adhoc

completed
2026-09-18T06:03:48.278748+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
475.4 s
total steps
255
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the 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
I'll use the right arm for the brick (it's ahead-left of the right gripper in its wrist cam), then carry it over to the pot near the table centre.
agent noteThe black brick appears ahead and to the left of the right gripper in the right wrist camera, roughly 8–10 cm left of the toy. Moving the right arm to hover above the estimated brick position at 15 cm height.
move_to
right_x0.3800right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3798, -0.0223, -0.041, 0.9993, -0.0177, 0.7937, 0.6029, -0.379, -0.0109, -0.0193, 0.9982] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1801 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2948 right_y=0.0003 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982 state[joint_eff]: [-0.5538, -1.5795, 10.0855, 1.8046, -0.0171, 0.2662, -0.0757, -0.6085, -1.5111, 10.2769, 1.873, -0.1294, 0.0269, -0.2076] 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
I'll use the right arm for the brick (it's ahead-left of the right gripper in its wrist cam), then carry it over to the pot near the table centre.
move_to({"targets": {"right_x": 0.38, "right_y": 0.1, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick appears ahead and to the left of the right gripper in the right wrist camera, roughly 8\u201310 cm left of the toy. Moving the right arm to hover above the estimated brick position at 15 cm height."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteTop view shows the right gripper about 13 cm right and ~8 cm short of the brick; the brick's long axis runs left-right, so I rotate the tool ~80° so the jaws close across its short side while moving over it.
move_to
right_x0.4300right_y0.2200right_z0.1500right_yaw1.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0422, 0.9993, 0.387, 1.3113, 0.7086, -0.0986, 0.2871, 0.1764, 0.9982] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3613 right_y=0.0971 right_z=0.1233 right_yaw=0.0476 right_pitch=-0.0986 right_roll=-0.0359 right_gripper=0.9982 state[joint_eff]: [-0.212, -1.388, 6.8718, 1.7753, -0.0269, -0.0513, -0.0122, 0.1846, -5.4632, 9.4974, 1.7216, 0.3199, 0.1392, -0.2076] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.22, "right_z": 0.15, "right_yaw": 1.4, "right_gripper": 1.0}, "note": "Top view shows the right gripper about 13 cm right and ~8 cm short of the brick; the brick's long axis runs left-right, so I rotate the tool ~80\u00b0 so the jaws close across its short side while moving over it."})
tool
executing move_to over 11 steps (1.1s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe brick now sits at the bottom of the right wrist image near the jaw column, so it is roughly under the fingertips. Descending to 5 cm to get a closer look at its orientation before grasping.
move_to
right_x0.4400right_y0.2000right_z0.0500right_yaw1.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3965, -0.0227, -0.0463, 0.9993, 0.1959, 1.969, 1.5661, -0.5949, -0.7132, -0.8814, 0.9982] state[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1755 left_yaw=0.0033 left_pitch=-0.0221 left_roll=-0.004 left_gripper=0.9993 right_x=0.4493 right_y=0.2106 right_z=0.1435 right_yaw=1.253 right_pitch=-0.1208 right_roll=-0.0592 right_gripper=0.9982 state[joint_eff]: [-0.1436, -1.4154, 7.0085, 1.9267, -0.0317, -0.0317, -0.0122, 0.253, -11.6991, 6.5983, 0.5348, -0.5201, -0.0855, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.05, "right_yaw": 1.3, "right_gripper": 1.0}, "note": "The brick now sits at the bottom of the right wrist image near the jaw column, so it is roughly under the fingertips. Descending to 5 cm to get a closer look at its orientation before grasping."})
tool
executing move_to over 7 steps (0.7s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe brick is now framed between the open jaws in the right wrist camera with its long axis roughly vertical in the image, so the jaws will close across its short side. Descending to table level before closing.
move_to
right_x0.4350right_y0.2000right_z-0.0100right_yaw1.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0494, 0.9993, 0.1715, 2.0518, 1.3491, -0.3763, -0.7414, -0.955, 0.9982] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0328 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4347 right_y=0.2 right_z=0.057 right_yaw=1.2938 right_pitch=-0.1389 right_roll=-0.032 right_gripper=0.9982 state[joint_eff]: [-0.0479, -1.306, 6.9949, 1.8632, -0.0562, -0.0464, -0.0122, -0.6085, -9.4154, 6.2427, 1.2479, -0.4762, -0.0904, -0.2027] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.435, "right_y": 0.2, "right_z": -0.01, "right_yaw": 1.3, "right_gripper": 1.0}, "note": "The brick is now framed between the open jaws in the right wrist camera with its long axis roughly vertical in the image, so the jaws will close across its short side. Descending to table level before closing."})
tool
executing move_to over 5 steps (0.5s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe descent stopped around 2 cm with the brick between the jaws in the wrist view, likely resting on the brick surface. Closing the gripper to grasp it across its short side.
move_to
right_x0.4400right_y0.2050right_z-0.0100right_yaw1.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1688, 2.141, 1.2919, -0.1761, -0.7845, -0.9691, 0.9982] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4424 right_y=0.2056 right_z=0.0233 right_yaw=1.3165 right_pitch=-0.0828 right_roll=-0.0762 right_gripper=0.9982 state[joint_eff]: [-0.0615, -1.306, 7.0085, 1.6972, -0.0806, -0.0269, -0.0122, 0.0615, -7.2274, 3.6718, 0.6081, 0.3932, 0.0415, -0.2076] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.205, "right_z": -0.01, "right_yaw": 1.3, "right_gripper": 0.0}, "note": "The descent stopped around 2 cm with the brick between the jaws in the wrist view, likely resting on the brick surface. Closing the gripper to grasp it across its short side."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe close was empty (gripper 0.008); the wrist camera shows the brick just to the image-right of the closed jaws, which at this yaw is a few cm forward. Opening and shifting ~3 cm forward and lower for another attempt.
move_to
right_x0.4750right_y0.2150right_z0.0000right_yaw1.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1738, 2.1628, 1.2575, -0.0216, -0.8318, -0.9562, 0.0081] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4489 right_y=0.215 right_z=0.0244 right_yaw=1.3377 right_pitch=-0.0064 right_roll=-0.1399 right_gripper=0.0081 state[joint_eff]: [-0.212, -1.1282, 7.0359, 1.6923, -0.0708, -0.0464, -0.0122, -0.1026, -7.5966, 3.7128, 0.8669, 0.2808, 0.0757, 0.5446] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.215, "right_z": 0.0, "right_yaw": 1.3, "right_gripper": 1.0}, "note": "The close was empty (gripper 0.008); the wrist camera shows the brick just to the image-right of the closed jaws, which at this yaw is a few cm forward. Opening and shifting ~3 cm forward and lower for another attempt."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe brick is now centred between the open jaws at the bottom of the right wrist image, though the arm still reads 2.5 cm high. Pressing down further and closing to grasp.
move_to
right_x0.4750right_y0.2200right_z-0.0200right_yaw1.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2368, 1.3312, 0.0513, -0.8658, -0.91, 0.9953] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4712 right_y=0.2233 right_z=0.0248 right_yaw=1.3364 right_pitch=0.0505 right_roll=-0.1565 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7118, -0.0708, -0.0464, -0.0122, -0.4855, -8.4444, 6.3248, 1.1111, 0.3248, -0.2076, -0.149] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.22, "right_z": -0.02, "right_yaw": 1.3, "right_gripper": 0.0}, "note": "The brick is now centred between the open jaws at the bottom of the right wrist image, though the arm still reads 2.5 cm high. Pressing down further and closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteBoth closes were empty because the arm cannot descend below ~2.5 cm at this radial reach (~0.53 m) and the thin brick slips under the jaws. Pitching the tool forward to extend low reach, backing up slightly and opening to re-sight the brick.
move_to
right_x0.4500right_y0.2200right_z0.0600right_yaw1.3000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2845, 1.3167, 0.2459, -0.9039, -0.8658, 0.0078] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4833 right_y=0.2298 right_z=0.0254 right_yaw=1.3501 right_pitch=0.132 right_roll=-0.2288 right_gripper=0.0078 state[joint_eff]: [-0.1573, -1.1966, 7.0632, 1.7167, -0.0611, -0.0757, -0.0122, -0.5402, -6.9538, 3.6444, 1.1209, 0.2515, -0.2027, 0.5348] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.22, "right_z": 0.06, "right_yaw": 1.3, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "Both closes were empty because the arm cannot descend below ~2.5 cm at this radial reach (~0.53 m) and the thin brick slips under the jaws. Pitching the tool forward to extend low reach, backing up slightly and opening to re-sight the brick."})
tool
executing move_to over 13 steps (1.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteWith the tool pitched forward, the brick shows at the very bottom of the right wrist image between the jaws. Descending to table level here to check that the pitched pose can actually reach the surface.
move_to
right_x0.4600right_y0.2200right_z-0.0100right_yaw1.3000right_pitch0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1417, 2.3184, 0.997, 1.1172, -1.0153, -0.3664, 0.9967] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0351 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4517 right_y=0.2197 right_z=0.0501 right_yaw=1.2787 right_pitch=0.4516 right_roll=-0.2012 right_gripper=0.9967 state[joint_eff]: [-0.0205, -1.3607, 7.1726, 1.7167, -0.0562, -0.0562, -0.0122, -0.4991, -9.7162, 4.0821, 1.9121, -0.2662, 0.0659, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.22, "right_z": -0.01, "right_yaw": 1.3, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "With the tool pitched forward, the brick shows at the very bottom of the right wrist image between the jaws. Descending to table level here to check that the pitched pose can actually reach the surface."})
tool
executing move_to over 4 steps (0.4s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe pitched pose made the IK worse (arm rose to 5.5 cm with the shoulder near its limit). Trying the equivalent jaw orientation with yaw −1.6 and a vertical tool, hoping a different arm configuration lets the fingertips reach the table at this radius.
move_to
right_x0.4600right_y0.2200right_z0.0000right_yaw-1.6000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.807, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.1452, 2.4893, 1.1389, 1.4033, -1.0744, -0.21, 0.9977] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0061 left_gripper=0.9993 right_x=0.468 right_y=0.229 right_z=0.0547 right_yaw=1.3812 right_pitch=0.574 right_roll=-0.2949 right_gripper=0.9977 state[joint_eff]: [-0.212, -1.4291, 7.2, 1.7558, -0.0562, -0.0708, -0.0122, -0.9231, -4.0821, 0.9915, 0.1294, 0.2369, -1.4286, -0.2515] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.22, "right_z": 0.0, "right_yaw": -1.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The pitched pose made the IK worse (arm rose to 5.5 cm with the shoulder near its limit). Trying the equivalent jaw orientation with yaw \u22121.6 and a vertical tool, hoping a different arm configuration lets the fingertips reach the table at this radius."})
tool
executing move_to over 20 steps (2.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe right arm swung into an extended, rolled pose and in doing so pushed the brick across toward the pot (now visible near the pot in the top and left cameras). Retracting the right arm to a safe raised pose before switching to the left arm.
move_to
right_x0.3500right_y0.1000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.5037, 2.7342, 2.1185, 0.2478, 0.4252, 1.0687, 0.9979] state[eef_state]: left_x=0.2914 left_y=0.0021 left_z=0.1698 left_yaw=0.0059 left_pitch=-0.048 left_roll=-0.0062 left_gripper=0.9993 right_x=0.6577 right_y=0.2834 right_z=0.0412 right_yaw=-0.3898 right_pitch=0.0346 right_roll=0.854 right_gripper=0.9979 state[joint_eff]: [-0.1026, -1.4017, 7.1453, 1.7558, -0.0708, -0.0806, -0.0122, -0.841, -11.9726, 4.4923, 0.3785, 0.3248, 0.2222, -0.2369] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.1, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The right arm swung into an extended, rolled pose and in doing so pushed the brick across toward the pot (now visible near the pot in the top and left cameras). Retracting the right arm to a safe raised pose before switching to the left arm."})
tool
executing move_to over 24 steps (2.4s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe brick now lies about 13 cm to the right and slightly ahead of the left gripper per the left wrist camera, close to the pot. Moving the left arm over it, rotating the tool so the jaws close across the brick's short side.
move_to
left_x0.3300left_y-0.1300left_z0.1200left_yaw1.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0193, 0.8162, 0.6075, -0.4301, -0.0227, -0.0498, 0.9993, 0.4492, 1.1999, 0.8581, -0.2451, 0.3649, 0.2932, 0.9979] state[eef_state]: left_x=0.2895 left_y=0.002 left_z=0.1654 left_yaw=0.0056 left_pitch=-0.0682 left_roll=-0.0057 left_gripper=0.9993 right_x=0.3602 right_y=0.1076 right_z=0.2024 right_yaw=-0.0155 right_pitch=0.0247 right_roll=0.0619 right_gripper=0.9979 state[joint_eff]: [0.0205, -1.7983, 7.159, 1.8681, -0.0659, -0.0806, -0.0122, -0.3214, -4.1778, 7.2137, 1.7021, 0.2369, -0.0269, -0.232] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.13, "left_z": 0.12, "left_yaw": 1.2, "left_gripper": 1.0}, "note": "The brick now lies about 13 cm to the right and slightly ahead of the left gripper per the left wrist camera, close to the pot. Moving the left arm over it, rotating the tool so the jaws close across the brick's short side."})
tool
executing move_to over 12 steps (1.2s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteThe brick sits between the open jaws at the bottom of the left wrist image, slightly right of the jaw column, with its long axis roughly vertical in the image. Descending to table level with a small shift toward it.
move_to
left_x0.3650left_y-0.1400left_z0.0000left_yaw1.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7341, 2.1033, 1.6505, -1.3895, -0.8608, -1.9667, 0.9994, 0.4496, 1.2064, 0.852, -0.2768, 0.3576, 0.2733, 0.9975] state[eef_state]: left_x=0.3525 left_y=-0.1328 left_z=0.108 left_yaw=1.0658 left_pitch=-0.1085 left_roll=-0.0145 left_gripper=0.9994 right_x=0.3557 right_y=0.1069 right_z=0.1911 right_yaw=0.0016 right_pitch=-0.0165 right_roll=0.0294 right_gripper=0.9975 state[joint_eff]: [2.0308, -11.5487, 5.559, -1.1306, -0.6032, -0.1734, -0.0757, -0.0615, -4.8889, 7.6923, 1.9805, 0.1783, 0.1392, -0.0464] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.14, "left_z": 0.0, "left_yaw": 1.1, "left_gripper": 1.0}, "note": "The brick sits between the open jaws at the bottom of the left wrist image, slightly right of the jaw column, with its long axis roughly vertical in the image. Descending to table level with a small shift toward it."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe descent again stopped at 2.5 cm, which may be the fingertips resting on top of the ~2.5 cm thick brick, or the brick straddled between the jaws. Closing to test: a wide settled reading means the brick is grasped, an empty reading means the tips are on top of it.
move_to
left_x0.3650left_y-0.1400left_z-0.0100left_yaw1.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7292, 2.289, 1.5787, -1.1751, -0.8948, -2.009, 0.9994, 0.4496, 1.2068, 0.852, -0.2882, 0.3573, 0.2684, 0.9975] state[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.025 left_yaw=1.0869 left_pitch=-0.0669 left_roll=-0.0138 left_gripper=0.9994 right_x=0.3542 right_y=0.1063 right_z=0.1888 right_yaw=0.0044 right_pitch=-0.0272 right_roll=0.0204 right_gripper=0.9975 state[joint_eff]: [0.1436, -8.0068, 4.3009, 0.3297, 0.2076, 0.1099, -0.0757, -0.1573, -4.3966, 6.9402, 1.8046, 0.0611, 0.022, -0.0171] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.14, "left_z": -0.01, "left_yaw": 1.1, "left_gripper": 0.0}, "note": "The descent again stopped at 2.5 cm, which may be the fingertips resting on top of the ~2.5 cm thick brick, or the brick straddled between the jaws. Closing to test: a wide settled reading means the brick is grasped, an empty reading means the tips are on top of it."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe close was empty and the wrist camera shows the closed jaws sitting on top of the brick, so the brick's long side spans wider than the jaw opening in this orientation. Lifting slightly, opening, and rotating the tool 90° so the jaws close across the brick's other axis.
move_to
left_x0.3650left_y-0.1350left_z0.0600left_yaw-0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.738, 2.323, 1.5799, -1.1889, -0.9737, -2.0319, 0.0097, 0.4496, 1.2068, 0.852, -0.289, 0.3573, 0.268, 0.9975] state[eef_state]: left_x=0.3679 left_y=-0.1323 left_z=0.025 left_yaw=1.065 left_pitch=0.0165 left_roll=-0.0052 left_gripper=0.0097 right_x=0.3542 right_y=0.1063 right_z=0.1886 right_yaw=0.0046 right_pitch=-0.0279 right_roll=0.0197 right_gripper=0.9975 state[joint_eff]: [0.0068, -6.9402, 4.6564, 0.4957, 0.5348, -0.0659, 0.6764, -0.1436, -4.1504, 6.9675, 1.7021, 0.0513, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.135, "left_z": 0.06, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The close was empty and the wrist camera shows the closed jaws sitting on top of the brick, so the brick's long side spans wider than the jaw opening in this orientation. Lifting slightly, opening, and rotating the tool 90\u00b0 so the jaws close across the brick's other axis."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteThe left wrist camera now shows the power-bank brick clearly with its long axis running left-right (along the arm's y axis), centred a little right of and beyond the jaws. Moving over its estimated centre at 8 cm and rotating to yaw 1.5 so the jaws close across its 6.5 cm short side.
move_to
left_x0.3800left_y-0.1200left_z0.0800left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3176, 1.5589, 0.4526, 0.4236, -0.0906, -0.2981, 0.9945, 0.4496, 1.2102, 0.8505, -0.2996, 0.3573, 0.2649, 0.9974] state[eef_state]: left_x=0.3588 left_y=-0.0973 left_z=0.0288 left_yaw=-0.1006 left_pitch=-0.1162 left_roll=-0.1557 left_gripper=0.9945 right_x=0.3528 right_y=0.1056 right_z=0.1848 right_yaw=0.006 right_pitch=-0.042 right_roll=0.0105 right_gripper=0.9974 state[joint_eff]: [0.1026, -7.0906, 6.5162, 1.7118, 0.3199, 0.2662, 0.022, -0.0752, -4.6701, 7.0632, 1.707, 0.0708, -0.0513, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.12, "left_z": 0.08, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The left wrist camera now shows the power-bank brick clearly with its long axis running left-right (along the arm's y axis), centred a little right of and beyond the jaws. Moving over its estimated centre at 8 cm and rotating to yaw 1.5 so the jaws close across its 6.5 cm short side."})
tool
executing move_to over 11 steps (1.1s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteThe arm did not track the last target (still at 3 cm, yaw drifted to −0.2), so the IK seems stuck near this pose. Lifting to 12 cm and rotating the other way toward yaw −1.6 (same jaw axis) in a smaller step.
move_to
left_x0.3700left_y-0.1200left_z0.1200left_yaw-1.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3332, 1.5837, 0.4175, 0.54, -0.0364, -0.2333, 0.9987, 0.4496, 1.2102, 0.849, -0.3107, 0.3569, 0.2646, 0.9974] state[eef_state]: left_x=0.3576 left_y=-0.1132 left_z=0.03 left_yaw=-0.1979 left_pitch=-0.0615 left_roll=-0.1467 left_gripper=0.9987 right_x=0.3511 right_y=0.1049 right_z=0.182 right_yaw=0.0063 right_pitch=-0.0535 right_roll=0.005 right_gripper=0.9974 state[joint_eff]: [-0.0068, -5.3949, 5.0803, 1.9219, -0.0659, -0.0806, -0.1441, -0.0615, -4.3829, 7.0496, 1.7216, 0.0708, -0.0562, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.12, "left_z": 0.12, "left_yaw": -1.0, "left_gripper": 1.0}, "note": "The arm did not track the last target (still at 3 cm, yaw drifted to \u22120.2), so the IK seems stuck near this pose. Lifting to 12 cm and rotating the other way toward yaw \u22121.6 (same jaw axis) in a smaller step."})
tool
executing move_to over 6 steps (0.6s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe left arm's thrashing pushed the brick toward the table centre; it now lies near the centre line with its long axis roughly along x (seen end-on in the right wrist camera). Moving the left arm over it at yaw 0 so the jaws close across its short side.
move_to
left_x0.4000left_y-0.3000left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.2989, 1.3472, 0.6701, 0.1223, -0.3012, -0.4423, 0.9987, 0.4496, 1.214, 0.8482, -0.3183, 0.3565, 0.2646, 0.9974] state[eef_state]: left_x=0.3922 left_y=-0.0622 left_z=0.1371 left_yaw=0.1703 left_pitch=0.0318 left_roll=-0.2017 left_gripper=0.9987 right_x=0.3501 right_y=0.1045 right_z=0.179 right_yaw=0.0063 right_pitch=-0.0646 right_roll=-0.0001 right_gripper=0.9974 state[joint_eff]: [-1.894, -4.5744, 7.9795, 1.5018, 0.105, 0.2906, -0.149, 0.0479, -4.7111, 6.9675, 1.6679, 0.0562, -0.0513, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.3, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm's thrashing pushed the brick toward the table centre; it now lies near the centre line with its long axis roughly along x (seen end-on in the right wrist camera). Moving the left arm over it at yaw 0 so the jaws close across its short side."})
tool
executing move_to over 22 steps (2.2s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe brick is now centred on the jaw column in the left wrist camera with its long axis running up the image, so the jaws will close across its short side. Advancing ~3 cm (the object sits slightly beyond the fingertips) and descending to the table.
move_to
left_x0.4250left_y-0.2950left_z0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8745, 1.9041, 1.2472, -0.1535, -0.691, -0.622, 0.9987, 0.4496, 1.2167, 0.8459, -0.3264, 0.3538, 0.2646, 0.9974] state[eef_state]: left_x=0.3965 left_y=-0.2932 left_z=0.1101 left_yaw=-0.0026 left_pitch=-0.0221 left_roll=-0.0044 left_gripper=0.9987 right_x=0.3488 right_y=0.1043 right_z=0.1755 right_yaw=0.0081 right_pitch=-0.077 right_roll=-0.0041 right_gripper=0.9974 state[joint_eff]: [-0.5128, -9.894, 8.6769, 1.2381, -0.5104, 0.0513, -0.1441, -0.1162, -4.5197, 7.0769, 1.6435, 0.1343, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_y": -0.295, "left_z": 0.0, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The brick is now centred on the jaw column in the left wrist camera with its long axis running up the image, so the jaws will close across its short side. Advancing ~3 cm (the object sits slightly beyond the fingertips) and descending to the table."})
tool
executing move_to over 8 steps (0.8s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
z reached 0.004 — the tips are at the table with the brick between the jaws. Closing now.
agent noteThe fingertips reached table level (z≈0.004) with the brick filling the space between the jaws in the left wrist view. Closing the gripper to grasp it across its short side.
move_to
left_x0.4200left_y-0.2900left_z0.0000left_yaw0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8337, 2.1792, 1.187, 0.1719, -0.6762, -0.598, 0.9987, 0.4496, 1.2167, 0.8433, -0.3378, 0.3538, 0.2646, 0.9974] state[eef_state]: left_x=0.4185 left_y=-0.2912 left_z=0.0044 left_yaw=0.0151 left_pitch=-0.0369 left_roll=0.0159 left_gripper=0.9987 right_x=0.3467 right_y=0.1033 right_z=0.1723 right_yaw=0.0076 right_pitch=-0.0898 right_roll=-0.0101 right_gripper=0.9974 state[joint_eff]: [0.7316, -10.2769, 5.5043, 1.0867, 0.3101, 0.1099, -0.149, -0.0889, -4.3966, 7.1043, 1.6777, 0.1245, -0.0659, -0.0073] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
z reached 0.004 — the tips are at the table with the brick between the jaws. Closing now.
move_to({"targets": {"left_x": 0.42, "left_y": -0.29, "left_z": 0.0, "left_yaw": 0.0, "left_gripper": 0.0}, "note": "The fingertips reached table level (z\u22480.004) with the brick filling the space between the jaws in the left wrist view. Closing the gripper to grasp it across its short side."})
tool
executing move_to over 10 steps (1.0s)
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 close was empty again — the brick was squeezed off-centre and popped forward, now lying ~7 cm beyond the fingertips with its long axis along y. Lifting, opening and rotating the tool 90° while advancing over its new position.
move_to
left_x0.4800left_y-0.2900left_z0.1000left_yaw1.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8291, 2.186, 1.1851, 0.2073, -0.6781, -0.5888, 0.0085, 0.4496, 1.2167, 0.8421, -0.3412, 0.3534, 0.2646, 0.9974] state[eef_state]: left_x=0.4226 left_y=-0.2919 left_z=0.0058 left_yaw=0.0155 left_pitch=-0.0183 left_roll=0.0043 left_gripper=0.0085 right_x=0.346 right_y=0.1031 right_z=0.1712 right_yaw=0.0077 right_pitch=-0.094 right_roll=-0.0119 right_gripper=0.9974 state[joint_eff]: [0.1162, -11.2068, 4.3282, 1.4383, -0.1001, 0.105, 0.6422, -0.1299, -4.2188, 7.159, 1.6239, 0.0708, -0.0366, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). 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": {"left_x": 0.48, "left_y": -0.29, "left_z": 0.1, "left_yaw": 1.5, "left_gripper": 1.0}, "note": "The close was empty again \u2014 the brick was squeezed off-centre and popped forward, now lying ~7 cm beyond the fingertips with its long axis along y. Lifting, opening and rotating the tool 90\u00b0 while advancing over its new position."})
tool
executing move_to over 10 steps (1.0s)
step 229
top_cam
camera top_cam step 229
left_cam
camera left_cam step 229
right_cam
camera right_cam step 229
assistant
agent noteThe yaw change made the left arm swing into a low, contorted pose beside the pot (shoulder effort −18). Raising it to a safe height while holding the current yaw before re-approaching.
move_to
left_x0.3500left_y-0.2000left_z0.2000left_yaw1.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5304, 2.6926, 2.2822, -1.4254, -0.8967, -2.0258, 0.9949, 0.4496, 1.2205, 0.8368, -0.3595, 0.3534, 0.2646, 0.9974] state[eef_state]: left_x=0.4675 left_y=-0.11 left_z=0.01 left_yaw=1.2907 left_pitch=-0.0776 left_roll=-0.0759 left_gripper=0.9949 right_x=0.3427 right_y=0.1015 right_z=0.1644 right_yaw=0.0064 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9974 state[joint_eff]: [0.1709, -18.0444, 4.9026, -0.2662, -0.7839, -0.3004, 0.0122, -0.0615, -4.6974, 7.2547, 1.7167, 0.105, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.2, "left_yaw": 1.3, "left_gripper": 1.0}, "note": "The yaw change made the left arm swing into a low, contorted pose beside the pot (shoulder effort \u221218). Raising it to a safe height while holding the current yaw before re-approaching."})
tool
executing move_to over 13 steps (1.3s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe left arm is stuck folded low near the pot and did not rise. Reducing reach and partially unwinding the yaw toward 0 to help the IK unfold it.
move_to
left_x0.3000left_y-0.1500left_z0.1500left_yaw0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6201, 2.7422, 2.4294, -1.557, -0.8604, -2.0621, 0.9987, 0.4496, 1.2213, 0.8356, -0.3634, 0.3534, 0.2646, 0.9974] state[eef_state]: left_x=0.4542 left_y=-0.1554 left_z=0.0196 left_yaw=1.2346 left_pitch=-0.1034 left_roll=-0.0625 left_gripper=0.9987 right_x=0.342 right_y=0.1011 right_z=0.163 right_yaw=0.0061 right_pitch=-0.124 right_roll=-0.0262 right_gripper=0.9974 state[joint_eff]: [-0.1162, -13.6137, 6.8034, -0.3541, -0.5201, -0.398, -0.149, -0.0889, -4.4786, 7.0085, 1.5849, 0.0952, -0.0562, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.15, "left_z": 0.15, "left_yaw": 0.6, "left_gripper": 1.0}, "note": "The left arm is stuck folded low near the pot and did not rise. Reducing reach and partially unwinding the yaw toward 0 to help the IK unfold it."})
tool
executing move_to over 12 steps (1.2s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
right_cam
camera right_cam step 254
assistant
agent noteThe brick (a ~2.5 cm thick, 6.5×10 cm power bank with a cable) was repeatedly squeezed off-centre and ejected forward during grasp attempts, and large yaw retargets made the IK swing the arm into contorted poses that also pushed it. It now lies near the table centre line at roughly x≈0.55–0.6 m from either base (top-cam row ~65, above the toy), beyond the ~0.49 m radius at which either arm can reach the table, and it is too far to hook or push back into reach. I cannot complete the placement without the object being moved.
give_up
hindsight1) Yaw retargets larger than ~0.5 rad on this rig are dangerous: the IK does not rotate the tool in place but swings the whole arm (large joint jumps that the approver clamps every step), sending the gripper low across the table and shoving objects. Change yaw in ≤0.5 rad increments at z≥0.15, or better, set the yaw once at the very first hover and never change it near the table. 2) A descent that stalls at z≈0.025 with shoulder effort still negative is the fingertips resting on top of the object (this brick is ~2.5 cm thick), not a reach limit: the following close will be empty. 3) The black brick is a 6.5×10 cm power bank; the 9.5 cm jaws only fit across its short side and it ejects/rotates 90° when closed off-centre by more than ~1.5 cm — centre it precisely on the jaw column (x≈110) and ensure its near edge is at the image bottom before closing. 4) In the top camera the table centre line is near image x≈112; the pot sits at left_y≈−0.12, x≈0.40. Objects at top-cam row ≲70 are beyond x≈0.5 and out of table-level reach for both arms. 5) Right-frame brick start: approx (0.45, 0.22); the right arm could reach that point (r≈0.5) only barely.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8852, 1.6577, 1.2049, -1.0046, -0.8829, -1.5578, 0.9987, 0.4496, 1.2232, 0.8352, -0.3672, 0.3531, 0.2646, 0.9974] state[eef_state]: left_x=0.3046 left_y=-0.1512 left_z=0.1409 left_yaw=0.6439 left_pitch=-0.1141 left_roll=-0.0842 left_gripper=0.9987 right_x=0.3414 right_y=0.1009 right_z=0.1616 right_yaw=0.0061 right_pitch=-0.1297 right_roll=-0.0286 right_gripper=0.9974 state[joint_eff]: [-0.3214, -7.8701, 6.2154, 0.6325, -0.5885, 0.2027, -0.1441, -0.0615, -4.2188, 6.8718, 1.5946, 0.0708, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The brick (a ~2.5 cm thick, 6.5\u00d710 cm power bank with a cable) was repeatedly squeezed off-centre and ejected forward during grasp attempts, and large yaw retargets made the IK swing the arm into contorted poses that also pushed it. It now lies near the table centre line at roughly x\u22480.55\u20130.6 m from either base (top-cam row ~65, above the toy), beyond the ~0.49 m radius at which either arm can reach the table, and it is too far to hook or push back into reach. I cannot complete the placement without the object being moved.", "hindsight": "1) Yaw retargets larger than ~0.5 rad on this rig are dangerous: the IK does not rotate the tool in place but swings the whole arm (large joint jumps that the approver clamps every step), sending the gripper low across the table and shoving objects. Change yaw in \u22640.5 rad increments at z\u22650.15, or better, set the yaw once at the very first hover and never change it near the table. 2) A descent that stalls at z\u22480.025 with shoulder effort still negative is the fingertips resting on top of the object (this brick is ~2.5 cm thick), not a reach limit: the following close will be empty. 3) The black brick is a 6.5\u00d710 cm power bank; the 9.5 cm jaws only fit across its short side and it ejects/rotates 90\u00b0 when closed off-centre by more than ~1.5 cm \u2014 centre it precisely on the jaw column (x\u2248110) and ensure its near edge is at the image bottom before closing. 4) In the top camera the table centre line is near image x\u2248112; the pot sits at left_y\u2248\u22120.12, x\u22480.40. Objects at top-cam row \u227270 are beyond x\u22480.5 and out of table-level reach for both arms. 5) Right-frame brick start: approx (0.45, 0.22); the right arm could reach that point (r\u22480.5) only barely."})
tool
give_up: The brick (a ~2.5 cm thick, 6.5×10 cm power bank with a cable) was repeatedly squeezed off-centre and ejected forward during grasp attempts, and large yaw retargets made the IK swing the arm into contorted poses that also pushed it. It now lies near the table centre line at roughly x≈0.55–0.6 m from either base (top-cam row ~65, above the toy), beyond the ~0.49 m radius at which either arm can reach the table, and it is too far to hook or push back into reach. I cannot complete the placement without the object being moved.
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 · 28.54 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, 0.7956, 0.6052, -0.3798, -0.0223, -0.041, 0.9993, -0.0177, 0.7937, 0.6029, -0.379, -0.0109, -0.0193, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1801 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2948 right_y=0.0003 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -1.5795, 10.0855, 1.8046, -0.0171, 0.2662, -0.0757, -0.6085, -1.5111, 10.2769, 1.873, -0.1294, 0.0269, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5e08a749b542ee2e6da97146962fd8b7c548f19884679463601d35f835a09cf",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90235ad687050c8f2bd811955c5fb1c57b98da6ed7b4cf2a825c6fe44b4f0d49",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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wire blob 90235ad68705
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call 1 attempt 0 · /messages · status 200 · 12.46 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, 0.7956, 0.6052, -0.3798, -0.0223, -0.041, 0.9993, -0.0177, 0.7937, 0.6029, -0.379, -0.0109, -0.0193, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1801 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2948 right_y=0.0003 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -1.5795, 10.0855, 1.8046, -0.0171, 0.2662, -0.0757, -0.6085, -1.5111, 10.2769, 1.873, -0.1294, 0.0269, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5e08a749b542ee2e6da97146962fd8b7c548f19884679463601d35f835a09cf",
        "media_type": "image/png",
        "type": "base64"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
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    {
      "source": {
        "data": "$blob:90235ad687050c8f2bd811955c5fb1c57b98da6ed7b4cf2a825c6fe44b4f0d49",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll use the right arm for the brick (it's ahead-left of the right gripper in its wrist cam), then carry it over to the pot near the table centre.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ca1VqgRSZ21PypvzkCTzH7",
      "input": {
        "note": "The black brick appears ahead and to the left of the right gripper in the right wrist camera, roughly 8–10 cm left of the toy. Moving the right arm to hover above the estimated brick position at 15 cm height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Ca1VqgRSZ21PypvzkCTzH7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0422, 0.9993, 0.387, 1.3113, 0.7086, -0.0986, 0.2871, 0.1764, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3613 right_y=0.0971 right_z=0.1233 right_yaw=0.0476 right_pitch=-0.0986 right_roll=-0.0359 right_gripper=0.9982\nstate[joint_eff]: [-0.212, -1.388, 6.8718, 1.7753, -0.0269, -0.0513, -0.0122, 0.1846, -5.4632, 9.4974, 1.7216, 0.3199, 0.1392, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada265832a8c05f97dbcfe02ee2439f1dc9737cc718784682fb3d7401d27af2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709db6fd0d2c7762c0c1ff65da05a43c7fc6f512195f767c8005c9418162a6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c12785d07619764f18b320ffeba9453ce351895e4bf676f7050d92cc2e24a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ada265832a8c
wire blob 709db6fd0d2c
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 27.88 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, 0.7956, 0.6052, -0.3798, -0.0223, -0.041, 0.9993, -0.0177, 0.7937, 0.6029, -0.379, -0.0109, -0.0193, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1801 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2948 right_y=0.0003 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -1.5795, 10.0855, 1.8046, -0.0171, 0.2662, -0.0757, -0.6085, -1.5111, 10.2769, 1.873, -0.1294, 0.0269, -0.2076]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0422, 0.9993, 0.387, 1.3113, 0.7086, -0.0986, 0.2871, 0.1764, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3613 right_y=0.0971 right_z=0.1233 right_yaw=0.0476 right_pitch=-0.0986 right_roll=-0.0359 right_gripper=0.9982\nstate[joint_eff]: [-0.212, -1.388, 6.8718, 1.7753, -0.0269, -0.0513, -0.0122, 0.1846, -5.4632, 9.4974, 1.7216, 0.3199, 0.1392, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ada265832a8c05f97dbcfe02ee2439f1dc9737cc718784682fb3d7401d27af2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:709db6fd0d2c7762c0c1ff65da05a43c7fc6f512195f767c8005c9418162a6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c12785d07619764f18b320ffeba9453ce351895e4bf676f7050d92cc2e24a60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ada265832a8c]
[blob 709db6fd0d2c]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Hmbqh1nB2K9g1JhC8uodE",
      "input": {
        "note": "Top view shows the right gripper about 13 cm right and ~8 cm short of the brick; the brick's long axis runs left-right, so I rotate the tool ~80° so the jaws close across its short side while moving over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.22,
          "right_yaw": 1.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011Hmbqh1nB2K9g1JhC8uodE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3965, -0.0227, -0.0463, 0.9993, 0.1959, 1.969, 1.5661, -0.5949, -0.7132, -0.8814, 0.9982]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1755 left_yaw=0.0033 left_pitch=-0.0221 left_roll=-0.004 left_gripper=0.9993 right_x=0.4493 right_y=0.2106 right_z=0.1435 right_yaw=1.253 right_pitch=-0.1208 right_roll=-0.0592 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4154, 7.0085, 1.9267, -0.0317, -0.0317, -0.0122, 0.253, -11.6991, 6.5983, 0.5348, -0.5201, -0.0855, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f382e9f26a2f7b25cad1a7be3ea217ed363c7921a54fe5654306afa3004a538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ddb4592b787cc766a04103c633b41f4f27b6f5c662ca4287752d398a8d0f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6d1ccf01d7378fa982d9d0610c035f56de8e6335dbc29b58fa3bfc56663d3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 8.081 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, 0.7956, 0.6052, -0.3798, -0.0223, -0.041, 0.9993, -0.0177, 0.7937, 0.6029, -0.379, -0.0109, -0.0193, 0.9982]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1801 left_yaw=-0.0003 left_pitch=0.0004 left_roll=-0.0002 left_gripper=0.9993 right_x=0.2948 right_y=0.0003 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9982\nstate[joint_eff]: [-0.5538, -1.5795, 10.0855, 1.8046, -0.0171, 0.2662, -0.0757, -0.6085, -1.5111, 10.2769, 1.873, -0.1294, 0.0269, -0.2076]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0422, 0.9993, 0.387, 1.3113, 0.7086, -0.0986, 0.2871, 0.1764, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3613 right_y=0.0971 right_z=0.1233 right_yaw=0.0476 right_pitch=-0.0986 right_roll=-0.0359 right_gripper=0.9982\nstate[joint_eff]: [-0.212, -1.388, 6.8718, 1.7753, -0.0269, -0.0513, -0.0122, 0.1846, -5.4632, 9.4974, 1.7216, 0.3199, 0.1392, -0.2076]",
      "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, 0.8036, 0.6075, -0.3965, -0.0227, -0.0463, 0.9993, 0.1959, 1.969, 1.5661, -0.5949, -0.7132, -0.8814, 0.9982]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1755 left_yaw=0.0033 left_pitch=-0.0221 left_roll=-0.004 left_gripper=0.9993 right_x=0.4493 right_y=0.2106 right_z=0.1435 right_yaw=1.253 right_pitch=-0.1208 right_roll=-0.0592 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4154, 7.0085, 1.9267, -0.0317, -0.0317, -0.0122, 0.253, -11.6991, 6.5983, 0.5348, -0.5201, -0.0855, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f382e9f26a2f7b25cad1a7be3ea217ed363c7921a54fe5654306afa3004a538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0ddb4592b787cc766a04103c633b41f4f27b6f5c662ca4287752d398a8d0f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6d1ccf01d7378fa982d9d0610c035f56de8e6335dbc29b58fa3bfc56663d3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFBsgDeSjTydNcFUt6cbGX",
      "input": {
        "note": "The brick now sits at the bottom of the right wrist image near the jaw column, so it is roughly under the fingertips. Descending to 5 cm to get a closer look at its orientation before grasping.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.2,
          "right_yaw": 1.3,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GFBsgDeSjTydNcFUt6cbGX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0494, 0.9993, 0.1715, 2.0518, 1.3491, -0.3763, -0.7414, -0.955, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0328 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4347 right_y=0.2 right_z=0.057 right_yaw=1.2938 right_pitch=-0.1389 right_roll=-0.032 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.306, 6.9949, 1.8632, -0.0562, -0.0464, -0.0122, -0.6085, -9.4154, 6.2427, 1.2479, -0.4762, -0.0904, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df79fccfb2bbd1fc628c1cb9f2d91fe4f4753770d8373a5a458b0c781bca080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4402791caa2b20c0c94216fcd236f129cdb8388118e1cbb8472739c0424d5bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a26dfb5af5d5b21af43964446f74df8d0567ef3af2286526696b6b7c9117794b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.466 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0422, 0.9993, 0.387, 1.3113, 0.7086, -0.0986, 0.2871, 0.1764, 0.9982]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0072 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3613 right_y=0.0971 right_z=0.1233 right_yaw=0.0476 right_pitch=-0.0986 right_roll=-0.0359 right_gripper=0.9982\nstate[joint_eff]: [-0.212, -1.388, 6.8718, 1.7753, -0.0269, -0.0513, -0.0122, 0.1846, -5.4632, 9.4974, 1.7216, 0.3199, 0.1392, -0.2076]",
      "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, 0.8036, 0.6075, -0.3965, -0.0227, -0.0463, 0.9993, 0.1959, 1.969, 1.5661, -0.5949, -0.7132, -0.8814, 0.9982]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1755 left_yaw=0.0033 left_pitch=-0.0221 left_roll=-0.004 left_gripper=0.9993 right_x=0.4493 right_y=0.2106 right_z=0.1435 right_yaw=1.253 right_pitch=-0.1208 right_roll=-0.0592 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4154, 7.0085, 1.9267, -0.0317, -0.0317, -0.0122, 0.253, -11.6991, 6.5983, 0.5348, -0.5201, -0.0855, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0494, 0.9993, 0.1715, 2.0518, 1.3491, -0.3763, -0.7414, -0.955, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0328 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4347 right_y=0.2 right_z=0.057 right_yaw=1.2938 right_pitch=-0.1389 right_roll=-0.032 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.306, 6.9949, 1.8632, -0.0562, -0.0464, -0.0122, -0.6085, -9.4154, 6.2427, 1.2479, -0.4762, -0.0904, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8df79fccfb2bbd1fc628c1cb9f2d91fe4f4753770d8373a5a458b0c781bca080",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4402791caa2b20c0c94216fcd236f129cdb8388118e1cbb8472739c0424d5bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26dfb5af5d5b21af43964446f74df8d0567ef3af2286526696b6b7c9117794b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7AkKEAgRGAI4AUIIdGhpbmtpbmcSDKaoCzHF6dSgb187NRoMgR//xxl4v8RYYNLkIjAH6OAlBNiOmnxdOtxjU4loFGzKJVP9jPDgkK/DCxr/FeEENG2pFmXZXo+nZ70vPEgqiQkpgrSrnFvDRRr46JtScAXso1vFdzKyLvNmIEh/AvuL+mcMqqz08p8mtl6YVzYcyuIHEkBju4pqivemAKYGPIPbAnzb/N9WSF353RfV1bqKkq3jdWlAFlNAToRz0oqAnK7QHSmjeeDjTPQHb7bc8BvcaE8KBH6SzWSDlG/fIW0fRsLpzjaTsyd2pf1JgxkRhpZYI/2QJs3riTmERSWTNJ6a/QJ1DQrDr1cGf2h/HChnQvYoeyWsIUSbXohWcWeSRoZ3VocaRKbrWiEuKh2JeTQIBefC0CGRKZmh9cTCv3swxfVqKafy+jLZh5/WeozLH+IFloY9nyid0IxCGVit6Siq1vy8ne6hbaWSHxPjg1IlfP66v4aabxoHKIN2fwl8ciOwMLZInn2PJk2/XCt6paJftYY1uM/4lZBKZQ0i5nnA1aGu9EhtHfyG/DHXTwUAoxZchm0EGGEA1sZhXAwJzWDxCPwIpCV1QhZyMkpPkXwW68cnUoCd21NmESl/iYBfSQIta5H8wgqsC8SSlwM2mTR/IRlos9RokVEXDaL00f24ufATej73k74uFueug0CiCivHu8nZCf311iR400bs+URMuAl9qY0Dt4D7K5RMF3mHM9EHqOdwYBgTLFeSa2CeHPGCRe+No5zdmlaH5Irc1M07PGlGX3jCnY2PLkllhI2IHsSqxF8DSoLy/CXkQSKYHUt9uTvGyf5D4PW50l3Gc49lmK0Xj7Y6YKT4OGTlsmukJXTzTefXd+ibXy1CpqJOkorqILOjYffFEYPiDGRH18Rm3Hf1rNr44fQuZmnGx10N0uAXZgROi1AdpIp/Rky68g29ulJdgkppVqJ6UfuUBWSNp3hpaJzJhlOba5csLrhaQ5F33sLQ9DaeCkIolj0rL4VwWsxtmAb/Rii1JebrJlOqzewjWMFSQK0ca2VkgOMslRCGUklQGrQjusthsqfwaoWZoVAE+Qaa1KZ0p17aXsQOh+djEsTXZzxjL6YRGIwDGaLi9CBYzqb3wcDUshTcUx8Ldg5rcsRTxQtwoG1S/xL/l/6noXyBbZg3o9ZBoDecpb0GbAD0J2FV5e/7LkZjUSTj7zrLLtg9a04xKoC9F574UYkfa19Leg+PApBIlLt81v+T0AUf3HCKKxAetpQ4SlJ/nwfPNNos2ET+5gT/duWfrPloZIyXLwPVh6gZ7frTpHLs4+BsjT5omeXerDn1HFhDyemjQrjYK8NphjRXGjAJPK6W/VJ2CcV6RlQFCfdZ9BtKhgfKl79o4fTx0XF2dJlSJkMdRX6p6KGyIGY1RGjEmXElZxv+wERemn6S8xR9pDEvmPihGEOdoA9aT8LzkIvdDXH4hjKqez7+UDigYEBieAfLn3xFd57nRbIZ4zHrahJV97f7GDBWIuFnKTTr+EupoQYtYVCr1fgY+KcYDa19E9oO/Wam8ImygmuHsEIzMutEv52S1AXUXgAunA10zW16uFh9rhTesJjAToh2E3xnvW/lpJYzuF7a3tN88Ha4BqDb1/+L/hkL8ibuZkeLxdpBvV/9eXJoNKAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FsQCMefMTVHXyMzEreyNgF",
      "input": {
        "note": "The brick is now framed between the open jaws in the right wrist camera with its long axis roughly vertical in the image, so the jaws will close across its short side. Descending to table level before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.435,
          "right_y": 0.2,
          "right_yaw": 1.3,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FsQCMefMTVHXyMzEreyNgF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1688, 2.141, 1.2919, -0.1761, -0.7845, -0.9691, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4424 right_y=0.2056 right_z=0.0233 right_yaw=1.3165 right_pitch=-0.0828 right_roll=-0.0762 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.306, 7.0085, 1.6972, -0.0806, -0.0269, -0.0122, 0.0615, -7.2274, 3.6718, 0.6081, 0.3932, 0.0415, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d2c59a65dc76ba0ef0650b4a4f2bf604cdeb9951b6edbb8362c7dab0174962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf91ec4003eb181803234c207c9d1ea1ea33871d26e9dfe45eabcc5963083339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdb11e2625e3d3442decd2e88e8787936a46b66e42acc2ab11860f0b6e84c181",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 9.029 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, 0.8036, 0.6075, -0.3965, -0.0227, -0.0463, 0.9993, 0.1959, 1.969, 1.5661, -0.5949, -0.7132, -0.8814, 0.9982]\nstate[eef_state]: left_x=0.2936 left_y=0.0018 left_z=0.1755 left_yaw=0.0033 left_pitch=-0.0221 left_roll=-0.004 left_gripper=0.9993 right_x=0.4493 right_y=0.2106 right_z=0.1435 right_yaw=1.253 right_pitch=-0.1208 right_roll=-0.0592 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.4154, 7.0085, 1.9267, -0.0317, -0.0317, -0.0122, 0.253, -11.6991, 6.5983, 0.5348, -0.5201, -0.0855, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0494, 0.9993, 0.1715, 2.0518, 1.3491, -0.3763, -0.7414, -0.955, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0328 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4347 right_y=0.2 right_z=0.057 right_yaw=1.2938 right_pitch=-0.1389 right_roll=-0.032 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.306, 6.9949, 1.8632, -0.0562, -0.0464, -0.0122, -0.6085, -9.4154, 6.2427, 1.2479, -0.4762, -0.0904, -0.2027]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1688, 2.141, 1.2919, -0.1761, -0.7845, -0.9691, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4424 right_y=0.2056 right_z=0.0233 right_yaw=1.3165 right_pitch=-0.0828 right_roll=-0.0762 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.306, 7.0085, 1.6972, -0.0806, -0.0269, -0.0122, 0.0615, -7.2274, 3.6718, 0.6081, 0.3932, 0.0415, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0d2c59a65dc76ba0ef0650b4a4f2bf604cdeb9951b6edbb8362c7dab0174962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf91ec4003eb181803234c207c9d1ea1ea33871d26e9dfe45eabcc5963083339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb11e2625e3d3442decd2e88e8787936a46b66e42acc2ab11860f0b6e84c181",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QgKEAgRGAI4AUIIdGhpbmtpbmcSDCUh99CUELrWl4GkpRoMAholjw1LLZfJ6AvWIjCPclQow8qK3pRHEQ7c5wLw8Cfd+otl1fNtsj34DmiE9yWt1oPLEqidDwcSrc0vVzkqigipeIhd+AtI1IiuGSvSkaBhmm0gEMFrl4wI++U/bVdZJLncVShfdiKAXGAwVVDgs6WfZgy4n0Da2eYz1e8jXnN3OwwvBtlH+kgtBnFnnu3O4LcY5apUhLTAddBXZ/hjSDLexYITnKHi7DYs1CfWZlTDiBlrZznbHhiAlOKRt5ZsTE2fI1StVs4P40DsOCzkKsSvHtbfJclz+pLcmtilIn80RHta8SpWDO3zZc+ROShQP8GI03c1pJzMUWeHvBRFngZJqisBhFCUYCXO/LxfyTUD38sXwNBO90dIliEB0sdUDKJHZUp8HZVJmeETz+5RV+ovO3lFUqyzRkd8qb9n10+iW/avFGA+lhLL0y4YTVrXVYdO77j/bgCVNfNvHxiNFvQLswQ/jLRgcqcGfkV3Qe6VvnKOiutMprwtESNkpqsTqarRTxhGEKYl5MnFdjhXrkIRnbNLoltup7T6UWfstFcMZtNeNqr3T7GTJo7OvZ7G2xIqDPWQcENRvWg9JGsZxdSv/69Qc6xjc0VlbJUnjel19RyBMwFt+DMyrREsSI6+tfC7GcUVyZJDct89mktl+VMnCW+Dm6+l/6LqLJTA0excQejiVa6gpGAYb1Z1XT3HbmeEpv8fzpi24aC7+QX9N6g4GBtJVNef51h+44d6TQAaDJRQozpfP6KkWJkkiD13sY/XWZHBox+SprpYnqytjb+RQB31xBXT76wiZzt230saMjB4iHePtL6NG1Oasrr6HVEgcp5GrGj0y4O7ErIfSbWgEee5hchsdDE9bPsgC+u+hEP8505QoEgC3J6pin8jcjzurpxjKRMskGSnhwepFQp+cbndJLXc87bNR/nu94meiq4E7FloDk1mddztWATG/4yHdeHgl6K67w6fHQ1BmfbVkrySrxF32g9wg/+lgSJR17fMISQQRIp8BwUlsDBMQuvRZFScanS8R9UdeLVCRwtm1l9VQR0F/LAX2/TpCQ0EhYGVrYPub3lBYNb7yTSQlgioSXbBqMDi0yY4ISj+8TUccW74R8fI+jiRNPOmNkYSUwm0CnPgYYS6/77WIgnSNJxaQ5LCCmfvGlDzAi65Ns/qnNizBrPITsf+yiR1XMzzbZ6p2E/LKoc0Cud/ZBJ8LpsAT6LOeheN7wO/kxcQqA7vJgK8sSkIvnvjwCGRJMQQln8FzuNr340Kh3Ox5DW/Ld6CEKG4mxKMJ6U5iQoUr0SV5Sgj+Gei/EG7xGnlce1Qrq7tG0iIVg1iT0DA1v/chZYDvfFxlbj64Kkgcg38gECTfytau5LexieVnT1uUDdU18Rc0mL70T0RxAztGWRrNQ7WX/1BW9k/YncZv+kCqGbVqhS8okc1vuddoVZFPIFtntqOYXBpswNUcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T4Bqya3PPfD1foon4ynBzR",
      "input": {
        "note": "The descent stopped around 2 cm with the brick between the jaws in the wrist view, likely resting on the brick surface. Closing the gripper to grasp it across its short side.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.44,
          "right_y": 0.205,
          "right_yaw": 1.3,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T4Bqya3PPfD1foon4ynBzR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1738, 2.1628, 1.2575, -0.0216, -0.8318, -0.9562, 0.0081]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4489 right_y=0.215 right_z=0.0244 right_yaw=1.3377 right_pitch=-0.0064 right_roll=-0.1399 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.1282, 7.0359, 1.6923, -0.0708, -0.0464, -0.0122, -0.1026, -7.5966, 3.7128, 0.8669, 0.2808, 0.0757, 0.5446]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be852332e0324a95f6551be0846a0d52e13bf2e229f6840f26a2bc0cf25b9047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976a2ea53c52e4702cdda411d227968e11e5cf5a189fbc3e2ffddaf7254a813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6353ebd5af8bfa163447a2b435e638ed3de4cdabf1cff8e1d9e075ae053a2ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 9.971 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0494, 0.9993, 0.1715, 2.0518, 1.3491, -0.3763, -0.7414, -0.955, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0049 left_pitch=-0.0328 left_roll=-0.0063 left_gripper=0.9993 right_x=0.4347 right_y=0.2 right_z=0.057 right_yaw=1.2938 right_pitch=-0.1389 right_roll=-0.032 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.306, 6.9949, 1.8632, -0.0562, -0.0464, -0.0122, -0.6085, -9.4154, 6.2427, 1.2479, -0.4762, -0.0904, -0.2027]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1688, 2.141, 1.2919, -0.1761, -0.7845, -0.9691, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4424 right_y=0.2056 right_z=0.0233 right_yaw=1.3165 right_pitch=-0.0828 right_roll=-0.0762 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.306, 7.0085, 1.6972, -0.0806, -0.0269, -0.0122, 0.0615, -7.2274, 3.6718, 0.6081, 0.3932, 0.0415, -0.2076]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1738, 2.1628, 1.2575, -0.0216, -0.8318, -0.9562, 0.0081]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4489 right_y=0.215 right_z=0.0244 right_yaw=1.3377 right_pitch=-0.0064 right_roll=-0.1399 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.1282, 7.0359, 1.6923, -0.0708, -0.0464, -0.0122, -0.1026, -7.5966, 3.7128, 0.8669, 0.2808, 0.0757, 0.5446]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be852332e0324a95f6551be0846a0d52e13bf2e229f6840f26a2bc0cf25b9047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976a2ea53c52e4702cdda411d227968e11e5cf5a189fbc3e2ffddaf7254a813c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6353ebd5af8bfa163447a2b435e638ed3de4cdabf1cff8e1d9e075ae053a2ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxgkKEAgRGAI4AUIIdGhpbmtpbmcSDPYyVXHJNW3UkfMy7RoMzEd8oyklH+mcsxRZIjCDvWU5Ej6Y3GNsSZaI+Oh9iQrvYuUvSLrwLBSavf6a67WsK6q8V0sn+sZNT6t25mQq4wiZil6GfVRQLgjo7HfHL/eu7fBEGTISoaT9hBDmahUf7R56/tYmUitTDAUJpdhd9oi4zUy5d0aJgaQvnTiODC9EaZMSEmFtkk3tm5y4jREUrH2k3JsYbwfHpAQ+Fk+6eWWM0HVkegpRY1ydTuRHK7/VyGwK+UMdO2OI6bGWaQqww4KwqY/AJTTdXxfrYggQFk07hTOjo9oooVa87so68lbVMn4OnqvmwrP+JwUxf4eJcml/zj2go+agHDchilP7RIzqVpc/p3intOyjTKm+GYMqMIM4UfY42t3N++WEAkC0CGWrV/HQmlOIwzsZT9d3OpgQgNDO2qtSBWBkeGln84okO939XEceT5mf8GZwhGW6s9yka5v9lawtcumsQtOp4Tl6ktgOtGZu3JdGkc8rG7px7XGiaLRmTNA/VuikWIIydihIyUKYEkoYE85F52mgrSeM8gKO4YXL6mOb4tU+hiQ6I0sSZ8RljXwGk63oKkATXaF853+wxuSClV3Aq2/VFdM0uQyVbTMCxf0uyaBS2n4ieRuDTL0ubvRsTiP9gbHAYBpTHainsbYGw4M7hsKpV7J8EaQq9R6t4AazfX4M5VR0Ey9TMpJDBbW8TVhPffxHHzkNyExuqSJLYPAmVDxKhb2bPFlRYybx9g64HiVTpHKPunKdv0NnF3Lzx+szm4pYT4ExhxYvtPpzkSc85Ix00KwtAuXVFAIH0sk4/2cAY70brL0XdxeUOcGOUIYdrifKRSK4HVrjNP0d08O8CDKg+W3HpP1/vn5Y8h+D5lPMoEOaFh9xAj+t8TJouAV7g/mi/XbFJBAHyL8eJ2VoNlL3AbI6vp0PXvKfeSjuWGsu219dF9ZtXJMo1KEkKuJXOH/vQYzRGP3AehFqtCZfLgNJ1T5kH+HuDfeTO/c+aPFtM3ZYJxymI7awg91qEWAvOuZagly0q3szSEI8FRFV4njcvYSilCzVqSQO7ZCoCHxzc8jrXUb33k0AS1pbioF/VLSRVuN6jL/An5h/JFtDIiq/I1kEKI8ihcDEL8RY00RdiS4Kxb+xlc71Bep53EuDEQBJbJ7bgj8kQi19R8Bhl9OtxwE51CLBxQ6VM2EdDspt6rwlZpKYCG9LIPeiuXIvdBg6M38Wji+MLHlxMmn4ysrwhf3e5Jf5QKJyyW83ixs2An9mvsW4Ms+3uPvb1eMg91kwetL3o/lk+yHygoaiFpxFiiCJxcCmnWUFVj09bA68D9uWZJ1q8th/Tq8DGrO8Et4VCqBi78yv6rwZOBxIDyvoZ4ODdFxxKSLz1xmCriXUkpfPy0He/GeLbOQ4V2ZqWa/BWP1/2jN3Htq1SU6XWYoKK8xLstI+M0Yls/kSHwoeB/JHGMElbLBERisMj1BtS+Z12xuRhKKNMDuno+1wIpUzTslQkmXFK/kiIkBuVA6hJFv+pIp53BOk7e7EY8KgxV7is/YXn4HBI4ZxQmsmgZHnbJwniDhi9a48U8+tnCHJAV5TdsNmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KaGg9NynJmkE5suxnNWF3k",
      "input": {
        "note": "The close was empty (gripper 0.008); the wrist camera shows the brick just to the image-right of the closed jaws, which at this yaw is a few cm forward. Opening and shifting ~3 cm forward and lower for another attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.475,
          "right_y": 0.215,
          "right_yaw": 1.3,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KaGg9NynJmkE5suxnNWF3k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2368, 1.3312, 0.0513, -0.8658, -0.91, 0.9953]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4712 right_y=0.2233 right_z=0.0248 right_yaw=1.3364 right_pitch=0.0505 right_roll=-0.1565 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7118, -0.0708, -0.0464, -0.0122, -0.4855, -8.4444, 6.3248, 1.1111, 0.3248, -0.2076, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25a366cc0d4ad870cc98135ba97a950cdff54997c79271d62cfff4821c71227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be456e027503200c68fba459ccc977b126437ab0dfaf07bf177fdccb0bcdf83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d9d948457da58d72e74506cd9f2279712286b9c380f4abfe165bbf3bd04e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 22.94 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1688, 2.141, 1.2919, -0.1761, -0.7845, -0.9691, 0.9982]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4424 right_y=0.2056 right_z=0.0233 right_yaw=1.3165 right_pitch=-0.0828 right_roll=-0.0762 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.306, 7.0085, 1.6972, -0.0806, -0.0269, -0.0122, 0.0615, -7.2274, 3.6718, 0.6081, 0.3932, 0.0415, -0.2076]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1738, 2.1628, 1.2575, -0.0216, -0.8318, -0.9562, 0.0081]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4489 right_y=0.215 right_z=0.0244 right_yaw=1.3377 right_pitch=-0.0064 right_roll=-0.1399 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.1282, 7.0359, 1.6923, -0.0708, -0.0464, -0.0122, -0.1026, -7.5966, 3.7128, 0.8669, 0.2808, 0.0757, 0.5446]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2368, 1.3312, 0.0513, -0.8658, -0.91, 0.9953]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4712 right_y=0.2233 right_z=0.0248 right_yaw=1.3364 right_pitch=0.0505 right_roll=-0.1565 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7118, -0.0708, -0.0464, -0.0122, -0.4855, -8.4444, 6.3248, 1.1111, 0.3248, -0.2076, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25a366cc0d4ad870cc98135ba97a950cdff54997c79271d62cfff4821c71227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be456e027503200c68fba459ccc977b126437ab0dfaf07bf177fdccb0bcdf83a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d9d948457da58d72e74506cd9f2279712286b9c380f4abfe165bbf3bd04e24",
        "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_01QuPgCP5aWfgfnTsEYtj97R",
      "input": {
        "note": "The brick is now centred between the open jaws at the bottom of the right wrist image, though the arm still reads 2.5 cm high. Pressing down further and closing to grasp.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.475,
          "right_y": 0.22,
          "right_yaw": 1.3,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QuPgCP5aWfgfnTsEYtj97R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2845, 1.3167, 0.2459, -0.9039, -0.8658, 0.0078]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4833 right_y=0.2298 right_z=0.0254 right_yaw=1.3501 right_pitch=0.132 right_roll=-0.2288 right_gripper=0.0078\nstate[joint_eff]: [-0.1573, -1.1966, 7.0632, 1.7167, -0.0611, -0.0757, -0.0122, -0.5402, -6.9538, 3.6444, 1.1209, 0.2515, -0.2027, 0.5348]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3346d9988acb59d308638a2d9f9d753f62b65b441261623fe9f9cd1bb502ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd7571d2c3577b3f2cb91d3e27cbc6e11e2854d545a0a16beda702274f6b643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6db0f8d9e69d57640eea5c58a594348be8f9afb72c38b8c73623069cf9b98a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 17.57 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1738, 2.1628, 1.2575, -0.0216, -0.8318, -0.9562, 0.0081]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4489 right_y=0.215 right_z=0.0244 right_yaw=1.3377 right_pitch=-0.0064 right_roll=-0.1399 right_gripper=0.0081\nstate[joint_eff]: [-0.212, -1.1282, 7.0359, 1.6923, -0.0708, -0.0464, -0.0122, -0.1026, -7.5966, 3.7128, 0.8669, 0.2808, 0.0757, 0.5446]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2368, 1.3312, 0.0513, -0.8658, -0.91, 0.9953]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4712 right_y=0.2233 right_z=0.0248 right_yaw=1.3364 right_pitch=0.0505 right_roll=-0.1565 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7118, -0.0708, -0.0464, -0.0122, -0.4855, -8.4444, 6.3248, 1.1111, 0.3248, -0.2076, -0.149]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2845, 1.3167, 0.2459, -0.9039, -0.8658, 0.0078]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4833 right_y=0.2298 right_z=0.0254 right_yaw=1.3501 right_pitch=0.132 right_roll=-0.2288 right_gripper=0.0078\nstate[joint_eff]: [-0.1573, -1.1966, 7.0632, 1.7167, -0.0611, -0.0757, -0.0122, -0.5402, -6.9538, 3.6444, 1.1209, 0.2515, -0.2027, 0.5348]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3346d9988acb59d308638a2d9f9d753f62b65b441261623fe9f9cd1bb502ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bd7571d2c3577b3f2cb91d3e27cbc6e11e2854d545a0a16beda702274f6b643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db0f8d9e69d57640eea5c58a594348be8f9afb72c38b8c73623069cf9b98a25",
        "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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bjFmyJFVbVWjq630GJ/Iy3dLmVvFqTbxcExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Fk2kvVpNn7uoRHssBQK7H",
      "input": {
        "note": "Both closes were empty because the arm cannot descend below ~2.5 cm at this radial reach (~0.53 m) and the thin brick slips under the jaws. Pitching the tool forward to extend low reach, backing up slightly and opening to re-sight the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.45,
          "right_y": 0.22,
          "right_yaw": 1.3,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_016Fk2kvVpNn7uoRHssBQK7H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1417, 2.3184, 0.997, 1.1172, -1.0153, -0.3664, 0.9967]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0351 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4517 right_y=0.2197 right_z=0.0501 right_yaw=1.2787 right_pitch=0.4516 right_roll=-0.2012 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.3607, 7.1726, 1.7167, -0.0562, -0.0562, -0.0122, -0.4991, -9.7162, 4.0821, 1.9121, -0.2662, 0.0659, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de65c02a59e6ce23442fd1b83673610ef7b9287058d73bca9124e9f9f9b4840b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22bc086ef255630a8d7cd2fb257bfa51a86f8554db7f779be866dcbbd96227d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f071f959e224236a2fa4cd6cdfa8361b3a1919ba4b0c40d557d9c49bc69ef30a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 57.7 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, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2368, 1.3312, 0.0513, -0.8658, -0.91, 0.9953]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4712 right_y=0.2233 right_z=0.0248 right_yaw=1.3364 right_pitch=0.0505 right_roll=-0.1565 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7118, -0.0708, -0.0464, -0.0122, -0.4855, -8.4444, 6.3248, 1.1111, 0.3248, -0.2076, -0.149]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2845, 1.3167, 0.2459, -0.9039, -0.8658, 0.0078]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4833 right_y=0.2298 right_z=0.0254 right_yaw=1.3501 right_pitch=0.132 right_roll=-0.2288 right_gripper=0.0078\nstate[joint_eff]: [-0.1573, -1.1966, 7.0632, 1.7167, -0.0611, -0.0757, -0.0122, -0.5402, -6.9538, 3.6444, 1.1209, 0.2515, -0.2027, 0.5348]\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, 0.8051, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1417, 2.3184, 0.997, 1.1172, -1.0153, -0.3664, 0.9967]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0351 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4517 right_y=0.2197 right_z=0.0501 right_yaw=1.2787 right_pitch=0.4516 right_roll=-0.2012 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.3607, 7.1726, 1.7167, -0.0562, -0.0562, -0.0122, -0.4991, -9.7162, 4.0821, 1.9121, -0.2662, 0.0659, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de65c02a59e6ce23442fd1b83673610ef7b9287058d73bca9124e9f9f9b4840b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22bc086ef255630a8d7cd2fb257bfa51a86f8554db7f779be866dcbbd96227d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f071f959e224236a2fa4cd6cdfa8361b3a1919ba4b0c40d557d9c49bc69ef30a",
        "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_01QZZBg5edggMdAqNQi6D3Qr",
      "input": {
        "note": "With the tool pitched forward, the brick shows at the very bottom of the right wrist image between the jaws. Descending to table level here to check that the pitched pose can actually reach the surface.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.46,
          "right_y": 0.22,
          "right_yaw": 1.3,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QZZBg5edggMdAqNQi6D3Qr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.1452, 2.4893, 1.1389, 1.4033, -1.0744, -0.21, 0.9977]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0061 left_gripper=0.9993 right_x=0.468 right_y=0.229 right_z=0.0547 right_yaw=1.3812 right_pitch=0.574 right_roll=-0.2949 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -1.4291, 7.2, 1.7558, -0.0562, -0.0708, -0.0122, -0.9231, -4.0821, 0.9915, 0.1294, 0.2369, -1.4286, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75153f6260cced3e09c0a1fbad467a769d3b6eb0736092713f2fd3a93aa6a9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9bdd17f18d8f444c1891aab5122c7d3fb8d59fcc02ec5364bbf4676d8e78daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b5027e03499ad92efe5a64b12b3c30cf64cd39bc1336f992a408325147905a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 9.835 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, 0.8043, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1745, 2.2845, 1.3167, 0.2459, -0.9039, -0.8658, 0.0078]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.173 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4833 right_y=0.2298 right_z=0.0254 right_yaw=1.3501 right_pitch=0.132 right_roll=-0.2288 right_gripper=0.0078\nstate[joint_eff]: [-0.1573, -1.1966, 7.0632, 1.7167, -0.0611, -0.0757, -0.0122, -0.5402, -6.9538, 3.6444, 1.1209, 0.2515, -0.2027, 0.5348]\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, 0.8051, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1417, 2.3184, 0.997, 1.1172, -1.0153, -0.3664, 0.9967]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0351 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4517 right_y=0.2197 right_z=0.0501 right_yaw=1.2787 right_pitch=0.4516 right_roll=-0.2012 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.3607, 7.1726, 1.7167, -0.0562, -0.0562, -0.0122, -0.4991, -9.7162, 4.0821, 1.9121, -0.2662, 0.0659, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.1452, 2.4893, 1.1389, 1.4033, -1.0744, -0.21, 0.9977]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0061 left_gripper=0.9993 right_x=0.468 right_y=0.229 right_z=0.0547 right_yaw=1.3812 right_pitch=0.574 right_roll=-0.2949 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -1.4291, 7.2, 1.7558, -0.0562, -0.0708, -0.0122, -0.9231, -4.0821, 0.9915, 0.1294, 0.2369, -1.4286, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75153f6260cced3e09c0a1fbad467a769d3b6eb0736092713f2fd3a93aa6a9a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9bdd17f18d8f444c1891aab5122c7d3fb8d59fcc02ec5364bbf4676d8e78daa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b5027e03499ad92efe5a64b12b3c30cf64cd39bc1336f992a408325147905a1",
        "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_01FbvrQQkBugWrXCrsBRKrur",
      "input": {
        "note": "The pitched pose made the IK worse (arm rose to 5.5 cm with the shoulder near its limit). Trying the equivalent jaw orientation with yaw −1.6 and a vertical tool, hoping a different arm configuration lets the fingertips reach the table at this radius.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.22,
          "right_yaw": -1.6,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01FbvrQQkBugWrXCrsBRKrur",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.5037, 2.7342, 2.1185, 0.2478, 0.4252, 1.0687, 0.9979]\nstate[eef_state]: left_x=0.2914 left_y=0.0021 left_z=0.1698 left_yaw=0.0059 left_pitch=-0.048 left_roll=-0.0062 left_gripper=0.9993 right_x=0.6577 right_y=0.2834 right_z=0.0412 right_yaw=-0.3898 right_pitch=0.0346 right_roll=0.854 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -1.4017, 7.1453, 1.7558, -0.0708, -0.0806, -0.0122, -0.841, -11.9726, 4.4923, 0.3785, 0.3248, 0.2222, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa869b3537eb1b013598a9fbece1e911f2bafeaf6c21819d5a5b217bc02cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c959ff5d751fe0be2cbce681f7d745d94934b72b9ad00e6c82e729b879bd696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7274ba9375efd0f868879a49d0df4431e45d897c495854d1393262ffab066a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.98 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, 0.8051, 0.6075, -0.408, -0.0227, -0.0494, 0.9993, 0.1417, 2.3184, 0.997, 1.1172, -1.0153, -0.3664, 0.9967]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0351 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4517 right_y=0.2197 right_z=0.0501 right_yaw=1.2787 right_pitch=0.4516 right_roll=-0.2012 right_gripper=0.9967\nstate[joint_eff]: [-0.0205, -1.3607, 7.1726, 1.7167, -0.0562, -0.0562, -0.0122, -0.4991, -9.7162, 4.0821, 1.9121, -0.2662, 0.0659, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.807, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.1452, 2.4893, 1.1389, 1.4033, -1.0744, -0.21, 0.9977]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0061 left_gripper=0.9993 right_x=0.468 right_y=0.229 right_z=0.0547 right_yaw=1.3812 right_pitch=0.574 right_roll=-0.2949 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -1.4291, 7.2, 1.7558, -0.0562, -0.0708, -0.0122, -0.9231, -4.0821, 0.9915, 0.1294, 0.2369, -1.4286, -0.2515]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.5037, 2.7342, 2.1185, 0.2478, 0.4252, 1.0687, 0.9979]\nstate[eef_state]: left_x=0.2914 left_y=0.0021 left_z=0.1698 left_yaw=0.0059 left_pitch=-0.048 left_roll=-0.0062 left_gripper=0.9993 right_x=0.6577 right_y=0.2834 right_z=0.0412 right_yaw=-0.3898 right_pitch=0.0346 right_roll=0.854 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -1.4017, 7.1453, 1.7558, -0.0708, -0.0806, -0.0122, -0.841, -11.9726, 4.4923, 0.3785, 0.3248, 0.2222, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fa869b3537eb1b013598a9fbece1e911f2bafeaf6c21819d5a5b217bc02cf78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c959ff5d751fe0be2cbce681f7d745d94934b72b9ad00e6c82e729b879bd696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7274ba9375efd0f868879a49d0df4431e45d897c495854d1393262ffab066a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugsKEAgRGAI4AUIIdGhpbmtpbmcSDEr5sQZUjPffg8dxexoMNFuDlUrKEDkewvgdIjBjcCczmtUTtWnIK7kjIsfqzS9eXtD8kUqRIoNXZCmmAgE7fP5ZZKRY0OTYC1pHTVgq1woUHDb4ScWbGS5GmHDLxS/l0CuCX5302FAILYp9ilJLmwt4yBvUHqqMOMy9eAyaxZ9iL9xlDq4jbSiixKqsGmg+MPd30jfGtOYofH5LY/u1yCg7XHq4V+ppU+EZ4r6U9IuWQHeFnwKdsjI/cV3gf2+0hHIA+vP2qUDUqlRFrNndQUGl7G/NkR8udLVzNnIrKO4iZBFtLUIAh/GwLSx8RdgngT546oj2cUjVfZmgRiwUrMnsbtdp0Y/QbsOPo7U3RzGDbWNjVcKAI0qwWxuUApWEJbOsOMFolYxbckbl+OzYB3oOx5H/DQVhZo2L7EuO5j27Z3nAXlnaste0Xf9WDwRnemiVepvOXlcPxXyfQW3wsJZn6sxLYAJ2XegHFC+TCjfm8sa1WRSBRRaNzCCXUCHohb9XA0qWNI0fCYqU6BSErCql5PQXSw89oaq4bEaJXqr0GUXAjUZxAcnb2EqnsAxNiKdfleqZ48XHnFcLI9Nk7x8P7aJyZftR8lXNp2RtYf2xNDdDBjVB+cRFdSUmqfj043LT1hqEc8cQYmo7KgsSNsSlJ66xYz/QmBEnI4yYwjTH9C/G5AX7NTGNDO2XjMTw6CPAAEtsMWIBRe/YZlJ2o8z+bO3Kc1BWV/pW8flU4BeWXck+1RXhvRUOBYedV0CS3PZXg2JKxW1eUi98/pnTsx4fcHwQ9mZWETUn8Ab/70JZmFZgOQ141F9EArcbB+u4jdOg1rOXxfmCLrayiCAr1CApbJYL1adBrHrHKNt4wFquIRAO8ro1kWbccXWzjW3J79FYx6MTL66e8A9DwzfAudI8/GUGX9KtfhqrXhtfKc9jT+w0WadPI+mheYJfw/gEXPGQP2M2tQOELZWKSHTDxpQuko0l0kkCnyRDIz7xbpiHhqlPdDqNQITkwJEOtKgNM2gV1rtYP1bjNp+A1jd4JcsH6Dk4COBxjlgScWnRX44BcjyV/Th0hN2Qv6VYc7M4BxFzL0HYC5y8OHE+x14Yl/zOUZZ/i6WcAyBNQEqvYDnCHJLdS8T5gG6xOhEBSSCk/a0Q+7rM+jfGZqzt1QLLy9dc4RFaoA5YG6rbkHf0xfVIiS5lFshZyVoaOasnhUcKu12r4e5RLo1rxMXokSLf2MdXD3JQCmC9113ZfYEe7penYVgPtoycFqy6VN/CWtFNSW5JB2c4DLAuoLCR2N0Iny0ZzEVXqIhZe6I0AjdJuIhoR73BfBbf3DTauwmCv5Tnksq5XlToS1v9SRqy4SoxqX4YM2VD4mARGiu3hSjr+KzIe18kCNzCauLOXz9lM25bJ1s0Ep/RKVmSCGK5K7OPOT695utALPP3Hdnqquadq1xq5qDIutUwT/aLI7GF4kaGUg3H5EIQGAB6y77reBM7rNbyBKA9NqVD14D4D+6VRBs91+ez4PRDZF9wUWD3ZA5wLI82iDRZmE+f3j6RG/JlV7xc+VD+tHhMV5TYbTBvU6kpVjiRJWPpJlSqFiO+r7PzivCFWii1Z4xAOohF4Af1sdOE+8o2j2lb/FVVKXDbc4KuvzuNMchEoMGt6n4HnSgqW7F3g45PfsyqBHBzHED/4RFKOBphfmMnJZjziVpUbisXgqVLDrI/y3r9GBqS4/is+Ypvb8nSCAGMU0dKTTSMlhBbmeFZAEhfddoS4MnRdII8c4HVj6UUNP0NN8nnR0rqC8lWVhLXlftzJ8koLIfUACozR+eKXRhq0IeHhm/nLWhymobudRwsCeM3k62YNedKPvXdGdRIFvyymrAMu+BVXBKJsO1EYWR7b8Ae3DMnOYorWn5NW3j75RQZ1H1sJKcfJFfnIy2udxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J2BurBX4SkeP7whJSMbFGC",
      "input": {
        "note": "The right arm swung into an extended, rolled pose and in doing so pushed the brick across toward the pot (now visible near the pot in the top and left cameras). Retracting the right arm to a safe raised pose before switching to the left arm.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.35,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01J2BurBX4SkeP7whJSMbFGC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0193, 0.8162, 0.6075, -0.4301, -0.0227, -0.0498, 0.9993, 0.4492, 1.1999, 0.8581, -0.2451, 0.3649, 0.2932, 0.9979]\nstate[eef_state]: left_x=0.2895 left_y=0.002 left_z=0.1654 left_yaw=0.0056 left_pitch=-0.0682 left_roll=-0.0057 left_gripper=0.9993 right_x=0.3602 right_y=0.1076 right_z=0.2024 right_yaw=-0.0155 right_pitch=0.0247 right_roll=0.0619 right_gripper=0.9979\nstate[joint_eff]: [0.0205, -1.7983, 7.159, 1.8681, -0.0659, -0.0806, -0.0122, -0.3214, -4.1778, 7.2137, 1.7021, 0.2369, -0.0269, -0.232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61707f31d845ee9ec146b320eafc47ffaf4be62e5eeb38fe1f5f75a290eb7396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004966f15aad5607156b3e2c705174376a9344bd45cb41fdd55a14beda619905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:434d09f5456bd9eb43d1c4e472097bc540c1ac314e1ed7e2ccdb23ccaaa41180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 10.53 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, 0.807, 0.6075, -0.4084, -0.0227, -0.0494, 0.9993, 0.1452, 2.4893, 1.1389, 1.4033, -1.0744, -0.21, 0.9977]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0061 left_gripper=0.9993 right_x=0.468 right_y=0.229 right_z=0.0547 right_yaw=1.3812 right_pitch=0.574 right_roll=-0.2949 right_gripper=0.9977\nstate[joint_eff]: [-0.212, -1.4291, 7.2, 1.7558, -0.0562, -0.0708, -0.0122, -0.9231, -4.0821, 0.9915, 0.1294, 0.2369, -1.4286, -0.2515]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.5037, 2.7342, 2.1185, 0.2478, 0.4252, 1.0687, 0.9979]\nstate[eef_state]: left_x=0.2914 left_y=0.0021 left_z=0.1698 left_yaw=0.0059 left_pitch=-0.048 left_roll=-0.0062 left_gripper=0.9993 right_x=0.6577 right_y=0.2834 right_z=0.0412 right_yaw=-0.3898 right_pitch=0.0346 right_roll=0.854 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -1.4017, 7.1453, 1.7558, -0.0708, -0.0806, -0.0122, -0.841, -11.9726, 4.4923, 0.3785, 0.3248, 0.2222, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0193, 0.8162, 0.6075, -0.4301, -0.0227, -0.0498, 0.9993, 0.4492, 1.1999, 0.8581, -0.2451, 0.3649, 0.2932, 0.9979]\nstate[eef_state]: left_x=0.2895 left_y=0.002 left_z=0.1654 left_yaw=0.0056 left_pitch=-0.0682 left_roll=-0.0057 left_gripper=0.9993 right_x=0.3602 right_y=0.1076 right_z=0.2024 right_yaw=-0.0155 right_pitch=0.0247 right_roll=0.0619 right_gripper=0.9979\nstate[joint_eff]: [0.0205, -1.7983, 7.159, 1.8681, -0.0659, -0.0806, -0.0122, -0.3214, -4.1778, 7.2137, 1.7021, 0.2369, -0.0269, -0.232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61707f31d845ee9ec146b320eafc47ffaf4be62e5eeb38fe1f5f75a290eb7396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004966f15aad5607156b3e2c705174376a9344bd45cb41fdd55a14beda619905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434d09f5456bd9eb43d1c4e472097bc540c1ac314e1ed7e2ccdb23ccaaa41180",
        "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_01DvCzPatTfG5tyDUMCT1khW",
      "input": {
        "note": "The brick now lies about 13 cm to the right and slightly ahead of the left gripper per the left wrist camera, close to the pot. Moving the left arm over it, rotating the tool so the jaws close across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.13,
          "left_yaw": 1.2,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01DvCzPatTfG5tyDUMCT1khW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7341, 2.1033, 1.6505, -1.3895, -0.8608, -1.9667, 0.9994, 0.4496, 1.2064, 0.852, -0.2768, 0.3576, 0.2733, 0.9975]\nstate[eef_state]: left_x=0.3525 left_y=-0.1328 left_z=0.108 left_yaw=1.0658 left_pitch=-0.1085 left_roll=-0.0145 left_gripper=0.9994 right_x=0.3557 right_y=0.1069 right_z=0.1911 right_yaw=0.0016 right_pitch=-0.0165 right_roll=0.0294 right_gripper=0.9975\nstate[joint_eff]: [2.0308, -11.5487, 5.559, -1.1306, -0.6032, -0.1734, -0.0757, -0.0615, -4.8889, 7.6923, 1.9805, 0.1783, 0.1392, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c9b14d205faa40d9ccc19947baa24ac6ae30be8d01e3170469d8647673704f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0539e6e0de3ca464b60a6b731b2761de3ad09dcc4b5aa9d24176a857c83e0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09685515a2ddfd8ce9269eedcc3fa319a5f33df50c26badd8e3988ab4ac5697b",
        "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 · 33.36 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8108, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.5037, 2.7342, 2.1185, 0.2478, 0.4252, 1.0687, 0.9979]\nstate[eef_state]: left_x=0.2914 left_y=0.0021 left_z=0.1698 left_yaw=0.0059 left_pitch=-0.048 left_roll=-0.0062 left_gripper=0.9993 right_x=0.6577 right_y=0.2834 right_z=0.0412 right_yaw=-0.3898 right_pitch=0.0346 right_roll=0.854 right_gripper=0.9979\nstate[joint_eff]: [-0.1026, -1.4017, 7.1453, 1.7558, -0.0708, -0.0806, -0.0122, -0.841, -11.9726, 4.4923, 0.3785, 0.3248, 0.2222, -0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0193, 0.8162, 0.6075, -0.4301, -0.0227, -0.0498, 0.9993, 0.4492, 1.1999, 0.8581, -0.2451, 0.3649, 0.2932, 0.9979]\nstate[eef_state]: left_x=0.2895 left_y=0.002 left_z=0.1654 left_yaw=0.0056 left_pitch=-0.0682 left_roll=-0.0057 left_gripper=0.9993 right_x=0.3602 right_y=0.1076 right_z=0.2024 right_yaw=-0.0155 right_pitch=0.0247 right_roll=0.0619 right_gripper=0.9979\nstate[joint_eff]: [0.0205, -1.7983, 7.159, 1.8681, -0.0659, -0.0806, -0.0122, -0.3214, -4.1778, 7.2137, 1.7021, 0.2369, -0.0269, -0.232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7341, 2.1033, 1.6505, -1.3895, -0.8608, -1.9667, 0.9994, 0.4496, 1.2064, 0.852, -0.2768, 0.3576, 0.2733, 0.9975]\nstate[eef_state]: left_x=0.3525 left_y=-0.1328 left_z=0.108 left_yaw=1.0658 left_pitch=-0.1085 left_roll=-0.0145 left_gripper=0.9994 right_x=0.3557 right_y=0.1069 right_z=0.1911 right_yaw=0.0016 right_pitch=-0.0165 right_roll=0.0294 right_gripper=0.9975\nstate[joint_eff]: [2.0308, -11.5487, 5.559, -1.1306, -0.6032, -0.1734, -0.0757, -0.0615, -4.8889, 7.6923, 1.9805, 0.1783, 0.1392, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c9b14d205faa40d9ccc19947baa24ac6ae30be8d01e3170469d8647673704f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0539e6e0de3ca464b60a6b731b2761de3ad09dcc4b5aa9d24176a857c83e0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09685515a2ddfd8ce9269eedcc3fa319a5f33df50c26badd8e3988ab4ac5697b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiAoKEAgRGAI4AUIIdGhpbmtpbmcSDLFYlzEaSP5DVdo+VBoMrz4FwELBtkHawPFFIjB3Qb7FZwqeUhdTLdx9KoSc5rCEBMpwvih1tkVZuF35iu9ajlH0Upd54yyuPp/ds58qpQlEm4/Tlh66XWyCpxvrUiba12qRH3UPRQy/RAJvethcA4nvQzCTHxL2cST/Lnt3oGswlr3KNaJhDMKrTzGLfIxkPI4vjgI+AguHoKhMuODdrnkH1WNhh6NkvHlyQoeBsMSdJyFLk7Eer1Ny9zEqiuJgcQfgWr2JO7zNex4arGR8fm0ZjQ2Pd6fInb5eAiz7sM8TXd3qriWuqXBlcFkpXIrJv7tYE1UQtOV2iOxXXTTWmtspzgjpy8UkzGBrN/OZUH74Mx4bTPZ/Rv8Imf4NxCnAmdKvcFHH+Gh/0ayHfC+r3UpMUnarnHHPEkRr67nwGx64GSqzQPANin1UZBWyWXwpHFEZaTHgDYk45iDI4a1j+E8bzwhueaqHWeDdX1u2XsoPxvqL66J3yRkvNO6woqRxxhjzVAjg7VUOechF5MjFnUYsluIEXSjbcrMejwd7UbHpFF2LAGYXYklKqnRE7tyecCeduOS3sVDmLLw4BDPY/XdBB58yxHNmZk3x2mdmdBUOglqvi19xiCJGJ4DnOKUaWnE6L7xx0qRN3Ara2ZVnTQ3y0JbozptvtrMP5Qsl/I2TLsxNO5NvRJIZPqeHYVzzcX/ZzP4knNmEp18swGJ/iecivbp9Xl6E57zf/+MzJ1xSvZekYZAnl5refq/5mGReI99c/DHSUXUDZ8mf3rNfS+mDMKmJ1rrhkqBUZJNQbAbjULGJ7S2W/FokX1wit3K7yhJWfMxT/zVIJatjAsDLoGhY3GG9ZOF/EAHkLDG/GhKqnlsHdaUA8lL67PSK3KbgjnrtC8DQR3XK3i33JZzwybhiIwkFC0pKnF7pXXdox/ObXJ8II9Mz0/mZ3sC3VBTrxL9oYQ/7YRXQwjnCziG4PK62/IQFCBsYbJsrI+2ydZTjE9RV40hNv/JJEvgvi3rkSJ2Yq26thQIkpueIa25WAJEAZ8oVJfCPvAWzBJ3l62jHQUEyDGMqSHm2ytTDKRUny4atkdzIbuVATFyhSq7oxVgPzbTU2yrwSGvCjPOMp/dbJOOmnB6CpEfeXFmXVmv9VikxAeOVcQf/iqdXAHNJYqsrHUGvHw7EvWyoaVes4AQyOnbPlV0cVWIzDU5TA9cJ8l/FmGspyQo3JQFlXSfSutBXhxpMsnV8bMBrFYAQmkE0/0RR3Pw3X7sEIox+GH2QfM04H3g2VhSkP8bnwXq0iUCtLq20CrUq+vcFSdLWd7yQTelDZakJTviJI2ahx8n/yqlWiggWkFpduo993wSFdXM5RSyGkn3l07BE7bvn8R5waFzdw8WNqMeb5AlAsUXUm0fFbaw2rerZFfmEv0J6A9xBYPT2Frq40As9FRaHQQtQLgkn3l46HB3SHhnYmto9np3CpyGKmR8Ot9XmsJrujmcgzGlQid1/ZDgffeGvoCkhxhaKHUGSeb1zz3hmLOEr7XJ9saYjG8C8fw+mip7YkaYXSXkknb9fjmjh4aJ1XfQwaKqlz9pTGCcZwkH86WHCE56BPioUBB6fi0hJ62U+t95zIoz4yASq6PIIrn3evdVivWIlFnNZLFLmi4k7WKiQJ/0OiuV1VS1pi3z8RZiovJk4X0ohGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XhLSCdsRfFW7w1udFRaejw",
      "input": {
        "note": "The brick sits between the open jaws at the bottom of the left wrist image, slightly right of the jaw column, with its long axis roughly vertical in the image. Descending to table level with a small shift toward it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.365,
          "left_y": -0.14,
          "left_yaw": 1.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XhLSCdsRfFW7w1udFRaejw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7292, 2.289, 1.5787, -1.1751, -0.8948, -2.009, 0.9994, 0.4496, 1.2068, 0.852, -0.2882, 0.3573, 0.2684, 0.9975]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.025 left_yaw=1.0869 left_pitch=-0.0669 left_roll=-0.0138 left_gripper=0.9994 right_x=0.3542 right_y=0.1063 right_z=0.1888 right_yaw=0.0044 right_pitch=-0.0272 right_roll=0.0204 right_gripper=0.9975\nstate[joint_eff]: [0.1436, -8.0068, 4.3009, 0.3297, 0.2076, 0.1099, -0.0757, -0.1573, -4.3966, 6.9402, 1.8046, 0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d71fe1c4c7ed0024798136c2f77826571829ea0bfadbfa4f95d4c05b9636bd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:267ae8773ec9c54a370b1ad3127fb47779cdd057174ed52feda2caa83ecf5ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63efd339754a80ebd45792815705846d6f46e88dde2b778c1153aa008ccaff3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 22.52 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]: [-0.0193, 0.8162, 0.6075, -0.4301, -0.0227, -0.0498, 0.9993, 0.4492, 1.1999, 0.8581, -0.2451, 0.3649, 0.2932, 0.9979]\nstate[eef_state]: left_x=0.2895 left_y=0.002 left_z=0.1654 left_yaw=0.0056 left_pitch=-0.0682 left_roll=-0.0057 left_gripper=0.9993 right_x=0.3602 right_y=0.1076 right_z=0.2024 right_yaw=-0.0155 right_pitch=0.0247 right_roll=0.0619 right_gripper=0.9979\nstate[joint_eff]: [0.0205, -1.7983, 7.159, 1.8681, -0.0659, -0.0806, -0.0122, -0.3214, -4.1778, 7.2137, 1.7021, 0.2369, -0.0269, -0.232]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7341, 2.1033, 1.6505, -1.3895, -0.8608, -1.9667, 0.9994, 0.4496, 1.2064, 0.852, -0.2768, 0.3576, 0.2733, 0.9975]\nstate[eef_state]: left_x=0.3525 left_y=-0.1328 left_z=0.108 left_yaw=1.0658 left_pitch=-0.1085 left_roll=-0.0145 left_gripper=0.9994 right_x=0.3557 right_y=0.1069 right_z=0.1911 right_yaw=0.0016 right_pitch=-0.0165 right_roll=0.0294 right_gripper=0.9975\nstate[joint_eff]: [2.0308, -11.5487, 5.559, -1.1306, -0.6032, -0.1734, -0.0757, -0.0615, -4.8889, 7.6923, 1.9805, 0.1783, 0.1392, -0.0464]",
      "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]: [-0.7292, 2.289, 1.5787, -1.1751, -0.8948, -2.009, 0.9994, 0.4496, 1.2068, 0.852, -0.2882, 0.3573, 0.2684, 0.9975]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.025 left_yaw=1.0869 left_pitch=-0.0669 left_roll=-0.0138 left_gripper=0.9994 right_x=0.3542 right_y=0.1063 right_z=0.1888 right_yaw=0.0044 right_pitch=-0.0272 right_roll=0.0204 right_gripper=0.9975\nstate[joint_eff]: [0.1436, -8.0068, 4.3009, 0.3297, 0.2076, 0.1099, -0.0757, -0.1573, -4.3966, 6.9402, 1.8046, 0.0611, 0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d71fe1c4c7ed0024798136c2f77826571829ea0bfadbfa4f95d4c05b9636bd09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:267ae8773ec9c54a370b1ad3127fb47779cdd057174ed52feda2caa83ecf5ff6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63efd339754a80ebd45792815705846d6f46e88dde2b778c1153aa008ccaff3d",
        "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_01Raxf3ugK7nGUFWpbdMXTgu",
      "input": {
        "note": "The descent again stopped at 2.5 cm, which may be the fingertips resting on top of the ~2.5 cm thick brick, or the brick straddled between the jaws. Closing to test: a wide settled reading means the brick is grasped, an empty reading means the tips are on top of it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.365,
          "left_y": -0.14,
          "left_yaw": 1.1,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Raxf3ugK7nGUFWpbdMXTgu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.738, 2.323, 1.5799, -1.1889, -0.9737, -2.0319, 0.0097, 0.4496, 1.2068, 0.852, -0.289, 0.3573, 0.268, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1323 left_z=0.025 left_yaw=1.065 left_pitch=0.0165 left_roll=-0.0052 left_gripper=0.0097 right_x=0.3542 right_y=0.1063 right_z=0.1886 right_yaw=0.0046 right_pitch=-0.0279 right_roll=0.0197 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -6.9402, 4.6564, 0.4957, 0.5348, -0.0659, 0.6764, -0.1436, -4.1504, 6.9675, 1.7021, 0.0513, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf18640c940c9a107b431ad3dea097a614cf23789c91d3ab63c1f85c058792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0294f0b4c2545054e1bc2e66f1502e4a72d57883452ed761675ccd9f5a259854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09d91c595d0aaaec2f26a7e900eeefc0d44374be5aa4184b55eec78c19a1924c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 23.98 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]: [-0.7341, 2.1033, 1.6505, -1.3895, -0.8608, -1.9667, 0.9994, 0.4496, 1.2064, 0.852, -0.2768, 0.3576, 0.2733, 0.9975]\nstate[eef_state]: left_x=0.3525 left_y=-0.1328 left_z=0.108 left_yaw=1.0658 left_pitch=-0.1085 left_roll=-0.0145 left_gripper=0.9994 right_x=0.3557 right_y=0.1069 right_z=0.1911 right_yaw=0.0016 right_pitch=-0.0165 right_roll=0.0294 right_gripper=0.9975\nstate[joint_eff]: [2.0308, -11.5487, 5.559, -1.1306, -0.6032, -0.1734, -0.0757, -0.0615, -4.8889, 7.6923, 1.9805, 0.1783, 0.1392, -0.0464]",
      "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]: [-0.7292, 2.289, 1.5787, -1.1751, -0.8948, -2.009, 0.9994, 0.4496, 1.2068, 0.852, -0.2882, 0.3573, 0.2684, 0.9975]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.025 left_yaw=1.0869 left_pitch=-0.0669 left_roll=-0.0138 left_gripper=0.9994 right_x=0.3542 right_y=0.1063 right_z=0.1888 right_yaw=0.0044 right_pitch=-0.0272 right_roll=0.0204 right_gripper=0.9975\nstate[joint_eff]: [0.1436, -8.0068, 4.3009, 0.3297, 0.2076, 0.1099, -0.0757, -0.1573, -4.3966, 6.9402, 1.8046, 0.0611, 0.022, -0.0171]",
      "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]: [-0.738, 2.323, 1.5799, -1.1889, -0.9737, -2.0319, 0.0097, 0.4496, 1.2068, 0.852, -0.289, 0.3573, 0.268, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1323 left_z=0.025 left_yaw=1.065 left_pitch=0.0165 left_roll=-0.0052 left_gripper=0.0097 right_x=0.3542 right_y=0.1063 right_z=0.1886 right_yaw=0.0046 right_pitch=-0.0279 right_roll=0.0197 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -6.9402, 4.6564, 0.4957, 0.5348, -0.0659, 0.6764, -0.1436, -4.1504, 6.9675, 1.7021, 0.0513, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcf18640c940c9a107b431ad3dea097a614cf23789c91d3ab63c1f85c058792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0294f0b4c2545054e1bc2e66f1502e4a72d57883452ed761675ccd9f5a259854",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d91c595d0aaaec2f26a7e900eeefc0d44374be5aa4184b55eec78c19a1924c",
        "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_01FKY5wuf8WKyvG6WMfpEtiE",
      "input": {
        "note": "The close was empty and the wrist camera shows the closed jaws sitting on top of the brick, so the brick's long side spans wider than the jaw opening in this orientation. Lifting slightly, opening, and rotating the tool 90° so the jaws close across the brick's other axis.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.365,
          "left_y": -0.135,
          "left_yaw": -0.5,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FKY5wuf8WKyvG6WMfpEtiE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3176, 1.5589, 0.4526, 0.4236, -0.0906, -0.2981, 0.9945, 0.4496, 1.2102, 0.8505, -0.2996, 0.3573, 0.2649, 0.9974]\nstate[eef_state]: left_x=0.3588 left_y=-0.0973 left_z=0.0288 left_yaw=-0.1006 left_pitch=-0.1162 left_roll=-0.1557 left_gripper=0.9945 right_x=0.3528 right_y=0.1056 right_z=0.1848 right_yaw=0.006 right_pitch=-0.042 right_roll=0.0105 right_gripper=0.9974\nstate[joint_eff]: [0.1026, -7.0906, 6.5162, 1.7118, 0.3199, 0.2662, 0.022, -0.0752, -4.6701, 7.0632, 1.707, 0.0708, -0.0513, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3c44442ac9b05e6c109b8faba10866ce6ee16c96b62b93cbda6d66d11ed4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccac5db586b15f124e2508978cfdf777403e75f3c3500f020c2c058d6f7f859c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a016da7edaedca5d3f1db4d7cb614a34965ca97c0d7274707c9441f4b5d21ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 16.28 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]: [-0.7292, 2.289, 1.5787, -1.1751, -0.8948, -2.009, 0.9994, 0.4496, 1.2068, 0.852, -0.2882, 0.3573, 0.2684, 0.9975]\nstate[eef_state]: left_x=0.3645 left_y=-0.136 left_z=0.025 left_yaw=1.0869 left_pitch=-0.0669 left_roll=-0.0138 left_gripper=0.9994 right_x=0.3542 right_y=0.1063 right_z=0.1888 right_yaw=0.0044 right_pitch=-0.0272 right_roll=0.0204 right_gripper=0.9975\nstate[joint_eff]: [0.1436, -8.0068, 4.3009, 0.3297, 0.2076, 0.1099, -0.0757, -0.1573, -4.3966, 6.9402, 1.8046, 0.0611, 0.022, -0.0171]",
      "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]: [-0.738, 2.323, 1.5799, -1.1889, -0.9737, -2.0319, 0.0097, 0.4496, 1.2068, 0.852, -0.289, 0.3573, 0.268, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1323 left_z=0.025 left_yaw=1.065 left_pitch=0.0165 left_roll=-0.0052 left_gripper=0.0097 right_x=0.3542 right_y=0.1063 right_z=0.1886 right_yaw=0.0046 right_pitch=-0.0279 right_roll=0.0197 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -6.9402, 4.6564, 0.4957, 0.5348, -0.0659, 0.6764, -0.1436, -4.1504, 6.9675, 1.7021, 0.0513, -0.0317, -0.0171]\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]: [-0.3176, 1.5589, 0.4526, 0.4236, -0.0906, -0.2981, 0.9945, 0.4496, 1.2102, 0.8505, -0.2996, 0.3573, 0.2649, 0.9974]\nstate[eef_state]: left_x=0.3588 left_y=-0.0973 left_z=0.0288 left_yaw=-0.1006 left_pitch=-0.1162 left_roll=-0.1557 left_gripper=0.9945 right_x=0.3528 right_y=0.1056 right_z=0.1848 right_yaw=0.006 right_pitch=-0.042 right_roll=0.0105 right_gripper=0.9974\nstate[joint_eff]: [0.1026, -7.0906, 6.5162, 1.7118, 0.3199, 0.2662, 0.022, -0.0752, -4.6701, 7.0632, 1.707, 0.0708, -0.0513, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b3c44442ac9b05e6c109b8faba10866ce6ee16c96b62b93cbda6d66d11ed4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccac5db586b15f124e2508978cfdf777403e75f3c3500f020c2c058d6f7f859c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a016da7edaedca5d3f1db4d7cb614a34965ca97c0d7274707c9441f4b5d21ae3",
        "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_013v19GoJckmGqsL9aiVc6by",
      "input": {
        "note": "The left wrist camera now shows the power-bank brick clearly with its long axis running left-right (along the arm's y axis), centred a little right of and beyond the jaws. Moving over its estimated centre at 8 cm and rotating to yaw 1.5 so the jaws close across its 6.5 cm short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.12,
          "left_yaw": 1.5,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013v19GoJckmGqsL9aiVc6by",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3332, 1.5837, 0.4175, 0.54, -0.0364, -0.2333, 0.9987, 0.4496, 1.2102, 0.849, -0.3107, 0.3569, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3576 left_y=-0.1132 left_z=0.03 left_yaw=-0.1979 left_pitch=-0.0615 left_roll=-0.1467 left_gripper=0.9987 right_x=0.3511 right_y=0.1049 right_z=0.182 right_yaw=0.0063 right_pitch=-0.0535 right_roll=0.005 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -5.3949, 5.0803, 1.9219, -0.0659, -0.0806, -0.1441, -0.0615, -4.3829, 7.0496, 1.7216, 0.0708, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87a471f807dbcff7cc6981a5e0c29ac1ae080969f837eaabfa73c3ba4ba7c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2823c5212c4664d674f23cebf28b9fca6df9bf964c3508b3d473d5077339d903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:589f7cda0e297fd85609ac277b471315bd9b0c3577e4aef63de7e05ca84ba13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 25.36 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]: [-0.738, 2.323, 1.5799, -1.1889, -0.9737, -2.0319, 0.0097, 0.4496, 1.2068, 0.852, -0.289, 0.3573, 0.268, 0.9975]\nstate[eef_state]: left_x=0.3679 left_y=-0.1323 left_z=0.025 left_yaw=1.065 left_pitch=0.0165 left_roll=-0.0052 left_gripper=0.0097 right_x=0.3542 right_y=0.1063 right_z=0.1886 right_yaw=0.0046 right_pitch=-0.0279 right_roll=0.0197 right_gripper=0.9975\nstate[joint_eff]: [0.0068, -6.9402, 4.6564, 0.4957, 0.5348, -0.0659, 0.6764, -0.1436, -4.1504, 6.9675, 1.7021, 0.0513, -0.0317, -0.0171]\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]: [-0.3176, 1.5589, 0.4526, 0.4236, -0.0906, -0.2981, 0.9945, 0.4496, 1.2102, 0.8505, -0.2996, 0.3573, 0.2649, 0.9974]\nstate[eef_state]: left_x=0.3588 left_y=-0.0973 left_z=0.0288 left_yaw=-0.1006 left_pitch=-0.1162 left_roll=-0.1557 left_gripper=0.9945 right_x=0.3528 right_y=0.1056 right_z=0.1848 right_yaw=0.006 right_pitch=-0.042 right_roll=0.0105 right_gripper=0.9974\nstate[joint_eff]: [0.1026, -7.0906, 6.5162, 1.7118, 0.3199, 0.2662, 0.022, -0.0752, -4.6701, 7.0632, 1.707, 0.0708, -0.0513, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3332, 1.5837, 0.4175, 0.54, -0.0364, -0.2333, 0.9987, 0.4496, 1.2102, 0.849, -0.3107, 0.3569, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3576 left_y=-0.1132 left_z=0.03 left_yaw=-0.1979 left_pitch=-0.0615 left_roll=-0.1467 left_gripper=0.9987 right_x=0.3511 right_y=0.1049 right_z=0.182 right_yaw=0.0063 right_pitch=-0.0535 right_roll=0.005 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -5.3949, 5.0803, 1.9219, -0.0659, -0.0806, -0.1441, -0.0615, -4.3829, 7.0496, 1.7216, 0.0708, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87a471f807dbcff7cc6981a5e0c29ac1ae080969f837eaabfa73c3ba4ba7c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2823c5212c4664d674f23cebf28b9fca6df9bf964c3508b3d473d5077339d903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:589f7cda0e297fd85609ac277b471315bd9b0c3577e4aef63de7e05ca84ba13a",
        "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_01XDyFiP1Yd3M6PHcduderWY",
      "input": {
        "note": "The arm did not track the last target (still at 3 cm, yaw drifted to −0.2), so the IK seems stuck near this pose. Lifting to 12 cm and rotating the other way toward yaw −1.6 (same jaw axis) in a smaller step.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.12,
          "left_yaw": -1.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01XDyFiP1Yd3M6PHcduderWY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2989, 1.3472, 0.6701, 0.1223, -0.3012, -0.4423, 0.9987, 0.4496, 1.214, 0.8482, -0.3183, 0.3565, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3922 left_y=-0.0622 left_z=0.1371 left_yaw=0.1703 left_pitch=0.0318 left_roll=-0.2017 left_gripper=0.9987 right_x=0.3501 right_y=0.1045 right_z=0.179 right_yaw=0.0063 right_pitch=-0.0646 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-1.894, -4.5744, 7.9795, 1.5018, 0.105, 0.2906, -0.149, 0.0479, -4.7111, 6.9675, 1.6679, 0.0562, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df53821829dd482dc3e07601fc11f8194d58ea3e9b69a47d78654c7a34a70d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7387a0da5cab90e048e675785290b8037664098cac68ec53154acec28dcbb7ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aea99afd946540b97d9dae32f4df99d6e437eb4415d9e78acc4e0c928eef38d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 7.764 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]: [-0.3176, 1.5589, 0.4526, 0.4236, -0.0906, -0.2981, 0.9945, 0.4496, 1.2102, 0.8505, -0.2996, 0.3573, 0.2649, 0.9974]\nstate[eef_state]: left_x=0.3588 left_y=-0.0973 left_z=0.0288 left_yaw=-0.1006 left_pitch=-0.1162 left_roll=-0.1557 left_gripper=0.9945 right_x=0.3528 right_y=0.1056 right_z=0.1848 right_yaw=0.006 right_pitch=-0.042 right_roll=0.0105 right_gripper=0.9974\nstate[joint_eff]: [0.1026, -7.0906, 6.5162, 1.7118, 0.3199, 0.2662, 0.022, -0.0752, -4.6701, 7.0632, 1.707, 0.0708, -0.0513, -0.0171]\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]: [-0.3332, 1.5837, 0.4175, 0.54, -0.0364, -0.2333, 0.9987, 0.4496, 1.2102, 0.849, -0.3107, 0.3569, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3576 left_y=-0.1132 left_z=0.03 left_yaw=-0.1979 left_pitch=-0.0615 left_roll=-0.1467 left_gripper=0.9987 right_x=0.3511 right_y=0.1049 right_z=0.182 right_yaw=0.0063 right_pitch=-0.0535 right_roll=0.005 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -5.3949, 5.0803, 1.9219, -0.0659, -0.0806, -0.1441, -0.0615, -4.3829, 7.0496, 1.7216, 0.0708, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2989, 1.3472, 0.6701, 0.1223, -0.3012, -0.4423, 0.9987, 0.4496, 1.214, 0.8482, -0.3183, 0.3565, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3922 left_y=-0.0622 left_z=0.1371 left_yaw=0.1703 left_pitch=0.0318 left_roll=-0.2017 left_gripper=0.9987 right_x=0.3501 right_y=0.1045 right_z=0.179 right_yaw=0.0063 right_pitch=-0.0646 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-1.894, -4.5744, 7.9795, 1.5018, 0.105, 0.2906, -0.149, 0.0479, -4.7111, 6.9675, 1.6679, 0.0562, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1df53821829dd482dc3e07601fc11f8194d58ea3e9b69a47d78654c7a34a70d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7387a0da5cab90e048e675785290b8037664098cac68ec53154acec28dcbb7ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aea99afd946540b97d9dae32f4df99d6e437eb4415d9e78acc4e0c928eef38d",
        "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_019Td1XDjXNZUoLWDHEiQL2D",
      "input": {
        "note": "The left arm's thrashing pushed the brick toward the table centre; it now lies near the centre line with its long axis roughly along x (seen end-on in the right wrist camera). Moving the left arm over it at yaw 0 so the jaws close across its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_019Td1XDjXNZUoLWDHEiQL2D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8745, 1.9041, 1.2472, -0.1535, -0.691, -0.622, 0.9987, 0.4496, 1.2167, 0.8459, -0.3264, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3965 left_y=-0.2932 left_z=0.1101 left_yaw=-0.0026 left_pitch=-0.0221 left_roll=-0.0044 left_gripper=0.9987 right_x=0.3488 right_y=0.1043 right_z=0.1755 right_yaw=0.0081 right_pitch=-0.077 right_roll=-0.0041 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -9.894, 8.6769, 1.2381, -0.5104, 0.0513, -0.1441, -0.1162, -4.5197, 7.0769, 1.6435, 0.1343, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72909c2efd176d1f0e6aff815084717f7bbf85fb92066f169f5fb1f97188f51e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da98282451e25a8c5c31cdaeaf33d34686da4c84e0849df6fa618616c3142a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28196c97c03ec47b752fbb4a73437d82924d32729178d492df27cec43f4cb2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 5.179 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]: [-0.3332, 1.5837, 0.4175, 0.54, -0.0364, -0.2333, 0.9987, 0.4496, 1.2102, 0.849, -0.3107, 0.3569, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3576 left_y=-0.1132 left_z=0.03 left_yaw=-0.1979 left_pitch=-0.0615 left_roll=-0.1467 left_gripper=0.9987 right_x=0.3511 right_y=0.1049 right_z=0.182 right_yaw=0.0063 right_pitch=-0.0535 right_roll=0.005 right_gripper=0.9974\nstate[joint_eff]: [-0.0068, -5.3949, 5.0803, 1.9219, -0.0659, -0.0806, -0.1441, -0.0615, -4.3829, 7.0496, 1.7216, 0.0708, -0.0562, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2989, 1.3472, 0.6701, 0.1223, -0.3012, -0.4423, 0.9987, 0.4496, 1.214, 0.8482, -0.3183, 0.3565, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3922 left_y=-0.0622 left_z=0.1371 left_yaw=0.1703 left_pitch=0.0318 left_roll=-0.2017 left_gripper=0.9987 right_x=0.3501 right_y=0.1045 right_z=0.179 right_yaw=0.0063 right_pitch=-0.0646 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-1.894, -4.5744, 7.9795, 1.5018, 0.105, 0.2906, -0.149, 0.0479, -4.7111, 6.9675, 1.6679, 0.0562, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8745, 1.9041, 1.2472, -0.1535, -0.691, -0.622, 0.9987, 0.4496, 1.2167, 0.8459, -0.3264, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3965 left_y=-0.2932 left_z=0.1101 left_yaw=-0.0026 left_pitch=-0.0221 left_roll=-0.0044 left_gripper=0.9987 right_x=0.3488 right_y=0.1043 right_z=0.1755 right_yaw=0.0081 right_pitch=-0.077 right_roll=-0.0041 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -9.894, 8.6769, 1.2381, -0.5104, 0.0513, -0.1441, -0.1162, -4.5197, 7.0769, 1.6435, 0.1343, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72909c2efd176d1f0e6aff815084717f7bbf85fb92066f169f5fb1f97188f51e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da98282451e25a8c5c31cdaeaf33d34686da4c84e0849df6fa618616c3142a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28196c97c03ec47b752fbb4a73437d82924d32729178d492df27cec43f4cb2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQkKEAgRGAI4AUIIdGhpbmtpbmcSDH+eiczxfamnSb4YkhoMcqJ8Vq3KIVuQE08nIjAXbTisYIKSrwPm5ee4MzgX1ML6EM/VzBAzJpKk/cAq4iqVasbbnv6BVmcJUYEmWQcqwgj7VyfB/zggkL199CUpM1aezgAh1b+jwZrAAduJClYwX4Oc9/9p0/uXV+pCuPILKpkvMdxTY3XTBv8DXR101YMRX8jYrj47/tqKT77STkpZog21DpRT/ng11XqKqfhdQ7DkjsoLWtqKW2YWn0IMdkOCh7wPSuBOjq1JFsKvLqVyw8FijGwQfynq2RTNkn9PCBTIYOzLaaatzORyqYUklbh26gG9S6i7QzwuFy4SMgDgGOxeC0HTPwpeJE6DuQhvU2xvPZDIk4ErskSrn+A9TIhbRgPyb23AoUnwiXdShGqOfnJUjMQEChXrIQh0yGdH2pze0qzMfecfNUXHuGJLGmXNJlkY4+4cVsXQlhUmZ+SGlH3Cwg6WWBlnaW5x5Pjz7DyHQ+AC+AaOleHC282E9wAC+h8RCRBIo79/pEFEq1/MhzEHXcnNh8QZMRJZZ2HQxZwukjzCVF9AYSBBZXuehUEaej+o62C3ZCQB0bLqA0ziW+0VvxCz9OU6IOLiimcLw/myDUZPCVUnpBOdeeyHCI0336ZlvYFaCO4FP00bR76PFrl59IokIOwweXG5nBV/9CjTyBXkl2CqLJow1z30+4yxJZreE9ZaxBmCLBljN6okB/80NhyRvRCrWlBOpXSP21HdIaubdvmxktzH6kaxvyjMvKfVfs4c2lX47uJtVk8Rd2DdiiNS/6yBJgCFOVPyeX/GOGNV2TWkCtVB9VifsQe+jTbVaIDwkLHSqW+tZqAQXlIcuEbC0vPGqrcaFeI2YZVcpbm64RsJjEheQkNULjR2+FdMtb/uo1NwutN5oG7hKfpX0qORo4AiTU7ETwN5ELOPTulFh0O3qidXXamzPPVenO6Nn5H7V2oT8qXuiHpkeO+AVou7Cm4BYzD16y55nj8lsCxzm0wTXb6NhRW5FW6arGfIiyP3x90XQtRYS0s/Laz+mcfhA/M1D4hhGf/SKjPDyQm296tnYGWMJvsV0t8dZgCxH820q0GYoN3IoB9XDF+MOJoNY3qEBLeta1NxFhVoYJ9p2E8Wpdj9oGoCADM1dmiXVqlYtKt8r9Jt+B6scFaMC9yj/Zlcx+pKhuW5MNs0Z94TYubYrfoHxfraIUwPZcL9ISxKTD4gv34rO5Yk9UTRdwRMemLWYfDEmQFokmuhenR34ARpD5z/cpdTDs32+u8K4Du5bcaPmTH+5DVg+/St2/DqH3ntP4+ePbsHn3vIkSbOGbMTNapRtsivGW9fn67ySFPulHIk5DwKDHJMl11nvRHrbC+9KLA8wuSPX/xdxrXpfdxAoGlPDc+1ufmGrrgA9Ds7LXkYgVPl3HVmvBBePtaGOWvzg/pvyT+ExPRO4z4Dtd9dSWZkBot0nv3oClT9etZOplYxYHi4TmMPudL/sMwUFOVjlSp8Wd4LA8I2hk2WPwKKd72FlOXxWJ7R0mKRLZuOFxxKJEYWX66/uox8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UrA5weqSBNUqgXf4PFPuHb",
      "input": {
        "note": "The brick is now centred on the jaw column in the left wrist camera with its long axis running up the image, so the jaws will close across its short side. Advancing ~3 cm (the object sits slightly beyond the fingertips) and descending to the table.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.425,
          "left_y": -0.295,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UrA5weqSBNUqgXf4PFPuHb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8337, 2.1792, 1.187, 0.1719, -0.6762, -0.598, 0.9987, 0.4496, 1.2167, 0.8433, -0.3378, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4185 left_y=-0.2912 left_z=0.0044 left_yaw=0.0151 left_pitch=-0.0369 left_roll=0.0159 left_gripper=0.9987 right_x=0.3467 right_y=0.1033 right_z=0.1723 right_yaw=0.0076 right_pitch=-0.0898 right_roll=-0.0101 right_gripper=0.9974\nstate[joint_eff]: [0.7316, -10.2769, 5.5043, 1.0867, 0.3101, 0.1099, -0.149, -0.0889, -4.3966, 7.1043, 1.6777, 0.1245, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9b015417183b8e4a41205160110cc195a6959a6dc665127b0e32a365050ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338e3b4ad82f63a5a44f5f3660f08bc3dd8b4554434bd1a75896c3bb0f15e4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0c47e1a47f1059efc4893106b0572503719a85f77f1cacaf808ef4676af3e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 12.23 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]: [-0.2989, 1.3472, 0.6701, 0.1223, -0.3012, -0.4423, 0.9987, 0.4496, 1.214, 0.8482, -0.3183, 0.3565, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3922 left_y=-0.0622 left_z=0.1371 left_yaw=0.1703 left_pitch=0.0318 left_roll=-0.2017 left_gripper=0.9987 right_x=0.3501 right_y=0.1045 right_z=0.179 right_yaw=0.0063 right_pitch=-0.0646 right_roll=-0.0001 right_gripper=0.9974\nstate[joint_eff]: [-1.894, -4.5744, 7.9795, 1.5018, 0.105, 0.2906, -0.149, 0.0479, -4.7111, 6.9675, 1.6679, 0.0562, -0.0513, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.8745, 1.9041, 1.2472, -0.1535, -0.691, -0.622, 0.9987, 0.4496, 1.2167, 0.8459, -0.3264, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3965 left_y=-0.2932 left_z=0.1101 left_yaw=-0.0026 left_pitch=-0.0221 left_roll=-0.0044 left_gripper=0.9987 right_x=0.3488 right_y=0.1043 right_z=0.1755 right_yaw=0.0081 right_pitch=-0.077 right_roll=-0.0041 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -9.894, 8.6769, 1.2381, -0.5104, 0.0513, -0.1441, -0.1162, -4.5197, 7.0769, 1.6435, 0.1343, -0.0513, -0.0073]\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]: [-0.8337, 2.1792, 1.187, 0.1719, -0.6762, -0.598, 0.9987, 0.4496, 1.2167, 0.8433, -0.3378, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4185 left_y=-0.2912 left_z=0.0044 left_yaw=0.0151 left_pitch=-0.0369 left_roll=0.0159 left_gripper=0.9987 right_x=0.3467 right_y=0.1033 right_z=0.1723 right_yaw=0.0076 right_pitch=-0.0898 right_roll=-0.0101 right_gripper=0.9974\nstate[joint_eff]: [0.7316, -10.2769, 5.5043, 1.0867, 0.3101, 0.1099, -0.149, -0.0889, -4.3966, 7.1043, 1.6777, 0.1245, -0.0659, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f9b015417183b8e4a41205160110cc195a6959a6dc665127b0e32a365050ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:338e3b4ad82f63a5a44f5f3660f08bc3dd8b4554434bd1a75896c3bb0f15e4fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0c47e1a47f1059efc4893106b0572503719a85f77f1cacaf808ef4676af3e96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "z reached 0.004 — the tips are at the table with the brick between the jaws. Closing now.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013B7Dvp1qgTDYb3852PprmC",
      "input": {
        "note": "The fingertips reached table level (z≈0.004) with the brick filling the space between the jaws in the left wrist view. Closing the gripper to grasp it across its short side.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.29,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013B7Dvp1qgTDYb3852PprmC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8291, 2.186, 1.1851, 0.2073, -0.6781, -0.5888, 0.0085, 0.4496, 1.2167, 0.8421, -0.3412, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4226 left_y=-0.2919 left_z=0.0058 left_yaw=0.0155 left_pitch=-0.0183 left_roll=0.0043 left_gripper=0.0085 right_x=0.346 right_y=0.1031 right_z=0.1712 right_yaw=0.0077 right_pitch=-0.094 right_roll=-0.0119 right_gripper=0.9974\nstate[joint_eff]: [0.1162, -11.2068, 4.3282, 1.4383, -0.1001, 0.105, 0.6422, -0.1299, -4.2188, 7.159, 1.6239, 0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251e29c4371cb42dbb5628fdc91d97570d5256f90504d0969acab2471e7b49dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb856902b7cc5336cd2217a863fb9a34af130f6e669c80b2f3e9377f9820f71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64226ccc3c2665ba436b978a4adb491f49454868ad4ac1dd986c70843fadea63",
        "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 · 9.822 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]: [-0.8745, 1.9041, 1.2472, -0.1535, -0.691, -0.622, 0.9987, 0.4496, 1.2167, 0.8459, -0.3264, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3965 left_y=-0.2932 left_z=0.1101 left_yaw=-0.0026 left_pitch=-0.0221 left_roll=-0.0044 left_gripper=0.9987 right_x=0.3488 right_y=0.1043 right_z=0.1755 right_yaw=0.0081 right_pitch=-0.077 right_roll=-0.0041 right_gripper=0.9974\nstate[joint_eff]: [-0.5128, -9.894, 8.6769, 1.2381, -0.5104, 0.0513, -0.1441, -0.1162, -4.5197, 7.0769, 1.6435, 0.1343, -0.0513, -0.0073]\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]: [-0.8337, 2.1792, 1.187, 0.1719, -0.6762, -0.598, 0.9987, 0.4496, 1.2167, 0.8433, -0.3378, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4185 left_y=-0.2912 left_z=0.0044 left_yaw=0.0151 left_pitch=-0.0369 left_roll=0.0159 left_gripper=0.9987 right_x=0.3467 right_y=0.1033 right_z=0.1723 right_yaw=0.0076 right_pitch=-0.0898 right_roll=-0.0101 right_gripper=0.9974\nstate[joint_eff]: [0.7316, -10.2769, 5.5043, 1.0867, 0.3101, 0.1099, -0.149, -0.0889, -4.3966, 7.1043, 1.6777, 0.1245, -0.0659, -0.0073]",
      "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]: [-0.8291, 2.186, 1.1851, 0.2073, -0.6781, -0.5888, 0.0085, 0.4496, 1.2167, 0.8421, -0.3412, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4226 left_y=-0.2919 left_z=0.0058 left_yaw=0.0155 left_pitch=-0.0183 left_roll=0.0043 left_gripper=0.0085 right_x=0.346 right_y=0.1031 right_z=0.1712 right_yaw=0.0077 right_pitch=-0.094 right_roll=-0.0119 right_gripper=0.9974\nstate[joint_eff]: [0.1162, -11.2068, 4.3282, 1.4383, -0.1001, 0.105, 0.6422, -0.1299, -4.2188, 7.159, 1.6239, 0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:251e29c4371cb42dbb5628fdc91d97570d5256f90504d0969acab2471e7b49dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb856902b7cc5336cd2217a863fb9a34af130f6e669c80b2f3e9377f9820f71a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64226ccc3c2665ba436b978a4adb491f49454868ad4ac1dd986c70843fadea63",
        "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_01H2dz6gR2xc1MfJNf3PHME6",
      "input": {
        "note": "The close was empty again — the brick was squeezed off-centre and popped forward, now lying ~7 cm beyond the fingertips with its long axis along y. Lifting, opening and rotating the tool 90° while advancing over its new position.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.48,
          "left_y": -0.29,
          "left_yaw": 1.5,
          "left_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_01H2dz6gR2xc1MfJNf3PHME6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5304, 2.6926, 2.2822, -1.4254, -0.8967, -2.0258, 0.9949, 0.4496, 1.2205, 0.8368, -0.3595, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4675 left_y=-0.11 left_z=0.01 left_yaw=1.2907 left_pitch=-0.0776 left_roll=-0.0759 left_gripper=0.9949 right_x=0.3427 right_y=0.1015 right_z=0.1644 right_yaw=0.0064 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9974\nstate[joint_eff]: [0.1709, -18.0444, 4.9026, -0.2662, -0.7839, -0.3004, 0.0122, -0.0615, -4.6974, 7.2547, 1.7167, 0.105, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1717b0923628733bd07d9ca965df88e0694747153c4a6dbf178e48649ffce77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cde7fd0ae3b1e1da9686bbb8d6742159f5f9d3ad9711076c1f9c975889b701a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c4c3bbbf66905306c35046f5a8e0bf4b2c2470d965bb0f258183e84fd371cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 8.768 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]: [-0.8337, 2.1792, 1.187, 0.1719, -0.6762, -0.598, 0.9987, 0.4496, 1.2167, 0.8433, -0.3378, 0.3538, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4185 left_y=-0.2912 left_z=0.0044 left_yaw=0.0151 left_pitch=-0.0369 left_roll=0.0159 left_gripper=0.9987 right_x=0.3467 right_y=0.1033 right_z=0.1723 right_yaw=0.0076 right_pitch=-0.0898 right_roll=-0.0101 right_gripper=0.9974\nstate[joint_eff]: [0.7316, -10.2769, 5.5043, 1.0867, 0.3101, 0.1099, -0.149, -0.0889, -4.3966, 7.1043, 1.6777, 0.1245, -0.0659, -0.0073]",
      "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]: [-0.8291, 2.186, 1.1851, 0.2073, -0.6781, -0.5888, 0.0085, 0.4496, 1.2167, 0.8421, -0.3412, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4226 left_y=-0.2919 left_z=0.0058 left_yaw=0.0155 left_pitch=-0.0183 left_roll=0.0043 left_gripper=0.0085 right_x=0.346 right_y=0.1031 right_z=0.1712 right_yaw=0.0077 right_pitch=-0.094 right_roll=-0.0119 right_gripper=0.9974\nstate[joint_eff]: [0.1162, -11.2068, 4.3282, 1.4383, -0.1001, 0.105, 0.6422, -0.1299, -4.2188, 7.159, 1.6239, 0.0708, -0.0366, -0.0073]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5304, 2.6926, 2.2822, -1.4254, -0.8967, -2.0258, 0.9949, 0.4496, 1.2205, 0.8368, -0.3595, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4675 left_y=-0.11 left_z=0.01 left_yaw=1.2907 left_pitch=-0.0776 left_roll=-0.0759 left_gripper=0.9949 right_x=0.3427 right_y=0.1015 right_z=0.1644 right_yaw=0.0064 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9974\nstate[joint_eff]: [0.1709, -18.0444, 4.9026, -0.2662, -0.7839, -0.3004, 0.0122, -0.0615, -4.6974, 7.2547, 1.7167, 0.105, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1717b0923628733bd07d9ca965df88e0694747153c4a6dbf178e48649ffce77c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cde7fd0ae3b1e1da9686bbb8d6742159f5f9d3ad9711076c1f9c975889b701a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4c3bbbf66905306c35046f5a8e0bf4b2c2470d965bb0f258183e84fd371cc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogsKEAgRGAI4AUIIdGhpbmtpbmcSDCcq8DlU1CY1cdxtchoM+0/rNEe5IVG6ShDaIjBPofHCL/N335al3fi21ijkGOlWp21nISXZQH7+e663qU04psH3bsUxl8N49Mnn/AsqvwoEUZQJxl8Pc3th2Bfrtf+YgSaPkc7Yw7n0jR+5PHwKUhrqf015zS3SHVsZrw2mDS9Q9NLIgazqXEn/s1ykASM5oBayYYjJezV+82VSgOWnCk2ZhNK7h8FQxjeUSZgxr/DF3tuv8Zeilz7m3iM+38+35d7TKmu3vVuu51NUhDM3CQly91ivTFwlFS3JXu4yRnYh/cS1F1cQjXuxkIlc9INW3bNG+GacYdn+JNBSI9k/ugttrPYjRYkwJCd4heXjSF1ayZOZ4ylb8a6oBVKjh5c9I1HZ+1norpqHoVU2/kvKsS9nN3nFyqn57qXoddmDNbax/LI3+Wof9KDq3FxCRFdcb2OH71pY69hC0Vin2NRxtioMflS4XkYftjGlyj5a090iMK7Oc4hI5733BDMWRRvnrc1RSnhIVqohGWNQ+CsfPLttNZbJnwsn2tMUKoqNn8Gl+CC0ftTbazsFMngCuD4Z92dQQ8WGjVe3pZa38GPR9t4zltfkTZtZrNfwlDvb2JlWY3tWFWTKdD0DRVx0h9q5ceLvHkhYHXIQqmSzFbnL3n5YlrPCXendv7sy6y428erk8ciZrmPzbJMZ4veF9Df7KgR+0iShgvstA9E5+O28U0R9XJSAu6fkaUsSRlBAx7yzr34n6x96ESdt6MVFzuHz4xtyIvmxMo86tXqz9NvaQAmOPPPhumr/lSRFj/nHyHs66fjxneZzk4OBB1+1hlnzANW4vYrl0Zjfwx/rALhz/v43iv5zwwI10SOYZWeW/Xlm0vRzfVYEY0lgfESSGleDLB2/H/m7piUBMLt/0yvWcs2iNNv9CJJhNobuMOQx87A97mfH23Pl1a8JnVa7mpCzomig0/B83veurn9W0nDw6jzkJuES6Y1sWwDWypUI7/Q+r79ErGUtz6iIaBO/4evYrcGooMa47cXgvrgiIVp10Bl0ynlw1Q0zTD3PHUPPq6pggeMmduLz4lCQHJwgpsULYkBi2ewTI0IYiaF6ipzKv4hhHQCj3J6eSeY+5Q7CEYX4X+T/1N6duAdToF6t7DJ7FouXDWsAAyN5eAvyEoZ2GWhsJgX4GTa2CC5luzTE75Yu2bHF7H/gdeV46kfDHeskWVlNSmWr+vta7g+xv0+NKLDfwQHwhv4WkdLObzdklHMiJgBwGzdBeUhRQzY2mUCuzFBa1tiZZNaJIrPo6NDvlwI+yG7WM3zeC/VT/lTVqLBv4np+678nPvF6wROrewTo8CNT7Nf250UGlYmuoLxNqd7d/gBQKcm9R7aRrJLkzNO5rTHA1ffB30jsDbYf83lD9GR8MxTNZAKF4zqo84k21f8Gwmz2qEVvZt7AsYG4Z/zc0YcIwOb7sxol6U5joqKEqkRV8/VNKmHYUDxXpRGSAPaEVjmdZEF4T+3krOzvNGCQ2DCjU2yhJqOwDlsxP3rXYVAxj0+Wnvyj+dK0ocSISOrTVQRqD5NLomNugl7pIsKyr0juVJIeTQgX1Vc2rUO1v5nk1IcoRMpPHdrpS0n96AmZKPj6McymZ57HAH1nV8id4VqP/qp9v5fvPA+7ZUES/MDieCXkb2RV0RQxfbdaLnIM0aIRgIO7voYkSI8dmzwN3m45cD6ZpI+tOeIKw+QY3RGGIeMLISYmR2rXj3Xtn5XxCTjHaG8C+w++J/3FfYT6zuMEms9dzKs3MEmQXSm/NpWGF65mAZXld+aPvT77csFXaJUNdsgG42OwdmIDiHm/oa2vjbfRHmUWGqkQmlpLsDy6pDn3kQBJF8vMBxkkfaC4wfmlb5ccpJCvDl2qZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KhAiMJrvsNu4u7rfY48qwm",
      "input": {
        "note": "The yaw change made the left arm swing into a low, contorted pose beside the pot (shoulder effort −18). Raising it to a safe height while holding the current yaw before re-approaching.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.2,
          "left_yaw": 1.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01KhAiMJrvsNu4u7rfY48qwm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6201, 2.7422, 2.4294, -1.557, -0.8604, -2.0621, 0.9987, 0.4496, 1.2213, 0.8356, -0.3634, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4542 left_y=-0.1554 left_z=0.0196 left_yaw=1.2346 left_pitch=-0.1034 left_roll=-0.0625 left_gripper=0.9987 right_x=0.342 right_y=0.1011 right_z=0.163 right_yaw=0.0061 right_pitch=-0.124 right_roll=-0.0262 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -13.6137, 6.8034, -0.3541, -0.5201, -0.398, -0.149, -0.0889, -4.4786, 7.0085, 1.5849, 0.0952, -0.0562, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17bfa11e24af407557b069429a8a115847b03083bcb628215675135fdb627c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272f7849a635743924fc9e84f4089ae6ac5b63b04d931413076cf68db22b2f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:613e07686ff5c4157990c5bec4a5c0a6f1b61ad2b8a66027199934ec7391ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 43.65 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]: [-0.8291, 2.186, 1.1851, 0.2073, -0.6781, -0.5888, 0.0085, 0.4496, 1.2167, 0.8421, -0.3412, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4226 left_y=-0.2919 left_z=0.0058 left_yaw=0.0155 left_pitch=-0.0183 left_roll=0.0043 left_gripper=0.0085 right_x=0.346 right_y=0.1031 right_z=0.1712 right_yaw=0.0077 right_pitch=-0.094 right_roll=-0.0119 right_gripper=0.9974\nstate[joint_eff]: [0.1162, -11.2068, 4.3282, 1.4383, -0.1001, 0.105, 0.6422, -0.1299, -4.2188, 7.159, 1.6239, 0.0708, -0.0366, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5304, 2.6926, 2.2822, -1.4254, -0.8967, -2.0258, 0.9949, 0.4496, 1.2205, 0.8368, -0.3595, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4675 left_y=-0.11 left_z=0.01 left_yaw=1.2907 left_pitch=-0.0776 left_roll=-0.0759 left_gripper=0.9949 right_x=0.3427 right_y=0.1015 right_z=0.1644 right_yaw=0.0064 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9974\nstate[joint_eff]: [0.1709, -18.0444, 4.9026, -0.2662, -0.7839, -0.3004, 0.0122, -0.0615, -4.6974, 7.2547, 1.7167, 0.105, -0.0562, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6201, 2.7422, 2.4294, -1.557, -0.8604, -2.0621, 0.9987, 0.4496, 1.2213, 0.8356, -0.3634, 0.3534, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.4542 left_y=-0.1554 left_z=0.0196 left_yaw=1.2346 left_pitch=-0.1034 left_roll=-0.0625 left_gripper=0.9987 right_x=0.342 right_y=0.1011 right_z=0.163 right_yaw=0.0061 right_pitch=-0.124 right_roll=-0.0262 right_gripper=0.9974\nstate[joint_eff]: [-0.1162, -13.6137, 6.8034, -0.3541, -0.5201, -0.398, -0.149, -0.0889, -4.4786, 7.0085, 1.5849, 0.0952, -0.0562, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17bfa11e24af407557b069429a8a115847b03083bcb628215675135fdb627c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272f7849a635743924fc9e84f4089ae6ac5b63b04d931413076cf68db22b2f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:613e07686ff5c4157990c5bec4a5c0a6f1b61ad2b8a66027199934ec7391ae73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgoKEAgRGAI4AUIIdGhpbmtpbmcSDOSXiDWDXzE4M6WgIRoM6zNkD9apsWb23lPoIjDHc8HNhKAe4GNdk4Ss1N6+JeSoZLlZh68zS07KYBRTPn+dZzAbbInJxA06LMipVR4qowmHw9AL3xOr9CJ69Ip7oR4okOHBgc3zQRoWHPJStYcAkw7h/4aDK/+OW3AV643zSEiNWgpZqDclFzBZZgdWmzAXdG3qnr1c5h96dUY8Et/V4Pmy3R7nUhxKiIE0Ows29s6IQwgtEnsBWh2QHyu5QE+cYahXFInnLSpENohx+rmPuTEOAHxhLo8Z+a1w1EZ/6d5ZDKjuzrpMiBJjmS1zW4qrK/B3hjdz5mKguxNLM+0o62X07sMC8sr1UXpS8zPwcg6qgEHmXp80XiY1Ez/mvgE/kKFsgtzygDhPMDpoK/LNvJsC14y1iJJnW7DsyrwB14hyP5jBcAjevu9TWxZ36VNPeQTkvxpfc8INs/fdYTPMjQB6d8CNsbeYRV8dYKzOIcQzKhU2xMg0a+giJmRCpnpVs/ELTSofBcNrOpDL3cI1dV06wy/96fYHx9wyJ4plB5OHZtTiC3PK+d2Avwc69ulbgeEAIuqI+EWXTh6s4Lh2gsmxerjkP8K7tAWStTknhy8n44RSFlxogt54O02O3CKfDJ1U0jVVg1rCy64g6BBGX/xOtwE8mu0oq6bAR8dfqQoM8k5zaLujVbS1/l5/uwVJYUAXoM2SLEsmUTBVT5LJ9+o2p5KfD0X7jdsk/Xmq1vxpGm9y0Ki7Bq44uC7E3EozRhbL+VZ/rU1mm6rFl/yh0+R3/2M+N8noZBEvtlmsCAvFdDYW7CcWEE8iXrzNvK9gumrnlmGJf3cDkR9jaw3oFqFJtzRXR2EBrXZ3tyGQn5q8ttlwN2t2Y1HBnHN6lpLGnD6uXatScdsVjG2mxsQu1CZ6b89OtZiS38WyyD0iXcW5VyaKaGWEPIbcOkqiwBX6kK/oE1LBFw8cY1nBSsWbh833blo2E5BlUFkyfbQ1Z25kdqp6VNQt+2CVz5fhG/0RZwqmgsm0IVGVykNW6tevr4wkTbkJTUxepWmsH8Rikh4KF++S0bFZpgfC90LbAjBqfB1p8IYDZcGsawJj4nrVI8+DTCls/5pHmcTRIaRhgfa62B9E5ZUdPJsWtlIJVAP5O4UqKnCgH4GX+wNSrPBiXSDt/IyUsZuvzQjdQyfjXVDHnls1hW1VXbDETwGaETM4AFn5xKIWu57BmBH5/xOfH7Pyzo8PJTpnKRs3pG/1hbthC0ur2R/i+fm+vJm4kM4RQ+zxxxZ4bCh4QZ3fiqHsNVtMybH3TX5cC1/l4HZMxMo6npUoEKiM0yAzhvsl4t/5LOb4qkP195NEGDZO3nrRiHM9p3FSiEidjkChEfopdT8oMwx/npRerGluVtgNb35aRHhvgOA6vaZ+Q8/P96T+pqHgLXPtPt58o9FRKy+5A51JfjRRVUxVtHCg4CGd00RpHtuHGKL/RvGjB7lcpwUZ/8SZvkojTSil+eHjO6/KPtTkt2jHxu8uU/cK2DnZx00CS39jPh+nAxKdZEeNleawaLdxM1vTowoFUN/zyvgZa/4s9PqHrztlxiNv1c9LQCesBtSuHwncfLJ9U+Mnx/Oxby364HTmVzNi/Up13CA5f8r8HZXRshbX7RTTmRTZq4nP249s+qd17WElfizempIej42GgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTU69QhqF5z7nNXrUEskBd",
      "input": {
        "note": "The left arm is stuck folded low near the pot and did not rise. Reducing reach and partially unwinding the yaw toward 0 to help the IK unfold it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.15,
          "left_yaw": 0.6,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01YTU69QhqF5z7nNXrUEskBd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8852, 1.6577, 1.2049, -1.0046, -0.8829, -1.5578, 0.9987, 0.4496, 1.2232, 0.8352, -0.3672, 0.3531, 0.2646, 0.9974]\nstate[eef_state]: left_x=0.3046 left_y=-0.1512 left_z=0.1409 left_yaw=0.6439 left_pitch=-0.1141 left_roll=-0.0842 left_gripper=0.9987 right_x=0.3414 right_y=0.1009 right_z=0.1616 right_yaw=0.0061 right_pitch=-0.1297 right_roll=-0.0286 right_gripper=0.9974\nstate[joint_eff]: [-0.3214, -7.8701, 6.2154, 0.6325, -0.5885, 0.2027, -0.1441, -0.0615, -4.2188, 6.8718, 1.5946, 0.0708, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191e7f5870b2814484787363baa049ec9cd911e58ed600db7f58b56808bf9c96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674f230556c6373de2359ab11f028e47e82a611de39e61479ce94eec50f37035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce8b9e1ae8ac9cf84f35545cfa3bc15335c3b52f866fb1dc2bea6a55605e4c71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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