01F5pWCDBtibQm9aQNLoTHBu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8452, 0.6029, -0.4526, -0.0227, -0.0265, 0.9995, 0.7258, 2.492, 2.801, -1.5436, 0.4286, 0.4988, 0.7473]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1512 left_yaw=-0.0036 left_pitch=-0.1229 left_roll=0.0077 left_gripper=0.9995 right_x=0.4364 right_y=0.2938 right_z=0.1857 right_yaw=0.004 right_pitch=-0.4877 right_roll=-0.2029 right_gripper=0.7473\nstate[joint_eff]: [0.0615, -1.2376, 7.0085, 1.7167, -0.0757, -0.0415, -0.0122, 0.3897, -19.2205, 9.8393, 1.3407, 0.6862, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24e5a1955e76779f991d0f4863265f9c3e29b02425aeea38dbdf13591ffaac1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d23456d93477252f121c567ca518ada7128e15781374740f1d4cd12a7cfd73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f87c2aa5d75c03fc96e3f26400405f6d13998830de60b65856d1cfdf7958d6a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.784 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8421, 0.6029, -0.4412, -0.0227, -0.0265, 0.9995, 0.3122, 1.7508, 0.6605, 0.1848, 0.4129, 0.3344, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1542 left_yaw=-0.0036 left_pitch=-0.1084 left_roll=0.0075 left_gripper=0.9995 right_x=0.3793 right_y=0.0517 right_z=-0.0001 right_yaw=-0.2281 right_pitch=-0.2421 right_roll=-0.0888 right_gripper=0.7473\nstate[joint_eff]: [-0.1846, -1.6479, 6.9675, 1.6972, -0.0562, -0.0317, -0.0122, -0.253, -6.8855, 4.8342, 1.4628, 0.3443, 0.0659, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4416, -0.0227, -0.0265, 0.9995, 0.3126, 1.4761, 1.0317, -0.5743, 0.3805, 0.3214, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1537 left_yaw=-0.0036 left_pitch=-0.1103 left_roll=0.0075 left_gripper=0.9995 right_x=0.3662 right_y=0.0532 right_z=0.1245 right_yaw=-0.2125 right_pitch=-0.354 right_roll=-0.1338 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.4154, 7.1316, 1.6337, -0.0611, -0.0464, -0.0122, -0.1846, -9.9487, 10.7692, 1.8046, 0.4908, 0.0806, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8452, 0.6029, -0.4526, -0.0227, -0.0265, 0.9995, 0.7258, 2.492, 2.801, -1.5436, 0.4286, 0.4988, 0.7473]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1512 left_yaw=-0.0036 left_pitch=-0.1229 left_roll=0.0077 left_gripper=0.9995 right_x=0.4364 right_y=0.2938 right_z=0.1857 right_yaw=0.004 right_pitch=-0.4877 right_roll=-0.2029 right_gripper=0.7473\nstate[joint_eff]: [0.0615, -1.2376, 7.0085, 1.7167, -0.0757, -0.0415, -0.0122, 0.3897, -19.2205, 9.8393, 1.3407, 0.6862, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24e5a1955e76779f991d0f4863265f9c3e29b02425aeea38dbdf13591ffaac1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d23456d93477252f121c567ca518ada7128e15781374740f1d4cd12a7cfd73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87c2aa5d75c03fc96e3f26400405f6d13998830de60b65856d1cfdf7958d6a5",
        "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_01UwEtgqKaG3J1S1nj72VeWU",
      "input": {
        "note": "Overhead shows the gripper just right of and beyond the pot, sagging to 18 cm with the brick hanging low. Raising to 30 cm and shifting left and back to centre over the pot opening.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4,
          "right_y": 0.37,
          "right_yaw": 0.0,
          "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_01UwEtgqKaG3J1S1nj72VeWU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4538, -0.0227, -0.0265, 0.9995, 0.852, 2.368, 2.587, -1.5951, 0.4149, 0.5991, 0.7472]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.1509 left_yaw=-0.0036 left_pitch=-0.1244 left_roll=0.0078 left_gripper=0.9995 right_x=0.3667 right_y=0.3165 right_z=0.181 right_yaw=0.0194 right_pitch=-0.5854 right_roll=-0.2539 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0611, -0.0415, -0.0122, 0.4308, -17.7983, 6.147, 0.9548, 0.7399, 0.1392, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a992c665351c807677731070f5f5a017afd1460a7c348ab90b3057b34b8c4e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e090be66ffd65809378c4461be8ab5405e6bb95be273ff8652aca98ab2ac15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfac3d35de82bc7e2c4230443e622586bc2dd61f6954cd464b8c818398ad0cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 9.393 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4416, -0.0227, -0.0265, 0.9995, 0.3126, 1.4761, 1.0317, -0.5743, 0.3805, 0.3214, 0.7473]\nstate[eef_state]: left_x=0.2884 left_y=0.0019 left_z=0.1537 left_yaw=-0.0036 left_pitch=-0.1103 left_roll=0.0075 left_gripper=0.9995 right_x=0.3662 right_y=0.0532 right_z=0.1245 right_yaw=-0.2125 right_pitch=-0.354 right_roll=-0.1338 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.4154, 7.1316, 1.6337, -0.0611, -0.0464, -0.0122, -0.1846, -9.9487, 10.7692, 1.8046, 0.4908, 0.0806, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8452, 0.6029, -0.4526, -0.0227, -0.0265, 0.9995, 0.7258, 2.492, 2.801, -1.5436, 0.4286, 0.4988, 0.7473]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1512 left_yaw=-0.0036 left_pitch=-0.1229 left_roll=0.0077 left_gripper=0.9995 right_x=0.4364 right_y=0.2938 right_z=0.1857 right_yaw=0.004 right_pitch=-0.4877 right_roll=-0.2029 right_gripper=0.7473\nstate[joint_eff]: [0.0615, -1.2376, 7.0085, 1.7167, -0.0757, -0.0415, -0.0122, 0.3897, -19.2205, 9.8393, 1.3407, 0.6862, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4538, -0.0227, -0.0265, 0.9995, 0.852, 2.368, 2.587, -1.5951, 0.4149, 0.5991, 0.7472]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.1509 left_yaw=-0.0036 left_pitch=-0.1244 left_roll=0.0078 left_gripper=0.9995 right_x=0.3667 right_y=0.3165 right_z=0.181 right_yaw=0.0194 right_pitch=-0.5854 right_roll=-0.2539 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0611, -0.0415, -0.0122, 0.4308, -17.7983, 6.147, 0.9548, 0.7399, 0.1392, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a992c665351c807677731070f5f5a017afd1460a7c348ab90b3057b34b8c4e15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5e090be66ffd65809378c4461be8ab5405e6bb95be273ff8652aca98ab2ac15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfac3d35de82bc7e2c4230443e622586bc2dd61f6954cd464b8c818398ad0cfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gsKEAgRGAI4AUIIdGhpbmtpbmcSDDotGyQgQArWH0Mm6RoMmNn3gHxgCiN6MTp9IjAtyfztNoKyWICwACzkv0ugEDy0znXUw3mtBpE/fRwNSqL7Dv/2DfO3jbdl3J98bxgq7wpAxpnRLJlzq0/iKg7EyAb07YxBvaFskUG6rFPrB7sTQLeaho1fGA5w9YY+VPZYqDfDchs3FpMwGX9+vLh/tQORcaYCUgcT43OzdoyJnyhiKP8TNKFX1YgW8WMbRcLIOEne/1/xa1y54tSikDX/+kvn2hwPjsX88DupHosl9e2P3Uxy9aPAgeT54VxGXblwA7TqJlm+tAeFBlj8dG7YzL7xHDWuipWVHKnJDKkLmxWn0mYA619wo7rYjGrpQOOkNcnrE9Mu3BNJrZH+ocv0Um9FypMeHtcewAfpfMWuKw7+VEJQs/f72CSskf0qp0yH/dmFJ4/2OpGDNr4gDitImgI2lXamK44Ti4o6n2C7b3OfzNXYf8jD1rbFmMKSbRfk/4nBCMbeNDSFFje5qdIxpFd4uw30KGOx1VoHT9jQM8VLQkVpL6ywlNBdBjxsfN6o42fq1vKL9zQUNBWz3SMmnCEzgeVcWCf9oVrFL0r7sxgWuDfekCX8eqVKvtgfl1gOk+gpKtOYbbLfMQzIP4POwDknV005yeL9hLZWG7VKfYMH5fkJ353/S69rQQdK++VHngjgYxtM/JnvW+cmV3NGPmuqRjo8B2qitolV11fGginyFV1Hec6FS/o6reS3QNJ4M2OOa9qVcixgb23fc3cp3oNvdYxsDhEibSqbMiywsrOGohwrB+V41WbrA8S/ZbYtRjKyfXGbW9jELBazMhrAz8PDYUHjvTXDod06kYOBX765m+3MM1QRIZ5K/7ipwxWCzFdZxZTfTIUrXVfJqjCYNBAOlxqq8WVrP+vJ1Xo0tI8DaJAxZ+KHITgzSO5OINEoLJLcgwrBYy11UhOT5J5n0BXmqnP7y6gj50UJxn1hOGvwutfQn/4CpI677sgJabSZOwUmBVNx6xR6PYD6lmSJ9XBDkoAZQSfzZ+WnnYxZTeZu+T3J3RAz4ykPSXjiUAlRlkqAdbB40C41RPjQX+yEFLwFck4gn5Xpy7ozh6uVEDKGWLk6WMdlZm+qTjSXsOzgxC+PW+DJUfDD8hro3cE0zbsSN73ps8cqY71brik3ja7oa+6kk/d0vVFtSLlb6Ggsd4CXN52P5EsV8xKuG24J0kQ7f8fMnHB4z0RnxKlHn305uwYkpo3XqgpPb1kW2n4L48Av+C3RQBFp+9cZiaSb/PWSNn+QZtFtMdiuoeZqEJQ3a0It5WKPUw2ZQkXyP6TbwKicUBHwH/RIJUHDPya2H4OFEZtooXoER9rD1RPw5bhDDSI4PDPPBhvOm4CVQwU7MCePhZP6d5XlHFzYNaQukD2bhwv058/Sb9rvyFCfFBlp5oW5zAMulkI0oVv4yz2oUdy1MMe69uzyQtGf7oVBiReuUYW9caG2jtofJP71BIbGLHWK25x/RVpgLfQPgemwf/S0I3l2EY3obiHY9LeLmh3hf+kwCx6m5o7h0WjRtz/WMnRj/svfINp7UhZz0rXPIv2O2RZblgEvlVt8jjISlSg23C+9P2ftZLEFc3X0VcKodSqLdN+QJGq7G/Yc73l5veybgkm8ItQ9YKI8FDYmplCd1TsknTAIzNzcK8cnYdOkzE9QChglUPPR971Q+WQ88kamW0/XgTlcJV4yah2xiP83aSsxwsERVo4KMdxTEsxq49Ydz4Zv8rzHyK8r7hUyqndYEeH0u7wVN258uXJgyyaLZx5LdAiwp0au3qlKJgrlvhuOdO6qy7beyxCNBEvVbjga9+HtW3PKJkGd4GzGlH+SVMd4KFg2pMdmDWW9uc0//nHygP06b7NmgZBVkMY1HUOmZa8HQAwmWetYaF9pggc5PFrCKxAjfbdLTBRb3x+NrV+3IUz8o6BU7XUH5Gkw+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U7GKoBRGFYjpighejDB3ca",
      "input": {
        "note": "The arm is in an awkward stretched pose and stopped short at y=0.32, z=0.18, hovering over the pot's right rim. Pulling x back and pushing further left to get the brick over the pot centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.33,
          "right_y": 0.37,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U7GKoBRGFYjpighejDB3ca",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4599, -0.0227, -0.0265, 0.9995, 0.9524, 2.3028, 2.3795, -1.5894, 0.4015, 0.6941, 0.7472]\nstate[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.1497 left_yaw=-0.0036 left_pitch=-0.1305 left_roll=0.0079 left_gripper=0.9995 right_x=0.3139 right_y=0.3283 right_z=0.1549 right_yaw=-0.0101 right_pitch=-0.666 right_roll=-0.3305 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3744, 7.1863, 1.663, -0.0269, -0.0708, -0.0122, 0.3897, -18.4547, 6.4615, 0.569, 0.5348, 0.1734, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fafcf06687027199acd1d9b3cceb291b9c5eb579ecdb00fa3db085b8a53ed8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cd63fc943816072b623b40bf4caf210a520d5d024c11c564b4aa91f28a7973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2943046a26a3ffa60d95d01069db87ab4b74ce6000a0a4d884d9ea97a1a950f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 12.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8452, 0.6029, -0.4526, -0.0227, -0.0265, 0.9995, 0.7258, 2.492, 2.801, -1.5436, 0.4286, 0.4988, 0.7473]\nstate[eef_state]: left_x=0.2867 left_y=0.002 left_z=0.1512 left_yaw=-0.0036 left_pitch=-0.1229 left_roll=0.0077 left_gripper=0.9995 right_x=0.4364 right_y=0.2938 right_z=0.1857 right_yaw=0.004 right_pitch=-0.4877 right_roll=-0.2029 right_gripper=0.7473\nstate[joint_eff]: [0.0615, -1.2376, 7.0085, 1.7167, -0.0757, -0.0415, -0.0122, 0.3897, -19.2205, 9.8393, 1.3407, 0.6862, 0.1099, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4538, -0.0227, -0.0265, 0.9995, 0.852, 2.368, 2.587, -1.5951, 0.4149, 0.5991, 0.7472]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.1509 left_yaw=-0.0036 left_pitch=-0.1244 left_roll=0.0078 left_gripper=0.9995 right_x=0.3667 right_y=0.3165 right_z=0.181 right_yaw=0.0194 right_pitch=-0.5854 right_roll=-0.2539 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0611, -0.0415, -0.0122, 0.4308, -17.7983, 6.147, 0.9548, 0.7399, 0.1392, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4599, -0.0227, -0.0265, 0.9995, 0.9524, 2.3028, 2.3795, -1.5894, 0.4015, 0.6941, 0.7472]\nstate[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.1497 left_yaw=-0.0036 left_pitch=-0.1305 left_roll=0.0079 left_gripper=0.9995 right_x=0.3139 right_y=0.3283 right_z=0.1549 right_yaw=-0.0101 right_pitch=-0.666 right_roll=-0.3305 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3744, 7.1863, 1.663, -0.0269, -0.0708, -0.0122, 0.3897, -18.4547, 6.4615, 0.569, 0.5348, 0.1734, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fafcf06687027199acd1d9b3cceb291b9c5eb579ecdb00fa3db085b8a53ed8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93cd63fc943816072b623b40bf4caf210a520d5d024c11c564b4aa91f28a7973",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2943046a26a3ffa60d95d01069db87ab4b74ce6000a0a4d884d9ea97a1a950f8",
        "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_01N9QjihnTmdzAQE8DSps9rV",
      "input": {
        "note": "The arm keeps sagging and pitching back (−0.67) at y≈0.33, with the brick hanging over the pot's right rim rather than its interior. Commanding pitch and roll back to zero while pulling x in and pushing y further left over the pot centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.36,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01N9QjihnTmdzAQE8DSps9rV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8497, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 1.1587, 1.9617, 1.689, -0.9188, 0.7864, 0.8898, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1471 left_yaw=-0.0036 left_pitch=-0.1427 left_roll=0.0081 left_gripper=0.9995 right_x=0.2894 right_y=0.3589 right_z=0.167 right_yaw=0.0335 right_pitch=-0.1553 right_roll=-0.1184 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.306, 6.9675, 1.746, -0.0562, -0.0366, -0.0122, 0.7179, -15.4872, 8.1026, 1.4042, 1.2332, 0.022, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdf7e47045479cf613a7042a40f6ab8f903d3ac6a98256f19d8bdffd3d80455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085adcd2e4b421bef02508626b022cd7464f320cef77e46742cf61e19dfc3428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d8b5c3074a68ba2df9e607e696a6bba69790972fbd204cb6b10a075e4f5f764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 8.321 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4538, -0.0227, -0.0265, 0.9995, 0.852, 2.368, 2.587, -1.5951, 0.4149, 0.5991, 0.7472]\nstate[eef_state]: left_x=0.2866 left_y=0.002 left_z=0.1509 left_yaw=-0.0036 left_pitch=-0.1244 left_roll=0.0078 left_gripper=0.9995 right_x=0.3667 right_y=0.3165 right_z=0.181 right_yaw=0.0194 right_pitch=-0.5854 right_roll=-0.2539 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0611, -0.0415, -0.0122, 0.4308, -17.7983, 6.147, 0.9548, 0.7399, 0.1392, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4599, -0.0227, -0.0265, 0.9995, 0.9524, 2.3028, 2.3795, -1.5894, 0.4015, 0.6941, 0.7472]\nstate[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.1497 left_yaw=-0.0036 left_pitch=-0.1305 left_roll=0.0079 left_gripper=0.9995 right_x=0.3139 right_y=0.3283 right_z=0.1549 right_yaw=-0.0101 right_pitch=-0.666 right_roll=-0.3305 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3744, 7.1863, 1.663, -0.0269, -0.0708, -0.0122, 0.3897, -18.4547, 6.4615, 0.569, 0.5348, 0.1734, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8497, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 1.1587, 1.9617, 1.689, -0.9188, 0.7864, 0.8898, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1471 left_yaw=-0.0036 left_pitch=-0.1427 left_roll=0.0081 left_gripper=0.9995 right_x=0.2894 right_y=0.3589 right_z=0.167 right_yaw=0.0335 right_pitch=-0.1553 right_roll=-0.1184 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.306, 6.9675, 1.746, -0.0562, -0.0366, -0.0122, 0.7179, -15.4872, 8.1026, 1.4042, 1.2332, 0.022, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdf7e47045479cf613a7042a40f6ab8f903d3ac6a98256f19d8bdffd3d80455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:085adcd2e4b421bef02508626b022cd7464f320cef77e46742cf61e19dfc3428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d8b5c3074a68ba2df9e607e696a6bba69790972fbd204cb6b10a075e4f5f764",
        "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_01DiDVWjWpvtF3aoWC1rZz9C",
      "input": {
        "note": "Pitch recovered; overhead shows the gripper now short of the pot (closer to the base) and slightly right of its centre. Moving forward and a little left to bring the hanging brick over the pot opening.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.38,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DiDVWjWpvtF3aoWC1rZz9C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0679, 2.0464, 1.8427, -0.8566, 0.7513, 0.7692, 0.7472]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1469 left_yaw=-0.0036 left_pitch=-0.1435 left_roll=0.0081 left_gripper=0.9995 right_x=0.3388 right_y=0.3732 right_z=0.1822 right_yaw=0.0415 right_pitch=-0.1279 right_roll=-0.0791 right_gripper=0.7472\nstate[joint_eff]: [-0.1846, -1.5795, 7.1179, 1.5995, -0.0562, -0.0366, -0.0122, -0.7726, -10.6872, 10.8513, 1.5995, 1.116, 0.0562, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1755ab00b411f22c5cf9dbdf03a2429f8653126f81a149d3f99b7079e052e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb5e4b436350b1426808a416d2db3cb537ecd1b2ca18473686d386cc43c2761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3218d68cdb74d804a712d900ebd6ee69af83d7ec00410aa809bfa7d4a1e07ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 9.54 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6029, -0.4599, -0.0227, -0.0265, 0.9995, 0.9524, 2.3028, 2.3795, -1.5894, 0.4015, 0.6941, 0.7472]\nstate[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.1497 left_yaw=-0.0036 left_pitch=-0.1305 left_roll=0.0079 left_gripper=0.9995 right_x=0.3139 right_y=0.3283 right_z=0.1549 right_yaw=-0.0101 right_pitch=-0.666 right_roll=-0.3305 right_gripper=0.7472\nstate[joint_eff]: [-0.0479, -1.3744, 7.1863, 1.663, -0.0269, -0.0708, -0.0122, 0.3897, -18.4547, 6.4615, 0.569, 0.5348, 0.1734, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8497, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 1.1587, 1.9617, 1.689, -0.9188, 0.7864, 0.8898, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1471 left_yaw=-0.0036 left_pitch=-0.1427 left_roll=0.0081 left_gripper=0.9995 right_x=0.2894 right_y=0.3589 right_z=0.167 right_yaw=0.0335 right_pitch=-0.1553 right_roll=-0.1184 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.306, 6.9675, 1.746, -0.0562, -0.0366, -0.0122, 0.7179, -15.4872, 8.1026, 1.4042, 1.2332, 0.022, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0679, 2.0464, 1.8427, -0.8566, 0.7513, 0.7692, 0.7472]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1469 left_yaw=-0.0036 left_pitch=-0.1435 left_roll=0.0081 left_gripper=0.9995 right_x=0.3388 right_y=0.3732 right_z=0.1822 right_yaw=0.0415 right_pitch=-0.1279 right_roll=-0.0791 right_gripper=0.7472\nstate[joint_eff]: [-0.1846, -1.5795, 7.1179, 1.5995, -0.0562, -0.0366, -0.0122, -0.7726, -10.6872, 10.8513, 1.5995, 1.116, 0.0562, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1755ab00b411f22c5cf9dbdf03a2429f8653126f81a149d3f99b7079e052e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb5e4b436350b1426808a416d2db3cb537ecd1b2ca18473686d386cc43c2761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3218d68cdb74d804a712d900ebd6ee69af83d7ec00410aa809bfa7d4a1e07ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wgKEAgRGAI4AUIIdGhpbmtpbmcSDDouRyO1iEH+rWQ+QxoMzqwnIzS7+n5btNQTIjCmy2nORe81JGhvDsVn5bagDsA+biaKxWAwR5YMy7wnlJc31dPzDHOfUF/qDR5xA6QqnAi7Y/LESrpxDUy6d7iQKyB1UFYKQWdeaA+asgpq0NIl7vcxANxFen5WaaGMiLYTFvS9f1UrtKlezflX14kahtVA51LA/GCDuKZa45CgL/RIh7cLItONo4t08Fe5kDplNJ9binGhpRq3wjURbBFimVpCBgqqpVNRrUzD8kGAkpD8l37LTDVAA3DXPdUhZ3UlJ1vf+m68Ipa7IyziMBj7kcZqTG6lU6i5yvQKcYSBA15N5VCgB8J/qQtz7dE3Qz+sWWZJuUoQMFmJ+KsCOQnIm7O+GcLHa0LnAHuYF1S0w7iPZTHAsPrILEpZGOBno0adduqGaeNTM64orzquxz8cBXbunpxWN/QmFEDIegciY4AA24lu0KAT/ubxbFYi5OKvkqCZMB5dc3qXQ4AZj8149pO9pSDWhCw0JHNl+VFMEyRWnDUYo3Q6J6XL+uefGUUEtKvrrC5zPzR5hNRviW3tUQv9KJEr020PnG2H3f1K5lBbxhFp3njqVPZeeDWparlno1z/LpBPft+RSWnzgrqUApv8esjCiKfqU9YnQMS5uzpix4gkjCOfzkF3asepNuoAWdtdTM2JD794bqja4C9vVvavt/kZ46YEO8x5r760q9lsQ53MNYJMIKj19HPNS9SscskstqxtSa4YmDSJaw2hzk9vWUs05WSJtVpxgox/Uo1honfXj5k6dn+PdyUbJNbAb6pob57/tYJl4PEKeWIGD3w+OqIkv1+eE2yRVkZCbVZaEaYF6AJX5XNTJYKLdF2cWYLt0rfEBYKK2zbYyREYVh4ce01eCf3/iPKdFkSFUXNXWT/XIWnjuaKhy0FG5yquRS5vMQMbDmFwvWc0kxGgFFydVuBhrKC8czYHgeDbgR5pqIlxFD4JP/Bw+AwxtidrktvHalRpoDEWvEhyB6RovfOCJTifTUOySMeQWqgBC5dprSKGBFjLJNoER5oc4qXVf4QuKbhRn56BLL/XwiQf2an+sIXI8nMG3/WBjOibdSwZRwqZWNlgSNkW7qBUBS5wqL+Bs8JttPxmbz0wVxJKA44rPRu6cMgVI/uSaMw2MaxWKBLY799fFEw2FZGlGhDMvMm0yhBJPBa2Mk1cVZ516lcd+xwNE3ZCE23mr75GKr1PmeZob8qdAp4IA1BjNT/HqsVGmLtOkFnsMcQCzQ5fqXz6yosZdlA1LvPShFoHsyrqUwDK9+xhpipHwlVxL9jCjr768DDU05yZ13mf7gE6sxYHty/5PvWmuLa3JNWHLeWJmt+1OIp8zf7GDjEYZDIqJ2hxoha7Jqj+PkPDPNGE7SWENbInRgIR1s0Tioh2wImRo9ErpZfD/PZbrCFA2xVj9Zk7Rm+pwKiQb8fEi/UDq+uEoB9Dv/ptf1Kcszkw2zAxnbouGz36uaMUn7QHnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HaT3rxPtq7cTTRQcGRtSkp",
      "input": {
        "note": "The gripper is over the pot's near-right rim; the wrist view shows the pot interior ahead and to the left of the brick. Nudging forward and left so the brick hangs over the water.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.4,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HaT3rxPtq7cTTRQcGRtSkp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8555, 0.6029, -0.469, -0.0227, -0.0265, 0.9995, 1.0306, 2.2044, 2.0632, -0.8886, 0.7273, 0.7166, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1496 left_roll=0.0082 left_gripper=0.9995 right_x=0.3709 right_y=0.3971 right_z=0.1767 right_yaw=0.0494 right_pitch=-0.1316 right_roll=-0.0826 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.6386, -0.0659, -0.0171, -0.0122, -0.9504, -12.9709, 11.0564, 1.7705, 1.0916, 0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12939097d7023b5d36089b0a4f4e213c315b6d7fd05304da2a96a1d30183b6de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ad61e65fd7791e07bb2ee0799a34cbde7ab6fbc3791ed9abf7eb90e4c15352",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c746cc8943963c4f0a680217e78769137105efbd748907fd9c6a35071ed74bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 5.206 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8497, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 1.1587, 1.9617, 1.689, -0.9188, 0.7864, 0.8898, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1471 left_yaw=-0.0036 left_pitch=-0.1427 left_roll=0.0081 left_gripper=0.9995 right_x=0.2894 right_y=0.3589 right_z=0.167 right_yaw=0.0335 right_pitch=-0.1553 right_roll=-0.1184 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.306, 6.9675, 1.746, -0.0562, -0.0366, -0.0122, 0.7179, -15.4872, 8.1026, 1.4042, 1.2332, 0.022, 1.0379]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0679, 2.0464, 1.8427, -0.8566, 0.7513, 0.7692, 0.7472]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1469 left_yaw=-0.0036 left_pitch=-0.1435 left_roll=0.0081 left_gripper=0.9995 right_x=0.3388 right_y=0.3732 right_z=0.1822 right_yaw=0.0415 right_pitch=-0.1279 right_roll=-0.0791 right_gripper=0.7472\nstate[joint_eff]: [-0.1846, -1.5795, 7.1179, 1.5995, -0.0562, -0.0366, -0.0122, -0.7726, -10.6872, 10.8513, 1.5995, 1.116, 0.0562, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8555, 0.6029, -0.469, -0.0227, -0.0265, 0.9995, 1.0306, 2.2044, 2.0632, -0.8886, 0.7273, 0.7166, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1496 left_roll=0.0082 left_gripper=0.9995 right_x=0.3709 right_y=0.3971 right_z=0.1767 right_yaw=0.0494 right_pitch=-0.1316 right_roll=-0.0826 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.6386, -0.0659, -0.0171, -0.0122, -0.9504, -12.9709, 11.0564, 1.7705, 1.0916, 0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12939097d7023b5d36089b0a4f4e213c315b6d7fd05304da2a96a1d30183b6de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ad61e65fd7791e07bb2ee0799a34cbde7ab6fbc3791ed9abf7eb90e4c15352",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c746cc8943963c4f0a680217e78769137105efbd748907fd9c6a35071ed74bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiwsKEAgRGAI4AUIIdGhpbmtpbmcSDPKNSzx04g+CYSWdkhoMW9qRo54urePiSm0QIjBQ6u+qzxxPmbRkqbAlm7vX3UX6G2fJ4qUlg/552nfkHkqlKUGe6kUMYT/fGWA/iSgqqAo4dDBPlsSgiC0Nh9ribkQD3j+sqEoD95evhBJ4L5BDzHSO+Hq3xOAP5QaU/VqEjxLIXs3VrJX66iRLI1zmZ6cjGWqFFEs5k22vJcjhS8ZQOru9kkX8WLQqzBN+ne7jbcQ/RWfTb+IuMB/cJgJTuueWab0C7xjTeNus1SKoT2yjF+WH90NPlrgA01+F+J6CMrl9cphG03PqRM10QwAClHyMzJdYYPYfQJpGFLh3mT202xIbQlN6edrVAYkRI25dt4z3MwMMuYYj5wq5ZZeFID2OnceWiN5EEon1MzvQhXSMiHBaPJwzZdSWNFb/R1umf/YfnGn7Dg+YWoEmwOfyKAC4tS1pl+awd8Yd52pSqG34fEHTHn2j/LhlzOVaQaDeyechzQ/NqyDU17UDOvTqIUSsIAWGpheVsziqW2jMsDYgOny1D4OuYeR5RkTob1iDKINiMgcde0fj1EVYN60DZLzy0g4s9afQ45Tj9et+bb1GBQdaFegOQkNp+CbSHCW3yynGbSZC7GLBwb9gplnj4uxuACoZhrPCZdx6BPoPyTxmklmC5+WBCLuTdBLgYsf6USWWcnGk9lml7d8i6BmbfqYnyFRppe1N9XvTEgw9lj4JztoLSB6SjMCGfgrMJ5PrYgj070GJEwr+wJvpweN1W+nQgebvVf4AXDQwgMWbjFb8bp3vKVyZl433xVkpH8cWkYByiz33cgnVluCYFwk3jM6N/OCk7pkPhVmoJ0W+fiBjAqQ5ogDjk2dForOWjGvwfefvAHl9o+xA+VFuxWCRB+e0Lxziq8XVKPIFJU0yhBy9hj3PhE2OuBq7qH2hN+XRvffEIAzwaBub5sC9VWzVGhJ5GTWD/SRGdpdk7KDY4DzPG2sXLd8/9viwxvkNUURy4KbRi3vZE9WBk+IPd/crL4gWHGcyogWzKo7wBya6M67RBDMXIyNsHROAHmeROcCwO3NzF9z0lUHxxMvXJgG2ACGzpEhHUjDtmNEPM9M277JRCR5phwgiPA6wmMMR+j2WzDvcC1NazhXhqz5nqjrBLDMkCimfQGUyxBhj3YBc9QOKEM6S/vTBvX35yrmZRBHR+GJrAJooFVeVoa//lwds/tjoEZdZ60wKYLtfetbdStOwlpVx+oHSgj/KgLFBL40XEtNc6Ymo9zV8Nrp1R+Z00+i8tameF3jpYEz8xyHcIw/Axk7VYwBABj/N1fB7yX8wnmmDqECj9QWD7cqAZ0ljwBr+67Lo2dgyvKscak1uebrATz0bGcJW6lyqUsdHILlV0y15DyxQnRBFVTNtEMcCVKa/yix5v7F0LIBbAoiefiUwUeiI5h5W5QzFn3j6wj2EJZnfdAJOgOkR1Ki2sgADep/TPrZTWDvmujna1cuYqTVUtOyHQjzvIvLs0DBS334cFNqXm6MT72c+PXQvGOYTM6DAgkZbOId6QLUZKszLIy+UhttyiZdODAtMw1g5edxL/qDP9Zr0tKIwz15gyPBoaot9Xy+n4J0hxQpw8O/ZzrhmtQUJ56BnmSf4G4fZ6AfIKmGLqC6g9xVKLAQJUMdkwrQtdZpXtHnFMy5ngY1Hn5UQUOCvWqg5qh4wt/+ssL3sY6+13Mmj0jOZI4h2Ift4x0kCzV4cppQA+SQnGoh2Coz/1KnkzZn/OEoX33ZSA2WSX0BzCG2EiGdaj/7EvAP1F/XI7EZd5duuOH8kjLemQjXf70tSE4Nu41cerKiKGXBpE1fgjnukAH/xTGuVV0/Ub9t/VMMXB/zqwn4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CT6opA243saHdcyZ8RNaQA",
      "input": {
        "note": "Overhead shows the gripper roughly over the pot's centre, with the brick hanging below it. Lowering toward the rim height before releasing so the brick drops into the water.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.375,
          "right_y": 0.4,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CT6opA243saHdcyZ8RNaQA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9198, -0.7746, 0.6868, 0.7094, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3669 right_y=0.3974 right_z=0.117 right_yaw=0.0645 right_pitch=-0.1961 right_roll=-0.1196 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5795, 6.9265, 1.5751, -0.0415, -0.0171, -0.0122, -0.4444, -14.0103, 5.7094, 1.4383, 0.5788, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b79838de636f0f2f1a956d22e4fc41d5d940cde757f0f46d6fea17531da105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc354a334e23586161a91f1ae74f0ec7da4e380a334987e6a4748395a7e66ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6f07785fb048966d9e60253f9dee4a25f5f512c955dc4ee3b3087dd6f2d50b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.409 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8501, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0679, 2.0464, 1.8427, -0.8566, 0.7513, 0.7692, 0.7472]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1469 left_yaw=-0.0036 left_pitch=-0.1435 left_roll=0.0081 left_gripper=0.9995 right_x=0.3388 right_y=0.3732 right_z=0.1822 right_yaw=0.0415 right_pitch=-0.1279 right_roll=-0.0791 right_gripper=0.7472\nstate[joint_eff]: [-0.1846, -1.5795, 7.1179, 1.5995, -0.0562, -0.0366, -0.0122, -0.7726, -10.6872, 10.8513, 1.5995, 1.116, 0.0562, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8555, 0.6029, -0.469, -0.0227, -0.0265, 0.9995, 1.0306, 2.2044, 2.0632, -0.8886, 0.7273, 0.7166, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1496 left_roll=0.0082 left_gripper=0.9995 right_x=0.3709 right_y=0.3971 right_z=0.1767 right_yaw=0.0494 right_pitch=-0.1316 right_roll=-0.0826 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.6386, -0.0659, -0.0171, -0.0122, -0.9504, -12.9709, 11.0564, 1.7705, 1.0916, 0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9198, -0.7746, 0.6868, 0.7094, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3669 right_y=0.3974 right_z=0.117 right_yaw=0.0645 right_pitch=-0.1961 right_roll=-0.1196 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5795, 6.9265, 1.5751, -0.0415, -0.0171, -0.0122, -0.4444, -14.0103, 5.7094, 1.4383, 0.5788, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b79838de636f0f2f1a956d22e4fc41d5d940cde757f0f46d6fea17531da105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc354a334e23586161a91f1ae74f0ec7da4e380a334987e6a4748395a7e66ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f07785fb048966d9e60253f9dee4a25f5f512c955dc4ee3b3087dd6f2d50b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wcKEAgRGAI4AUIIdGhpbmtpbmcSDJfabWrJ4JYM4GDfzBoMFGPmlqHJMv4Ins6OIjAHmeGtUZjTbevScVo+12C3gsBZmt9M4TVr13a3/tVaBYEKLK4UGGkum2WFTHDRQqEqjAfj6qacay3w9ZyvBp/z/LdDgaWS1+QEFu1PRBVJSR/BkL1+8FcPS23rGSbYk2kKsuOoBGbuFFcfcotMwJaWteo8k4dkVI1EK0e6bXYgtBNwx1sA7ZUZAxjN6MYwVQubDyhJMv6+b1BZN8P9ZY50/aoBzJ6/f389bqmqvdNw0G7Uj2oqpGLUl7hL4h/pqrv9n1uXxtC/OYA64U3P5nU8qBq7iC0+vJAjAcUCT4pLZq8PeTL9odEqd0GO8L47UEOhVtmL0dwLjThiKWQFW5LjKkN/ruG8eF0mxzth5psOUomVxHEV356oLOx31JDeAyRlq60fCfaOj8LOImdncOAADauZKKuN9Y88GPKddHAzPOv1TTq23nOhfTXdjTLVNsbuuZO8ZCKn+3N+O6Qm3ZH5yJd3EWRS0xyTqPT7sdA+rPCYe+dkEmdeqKJNmEu8PFlPc5RKjYvh6GZecR+3E0mabLAT3bcEC4gbbhMQ+4RWMnlID4Pi03eBfXyjRwvORo5OnpnaArf5U6nAYxU3YbPPb8NEWkKm1guTQtNcxFf+J/IWZbaQmbbrIL4USl7nivD/SeEYWddBvxxaFWsGkoxuV2c+nij9aGaD6KN6UU2uuEOohaB5c7tq4T+vxQhTbRofJnmeZ8RnsuXZYIvgD1Coxxyy1gwTaZOh9SrDfSoAcaLxE7YeNoXllLKl7ZD5YOswQKClXxI0o8ZixpyaMbw0w1pBZGCIgetNpMfT4mYjhbqE0RATnlT6RHUgHegknZjDUmbPpxo0hx1Kc5LS+vpUY16gsR/ppKvQ+zdW3kCL1uTvJLQhZPiEXpiIxami/cVO0eY0IYJvrHa27bPFLVn8KLcGmJIoMQwiqH6s54JQCAfO9BzDAWcONxz5I7FJ/2+XPQhk5jgLtv/D39mEK7+p91mLTP47kixZqG+H5zCCGAfQlGdjkLffPICN+AaCqswRo5pwKPuGfbD4isUS3EeWJFqQe+epwigTdexus7A5z9/a2BJFf59jevcchpfobQ1qZiYOU29TME2gDS9cg7VXvX0A0KQFDo5rZRtYs0rvRXqrJIj2O0tW1aMAW6f1sS1/216S4ZYQ3g2sy6YgJR8HRkmsvsHEF9ROO2A9GcllTfCYXxArj4Hu2/tytFJzFpQMcaSA3mQYK2vSsz1l8M5vpep3uVYHI9Z2bJtrqIxBjeAjCCebJ4Zo8299XTPiihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D3UksgjcKoYDdqWxk6JUur",
      "input": {
        "note": "The wrist view shows the pot's white interior all around the hanging brick, so it is over the water. Opening the gripper to drop it in.",
        "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_01D3UksgjcKoYDdqWxk6JUur",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9091, -0.7532, 0.6807, 0.7101, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3672 right_y=0.3996 right_z=0.1147 right_yaw=0.0693 right_pitch=-0.1943 right_roll=-0.107 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5248, 6.9675, 1.58, -0.0122, -0.0171, -0.0122, -0.1026, -12.7521, 7.7607, 0.9109, 0.3834, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b6848e9fabbd7913cf52173b78cca839153c474e140cd6ec8bb195b133a96e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5e8aca2970cbb0e8c8a7784da834e7647a9bea28432dd54ddb028410b10f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a0bd5ee559b04f92b6ddec948e18c7e0f867ee0f4da079a4b205660a8dc9514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8555, 0.6029, -0.469, -0.0227, -0.0265, 0.9995, 1.0306, 2.2044, 2.0632, -0.8886, 0.7273, 0.7166, 0.7472]\nstate[eef_state]: left_x=0.2845 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1496 left_roll=0.0082 left_gripper=0.9995 right_x=0.3709 right_y=0.3971 right_z=0.1767 right_yaw=0.0494 right_pitch=-0.1316 right_roll=-0.0826 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.812, 6.9402, 1.6386, -0.0659, -0.0171, -0.0122, -0.9504, -12.9709, 11.0564, 1.7705, 1.0916, 0.0757, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9198, -0.7746, 0.6868, 0.7094, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3669 right_y=0.3974 right_z=0.117 right_yaw=0.0645 right_pitch=-0.1961 right_roll=-0.1196 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5795, 6.9265, 1.5751, -0.0415, -0.0171, -0.0122, -0.4444, -14.0103, 5.7094, 1.4383, 0.5788, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9091, -0.7532, 0.6807, 0.7101, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3672 right_y=0.3996 right_z=0.1147 right_yaw=0.0693 right_pitch=-0.1943 right_roll=-0.107 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5248, 6.9675, 1.58, -0.0122, -0.0171, -0.0122, -0.1026, -12.7521, 7.7607, 0.9109, 0.3834, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5b6848e9fabbd7913cf52173b78cca839153c474e140cd6ec8bb195b133a96e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5e8aca2970cbb0e8c8a7784da834e7647a9bea28432dd54ddb028410b10f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0bd5ee559b04f92b6ddec948e18c7e0f867ee0f4da079a4b205660a8dc9514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygYKEAgRGAI4AUIIdGhpbmtpbmcSDG5H2nuBFMQhW/jYFBoMwVI9+3jKhKXTqYghIjACt292T1BpYW9hcfCAu8MQnso4xvl8iIQz+co4juAZrNcWEm9i7ZUZd9NI8tC31sEq5wVBP0e3L7+2oBJgdHF4ZXYtXzyVI8ykylARSFgRDtV00XmkQ1BMU2fNmlZqFFvAeiIPHmIj4OC06nPY3kWyCwDLwp18eRmYsi7u6EWQSL3b+Go3wt7guHU46x9vNgWtIdMjgHDBRjLjovdME0o21sbKsanpH9qSreEfj9PLrJLsRJV2wU2LPRdxSfD9wYhZCNYHGmIa1fT9utGnZ38HGUAluiXdJ/FT8jd+TPTI/CYuXF4AtO8kcLaf46lODKnRZETpyHOUFsFw/h7cjAYGLuKu0FourJX/pl3/Kojn347uzXgnAfRDaCQwGD9/0aI0TAzosAKhAfpnlLFztVwV7N20wni9lvWQsmtiq3BZLlrnBpYXinlgUtlwMOEtqv7m9gKVmzi1ssK7ZIZPslxZpakDyUynVEhbICmAsG0ahFgFPExJUOGLzRuitOWM9YHNwMtah22ujHO4LnJg5G6LxvCxCs1twdslVV9AX9RSqCaqpeUUY5toH5Z82OJxYoFbHvQK4knFeFg29xqjWGd/lKlcsCcgVHfm8M3cJ9DRP1/BEFmDdneIm9QL+cZi7bpyYSTVg83oLSYLeC7R8qMa73Zza075Gh67isc0IZ2mGlUkIrutczcNoFYW/tF1K0/+z8uB+VplRVSdy5UGUIKsT3rzlm9CXRPDmDxiEReVyS+MjJ1pelBzMHqvAl+qdkcm3DfewH8NnCp7y6RiwxPuG3OdMLoodq5qyAxxMOOdBmcj9QZQyfCb9VbNcw0y09Ox29qcQeeCWIfDnIv0ri0dh/2nVsGYvZImKYzKwsb8x77CA8JjLdY9rKjwMHoio8awU5yIUk0NrhTZgC24VnxEdI0JUZeDaKVIplFPXRBT/X8uqlbTQMfjVhNSyjaFXbIZsoKhxxIrqeprw38nKfi1ZrK1BefUS978XDeVkE5sLASGwvnn6xrxCNMMyury1nA5apBmkYQe80JcYkZ3bK4i+wl8YAR8eW0pdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DJTXV92iweC8eYQZLN8t1k",
      "input": {
        "note": "The gripper still reads 0.75 — the open command was clamped and did not complete. Re-sending the open command to release 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_01DJTXV92iweC8eYQZLN8t1k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6029, -0.4694, -0.0227, -0.0265, 0.9995, 1.0264, 2.2368, 1.9091, -0.7528, 0.6754, 0.7097, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.144 left_yaw=-0.0035 left_pitch=-0.1549 left_roll=0.0083 left_gripper=0.9995 right_x=0.3671 right_y=0.4 right_z=0.1142 right_yaw=0.0718 right_pitch=-0.198 right_roll=-0.1042 right_gripper=0.7472\nstate[joint_eff]: [-0.1026, -1.7983, 6.9675, 1.6288, -0.0513, -0.0122, -0.0122, 0.1299, -12.8615, 6.5709, 1.072, 0.3834, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd61789d1b58dfa2060ffed9a884b6a8ab8355634385376ce47606461cddb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720b043bc62264c9371a17ea956511a5e7f080cc96c7739bda2d3a6ab47f2ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11573566659136dcaeac063dba35e316127d3347ab0fe0d584d4cff6021a0e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.938 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9198, -0.7746, 0.6868, 0.7094, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3669 right_y=0.3974 right_z=0.117 right_yaw=0.0645 right_pitch=-0.1961 right_roll=-0.1196 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5795, 6.9265, 1.5751, -0.0415, -0.0171, -0.0122, -0.4444, -14.0103, 5.7094, 1.4383, 0.5788, -0.0024, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9091, -0.7532, 0.6807, 0.7101, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3672 right_y=0.3996 right_z=0.1147 right_yaw=0.0693 right_pitch=-0.1943 right_roll=-0.107 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5248, 6.9675, 1.58, -0.0122, -0.0171, -0.0122, -0.1026, -12.7521, 7.7607, 0.9109, 0.3834, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6029, -0.4694, -0.0227, -0.0265, 0.9995, 1.0264, 2.2368, 1.9091, -0.7528, 0.6754, 0.7097, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.144 left_yaw=-0.0035 left_pitch=-0.1549 left_roll=0.0083 left_gripper=0.9995 right_x=0.3671 right_y=0.4 right_z=0.1142 right_yaw=0.0718 right_pitch=-0.198 right_roll=-0.1042 right_gripper=0.7472\nstate[joint_eff]: [-0.1026, -1.7983, 6.9675, 1.6288, -0.0513, -0.0122, -0.0122, 0.1299, -12.8615, 6.5709, 1.072, 0.3834, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cd61789d1b58dfa2060ffed9a884b6a8ab8355634385376ce47606461cddb9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720b043bc62264c9371a17ea956511a5e7f080cc96c7739bda2d3a6ab47f2ec6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11573566659136dcaeac063dba35e316127d3347ab0fe0d584d4cff6021a0e8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmAgKEAgRGAI4AUIIdGhpbmtpbmcSDIJFj8dK9Eb4LF9bLBoMrmDnblGbmO2isnjuIjCGRIwrK9Nl34ap2iJGbqyAA9FHddE2vcCN55KObcjTSkfTPKNBpTG+9xa+CjcpEHcqtQdKStpiya7NUTUi/7dlluxlKKnSqMSGhth03fESRmbMqiuzbevEcaOJ7fluA0l4WAqgCKWsGjEPNE5lU6/Rl5q6k2LXC/uH2SzQWN0Mvaq6uTrx3H2Jn9zNuNWx2bzEEz61+lB/M7FtSbZAshM5wETGrLziGQkrTmFT0uY88QVY2Bj4HtE4ISwSvUSj6n2gLTO9wpmKugWFZ1mrY9YhjYSCSCAeYr+sRX17g+OgPahfFbmDY71RdCBoo4lyQVqvpLpEznsav/hIQzCZB0DIubtTALnltvRw91xV8m4KeKh/nq5con8LZphPwSH96qmYrJXW99e5vBU0Ck6eOp2b+oR48s4rcDI8qbLuPT4i2DhP6eV1D/9LgvnqRu7vg3tyvUrKUikoTB79WX9VuReuKtpp0xbjfSW0wo+9fU0lyMVFEu0m9V/RDu4LNZxAXO7OB+M9QcKMk/mCHdcqGSHFax3ow3L5JNg1T4oPaDGgX5de5r5zuBgr53oFSxO2xTxaGxHXRb3/liIaBuuzoik5ypUCP1w6iZ9Xrr4Ew1qUlgld0DO9xHPl3AzWEf7mCAb2PKoQSZ5gWAsT+qjopsPiHfnsfTNndYCD8IRO2engqSzd8WwWRAEeLP6giuwZSNHonoQp5+mnC3toBVbcKC1iDANGnIhao7+Lyj9sOxss6Q9A6m7kznRgoR1xkgu2ixNXwD3ACHT4VH3DTM2Znw0m8s7w8Q44N90HjcUNzyuTCKQawzMxnnGA1uSH/bDctExf2XukzUQ8UR6Fo4ftxWMGBGGxcIqOygOUjANxmfvHKG05DtN3qhc+xAyqQq9e/5McW+QK4nLdlgILB49Nj3U1iHp7Vi3cgmnuAsjtrPy7rdA3PuL9UklFcDyYOOOfT1K3L5OS0SqqCUMVssQlJs94f4Nn4eu2aveIljIn7gn0czliUV7Efvh0kiMYsnQk1kEBTloLD4QhEWupEm6VIfQsxIjObUicvmb1kcaNLY6v4EElFy0/dv1OXwpWe0MP1QjIiJI31IoYlhA32wrYanKoVf7Q7yJe/V3ewXTyhgC/1Qh/QqW2fTGhuiqeoFxGaRctrTO2uuBNvlVi0VFnegn+6Zdy8u30RFTuhVtnhz8ytrFBFmyeeRDRjbSxVdeZVTZA1BC3mubZdMG7FbPk2TzGttgUJxVWEv2eI96yrwp8/hRh/eX+sF61qmKsQ9Yuat9FTeT7qjVBzDHWz7WdTvNvsQ7HPh+KzQJXoJ9nUnnPA8EXDKgBGiY4GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JnRf25mUyDyrqgKfCCynHN",
      "input": {
        "note": "The gripper is still not opening (reads 0.75) with short 3-step commands. Combining the open with a small lift to give the command more steps to execute.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.4,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JnRf25mUyDyrqgKfCCynHN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8612, 0.6029, -0.4679, -0.0231, -0.0265, 0.9995, 1.0256, 2.2402, 1.9617, -0.8257, 0.6636, 0.6994, 0.8954]\nstate[eef_state]: left_x=0.2848 left_y=0.0021 left_z=0.1441 left_yaw=-0.0032 left_pitch=-0.1541 left_roll=0.0085 left_gripper=0.9995 right_x=0.3648 right_y=0.3986 right_z=0.1226 right_yaw=0.0793 right_pitch=-0.2209 right_roll=-0.1251 right_gripper=0.8954\nstate[joint_eff]: [-0.0479, -1.6479, 6.9402, 1.5995, -0.0562, -0.0269, -0.0122, -0.5538, -12.5744, 9.5385, 1.2723, 0.3346, 0.0952, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2157b1672ece20fdb5780b01ab9ce2f9971e5aa96f56de0c48091b5d383c18d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba46676e62719d6101d2111fc57f7cf61a0c4055efd5c2a037ceaffb6f2163d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9d901e10abb51a5f842c6c422745b5435e5a72992dbc2ebeed609ae25b5cb85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.4 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6029, -0.4683, -0.0227, -0.0265, 0.9995, 1.0271, 2.2368, 1.9091, -0.7532, 0.6807, 0.7101, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.1454 left_yaw=-0.0035 left_pitch=-0.1492 left_roll=0.0082 left_gripper=0.9995 right_x=0.3672 right_y=0.3996 right_z=0.1147 right_yaw=0.0693 right_pitch=-0.1943 right_roll=-0.107 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.5248, 6.9675, 1.58, -0.0122, -0.0171, -0.0122, -0.1026, -12.7521, 7.7607, 0.9109, 0.3834, -0.0317, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6029, -0.4694, -0.0227, -0.0265, 0.9995, 1.0264, 2.2368, 1.9091, -0.7528, 0.6754, 0.7097, 0.7472]\nstate[eef_state]: left_x=0.2846 left_y=0.002 left_z=0.144 left_yaw=-0.0035 left_pitch=-0.1549 left_roll=0.0083 left_gripper=0.9995 right_x=0.3671 right_y=0.4 right_z=0.1142 right_yaw=0.0718 right_pitch=-0.198 right_roll=-0.1042 right_gripper=0.7472\nstate[joint_eff]: [-0.1026, -1.7983, 6.9675, 1.6288, -0.0513, -0.0122, -0.0122, 0.1299, -12.8615, 6.5709, 1.072, 0.3834, -0.0366, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8612, 0.6029, -0.4679, -0.0231, -0.0265, 0.9995, 1.0256, 2.2402, 1.9617, -0.8257, 0.6636, 0.6994, 0.8954]\nstate[eef_state]: left_x=0.2848 left_y=0.0021 left_z=0.1441 left_yaw=-0.0032 left_pitch=-0.1541 left_roll=0.0085 left_gripper=0.9995 right_x=0.3648 right_y=0.3986 right_z=0.1226 right_yaw=0.0793 right_pitch=-0.2209 right_roll=-0.1251 right_gripper=0.8954\nstate[joint_eff]: [-0.0479, -1.6479, 6.9402, 1.5995, -0.0562, -0.0269, -0.0122, -0.5538, -12.5744, 9.5385, 1.2723, 0.3346, 0.0952, -0.0366]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2157b1672ece20fdb5780b01ab9ce2f9971e5aa96f56de0c48091b5d383c18d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba46676e62719d6101d2111fc57f7cf61a0c4055efd5c2a037ceaffb6f2163d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9d901e10abb51a5f842c6c422745b5435e5a72992dbc2ebeed609ae25b5cb85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuAcKEAgRGAI4AUIIdGhpbmtpbmcSDJuSq6Kwf6CxCvTBqxoMw36CAlGVAgYKyqjaIjAXus1H9dXMCRClYB3a7TpKeYMuiyoc/9ezRjyL0gIVCtrI1ISjge/ow4DdIEN4/xoq1Qakz07GNUuZGILMH8t6eRJimCqsvBD9iKZB/t4F+iFsl2G8HzQAC7OI65yVY4SfQzEPBXYobvJPL25tDZo+OmHJDGUvdAsBEV/4ne0iBycZSOMK4UUkcmUX5s0eL5NDCmVr6HQyV5/Y5IZN/1l2flUFErWwvNZuri7YXOb9Zl8rp5Ul24TvCV+EcT+y2ZHTNTOTpPdIXU0PN18PBoQyYoebkbu5YorSOBSb3Zuu9+Z+O/S854GMj4SyTdc1035pEUFspml8WRDzlXhL7/OGD1P8VgwgTJjPly7WmNepZXgcLB86EKNbiDSUyAzFKmhxkJPxUrRn6yI0Y4nw3PuM7MNkVSMZ/5P0PiVnHYZS7bO7bIvPRVj78W9DuzD53VwVRyVZwpT4MvCkMoh6MEGus4VVTavdULeii7TZVy0lGO/LpLYvYONTmBlCoojkEyGljgT6K01QHTCuwzVzGwWNHB523Yr7GhePCIH2y1qrQyhT/ILyPyU9KaOG96M0Tt1WCUQsm0GegzhkWSn7lKlIdsffZL+NN38P3xG0BD/smPy2M963+6jmzxqFc9OmbWDuzMKq/XlNtfq7yG6uSLFDvW5pJNMaJmWchmhtTDK1e4jSOXpwyZcWnXkUThe8HoigLmKuNsaVv3idu7/jcPEtjLlwxa0VC5k5VFc/S9bvHCtTwvzdD8TbeSqaQmRor0VdBCZ6y+dsou2a+mzgTd5UH2Vv3/RkPHCAU9bgQcyrbKtug2ZqhjlPySwNyTqz7v3dfyxAfpAIdQRT75RwkAsf/25u/c1YDANr4Qu1qd08FHfU823y97MHjRLcpswkNQC3CtJ7XWqJ3D4vQfZJV8ixUj6IE2hu9HMYFrZiPNmbe9BzIGlhGfYran8JLndQfmfbtcJzL/8qUaAMdR4G7j5Vb8ZKLkSJvjZM18Q58DizGaF37+Yiulbh0Ga+MfE8z008ongDq2G39wovNYota0665wnAG5w9nQBjm/GUY03H92xWzxTdZUu5oyDk1CvRW5TCT4QLale5qbOMIxIDtESbp8e1djVSIYxtET9ViLdabLBVAIsUZp4tfOgq1Nj+f3Uv5N/AeWA34SC1QvhKlTMkc9IL2NsHvvdmUEoHjOP6WGTWIdnNTDR7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FUkRQSaqm4yrfCiUQiHvZA",
      "input": {
        "note": "The gripper opened and the wrist view shows the brick lying inside the white pot. Lifting and pulling the arm away to clear the overhead view and confirm.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.2,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01FUkRQSaqm4yrfCiUQiHvZA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8642, 0.6029, -0.4679, -0.0227, -0.0265, 0.9995, 0.8547, 1.4704, 1.4307, -0.9733, 0.5804, 0.5243, 0.997]\nstate[eef_state]: left_x=0.2849 left_y=0.002 left_z=0.1433 left_yaw=-0.0035 left_pitch=-0.1572 left_roll=0.0083 left_gripper=0.9995 right_x=0.3041 right_y=0.2073 right_z=0.2403 right_yaw=0.0715 right_pitch=-0.2301 right_roll=-0.1321 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.853, 6.9675, 1.6044, -0.0464, -0.0611, -0.0122, -0.335, -7.2547, 6.8581, 1.3114, 0.1734, -0.0317, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25030f1cb70bb1c7f58678ef31bb8710aefb2bc90bcdba8620810709bdd1a861",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47087d1dc186b46a74e0414185487f193d6eda3596b52085cca2382c4850fdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7bc7a46c8cea9de8c61abb21f732dec89bb67f0b2f47b2e4787d2435ba21836e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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