adhoc

completed
2026-09-18T06:29:02.339186+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
240 s
total steps
174
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick lies directly ahead of the left gripper (left wrist view, centred on the jaw column) with the pot to its right. Moving the left arm forward and slightly down to hover above the brick before descending.
move_to
left_x0.3600left_y0.0000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0193, 0.7956, 0.606, -0.3779, -0.0227, -0.0414, 0.9996, -0.0219, 0.7937, 0.6025, -0.379, -0.0166, -0.0284, 0.9967] state[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9967 state[joint_eff]: [-0.4171, -1.6342, 9.9077, 1.8339, -0.0122, 0.2515, -0.0562, -0.5128, -1.4564, 10.1949, 1.9121, -0.0659, 0.1392, -0.3639] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": 0.0, "left_z": 0.15, "left_gripper": 1.0}, "note": "The black brick lies directly ahead of the left gripper (left wrist view, centred on the jaw column) with the pot to its right. Moving the left arm forward and slightly down to hover above the brick before descending."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe brick fills the left wrist view, centred on the jaw column but slightly beyond the fingertips. Advancing ~3 cm and descending toward grasp height with the jaws open.
move_to
left_x0.3800left_y0.0000left_z0.0500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 1.1213, 0.6022, -0.1497, -0.0231, -0.0498, 0.9996, -0.0219, 0.7975, 0.6037, -0.3889, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.3415 left_y=0.0008 left_z=0.1275 left_yaw=0.004 left_pitch=-0.101 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2938 right_y=0.0001 right_z=0.177 right_yaw=-0.001 right_pitch=-0.013 right_roll=0.0019 right_gripper=0.9964 state[joint_eff]: [-0.5128, -4.2598, 8.6359, 1.7949, -0.0611, 0.0269, -0.0562, -0.0752, -1.5385, 6.9402, 1.7949, -0.0415, -0.022, -0.0366] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": 0.0, "left_z": 0.05, "left_gripper": 1.0}, "note": "The brick fills the left wrist view, centred on the jaw column but slightly beyond the fingertips. Advancing ~3 cm and descending toward grasp height with the jaws open."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe brick is now large and centred just above the jaws in the left wrist view; the arm stopped short at x=0.36. Advancing a bit more and descending to table-level grasp height straddling the brick.
move_to
left_x0.3850left_y-0.0050left_z0.0100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 1.4761, 0.511, 0.1886, -0.0231, -0.0509, 0.9996, -0.0219, 0.8021, 0.6003, -0.3927, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.36 left_y=0.0005 left_z=0.0348 left_yaw=0.005 left_pitch=-0.2086 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0021 right_gripper=0.9964 state[joint_eff]: [-0.3761, -6.0923, 5.5453, 1.7949, -0.0659, -0.0024, -0.0562, -0.1436, -1.6479, 7.4735, 1.79, -0.0562, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.385, "left_y": -0.005, "left_z": 0.01, "left_gripper": 1.0}, "note": "The brick is now large and centred just above the jaws in the left wrist view; the arm stopped short at x=0.36. Advancing a bit more and descending to table-level grasp height straddling the brick."})
tool
executing move_to over 2 steps (0.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe jaws are at the near end of the brick (top view shows the gripper touching the brick's back edge). Advancing 3 cm further so the jaws straddle the brick body, and lowering to table level.
move_to
left_x0.4100left_y-0.0050left_z0.0050left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0284, 1.6016, 0.5358, 0.3191, -0.0311, -0.0574, 0.9996, -0.0219, 0.8024, 0.6003, -0.3943, -0.0162, -0.0269, 0.9964] state[eef_state]: left_x=0.3804 left_y=-0.0017 left_z=0.0231 left_yaw=0.0069 left_pitch=-0.1786 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9964 state[joint_eff]: [-0.7043, -6.1744, 5.9419, 1.4676, -0.1099, -0.0317, -0.0562, -0.0479, -1.1829, 7.0769, 1.7411, -0.0269, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.005, "left_z": 0.005, "left_gripper": 1.0}, "note": "The jaws are at the near end of the brick (top view shows the gripper touching the brick's back edge). Advancing 3 cm further so the jaws straddle the brick body, and lowering to table level."})
tool
executing move_to over 3 steps (0.3s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
Now the brick fills the wrist view between the jaws at table level. Closing the gripper.
agent noteThe brick sits between the open jaws in the left wrist view with the gripper at table level. Closing the gripper to grasp it across its width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0376, 1.7416, 0.5991, 0.3695, -0.0444, -0.0612, 0.9996, -0.0219, 0.8078, 0.5999, -0.3965, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.3979 left_y=-0.0035 left_z=0.0022 left_yaw=0.0115 left_pitch=-0.2045 left_roll=0.0053 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1709 right_yaw=-0.0008 right_pitch=-0.0347 right_roll=0.002 right_gripper=0.9964 state[joint_eff]: [-0.3077, -6.065, 5.9282, 1.4628, 0.0659, -0.0073, -0.0562, -0.2256, -1.6068, 7.0222, 1.7607, -0.0611, -0.0611, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
Now the brick fills the wrist view between the jaws at table level. Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The brick sits between the open jaws in the left wrist view with the gripper at table level. Closing the gripper to grasp it across its width."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteGripper settled at 0.74 (~7 cm), consistent with the brick's width. Lifting 8 cm to confirm the brick comes along.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0376, 1.7645, 0.6174, 0.3889, -0.0456, -0.0685, 0.7429, -0.0219, 0.8101, 0.5953, -0.4114, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.4055 left_y=-0.0036 left_z=0.003 left_yaw=0.0163 left_pitch=-0.1895 left_roll=-0.0 left_gripper=0.7429 right_x=0.2902 right_y=0.0002 right_z=0.1652 right_yaw=-0.001 right_pitch=-0.0564 right_roll=0.0028 right_gripper=0.9964 state[joint_eff]: [-0.0205, -6.7077, 5.8735, 1.6239, 0.0269, -0.0024, 1.0281, -0.1709, -1.4564, 7.5829, 1.8437, -0.0806, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Gripper settled at 0.74 (~7 cm), consistent with the brick's width. Lifting 8 cm to confirm the brick comes along."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe brick appears tilted in the top view and shoulder effort rose, suggesting it is held by its near end. Lifting to carry height to confirm it is fully off the table.
move_to
left_z0.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0376, 1.578, 0.704, 0.033, -0.046, -0.0723, 0.7428, -0.0216, 0.8108, 0.5949, -0.4152, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.3897 left_y=-0.0029 left_z=0.043 left_yaw=0.0198 left_pitch=-0.2722 left_roll=0.0022 left_gripper=0.7428 right_x=0.2897 right_y=0.0003 right_z=0.1641 right_yaw=-0.0004 right_pitch=-0.0614 right_roll=0.0026 right_gripper=0.9964 state[joint_eff]: [-0.1983, -9.306, 9.6479, 2.1172, -0.0366, -0.0122, 1.0281, -0.0889, -1.4017, 7.0222, 1.6923, -0.0366, -0.0757, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15}, "note": "The brick appears tilted in the top view and shoulder effort rose, suggesting it is held by its near end. Lifting to carry height to confirm it is fully off the table."})
tool
executing move_to over 7 steps (0.7s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe brick is lifted, hanging from its end in the jaws. Raising high so the dangling brick will clear the pot rim before moving sideways over the pot.
move_to
left_x0.3700left_y-0.0000left_z0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0376, 1.4513, 0.9363, -0.4465, -0.0456, -0.0765, 0.747, -0.0219, 0.8112, 0.5945, -0.4156, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.3726 left_y=-0.0024 left_z=0.1036 left_yaw=0.0244 left_pitch=-0.3925 left_roll=0.0068 left_gripper=0.747 right_x=0.2896 right_y=0.0002 right_z=0.1637 right_yaw=-0.0008 right_pitch=-0.0625 right_roll=0.0026 right_gripper=0.9964 state[joint_eff]: [-0.1983, -9.3607, 11.0974, 1.9316, -0.0806, -0.0317, 1.033, -0.1846, -1.3197, 7.0085, 1.663, -0.0415, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.0, "left_z": 0.35}, "note": "The brick is lifted, hanging from its end in the jaws. Raising high so the dangling brick will clear the pot rim before moving sideways over the pot."})
tool
executing move_to over 16 steps (1.6s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteBrick is raised high in the left jaws. Moving sideways toward the pot in the table centre, first halfway to keep the motion modest.
move_to
left_x0.4200left_y-0.2000left_z0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0349, 1.6814, 2.1368, -1.4719, -0.041, -0.0761, 0.7507, -0.0219, 0.8162, 0.5945, -0.416, -0.0162, -0.0269, 0.9964] state[eef_state]: left_x=0.3727 left_y=-0.0022 left_z=0.3265 left_yaw=0.0241 left_pitch=-0.4475 left_roll=0.0065 left_gripper=0.7507 right_x=0.2898 right_y=0.0001 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0679 right_roll=0.0028 right_gripper=0.9964 state[joint_eff]: [0.2667, -7.6376, 7.747, 1.3553, -0.0562, 0.0366, 0.6764, -0.1846, -1.6479, 7.0085, 1.6728, -0.0317, -0.0269, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.35}, "note": "Brick is raised high in the left jaws. Moving sideways toward the pot in the table centre, first halfway to keep the motion modest."})
tool
executing move_to over 18 steps (1.8s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteThe pot is now just to the right of the hanging brick in the left wrist view and the arm sagged to z=0.28. Raising higher, straightening the pitch, and moving over the pot centre.
move_to
left_x0.4400left_y-0.3300left_z0.3800left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5442, 2.0491, 2.4828, -1.6184, -0.2569, -0.5095, 0.7537, -0.0219, 0.8173, 0.5945, -0.4191, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.3924 left_y=-0.1808 left_z=0.2807 left_yaw=0.008 left_pitch=-0.544 left_roll=0.035 left_gripper=0.7537 right_x=0.2894 right_y=0.0002 right_z=0.1614 right_yaw=-0.0008 right_pitch=-0.0721 right_roll=0.0028 right_gripper=0.9964 state[joint_eff]: [-0.4308, -10.947, 8.8274, 1.4725, -0.4957, -0.0269, 0.696, -0.2393, -1.4427, 7.2, 1.7411, -0.0562, -0.0757, -0.0171] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.33, "left_z": 0.38, "left_pitch": 0.0}, "note": "The pot is now just to the right of the hanging brick in the left wrist view and the arm sagged to z=0.28. Raising higher, straightening the pitch, and moving over the pot centre."})
tool
executing move_to over 19 steps (1.9s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe left wrist view shows the pot opening ahead with the hanging brick just over its near rim. Advancing ~6 cm so the brick is over the pot's centre before releasing.
move_to
left_x0.4800left_y-0.3200left_z0.3200
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8482, 2.3093, 2.8262, -1.4639, -0.6273, -0.5991, 0.7564, -0.0216, 0.8173, 0.5945, -0.4221, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.4148 left_y=-0.3083 left_z=0.3076 left_yaw=-0.0243 left_pitch=-0.1526 left_roll=0.0845 left_gripper=0.7564 right_x=0.2889 right_y=0.0003 right_z=0.1608 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964 state[joint_eff]: [-0.4855, -12.3282, 9.0325, 2.0342, -0.9206, 0.2418, 0.569, -0.0479, -1.3744, 7.1453, 1.7167, -0.0562, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.32, "left_z": 0.32}, "note": "The left wrist view shows the pot opening ahead with the hanging brick just over its near rim. Advancing ~6 cm so the brick is over the pot's centre before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe arm is at its reach limit at this height (x stuck at 0.43). Lowering a little to regain reach and edge forward so the brick hangs over the pot interior.
move_to
left_x0.4600left_y-0.3200left_z0.2700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8181, 2.3219, 2.859, -1.4387, -0.5983, -0.5804, 0.7594, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.4266 left_y=-0.3047 left_z=0.3126 left_yaw=-0.029 left_pitch=-0.1387 left_roll=0.0495 left_gripper=0.7594 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.6769, -15.3368, 5.9556, 2.0684, -0.6325, 0.2222, 0.3053, -0.0889, -1.3744, 6.9949, 1.6484, -0.0659, -0.0757, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.32, "left_z": 0.27}, "note": "The arm is at its reach limit at this height (x stuck at 0.43). Lowering a little to regain reach and edge forward so the brick hangs over the pot interior."})
tool
executing move_to over 3 steps (0.3s)
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 arm did not move at all on the last command, likely an IK stall near reach. Trying a small pure descent to see if it tracks.
move_to
left_z0.2900
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5949, -0.5804, 0.7617, -0.0216, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.4265 left_y=-0.3053 left_z=0.3124 left_yaw=-0.0314 left_pitch=-0.14 left_roll=0.047 left_gripper=0.7617 right_x=0.2889 right_y=0.0003 right_z=0.1607 right_yaw=-0.0004 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.3487, -15.3504, 5.7915, 2.0635, -0.6032, 0.2125, 0.2222, -0.0205, -1.347, 6.9812, 1.6435, -0.0659, -0.0708, -0.0122] 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": {"left_z": 0.29}, "note": "The arm did not move at all on the last command, likely an IK stall near reach. Trying a small pure descent to see if it tracks."})
tool
executing move_to over 2 steps (0.2s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteThe arm is frozen at the same joint configuration; it may be at a joint limit. Backing up slightly and raising to break out of the stall.
move_to
left_x0.4000left_z0.3600
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5953, -0.5804, 0.7637, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.4265 left_y=-0.3052 left_z=0.3124 left_yaw=-0.0312 left_pitch=-0.1398 left_roll=0.0472 left_gripper=0.7637 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.3897, -15.3504, 5.7915, 2.0879, -0.6667, 0.2271, 0.1978, -0.1846, -1.388, 7.2957, 1.6825, -0.0562, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_z": 0.36}, "note": "The arm is frozen at the same joint configuration; it may be at a joint limit. Backing up slightly and raising to break out of the stall."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe wrist view shows the pot's near rim still beyond the hanging brick, and the arm is at its reach limit. Tipping the tool forward so the dangling brick swings out over the pot interior.
move_to
left_x0.4200left_z0.3200left_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8452, 2.326, 2.8986, -1.5547, -0.5919, -0.6033, 0.7653, -0.0219, 0.8177, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.4047 left_y=-0.3023 left_z=0.3073 left_yaw=-0.0383 left_pitch=-0.1976 left_roll=0.087 left_gripper=0.7653 right_x=0.2889 right_y=0.0002 right_z=0.1606 right_yaw=-0.0008 right_pitch=-0.0759 right_roll=0.0029 right_gripper=0.9964 state[joint_eff]: [-0.759, -16.335, 6.3248, 1.7411, -0.6032, -0.0562, 0.1441, -0.0342, -1.2923, 6.9812, 1.6728, -0.0464, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_z": 0.32, "left_pitch": 0.5}, "note": "The wrist view shows the pot's near rim still beyond the hanging brick, and the arm is at its reach limit. Tipping the tool forward so the dangling brick swings out over the pot interior."})
tool
executing move_to over 24 steps (2.4s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe arm jumped to a new configuration and is now high over the pot area but ~8 cm right of the pot's centre line. Shifting left to y=-0.31 so the hanging brick is over the pot centre before releasing.
move_to
left_x0.4600left_y-0.3100left_z0.3600left_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9211, 2.5904, 3.1229, -0.7963, -0.944, -0.1535, 0.7657, -0.0219, 0.8204, 0.5941, -0.4305, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.4758 left_y=-0.3838 left_z=0.3813 left_yaw=-0.021 left_pitch=0.4111 left_roll=0.0994 left_gripper=0.7657 right_x=0.2878 right_y=0.0002 right_z=0.1581 right_yaw=-0.0009 right_pitch=-0.087 right_roll=0.0034 right_gripper=0.9964 state[joint_eff]: [0.4171, -13.2171, 6.612, 1.9072, -0.1197, 0.2808, 0.0317, -0.2256, -1.5795, 7.0085, 1.746, -0.0513, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.31, "left_z": 0.36, "left_pitch": 0.4}, "note": "The arm jumped to a new configuration and is now high over the pot area but ~8 cm right of the pot's centre line. Shifting left to y=-0.31 so the hanging brick is over the pot centre before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe gripper is now over the pot in the top view but the tool is tipped forward, swinging the brick beyond the grasp point. Straightening the tool and shifting toward the pot centre so the brick hangs over the middle of the pot.
move_to
left_x0.4700left_y-0.3200left_z0.3600left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8604, 2.6011, 3.1229, -0.873, -0.8967, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.4381, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.4976 left_y=-0.3613 left_z=0.3602 left_yaw=-0.0278 left_pitch=0.3436 left_roll=0.1602 left_gripper=0.7658 right_x=0.2866 right_y=0.0002 right_z=0.1567 right_yaw=-0.0009 right_pitch=-0.0946 right_roll=0.0036 right_gripper=0.9964 state[joint_eff]: [0.7316, -18.7966, 6.6803, 1.7314, -0.0562, -0.0513, -0.0024, -0.212, -1.3744, 7.1863, 1.7118, -0.0659, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.32, "left_z": 0.36, "left_pitch": 0.0}, "note": "The gripper is now over the pot in the top view but the tool is tipped forward, swinging the brick beyond the grasp point. Straightening the tool and shifting toward the pot centre so the brick hangs over the middle of the pot."})
tool
executing move_to over 12 steps (1.2s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteThe gripper sits above the pot in the top view and the pot is no longer ahead of the fingertips in the wrist view, so the hanging brick should be over the pot interior. Opening the gripper to drop the brick into the water.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8486, 2.5992, 3.1229, -0.9325, -0.8867, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.445, -0.0166, -0.0273, 0.9964] state[eef_state]: left_x=0.4989 left_y=-0.3537 left_z=0.3507 left_yaw=-0.0384 left_pitch=0.3017 left_roll=0.202 left_gripper=0.7658 right_x=0.2856 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1014 right_roll=0.0034 right_gripper=0.9964 state[joint_eff]: [0.4581, -15.9932, 6.653, 1.6435, -0.1343, 0.0024, -0.0122, -0.0479, -1.2376, 7.2, 1.7167, -0.0024, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The gripper sits above the pot in the top view and the pot is no longer ahead of the fingertips in the wrist view, so the hanging brick should be over the pot interior. Opening the gripper to drop the brick into the water."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe brick has been released over the pot (pot rim visible under the jaws in the wrist view). Retracting the left arm toward home so the top camera can verify the brick landed in the pot.
move_to
left_x0.3500left_y-0.1000left_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8364, 2.5172, 2.9601, -1.0481, -0.8345, -0.2451, 0.9954, -0.0219, 0.8204, 0.5941, -0.4454, -0.0166, -0.0269, 0.9964] state[eef_state]: left_x=0.492 left_y=-0.3442 left_z=0.3183 left_yaw=-0.0519 left_pitch=0.1574 left_roll=0.2403 left_gripper=0.9954 right_x=0.2855 right_y=0.0003 right_z=0.1553 right_yaw=-0.0009 right_pitch=-0.1018 right_roll=0.0037 right_gripper=0.9964 state[joint_eff]: [-0.0068, -13.3402, 7.9795, 1.1502, -0.3443, 0.0562, 0.1099, -0.0752, -1.347, 6.9538, 1.6484, -0.0366, -0.0464, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.1, "left_z": 0.3}, "note": "The brick has been released over the pot (pot rim visible under the jaws in the wrist view). Retracting the left arm toward home so the top camera can verify the brick landed in the pot."})
tool
executing move_to over 22 steps (2.2s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
The top camera now shows the black brick lying inside the pot of water. Task complete.
agent noteGrasped the black brick with the left arm (held by its end, ~7 cm jaw reading), lifted it high, carried it over the pot at the table centre and released; the top camera confirms the brick is inside the pot.
done
hindsightThe pot centre in this layout is at roughly left_x≈0.47–0.50, left_y≈-0.33; the black brick starts at left_x≈0.40–0.45, y≈0 (directly ahead of the left arm home). Grasping the brick by its end leaves ~12–15 cm dangling, so carrying needs z≥0.32 to clear the pot rim, which puts the arm at reach/joint limits (elbow hits ~3.12 rad, shoulder effort -15 to -19 N·m) and moves stall silently; a positive pitch command (tipping the tool forward) swings the dangling object ~5 cm further in +x and also broke the stall by reconfiguring the arm. Better plan: grasp the brick closer to its middle (advance further before closing) so it hangs less, or pitch forward earlier. In the wrist cam, if the pot rim is still visible ahead of the jaws, the grasp point is short of the pot; when the pot disappears below the bottom edge the grasp point is over it.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6544, 2.1822, 3.1214, -1.549, -0.688, -0.1707, 0.9958, -0.0216, 0.8204, 0.5941, -0.4454, -0.0162, -0.0273, 0.9964] state[eef_state]: left_x=0.4174 left_y=-0.1743 left_z=0.4432 left_yaw=-0.0218 left_pitch=0.0894 left_roll=0.2469 left_gripper=0.9958 right_x=0.2855 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1018 right_roll=0.0032 right_gripper=0.9964 state[joint_eff]: [0.3487, -11.4256, 4.7385, 1.5556, -0.2418, 0.2466, 0.0317, -0.1299, -1.306, 6.9538, 1.6435, -0.0317, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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
The top camera now shows the black brick lying inside the pot of water. Task complete.
done({"summary": "Grasped the black brick with the left arm (held by its end, ~7 cm jaw reading), lifted it high, carried it over the pot at the table centre and released; the top camera confirms the brick is inside the pot.", "hindsight": "The pot centre in this layout is at roughly left_x\u22480.47\u20130.50, left_y\u2248-0.33; the black brick starts at left_x\u22480.40\u20130.45, y\u22480 (directly ahead of the left arm home). Grasping the brick by its end leaves ~12\u201315 cm dangling, so carrying needs z\u22650.32 to clear the pot rim, which puts the arm at reach/joint limits (elbow hits ~3.12 rad, shoulder effort -15 to -19 N\u00b7m) and moves stall silently; a positive pitch command (tipping the tool forward) swings the dangling object ~5 cm further in +x and also broke the stall by reconfiguring the arm. Better plan: grasp the brick closer to its middle (advance further before closing) so it hangs less, or pitch forward earlier. In the wrist cam, if the pot rim is still visible ahead of the jaws, the grasp point is short of the pot; when the pot disappears below the bottom edge the grasp point is over it."})
tool
done: Grasped the black brick with the left arm (held by its end, ~7 cm jaw reading), lifted it high, carried it over the pot at the table centre and released; the top camera confirms the brick is inside the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 17.99 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]: [-0.0193, 0.7956, 0.606, -0.3779, -0.0227, -0.0414, 0.9996, -0.0219, 0.7937, 0.6025, -0.379, -0.0166, -0.0284, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.6342, 9.9077, 1.8339, -0.0122, 0.2515, -0.0562, -0.5128, -1.4564, 10.1949, 1.9121, -0.0659, 0.1392, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40d682c1c4bc32dcea15b678f384ea3f5e73f0a525e56f31eebc60ba8c9dcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45a75f771d92c651868b26f6e57f7e84c41577e310ba73aa701a115f4483a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87f750ce6102eb6edd11754e90a68e0fb7ea91d91d9950b3fee36bc2d63be132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob a40d682c1c4b
wire blob b45a75f771d9
wire blob 87f750ce6102
call 1 attempt 0 · /messages · status 200 · 7.767 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]: [-0.0193, 0.7956, 0.606, -0.3779, -0.0227, -0.0414, 0.9996, -0.0219, 0.7937, 0.6025, -0.379, -0.0166, -0.0284, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.6342, 9.9077, 1.8339, -0.0122, 0.2515, -0.0562, -0.5128, -1.4564, 10.1949, 1.9121, -0.0659, 0.1392, -0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a40d682c1c4bc32dcea15b678f384ea3f5e73f0a525e56f31eebc60ba8c9dcb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45a75f771d92c651868b26f6e57f7e84c41577e310ba73aa701a115f4483a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87f750ce6102eb6edd11754e90a68e0fb7ea91d91d9950b3fee36bc2d63be132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob a40d682c1c4b]
[blob b45a75f771d9]
[blob 87f750ce6102]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EFZ3sW8fj64r6ESTYkcz3e",
      "input": {
        "note": "The black brick lies directly ahead of the left gripper (left wrist view, centred on the jaw column) with the pot to its right. Moving the left arm forward and slightly down to hover above the brick before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EFZ3sW8fj64r6ESTYkcz3e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 1.1213, 0.6022, -0.1497, -0.0231, -0.0498, 0.9996, -0.0219, 0.7975, 0.6037, -0.3889, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3415 left_y=0.0008 left_z=0.1275 left_yaw=0.004 left_pitch=-0.101 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2938 right_y=0.0001 right_z=0.177 right_yaw=-0.001 right_pitch=-0.013 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.5128, -4.2598, 8.6359, 1.7949, -0.0611, 0.0269, -0.0562, -0.0752, -1.5385, 6.9402, 1.7949, -0.0415, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703578a01ffd3c2f3e449229083d19dc7b7c63cdd5ce87fa27472fb18e73b8bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378700f8e9d6a4e777c9e6a75c255fe593250cdd3ad1f2b7e9dd1db0fee482ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5087816ee93b21176dbfae1e610d4b3e8837526578b8f4009c7fb68966ab0f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 703578a01ffd
wire blob 378700f8e9d6
wire blob 5087816ee93b
call 2 attempt 0 · /messages · status 200 · 8.678 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]: [-0.0193, 0.7956, 0.606, -0.3779, -0.0227, -0.0414, 0.9996, -0.0219, 0.7937, 0.6025, -0.379, -0.0166, -0.0284, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.6342, 9.9077, 1.8339, -0.0122, 0.2515, -0.0562, -0.5128, -1.4564, 10.1949, 1.9121, -0.0659, 0.1392, -0.3639]",
      "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]: [-0.02, 1.1213, 0.6022, -0.1497, -0.0231, -0.0498, 0.9996, -0.0219, 0.7975, 0.6037, -0.3889, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3415 left_y=0.0008 left_z=0.1275 left_yaw=0.004 left_pitch=-0.101 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2938 right_y=0.0001 right_z=0.177 right_yaw=-0.001 right_pitch=-0.013 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.5128, -4.2598, 8.6359, 1.7949, -0.0611, 0.0269, -0.0562, -0.0752, -1.5385, 6.9402, 1.7949, -0.0415, -0.022, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:703578a01ffd3c2f3e449229083d19dc7b7c63cdd5ce87fa27472fb18e73b8bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:378700f8e9d6a4e777c9e6a75c255fe593250cdd3ad1f2b7e9dd1db0fee482ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5087816ee93b21176dbfae1e610d4b3e8837526578b8f4009c7fb68966ab0f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 703578a01ffd]
[blob 378700f8e9d6]
[blob 5087816ee93b]
{
  "content": [
    {
      "signature": "CAQSkwgKEAgRGAI4AUIIdGhpbmtpbmcSDEhhiG7AipJzsyZoYhoMsfxKRWGsGl97lw2lIjA+YIKqPDlJ1q6c0+1CYT97Gdo2Bq74WcKinVx1U5vqDfXZqLl6jCdDPRBiIgLVOxcqsAcKWpnjTI1rv9NnlvWBUGagESYNfFINVeXdV3SkXvB7PRXDef6RN9IWssQQ2D5akogcG7GPUBjacPCMCVpTEPOX3zA7p291+7LSGjccDqq+t3UT55A3iXyaV0xWsHxMIBCswxy39b8Imjt7/gNQdd3PC4hDyEfck8HpGeLD5SRZlMgCUikyc1PRsEbPGrGkWQtfJnYWVhdaVhPvq7+sAnzChuZgTg/JVaM7hzm3GsZL8x62zZweRfYPEsY80VQXLfBIbHA7oxWQwFo2K5NpTFojKs1od8FLEvD1ZApIZX4nkjYlULA/R11TCouatQ3rNrXHlgNKMDYEHi2tLmZ1SOVzFDgVI2h3LqhDDbmbcShloQPyZXv10gL7Vevgz4D93vp/qBLyEQXO+grUe+Sh0agsJFhRlvNGL629QG8mr+w81ZrPE6lberRgj2Wbx45oCmHugpUc9mdXhtAClaeH8gBc7IocPja7iZtt9pv6znMJbPYgD1C/ypkz8m29gR4JXoA5XUuk9z4r2G7JAKfFM7LsRXdujeT/qnjd3Gs73RYB0xkBO+ZqrRUMe2E8WcdAREJNpH0KEYqoKHoIaYzGLWl64VEqdFXAh54Ig3m7xOR0vgyK5N5to2unkSzFxQ1EJaW9uWH4BlTfOkH0MDm/7DJzulCF3/XofGoXLKurgqCsxmfM5WTpP/EwfMnD1Gpe7zCzvANyF3UHDYtuG8BifoyWQWxfk6aA2gzWtgYQB1q23RmCNv3gFvumzGElAkpvk3qawx+LVj20rk/sLKUm2DZ20Rp9os3P5LTYv5voJWd37zzcUazJnGegjtsG78WOTRoCeIy0NaNl+ADZuKmYGKEYu2MPAvn8yJ5kc5DLw2LYgcxpChTK0/LtbVzY1dDWb4uP2Wez4XpjoiLz6VoTIUcucXREqga+s+HejlxmRQu7uewbb770KAjYWbpN2JaruaEnik7O79rP5YAW9GTqAO2yvnRsoRNQuPrif6yWgpKdew7evvb81t08YpM4zvI247vUa07i8P7UQL9b3dJtV2axzGs1AqM2xPSun4DJXV7AORBJeMC6cp81C2LyDGP1tBSPkmUztsJlnroZhoMbjTAre/lEc5YDM+XC5aWeDGPrxC+w/s3HGNBdHSPhPDUOEW9OOoNZC+BuDfCMc/pfEZighJLB4eef9/B1ApsC05hmvH4SzloOxgUOC/ubcWQCVZC5qkI+g7WVQDmAdgrXVQJpqCGYNgLjJXacGhYNRx6JTRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rf2Qjr2XisLgrVDVBWB4yC",
      "input": {
        "note": "The brick fills the left wrist view, centred on the jaw column but slightly beyond the fingertips. Advancing ~3 cm and descending toward grasp height with the jaws open.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Rf2Qjr2XisLgrVDVBWB4yC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 1.4761, 0.511, 0.1886, -0.0231, -0.0509, 0.9996, -0.0219, 0.8021, 0.6003, -0.3927, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.36 left_y=0.0005 left_z=0.0348 left_yaw=0.005 left_pitch=-0.2086 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -6.0923, 5.5453, 1.7949, -0.0659, -0.0024, -0.0562, -0.1436, -1.6479, 7.4735, 1.79, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474f13970526a71917e2af9853227b0a133760080285ea9047a693eeb5b07c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3905806e5482907ee8aef601ed8c320d09058092169e4f9c20e0c268a6248a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6970a10eebf44c78286162d22b728024e34d862df23a458d0df48acb8f82d341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 474f13970526
wire blob d3905806e548
wire blob 6970a10eebf4
call 3 attempt 0 · /messages · status 200 · 7.999 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]: [-0.0193, 0.7956, 0.606, -0.3779, -0.0227, -0.0414, 0.9996, -0.0219, 0.7937, 0.6025, -0.379, -0.0166, -0.0284, 0.9967]\nstate[eef_state]: left_x=0.2954 left_y=0.0019 left_z=0.1809 left_yaw=-0.0002 left_pitch=0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2947 right_y=0.0001 right_z=0.1796 right_yaw=-0.0002 right_pitch=-0.0004 right_roll=0.0003 right_gripper=0.9967\nstate[joint_eff]: [-0.4171, -1.6342, 9.9077, 1.8339, -0.0122, 0.2515, -0.0562, -0.5128, -1.4564, 10.1949, 1.9121, -0.0659, 0.1392, -0.3639]",
      "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]: [-0.02, 1.1213, 0.6022, -0.1497, -0.0231, -0.0498, 0.9996, -0.0219, 0.7975, 0.6037, -0.3889, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3415 left_y=0.0008 left_z=0.1275 left_yaw=0.004 left_pitch=-0.101 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2938 right_y=0.0001 right_z=0.177 right_yaw=-0.001 right_pitch=-0.013 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.5128, -4.2598, 8.6359, 1.7949, -0.0611, 0.0269, -0.0562, -0.0752, -1.5385, 6.9402, 1.7949, -0.0415, -0.022, -0.0366]",
      "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]: [-0.02, 1.4761, 0.511, 0.1886, -0.0231, -0.0509, 0.9996, -0.0219, 0.8021, 0.6003, -0.3927, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.36 left_y=0.0005 left_z=0.0348 left_yaw=0.005 left_pitch=-0.2086 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -6.0923, 5.5453, 1.7949, -0.0659, -0.0024, -0.0562, -0.1436, -1.6479, 7.4735, 1.79, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:474f13970526a71917e2af9853227b0a133760080285ea9047a693eeb5b07c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3905806e5482907ee8aef601ed8c320d09058092169e4f9c20e0c268a6248a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6970a10eebf44c78286162d22b728024e34d862df23a458d0df48acb8f82d341",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 474f13970526]
[blob d3905806e548]
[blob 6970a10eebf4]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgRGAI4AUIIdGhpbmtpbmcSDBypO2U3oRAhDksZuRoMGIYwlDz/jTkculdHIjBBVw3yFOw8/GTz1IDQsfs4OKpiYcQzvhn9f5mGh7Dh1zUSyMzMZl0SKDVcjhC4OhMqqwjfb3cO4Uw7tAb2Xt4e6hFiynQdY9u9qLu1XDF9NuASgiw20CmFg+DlumiLpWss4mFbj8hGH+wlFXqj9PDulFXs7N8RyNkOoCz4krMaf9xy2zCCMNHEFhWd3PzDkD3sYCFw3N3//gTV7FQuYcMDAlxdj1dArO1nHkDKPrg2RS264Q9tYBY4f+sqWwKZmA7RycaQ0NhZCr4Oi62n0ZsppENdSEL4+patZcmPn7OdW1/6t3ZOZdfwn76MdjdGOT7z+zynq8F4/85QzBV2aBF4YGqV/E0d2jUd4cPoTXJc7t+0ih/7ys3JwUVCoZ8osR11Z54K6dzKGQqkC9JabKTMRIvFpllaP0flcM1WvT2nk6yC8MBsXXMvg39TjKtfet0ViVL+ferehAQgfKVUNf2LqUWB9QCiEeujs+mc4GofWocumqi24Td82VoxJkeVTCx2Gj8tjQ7tH8RbUjXQfr33ts55gQqft81j8yGubgvrHY5lnhZKll/3guL7x3TLARivu0gtT7WPrbDWouHtIQimdJd3xgplwBU/lJLznhnaosGc2AouYUgzHyQo0iIxg8sbtPHxUHwLLRTlzAtxf1idb7sZJYt0Vfn7LWGal6+50IpaqT9BGP1ga43NEQOaQ+ZyMknxSl9f+Hs+h0E6R+UQM0hW6hjYeZJMbivlJiVOunx2pmc3mosrZnZ9ttONy2sxkkYyYGM0Sbpj1sdEiTgY6zUy7fYt5mh0apbRPLKD1TBjLFmjyT7oocXVhtP4H3OwznK82SUSdJiMpxWpFS5pBmVDtLPV3kJrqf3+MFr5MKa4CHC3kMBy1rEpcQFl0QEU4AFNhqyFPok/Xd6cj29cqR3xlHemY2teAMLmSqjMKivkH7PoAPuETJpEwBqZXVt84mpV9fRqWvk2aAVIsEuIwVVkTFzMTRwDSOMyhpOsmfg4rE8LhG30BshlmqAZaTIq0vNgMsDyo4KyXSWTuHB00P+hlTJmgSr5h/GL/HB8Xv/Ue4uqVz7f/GjWXXx8C25buKxZLvTUu0TQo7M7G0yTVMAWOXZQF/YhGBoWMce2BVHt4+QC6/0oW0Lr5xiVQqsAnZ9cdVIb1ZZXHMlS0mDkghuxrnZeQgpRGOB2/lBLXDG/Roq5vD0q1XEGkUC/OKNBtAMBTw/bFOo4dY0Mwguvm3EdDQopRIuWpFHJtLWXN9M/pTcOuXBEyN79DpRNOL0ydg1HzFRxzoqaz7GRYcshDUU0xWrI7qdkaeUWh5fYd6wi/cF42ksORllvAOk9fbmPP+PSL2q4ZBGj0T0v6lW7I2QbHeZEzHXl7N1HckiZ8YuG9vAwqHusV8PUW13J0+7fUj2WneJY2r88eN6iGyzMY59c/UI8MIq0b9wtNRsx/t7gcEgcjCQqD52Wc5GZWvITls4suzvMm76I/QJrJxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015q7dhBLmHWL9vqzW8mNMpB",
      "input": {
        "note": "The brick is now large and centred just above the jaws in the left wrist view; the arm stopped short at x=0.36. Advancing a bit more and descending to table-level grasp height straddling the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.385,
          "left_y": -0.005,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_015q7dhBLmHWL9vqzW8mNMpB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0284, 1.6016, 0.5358, 0.3191, -0.0311, -0.0574, 0.9996, -0.0219, 0.8024, 0.6003, -0.3943, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3804 left_y=-0.0017 left_z=0.0231 left_yaw=0.0069 left_pitch=-0.1786 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -6.1744, 5.9419, 1.4676, -0.1099, -0.0317, -0.0562, -0.0479, -1.1829, 7.0769, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddebcbfef9f08a366b5ad0ff8868c4731650f2097a5a4572d4c1e6814f18b7bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8896148fc58dda548fdbc86dd19d4f6bba2b2a74d11324871c5d1b7aabaf6fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db7a49f13a9fcb9cca9eb2c94dc24dd8fe87cbf8c8f39b4fc3cea1e79e02a2cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ddebcbfef9f0
wire blob 8896148fc58d
wire blob db7a49f13a9f
call 4 attempt 0 · /messages · status 200 · 4.914 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]: [-0.02, 1.1213, 0.6022, -0.1497, -0.0231, -0.0498, 0.9996, -0.0219, 0.7975, 0.6037, -0.3889, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3415 left_y=0.0008 left_z=0.1275 left_yaw=0.004 left_pitch=-0.101 left_roll=-0.0041 left_gripper=0.9996 right_x=0.2938 right_y=0.0001 right_z=0.177 right_yaw=-0.001 right_pitch=-0.013 right_roll=0.0019 right_gripper=0.9964\nstate[joint_eff]: [-0.5128, -4.2598, 8.6359, 1.7949, -0.0611, 0.0269, -0.0562, -0.0752, -1.5385, 6.9402, 1.7949, -0.0415, -0.022, -0.0366]",
      "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]: [-0.02, 1.4761, 0.511, 0.1886, -0.0231, -0.0509, 0.9996, -0.0219, 0.8021, 0.6003, -0.3927, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.36 left_y=0.0005 left_z=0.0348 left_yaw=0.005 left_pitch=-0.2086 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -6.0923, 5.5453, 1.7949, -0.0659, -0.0024, -0.0562, -0.1436, -1.6479, 7.4735, 1.79, -0.0562, -0.0171, -0.0122]\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]: [-0.0284, 1.6016, 0.5358, 0.3191, -0.0311, -0.0574, 0.9996, -0.0219, 0.8024, 0.6003, -0.3943, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3804 left_y=-0.0017 left_z=0.0231 left_yaw=0.0069 left_pitch=-0.1786 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -6.1744, 5.9419, 1.4676, -0.1099, -0.0317, -0.0562, -0.0479, -1.1829, 7.0769, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddebcbfef9f08a366b5ad0ff8868c4731650f2097a5a4572d4c1e6814f18b7bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8896148fc58dda548fdbc86dd19d4f6bba2b2a74d11324871c5d1b7aabaf6fe8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7a49f13a9fcb9cca9eb2c94dc24dd8fe87cbf8c8f39b4fc3cea1e79e02a2cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ddebcbfef9f0]
[blob 8896148fc58d]
[blob db7a49f13a9f]
{
  "content": [
    {
      "signature": "CAQSjAkKEAgRGAI4AUIIdGhpbmtpbmcSDJNz6N47MINwE5fmmBoMmCpwjPzI2xk6/0y7IjD4IIVnLKwILXgfyghxcQ26bYKaRBNWgl+JvijxiOxg68osmvk18j3D5QE6MrIFwhwqqQhsXD6ZXiFEK+NiZs2NIdYTUak+PqYNJw5JcC2JLCAtqq6roFB+XL1cgr3kcEBj1q19F7lrmmReAx/LYzhr98M9tGi8zQB6NTWoRTAeQvjDwUHFzRtztIgMNbS6ExBlBNNFArCJxFinaZNhMCVui/sxneRgSRKgFKYwRERyaEWH9IkoM12brTXeiAuo0V4ZU2L8k5P5DFzhtCbIfoDUeinYEEJeH/fKiN2qFToUXAKTYxjYZjFUwrDdkaidbklTHUEkieUQb+VpY4Y+88VsqwV2ajtovWTPmvryJ2O7w+J3t12EDWMD3padjtCoV4kqPfbr6NFx19+xJpM2FvGdp6PnZ6PTsMyw/gJAlkU1pz51NXJAJfaZIYl0kuWuKcuZRiQBEkLtbvGbAu6QRVRCnrpakN+6vw7YUX6py7N9MqgxUk0//B6r8ZSWD0YaMJO1MvERL8DGoCcrZlHzxhzeVwIS/MfzRu297hL0To2TBVVNj+x0k45SxedYANJtLVi67+T4VPRb9YQOiD4ugJG8G6BJ+dhC3UlTfc6Z/Ov7R7xYDvaDRashUBhIx9dh5M1O5d63iAQedS/akSxa5vxiJGu1T/fxUVo9WXcebI3yzBq7Ra0jpliCVjoSleSA52QJC5XYDd3s1mDzzXU1T7TtDnCzD230nrS5S+DJf+fgjLH6SSIxpvbuGEVC9vqDrwN14eRPPtes5z+mKSNbWWH8ZiDKX8qJnkCQ0buEWXKQWZbabNucxkDlujqOKlDEtWTtJ0ZTEgGIQbbEzrcnxRe6JsD3Kmc1xDIhgtBjRsBhWHYpsZQSGLJIPXNpaTD4CP0aawGqT408TxgeMVg5SQ5qCqT9fMROgh5Vk/OZpmlQbwbLKhFvuSiGi/EXDy9ErgBGo6LCIwnE8uEiipAkOmLpHS+sPGJuuxJ5RIYKyKwpWqaoLDduO2i6iqi8wfPPO0ZnrF+NGap+p6x/m5GG9b6mqt0a6GWCFL2zumx5AofcnYQsj61f2lteKcbKguYQUG9CgdJ0p3iv1EZ+0qBB5TskiifGqXiAQLzKrzX5lRgbzs/AoihrankOKpI13XUt8Wztn6UpMgj15bt5QEFbDPDaWJGwoHrkJS7xIGcu6dWZsfFGRXaSjjeSUDC+14wkM90OWI3KZPV3H4XbR11urQ+0gUSVtJiR4b0HWzvbprqK/wb0ZOlmakm72qg/M6u9rGe4+v3XPUqMX31F4qOaB0yCWJfk6JlJgeQ7ax3aIPni+obWUMOKdupLjdTWZLVR26jQRcqVmyGt4uFqQ6cSA93Yvbwv6HACtGpwwsdgWNkSnr/NNVbCQdNATw0S/kcgo9kOFDIzhb3RGvOP+v0jMgg7MOR/F4WNmZ4o53B8BFrKPSSfAluXOqfKnft6pALIrzziRQpS9ndGVQTbTl4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kXvyRF8m6cBYsp2sx9rph",
      "input": {
        "note": "The jaws are at the near end of the brick (top view shows the gripper touching the brick's back edge). Advancing 3 cm further so the jaws straddle the brick body, and lowering to table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.005,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017kXvyRF8m6cBYsp2sx9rph",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.7416, 0.5991, 0.3695, -0.0444, -0.0612, 0.9996, -0.0219, 0.8078, 0.5999, -0.3965, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3979 left_y=-0.0035 left_z=0.0022 left_yaw=0.0115 left_pitch=-0.2045 left_roll=0.0053 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1709 right_yaw=-0.0008 right_pitch=-0.0347 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -6.065, 5.9282, 1.4628, 0.0659, -0.0073, -0.0562, -0.2256, -1.6068, 7.0222, 1.7607, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f401f378aa8c55fcbdf043abe05626131c96c3a5acf3c46371fc69ae3d90b34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65a91c5a1d2cf9ba964611a92a22a944e8472be5520c5d796693c8456c8a22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eef4ee2f8d5a14a1581d7bbd9916626a740debf25ff3635949545c91d28518c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4f401f378aa8
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 10.79 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]: [-0.02, 1.4761, 0.511, 0.1886, -0.0231, -0.0509, 0.9996, -0.0219, 0.8021, 0.6003, -0.3927, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.36 left_y=0.0005 left_z=0.0348 left_yaw=0.005 left_pitch=-0.2086 left_roll=-0.0023 left_gripper=0.9996 right_x=0.2931 right_y=0.0001 right_z=0.1734 right_yaw=-0.001 right_pitch=-0.0248 right_roll=0.0021 right_gripper=0.9964\nstate[joint_eff]: [-0.3761, -6.0923, 5.5453, 1.7949, -0.0659, -0.0024, -0.0562, -0.1436, -1.6479, 7.4735, 1.79, -0.0562, -0.0171, -0.0122]\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]: [-0.0284, 1.6016, 0.5358, 0.3191, -0.0311, -0.0574, 0.9996, -0.0219, 0.8024, 0.6003, -0.3943, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3804 left_y=-0.0017 left_z=0.0231 left_yaw=0.0069 left_pitch=-0.1786 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -6.1744, 5.9419, 1.4676, -0.1099, -0.0317, -0.0562, -0.0479, -1.1829, 7.0769, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.7416, 0.5991, 0.3695, -0.0444, -0.0612, 0.9996, -0.0219, 0.8078, 0.5999, -0.3965, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3979 left_y=-0.0035 left_z=0.0022 left_yaw=0.0115 left_pitch=-0.2045 left_roll=0.0053 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1709 right_yaw=-0.0008 right_pitch=-0.0347 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -6.065, 5.9282, 1.4628, 0.0659, -0.0073, -0.0562, -0.2256, -1.6068, 7.0222, 1.7607, -0.0611, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f401f378aa8c55fcbdf043abe05626131c96c3a5acf3c46371fc69ae3d90b34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65a91c5a1d2cf9ba964611a92a22a944e8472be5520c5d796693c8456c8a22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eef4ee2f8d5a14a1581d7bbd9916626a740debf25ff3635949545c91d28518c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4f401f378aa8]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now the brick fills the wrist view between the jaws at table level. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SMzhCnJ34y52wdwNHjYTQx",
      "input": {
        "note": "The brick sits between the open jaws in the left wrist view with the gripper at table level. Closing the gripper to grasp it across its width.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SMzhCnJ34y52wdwNHjYTQx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.7645, 0.6174, 0.3889, -0.0456, -0.0685, 0.7429, -0.0219, 0.8101, 0.5953, -0.4114, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4055 left_y=-0.0036 left_z=0.003 left_yaw=0.0163 left_pitch=-0.1895 left_roll=-0.0 left_gripper=0.7429 right_x=0.2902 right_y=0.0002 right_z=0.1652 right_yaw=-0.001 right_pitch=-0.0564 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.7077, 5.8735, 1.6239, 0.0269, -0.0024, 1.0281, -0.1709, -1.4564, 7.5829, 1.8437, -0.0806, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cf40a12a9f27bb17d2c61b5010896a00b4603061c6dcb18f074b711422fdb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4bdbab271977b92963c6b33c52c180402474155b4a6c9967ab9b4fc324ed8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4238eea5d231caec5e3329dd216124e3987f3feb8d48604457f8bdca1feb6f85",
        "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 · 8.203 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]: [-0.0284, 1.6016, 0.5358, 0.3191, -0.0311, -0.0574, 0.9996, -0.0219, 0.8024, 0.6003, -0.3943, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3804 left_y=-0.0017 left_z=0.0231 left_yaw=0.0069 left_pitch=-0.1786 left_roll=-0.0024 left_gripper=0.9996 right_x=0.2929 right_y=0.0 right_z=0.173 right_yaw=-0.0013 right_pitch=-0.0267 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.7043, -6.1744, 5.9419, 1.4676, -0.1099, -0.0317, -0.0562, -0.0479, -1.1829, 7.0769, 1.7411, -0.0269, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.7416, 0.5991, 0.3695, -0.0444, -0.0612, 0.9996, -0.0219, 0.8078, 0.5999, -0.3965, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3979 left_y=-0.0035 left_z=0.0022 left_yaw=0.0115 left_pitch=-0.2045 left_roll=0.0053 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1709 right_yaw=-0.0008 right_pitch=-0.0347 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -6.065, 5.9282, 1.4628, 0.0659, -0.0073, -0.0562, -0.2256, -1.6068, 7.0222, 1.7607, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.0376, 1.7645, 0.6174, 0.3889, -0.0456, -0.0685, 0.7429, -0.0219, 0.8101, 0.5953, -0.4114, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4055 left_y=-0.0036 left_z=0.003 left_yaw=0.0163 left_pitch=-0.1895 left_roll=-0.0 left_gripper=0.7429 right_x=0.2902 right_y=0.0002 right_z=0.1652 right_yaw=-0.001 right_pitch=-0.0564 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.7077, 5.8735, 1.6239, 0.0269, -0.0024, 1.0281, -0.1709, -1.4564, 7.5829, 1.8437, -0.0806, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cf40a12a9f27bb17d2c61b5010896a00b4603061c6dcb18f074b711422fdb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4bdbab271977b92963c6b33c52c180402474155b4a6c9967ab9b4fc324ed8b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4238eea5d231caec5e3329dd216124e3987f3feb8d48604457f8bdca1feb6f85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AYKEAgRGAI4AUIIdGhpbmtpbmcSDOkXQfiTzGnFEbgRgBoMol8bZdBI42Hjp2LsIjBw+HiK4YJN4dn+UZCc037nPHluhiAG7BaOLYB27ge7kCMhOCWMWKNfa2Mg+wYcBrQq+QVcN/LWT8oSIAxDVCwAJKYrWpGx7TTArvDcIBv3jPfQ29Wl4N+xiu7IRLIotri8PMojZWtCmeTe2dbdaAwsuVH/rfXgsny/0PtD9zmRDWqpNGTUOBNgr0qlD/bttEeKOGemNjpMXuhw5jFoDpvno7CxuwgmqjVGgraTxZocXIDKcHx+M0PSDvrYRHI6aT86K5sDc1l00AT/69V3kHaU+V8xp4Sz//eFz5lLR+0toqnNDu9okdWQH5SPPywDB0cP7G+Atioc4divBQsbCJVzqPxOzUaGEBdFb5UszegPI6WpDcek1frxzOoEc92agcQmga2e6HTeISFRpStl4SUz7+ca+b9oW3JDrYaXb6XssIDQtBd7mpybXwhahS3j8vT9qFfNjYgut0Onai6fGR8frm7cG9CBTyEOLUZTVuRWJqH5060Mxnq3NKonXiVMSmV1gXlynLayg1kmdLrZXurdW9yxx8uWY9pTdOEwBAY5YGrVdbJQQ3ed2H03Rtd/EnqSpSVasOquSjPNO7x2k/bT2M8C/iHCEPr/UOIV7zBUpZTLrh3AqEutj69mcHaCWZAkzuRHAe6pRBCAzYK9VHaOOcVjLNQIqkITHBN78kArDHlppxrVwBClOGmXpMRWN4G5huU037sRPG3qz8XTB2Wd5QgoxdzcRdy8G6VuUtdnfswYxq4npv+J7iCio3RpMolW16gHDBRYERSZHkyJ0HqxA6576Mgrt/XHXjlAKd/lD4xs4uABAf5AcpDJFIESrZVrzJOZWUfYgv6J1LHzHNV0bi7L6UgUR0cLQ1yRLK94PoxlLSc7Npsa4IgmOggnNXLPKL6PdyWZR/Fzuw4T3LCi3Dv3aHabxJqCPu2FTh5H2dDY8poPgtrf/Zg1D1k3n7j1G8+oCeEVZBp9JRyALj4Q1Mr/182viHR1lGPiW0emVU+UO3FgNnDT1+cKvz9aC4ZGVV5Ycmf88QD+dw8ix1tBx9oiPgAi2xy0WXyxc38Lv+vkO9nk8KaZn7VhTRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAkAz7HSbNTGqnUCynunNB",
      "input": {
        "note": "Gripper settled at 0.74 (~7 cm), consistent with the brick's width. Lifting 8 cm to confirm the brick comes along.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YAkAz7HSbNTGqnUCynunNB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.578, 0.704, 0.033, -0.046, -0.0723, 0.7428, -0.0216, 0.8108, 0.5949, -0.4152, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3897 left_y=-0.0029 left_z=0.043 left_yaw=0.0198 left_pitch=-0.2722 left_roll=0.0022 left_gripper=0.7428 right_x=0.2897 right_y=0.0003 right_z=0.1641 right_yaw=-0.0004 right_pitch=-0.0614 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.306, 9.6479, 2.1172, -0.0366, -0.0122, 1.0281, -0.0889, -1.4017, 7.0222, 1.6923, -0.0366, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e1e7f0da71b27772eeee40940a0c934dff7683740c488d75f8a2fbdd0840728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9371d78a164f4a1a3018492df69f237cb86c2837e091b0c2ea5e2c200aba1856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ec9e8fa583b2016eaa6b9ec4774c23d64f94ba1a4581981b910a674c05631d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 13.25 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]: [-0.0376, 1.7416, 0.5991, 0.3695, -0.0444, -0.0612, 0.9996, -0.0219, 0.8078, 0.5999, -0.3965, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3979 left_y=-0.0035 left_z=0.0022 left_yaw=0.0115 left_pitch=-0.2045 left_roll=0.0053 left_gripper=0.9996 right_x=0.2929 right_y=0.0001 right_z=0.1709 right_yaw=-0.0008 right_pitch=-0.0347 right_roll=0.002 right_gripper=0.9964\nstate[joint_eff]: [-0.3077, -6.065, 5.9282, 1.4628, 0.0659, -0.0073, -0.0562, -0.2256, -1.6068, 7.0222, 1.7607, -0.0611, -0.0611, -0.0122]",
      "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]: [-0.0376, 1.7645, 0.6174, 0.3889, -0.0456, -0.0685, 0.7429, -0.0219, 0.8101, 0.5953, -0.4114, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4055 left_y=-0.0036 left_z=0.003 left_yaw=0.0163 left_pitch=-0.1895 left_roll=-0.0 left_gripper=0.7429 right_x=0.2902 right_y=0.0002 right_z=0.1652 right_yaw=-0.001 right_pitch=-0.0564 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.7077, 5.8735, 1.6239, 0.0269, -0.0024, 1.0281, -0.1709, -1.4564, 7.5829, 1.8437, -0.0806, -0.022, -0.0122]\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]: [-0.0376, 1.578, 0.704, 0.033, -0.046, -0.0723, 0.7428, -0.0216, 0.8108, 0.5949, -0.4152, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3897 left_y=-0.0029 left_z=0.043 left_yaw=0.0198 left_pitch=-0.2722 left_roll=0.0022 left_gripper=0.7428 right_x=0.2897 right_y=0.0003 right_z=0.1641 right_yaw=-0.0004 right_pitch=-0.0614 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.306, 9.6479, 2.1172, -0.0366, -0.0122, 1.0281, -0.0889, -1.4017, 7.0222, 1.6923, -0.0366, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e1e7f0da71b27772eeee40940a0c934dff7683740c488d75f8a2fbdd0840728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9371d78a164f4a1a3018492df69f237cb86c2837e091b0c2ea5e2c200aba1856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec9e8fa583b2016eaa6b9ec4774c23d64f94ba1a4581981b910a674c05631d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AkKEAgRGAI4AUIIdGhpbmtpbmcSDK7Q7Mx/TKiuFFYCsxoMBefLgbonHobqO0q8IjC03uJFzCr996IJSQcjD0MVvFFpXj+sQXcJXKN/0QO1d5H+YBlrQdI3rE6n4oK0uvsqkQmHVbZrKcOq/KlQDOxTMEquirz2+vCNYehpGqfRs6nzJkrRH19azlD14x1hjSSYgI/Jg96vSgm4NmxTWpmRKH6bmqz4ob7xE509WXbzisyq6SyG3QBKwNFNVWcJv+brxGbJkpHQxls27/Nv5bVav3AJ/gwK5sLnBQAxKjq/aBXG1hcEFiHFtIk/GiiG3N2Idyad5g+l8zk7MdIvcfjxrKKfxf1hdkAv4VUvdb2BzQkdpxmysNDpdTwqi6JJDFKpoy4uSJtguHWZVQjPr2NgSocic00CDPMw5vl3Dt05VO9tvqqOsHUdtc539/x8zcjJRTqY6edabN/0TG8oPmZ7uDdMWQEQq/0C/Chz8mx3P3Ep+px+YdohwSw4kLAmKpB44+iO13B7KSvmC7wpzBXBpFcujyiedrW0dqKPiDQ0mlsPETkGXnwXf1W6npNp8oEL49RuXTFttFK88wQx3coGOyexOEwxkFoU4k0uAIOGyevdqiRZM2VCeOX7jvXreBrbv0RSqNEwmllebBzf1VLteflHy2nSH1WR0IZZah57Uda3gb/iNcH+rtaviCNRoZGncZIlbyzjqN/NJkRj+3i+pdw/nmWGypfrr5Pq9CIdY59WREej2lcBo9RXx4t2Iuk5iY3VaKu3I+mdtFvHQb3cJrnaGnkbvVjzYU3hH1hTAR+V3z6rCKSvzLGG3fUOUZyeP7pIr3RUAMX3Xg5fxivKk7akYD8SatbolqxRtJ046nNuOo4VKC+8kD2SZplrQd9rSauWJAkZf6QNdUwdodwl4QeqQXuoF+wIiqerp0D9vpQOWsOm+EsHohQZu1UfacoEJ/2uXNk1/L9UMXC4Mq4dg/ePs0BSbBZWHqXnzf7t4eU4azc9M7cgvpoNdGuGcRjV5ZQL0QHW2oymc/Ey7UsQeKISYl5xTIcyjNGnXIsEMGw1wcfdatXkgKp3O5LJL60ptUSiWVe3X1FGD0h+2zBRa618fbd7+4KEkmdzqArDo8mjE2IX7mMs7ghxs14y2prmj1bUoYO6CGPg/qLBw6jsRWDpDPRMgb0KpmSy0aT5r544cyVUmnCKrTwPe1XIUvCW0l9Y2I9XZVDR681vWzTLsbv4GhhcKVLIakaSzQFs207mOQUqj64kNSidr3qkjVsEbjl++vHZ/+Xzh/6+NNhIH5rBFzZPhKf+8lnMA+0gLRgOLiq9MK1/1xtsypv3u5KtP+yTGPbOVNaN5r2u1b4MVhjedmYUE60Kli0YRGqXWDIgTFFXQvWMB0NFAopWcUjRK3sGOHRqY5oLe5IpPlBXicThvFxnn1DFLXmECJpaUnXptFz2oDCfMcoFX5eFIfPIlRtTmyb9QwKrl0vbM0LeMyzQ5cBlAbM5yvyvDN1Z/S9oNARLpntFIq+zb2CQzfikxqNFx6OC/QOXiErjVaa2T4drn2F/Hk7vusNLqJ4ayXR9Y5QnlegTGK442aKFRkXKDMHSx1Zw3UQN2qBtzmDiYjCdDhMwfmUiYC0s0yB5Z5yu+2JWmUohWJ5lePED6N0G5kh5X9GqqXa0rwkys3CEUr5FFhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Azny4km3YcJ3zzJBArxDUV",
      "input": {
        "note": "The brick appears tilted in the top view and shoulder effort rose, suggesting it is held by its near end. Lifting to carry height to confirm it is fully off the table.",
        "targets": {
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Azny4km3YcJ3zzJBArxDUV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.4513, 0.9363, -0.4465, -0.0456, -0.0765, 0.747, -0.0219, 0.8112, 0.5945, -0.4156, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3726 left_y=-0.0024 left_z=0.1036 left_yaw=0.0244 left_pitch=-0.3925 left_roll=0.0068 left_gripper=0.747 right_x=0.2896 right_y=0.0002 right_z=0.1637 right_yaw=-0.0008 right_pitch=-0.0625 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3607, 11.0974, 1.9316, -0.0806, -0.0317, 1.033, -0.1846, -1.3197, 7.0085, 1.663, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1207cd093837356612a262541024ce7d6b8c977907284a4d02b15b6b0d1a60df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d4e100d91a519cb85ef3d965f45956f96725ab28037b73b3f4287f43ceff0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06b5d0460be3522ef4b4e5e1eae4dd4a06deb1af5c97327bad38519e30007586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.775 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]: [-0.0376, 1.7645, 0.6174, 0.3889, -0.0456, -0.0685, 0.7429, -0.0219, 0.8101, 0.5953, -0.4114, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4055 left_y=-0.0036 left_z=0.003 left_yaw=0.0163 left_pitch=-0.1895 left_roll=-0.0 left_gripper=0.7429 right_x=0.2902 right_y=0.0002 right_z=0.1652 right_yaw=-0.001 right_pitch=-0.0564 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -6.7077, 5.8735, 1.6239, 0.0269, -0.0024, 1.0281, -0.1709, -1.4564, 7.5829, 1.8437, -0.0806, -0.022, -0.0122]\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]: [-0.0376, 1.578, 0.704, 0.033, -0.046, -0.0723, 0.7428, -0.0216, 0.8108, 0.5949, -0.4152, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3897 left_y=-0.0029 left_z=0.043 left_yaw=0.0198 left_pitch=-0.2722 left_roll=0.0022 left_gripper=0.7428 right_x=0.2897 right_y=0.0003 right_z=0.1641 right_yaw=-0.0004 right_pitch=-0.0614 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.306, 9.6479, 2.1172, -0.0366, -0.0122, 1.0281, -0.0889, -1.4017, 7.0222, 1.6923, -0.0366, -0.0757, -0.0171]\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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0376, 1.4513, 0.9363, -0.4465, -0.0456, -0.0765, 0.747, -0.0219, 0.8112, 0.5945, -0.4156, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3726 left_y=-0.0024 left_z=0.1036 left_yaw=0.0244 left_pitch=-0.3925 left_roll=0.0068 left_gripper=0.747 right_x=0.2896 right_y=0.0002 right_z=0.1637 right_yaw=-0.0008 right_pitch=-0.0625 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3607, 11.0974, 1.9316, -0.0806, -0.0317, 1.033, -0.1846, -1.3197, 7.0085, 1.663, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1207cd093837356612a262541024ce7d6b8c977907284a4d02b15b6b0d1a60df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d4e100d91a519cb85ef3d965f45956f96725ab28037b73b3f4287f43ceff0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06b5d0460be3522ef4b4e5e1eae4dd4a06deb1af5c97327bad38519e30007586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Ti8mvTEQ9S79Bn4dJFEZ4",
      "input": {
        "note": "The brick is lifted, hanging from its end in the jaws. Raising high so the dangling brick will clear the pot rim before moving sideways over the pot.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.0,
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_012Ti8mvTEQ9S79Bn4dJFEZ4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0349, 1.6814, 2.1368, -1.4719, -0.041, -0.0761, 0.7507, -0.0219, 0.8162, 0.5945, -0.416, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.0022 left_z=0.3265 left_yaw=0.0241 left_pitch=-0.4475 left_roll=0.0065 left_gripper=0.7507 right_x=0.2898 right_y=0.0001 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0679 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -7.6376, 7.747, 1.3553, -0.0562, 0.0366, 0.6764, -0.1846, -1.6479, 7.0085, 1.6728, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de98546ec0e6f2c7fd1cc767d69905b4cb880a95c263bb21b7cd4f8b2e400165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8c52ef7e5b4685d8074e1dca6631bd1b7377855c2c358d44a35dfee39d9467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96de869b2553e94b60a6190dde57b83a00bbc5fb9bb0f17d29d0498ccfb5c674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 9.082 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]: [-0.0376, 1.578, 0.704, 0.033, -0.046, -0.0723, 0.7428, -0.0216, 0.8108, 0.5949, -0.4152, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3897 left_y=-0.0029 left_z=0.043 left_yaw=0.0198 left_pitch=-0.2722 left_roll=0.0022 left_gripper=0.7428 right_x=0.2897 right_y=0.0003 right_z=0.1641 right_yaw=-0.0004 right_pitch=-0.0614 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.306, 9.6479, 2.1172, -0.0366, -0.0122, 1.0281, -0.0889, -1.4017, 7.0222, 1.6923, -0.0366, -0.0757, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.0376, 1.4513, 0.9363, -0.4465, -0.0456, -0.0765, 0.747, -0.0219, 0.8112, 0.5945, -0.4156, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3726 left_y=-0.0024 left_z=0.1036 left_yaw=0.0244 left_pitch=-0.3925 left_roll=0.0068 left_gripper=0.747 right_x=0.2896 right_y=0.0002 right_z=0.1637 right_yaw=-0.0008 right_pitch=-0.0625 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3607, 11.0974, 1.9316, -0.0806, -0.0317, 1.033, -0.1846, -1.3197, 7.0085, 1.663, -0.0415, -0.0415, -0.0122]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0349, 1.6814, 2.1368, -1.4719, -0.041, -0.0761, 0.7507, -0.0219, 0.8162, 0.5945, -0.416, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.0022 left_z=0.3265 left_yaw=0.0241 left_pitch=-0.4475 left_roll=0.0065 left_gripper=0.7507 right_x=0.2898 right_y=0.0001 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0679 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -7.6376, 7.747, 1.3553, -0.0562, 0.0366, 0.6764, -0.1846, -1.6479, 7.0085, 1.6728, -0.0317, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de98546ec0e6f2c7fd1cc767d69905b4cb880a95c263bb21b7cd4f8b2e400165",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8c52ef7e5b4685d8074e1dca6631bd1b7377855c2c358d44a35dfee39d9467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96de869b2553e94b60a6190dde57b83a00bbc5fb9bb0f17d29d0498ccfb5c674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgRGAI4AUIIdGhpbmtpbmcSDLMOcukmc8Xvd6lLDRoM9wDMFA1zCgvK42UyIjCSGghhLAi4orwTwhhMik57hGfH9AHFHdaC1hSvluijvxBVQWz6H189l97eLbHq+1oqtAZXfJb3rh2Fl9KF6ieJdCLkndP2t9BeKi1Uv5BfXpYWPv+mClp3gztzUEaNMFyCvJPEkhHHtbePiF6xNiu2aHRbAs/UQfsYmtf4PVXuMFxsf7Nk3jqMRa6OgchKLA7nztON+fZmj03VBLmgkUficEjuFPUA6kDahl9e+dn5UwXwnCDHpGLyyXOs/PqjDY5q0o9wAtV8/kXoHqR2TwAEsbKNij53M9OHz5CZdgtXZO/IutCYymGvh17XJbd9je2Ujjxk2lmuYB1aqjBaVIHbsWUK36PS8GuFYwmfui4x92CacUNqZ60sBYcSADokC2rRA6ZhSSw6b0Y5MzmPqAwrNGOzUe/rx4a3mYL+4y6vU6hrK871/+ZV6iSr207wtPhJy5TOXeka/iJn2I7uvspPnGiH2IEdTqegtnHQW2Ue6mJG/l5U4tGblidKqL1SDK+dumRsySJpZlr3I1GkL3q89IpcPX6n0fYhmzDIw8zBATx9WqWEcVytu79TJ63J0/CaQps+bRwmpjOOIZUeVXcrjIQvnNTWG3Jq9tMjmj2Xj6YSDVIDL2psh2Bze00B3mtu/IzGoLODKSuSMlR/KOysmz84VTWszIWi9p1G0MjlRbeiZbHqK8aSi3UJQF7M6J3sFwSHOK1EbF36GhLZOA1WJaZKwCpRcsWHORqbmkXJrj0VJh/SFuTUVlzd51azKW/OOmq3n8A7tPMJhnnlCaDZQYW8HUyc6jWFLULtAro9f5puT0pwOc5MNsVhZS67L/suDu1QIppbDC5xnN3w2iu+JrcYlCgAiKfsIdLiOlN71KtCIZ9nVD9ngkgE4WwsOt3Yqmp3b0pMhMwbqsp0e4vYIX3mxSJtnsp32yyYDW3Kunhz0O18rSuZmMR88HI90Nj4033t74M45L3cnZ1KLJM1S0FDBbYZFZI6q7ztyoyhjIl+2EkBhWNpaMXhj9y21WqJAPlBHt8hyKAgvEg7bdBZYAJBo4Jb0Ypxe2OlYGGuyxs5jAZcLF6OW88vUgqwtNoZJkoiFfw/Ja7Z7POZGLTqdLYLPsyD92DeIgH1obyyr/jDhW06vYUwtS+0eIJl8QTXmHk8aRM6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aCnXtDCzbA8oc8ccZsXK2",
      "input": {
        "note": "Brick is raised high in the left jaws. Moving sideways toward the pot in the table centre, first halfway to keep the motion modest.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.2,
          "left_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_012aCnXtDCzbA8oc8ccZsXK2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5442, 2.0491, 2.4828, -1.6184, -0.2569, -0.5095, 0.7537, -0.0219, 0.8173, 0.5945, -0.4191, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3924 left_y=-0.1808 left_z=0.2807 left_yaw=0.008 left_pitch=-0.544 left_roll=0.035 left_gripper=0.7537 right_x=0.2894 right_y=0.0002 right_z=0.1614 right_yaw=-0.0008 right_pitch=-0.0721 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4308, -10.947, 8.8274, 1.4725, -0.4957, -0.0269, 0.696, -0.2393, -1.4427, 7.2, 1.7411, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f4d56b34dc4580f5f2d5a5975cffb18b89b1429b8d5a9719c0ac1fa7efad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0803f2cd7aa763c59bb0542d0469090f64aba4b775326bf0f501ba07613823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4110f6cb296b4f3f9f49ed75ad71db98c6e24ab6d50f300b98f06662861bb210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 7.97 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]: [-0.0376, 1.4513, 0.9363, -0.4465, -0.0456, -0.0765, 0.747, -0.0219, 0.8112, 0.5945, -0.4156, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3726 left_y=-0.0024 left_z=0.1036 left_yaw=0.0244 left_pitch=-0.3925 left_roll=0.0068 left_gripper=0.747 right_x=0.2896 right_y=0.0002 right_z=0.1637 right_yaw=-0.0008 right_pitch=-0.0625 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -9.3607, 11.0974, 1.9316, -0.0806, -0.0317, 1.033, -0.1846, -1.3197, 7.0085, 1.663, -0.0415, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0349, 1.6814, 2.1368, -1.4719, -0.041, -0.0761, 0.7507, -0.0219, 0.8162, 0.5945, -0.416, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.0022 left_z=0.3265 left_yaw=0.0241 left_pitch=-0.4475 left_roll=0.0065 left_gripper=0.7507 right_x=0.2898 right_y=0.0001 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0679 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -7.6376, 7.747, 1.3553, -0.0562, 0.0366, 0.6764, -0.1846, -1.6479, 7.0085, 1.6728, -0.0317, -0.0269, -0.0171]\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]: [-0.5442, 2.0491, 2.4828, -1.6184, -0.2569, -0.5095, 0.7537, -0.0219, 0.8173, 0.5945, -0.4191, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3924 left_y=-0.1808 left_z=0.2807 left_yaw=0.008 left_pitch=-0.544 left_roll=0.035 left_gripper=0.7537 right_x=0.2894 right_y=0.0002 right_z=0.1614 right_yaw=-0.0008 right_pitch=-0.0721 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4308, -10.947, 8.8274, 1.4725, -0.4957, -0.0269, 0.696, -0.2393, -1.4427, 7.2, 1.7411, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f4d56b34dc4580f5f2d5a5975cffb18b89b1429b8d5a9719c0ac1fa7efad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0803f2cd7aa763c59bb0542d0469090f64aba4b775326bf0f501ba07613823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4110f6cb296b4f3f9f49ed75ad71db98c6e24ab6d50f300b98f06662861bb210",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAkKEAgRGAI4AUIIdGhpbmtpbmcSDFGy1FVBvyxMhZINHxoMk4i37srFwgld5b/fIjD+xVRkczCXM37I0NEQwycFZJUyCmZzQfcyxSUpEp45k0TkOLCz45H1RiOOg7Y8iQwqpQhqYrrFI3hDS6601taawqepOpUnNACiC5+6exjrqQGuiY+SoqjGnAUlWagQCG45zW6rHkehUZx0scUYDBKMwCndaOrgs0ZnydMTAM8BAWygfuOMEZI9DupZbRWjn/7mXupzICUuI+Rm0f6PkvPJdsNGbHQHx220knbdlR8WY6kr2opj3O/Blisf56HvXGeDPFAUmhBJJwVkZECaEGPm1bNYZD069nepYvqJZibYuCCSl31m5wUEmPGuW+1yuPf65kGrg7xiP0T2DZqN7ZVZGl3PTsV7P9D97AyTVjoCUUO1Eu+FKNrqWGxfAR0JAYrBpCmFZDlP61leDQif4JcbIt6lK+Lk5GElk3R5ZPwNOtjjhbtNqiQaxCIpm0d1PN7lqvNrXQEQ7800tGzEZCHjGNp+mH3J+jwo5xAe3llPw//rq1r03XnV9sNMEy3jxkGjQAdC5of5CxYeVb8jCxCwFErgtZVbIcS7ANn2WGzdVMayzSKr9dNrWVf3gdRCbHR5iXH2BiEJLUjh3mmP5P3fxb2cinU/ccxh/i0v1xFrtoTrPgD+2P8f3RfyMuhAYDPYC0Q7YYOLaKHw2UGOwfWCkIAG+bdOmYSwDhLQ9JmpyDoYAPGtufEwNoDpJkZjSLfy0hLNh3ZT+ydsb68rZV2dnNgbryRd67OczWKC7ry1PR/eeey2C1DXxvjysBCnsFvLBXs7xLKatqpzwrJHHBD2fk8zAZy4r5QFuj+p7f6/g/TDB8UL+8HFMe1AZLlfO5XPrfvGEvJ+nygBhCBJTPOdp7HPkOOLKZn3vhTpmKlNGjFq9zZQjZ9Fg1KIgTHNztg+T9XHDt7wL+CLEm588pKmgGyvqmSLSd2zW5Y2YMlr7qEnCaMuU16WzZMot4u/4boFaLq3de+9T/pP1OpkxkZJHEdDNJnwWl0y0GQkBFKaw9iIIAl/TsjcqqTmZSW9B7WJ9YJcwsjKa8pvOUGHlcb2Xa8cfqSirGRKq1bIGsZKRfzGzaP9a76paPv5kcHh69+dVs57CuAjqqaRnfBBhGp/s8RI9upH570x3eeYOfC2mpHVf4LTEp7/OTE6eV9X2pKMm3rilggfJ2aTlms9z+zBbe+cg5n/1awCHVSI/yhqrmmwsZ1pbxAU8Ayv6CJbdNVsrsw2gcjqlm5Al/r954kdW1zRyi8AewacgI23VSgMT8bla4Wmikn8zVH7vTxdTTV5Hr+yGcfwmOmfQYo94cwsxXz+mI+HHjj17blGHMhhJWGIjHcNTSu9Q4sWw8kIZltukdmasNTDrTG71Pf2FmMfYva5s915Cr7tjL0HzYppL0ITZIUSx7i9UVRjRuJPCIUvh7X9RmO2N+48InXSmVIYrgCZrEekI7D0iIBGpgkzlQseNI0UbsKIIOHqGkg12QE0UfAT0OSZ+BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fskszm1bddvReWeQxs3fmm",
      "input": {
        "note": "The pot is now just to the right of the hanging brick in the left wrist view and the arm sagged to z=0.28. Raising higher, straightening the pitch, and moving over the pot centre.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.44,
          "left_y": -0.33,
          "left_z": 0.38
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Fskszm1bddvReWeQxs3fmm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8482, 2.3093, 2.8262, -1.4639, -0.6273, -0.5991, 0.7564, -0.0216, 0.8173, 0.5945, -0.4221, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4148 left_y=-0.3083 left_z=0.3076 left_yaw=-0.0243 left_pitch=-0.1526 left_roll=0.0845 left_gripper=0.7564 right_x=0.2889 right_y=0.0003 right_z=0.1608 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -12.3282, 9.0325, 2.0342, -0.9206, 0.2418, 0.569, -0.0479, -1.3744, 7.1453, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60104ac0fbaa205114d948b24a3b35870d807a100cc9e03da46cd521c68fab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec661aa5dad2aca74731e4c984203f56369031a797bd348c023822cfae34ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37d23716e29dc40d10eb7d850b34a5aef94deda61f4d08db7cabe86123dbfeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 11.98 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]: [-0.0349, 1.6814, 2.1368, -1.4719, -0.041, -0.0761, 0.7507, -0.0219, 0.8162, 0.5945, -0.416, -0.0162, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.3727 left_y=-0.0022 left_z=0.3265 left_yaw=0.0241 left_pitch=-0.4475 left_roll=0.0065 left_gripper=0.7507 right_x=0.2898 right_y=0.0001 right_z=0.1623 right_yaw=-0.0013 right_pitch=-0.0679 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [0.2667, -7.6376, 7.747, 1.3553, -0.0562, 0.0366, 0.6764, -0.1846, -1.6479, 7.0085, 1.6728, -0.0317, -0.0269, -0.0171]\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]: [-0.5442, 2.0491, 2.4828, -1.6184, -0.2569, -0.5095, 0.7537, -0.0219, 0.8173, 0.5945, -0.4191, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3924 left_y=-0.1808 left_z=0.2807 left_yaw=0.008 left_pitch=-0.544 left_roll=0.035 left_gripper=0.7537 right_x=0.2894 right_y=0.0002 right_z=0.1614 right_yaw=-0.0008 right_pitch=-0.0721 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4308, -10.947, 8.8274, 1.4725, -0.4957, -0.0269, 0.696, -0.2393, -1.4427, 7.2, 1.7411, -0.0562, -0.0757, -0.0171]",
      "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]: [-0.8482, 2.3093, 2.8262, -1.4639, -0.6273, -0.5991, 0.7564, -0.0216, 0.8173, 0.5945, -0.4221, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4148 left_y=-0.3083 left_z=0.3076 left_yaw=-0.0243 left_pitch=-0.1526 left_roll=0.0845 left_gripper=0.7564 right_x=0.2889 right_y=0.0003 right_z=0.1608 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -12.3282, 9.0325, 2.0342, -0.9206, 0.2418, 0.569, -0.0479, -1.3744, 7.1453, 1.7167, -0.0562, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60104ac0fbaa205114d948b24a3b35870d807a100cc9e03da46cd521c68fab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec661aa5dad2aca74731e4c984203f56369031a797bd348c023822cfae34ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37d23716e29dc40d10eb7d850b34a5aef94deda61f4d08db7cabe86123dbfeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AcKEAgRGAI4AUIIdGhpbmtpbmcSDETjhlkWIKWJiOXaVhoMHT2cU+Lx9YmX/2E6IjCJlCwPLo8B15nJimzWbyocrFa2dpC0KJVdrS9/QhdjttxLd9fYB98QgzXhia4Q/1cqlQdWGrcImwIMjd59ndv3tGYo4Kx8pYVzDNzudd9Bc9IwNm5g/llH0pDFrBW1X7M8H5w8H9AMLUNsTwVZ3/8UeVHwMhu/70zxXEi7X2DKPs/wN+pe4LJHJqZQczHzSmc6rk7w3YckuX8Lgvt1dO8/oYjpoOhraDNdketVvt6Ryu3MU1K7r33Sqx7ZLJw0PogTMrkUhflHQ6cy9aS/qJ3DeJqiH0yg8vCBEtVH69gTne6VJVNfP94xGBJnx0H9CzsGF5fPOsNYFmBmQuLKonD6luVuBEUHbWe5Cd1OUrv3LuAEZaG85pF6+v/jVmaFa4opGI9DPEWTAcEFXhiYQI/9aVowzmt1iGzSA3KYf3OvrN4Q23nMfNt2vqNFGnLxaOdymETCdnP3pVrjkjsybkZsgFUlpLkVcWbykJp/wR5FTvOILnuhmUN0D9bCRds5e2pn2cSk6l1vQLC1bXX1L1+t21Qv80EwnVBGSxx3Fz9ZCxpZQdCkMt1jzqtutPunumbrCMZInXB5YP6FwfJCshHsgwtDz+54FwpA4yb+7iBdZMT9+K/3sggg8NgcIAY6YnAHeUJ6iIFEDq49X2HLMbSQgh6s1fJhD8EP7EHncBVOmHsnNWlhnCnxpa3ahf1Qk7HzEMd6euZcOwP6N5Dcpik51nFsbp1sst27yGF8Cvom0bgkiyiPjdVe4GlnlKogphOR4+vTockxwD+mTVo7+d0cSCPpEGwmhIQdsBtOyNWxsfuE9OJDIrRYr9NeJKp9N/Cyzz4bfVIzrjDBdH5vSX1mJO+YVf37CT83Vx3y84PggKtVMdQ0ywASLl4gb9QIgQQgFxwPeKKDyF/yL3mvVCJY+houg6xmFNoik1mLonULoUvwj+Keu2ntxdurzkzm8KpCUVmiVhIcxzJvfvAgwmB08bFt/k5TqzkeHD6e8qyIdQE+wtSeSiijtKXADUM46oNvUKthZCOEOy4EfP02xIDFDBWKZaozqdJub0uJ5+xaTiquBPyBRtxa3rSztJJAYRH/OdNL+hRxUWDQDv1nj/ai0hMoA9Hlbz6OQD5pZl4G5cZOIQ3iLGv4l8MAfJNWlkUoqhVAmc5aUT9qwxQ5yzj0gditX6PeGKCCO6C0tJmQ9QGkDHnslM3HuyvoQhx/v3EQ/ZebA80pp6zgWpTedS7zNeSImr9DCW9R1NPihF5zwd4v1sFCqezCx/mzzAIUBhRS9x2p5u/UBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9jPiXYeCE5mBAGwHK5vqf",
      "input": {
        "note": "The left wrist view shows the pot opening ahead with the hanging brick just over its near rim. Advancing ~6 cm so the brick is over the pot's centre before releasing.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.32,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01S9jPiXYeCE5mBAGwHK5vqf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.4387, -0.5983, -0.5804, 0.7594, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4266 left_y=-0.3047 left_z=0.3126 left_yaw=-0.029 left_pitch=-0.1387 left_roll=0.0495 left_gripper=0.7594 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.6769, -15.3368, 5.9556, 2.0684, -0.6325, 0.2222, 0.3053, -0.0889, -1.3744, 6.9949, 1.6484, -0.0659, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb7220ce02af512284b55379959834bb58e96cf2bd7b945b13cc4e7c803a9fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc59d5833dcffeca4eb7b9a011665721fc969ca11cf0a105c72b7fcc045d63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba9356ae72c63524e6cfa7064d6c29d944ff7307a895e13a2bb200049dc9d5a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 14.39 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]: [-0.5442, 2.0491, 2.4828, -1.6184, -0.2569, -0.5095, 0.7537, -0.0219, 0.8173, 0.5945, -0.4191, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.3924 left_y=-0.1808 left_z=0.2807 left_yaw=0.008 left_pitch=-0.544 left_roll=0.035 left_gripper=0.7537 right_x=0.2894 right_y=0.0002 right_z=0.1614 right_yaw=-0.0008 right_pitch=-0.0721 right_roll=0.0028 right_gripper=0.9964\nstate[joint_eff]: [-0.4308, -10.947, 8.8274, 1.4725, -0.4957, -0.0269, 0.696, -0.2393, -1.4427, 7.2, 1.7411, -0.0562, -0.0757, -0.0171]",
      "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]: [-0.8482, 2.3093, 2.8262, -1.4639, -0.6273, -0.5991, 0.7564, -0.0216, 0.8173, 0.5945, -0.4221, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4148 left_y=-0.3083 left_z=0.3076 left_yaw=-0.0243 left_pitch=-0.1526 left_roll=0.0845 left_gripper=0.7564 right_x=0.2889 right_y=0.0003 right_z=0.1608 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -12.3282, 9.0325, 2.0342, -0.9206, 0.2418, 0.569, -0.0479, -1.3744, 7.1453, 1.7167, -0.0562, -0.0611, -0.0171]\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]: [-0.8181, 2.3219, 2.859, -1.4387, -0.5983, -0.5804, 0.7594, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4266 left_y=-0.3047 left_z=0.3126 left_yaw=-0.029 left_pitch=-0.1387 left_roll=0.0495 left_gripper=0.7594 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.6769, -15.3368, 5.9556, 2.0684, -0.6325, 0.2222, 0.3053, -0.0889, -1.3744, 6.9949, 1.6484, -0.0659, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bb7220ce02af512284b55379959834bb58e96cf2bd7b945b13cc4e7c803a9fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dc59d5833dcffeca4eb7b9a011665721fc969ca11cf0a105c72b7fcc045d63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba9356ae72c63524e6cfa7064d6c29d944ff7307a895e13a2bb200049dc9d5a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqpirNS1mFoXkdELxJWTeF",
      "input": {
        "note": "The arm is at its reach limit at this height (x stuck at 0.43). Lowering a little to regain reach and edge forward so the brick hangs over the pot interior.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.32,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WqpirNS1mFoXkdELxJWTeF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5949, -0.5804, 0.7617, -0.0216, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3053 left_z=0.3124 left_yaw=-0.0314 left_pitch=-0.14 left_roll=0.047 left_gripper=0.7617 right_x=0.2889 right_y=0.0003 right_z=0.1607 right_yaw=-0.0004 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -15.3504, 5.7915, 2.0635, -0.6032, 0.2125, 0.2222, -0.0205, -1.347, 6.9812, 1.6435, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5f72a1864ac31467435f6a544a1409e6208199095a1247f08db13372c43b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4bee605fa5221faa7e5012b8cbe1e80bee89e62afbb98289dafef8a2dddaea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcabdfc33ef95be8737da93dbcb424fced7138fb7eb2e4a727d8996d0f79f829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.919 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]: [-0.8482, 2.3093, 2.8262, -1.4639, -0.6273, -0.5991, 0.7564, -0.0216, 0.8173, 0.5945, -0.4221, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4148 left_y=-0.3083 left_z=0.3076 left_yaw=-0.0243 left_pitch=-0.1526 left_roll=0.0845 left_gripper=0.7564 right_x=0.2889 right_y=0.0003 right_z=0.1608 right_yaw=-0.0006 right_pitch=-0.0751 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [-0.4855, -12.3282, 9.0325, 2.0342, -0.9206, 0.2418, 0.569, -0.0479, -1.3744, 7.1453, 1.7167, -0.0562, -0.0611, -0.0171]\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]: [-0.8181, 2.3219, 2.859, -1.4387, -0.5983, -0.5804, 0.7594, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4266 left_y=-0.3047 left_z=0.3126 left_yaw=-0.029 left_pitch=-0.1387 left_roll=0.0495 left_gripper=0.7594 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.6769, -15.3368, 5.9556, 2.0684, -0.6325, 0.2222, 0.3053, -0.0889, -1.3744, 6.9949, 1.6484, -0.0659, -0.0757, -0.0171]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5949, -0.5804, 0.7617, -0.0216, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3053 left_z=0.3124 left_yaw=-0.0314 left_pitch=-0.14 left_roll=0.047 left_gripper=0.7617 right_x=0.2889 right_y=0.0003 right_z=0.1607 right_yaw=-0.0004 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -15.3504, 5.7915, 2.0635, -0.6032, 0.2125, 0.2222, -0.0205, -1.347, 6.9812, 1.6435, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5f72a1864ac31467435f6a544a1409e6208199095a1247f08db13372c43b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d4bee605fa5221faa7e5012b8cbe1e80bee89e62afbb98289dafef8a2dddaea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcabdfc33ef95be8737da93dbcb424fced7138fb7eb2e4a727d8996d0f79f829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KU8XeEagmyNWrnwMuNbabY",
      "input": {
        "note": "The arm did not move at all on the last command, likely an IK stall near reach. Trying a small pure descent to see if it tracks.",
        "targets": {
          "left_z": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KU8XeEagmyNWrnwMuNbabY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5953, -0.5804, 0.7637, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3052 left_z=0.3124 left_yaw=-0.0312 left_pitch=-0.1398 left_roll=0.0472 left_gripper=0.7637 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -15.3504, 5.7915, 2.0879, -0.6667, 0.2271, 0.1978, -0.1846, -1.388, 7.2957, 1.6825, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a0a4cbd4f859a054a0b74ecea60b9b5e12f7fc4312d6d3270e0605545a5415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a92a00b7496a5f229850c6014ad2b45e4aa59588d9c2c74fc6b283a16fe5e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82bc2feb50b6228fd1b2761a1ce30acf8b67c89f3a6ec7f36c9facbcd1e23d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 16.09 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]: [-0.8181, 2.3219, 2.859, -1.4387, -0.5983, -0.5804, 0.7594, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4266 left_y=-0.3047 left_z=0.3126 left_yaw=-0.029 left_pitch=-0.1387 left_roll=0.0495 left_gripper=0.7594 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.6769, -15.3368, 5.9556, 2.0684, -0.6325, 0.2222, 0.3053, -0.0889, -1.3744, 6.9949, 1.6484, -0.0659, -0.0757, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8181, 2.3219, 2.859, -1.438, -0.5949, -0.5804, 0.7617, -0.0216, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3053 left_z=0.3124 left_yaw=-0.0314 left_pitch=-0.14 left_roll=0.047 left_gripper=0.7617 right_x=0.2889 right_y=0.0003 right_z=0.1607 right_yaw=-0.0004 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -15.3504, 5.7915, 2.0635, -0.6032, 0.2125, 0.2222, -0.0205, -1.347, 6.9812, 1.6435, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5953, -0.5804, 0.7637, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3052 left_z=0.3124 left_yaw=-0.0312 left_pitch=-0.1398 left_roll=0.0472 left_gripper=0.7637 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -15.3504, 5.7915, 2.0879, -0.6667, 0.2271, 0.1978, -0.1846, -1.388, 7.2957, 1.6825, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a0a4cbd4f859a054a0b74ecea60b9b5e12f7fc4312d6d3270e0605545a5415",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a92a00b7496a5f229850c6014ad2b45e4aa59588d9c2c74fc6b283a16fe5e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82bc2feb50b6228fd1b2761a1ce30acf8b67c89f3a6ec7f36c9facbcd1e23d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzQgKEAgRGAI4AUIIdGhpbmtpbmcSDDgwb05kL6jRIemAUBoMKbzieyg6vaNdXXeXIjBUA/XyXTMA6Rv0KoHcdP9HLPM7ey/fQByrgihK2bDJs/QNv+qkVemljGW0AhFvDMUq6gereH/2N+9+X2tyZeZv0bp3F/arW+GV8tu7IalgjHrBrSZfoCIBpbu/xJClubCZLTc6xE2pYNWKE20CRN4Fvx4iVxLG1P6FY0BGKjj6cFXpbPEnxtGP6jkUYmdywYeWYH2gBmv5tBg8lpjrcCEYmw2xk697k3uvFO6/OjjqdvYDaMLk26OHxoeIP4J4HNJDftO6yTgYG3txzUKFr+36ZJpRSeFZMkLMt7PX6jXMmCdSJ8VU8wHtT7uwG5OMszc0aGbwDLHkxZrqNXZm1LfDVn1TzqWPo66nYbwfwnQhp+C5uV3F69CZhti3YNs1fFZljRUR7nJXZGAHl4HC4E3j1Ji+MbF5FS3KF+ZFMdJu6mpx0dnb56Yr2iJn11FL2xpFPTSuCIfcCzNDGCoBjV6KyjUiGOHYknayPjtRSrj2eooHe/3l7YERIcuEbO+NcbfA5mU0o3rM6WjDERloyY/33Ewl+szXR8UABVOOohTxnddlJd6VxkGpDASJwu6QaCWzpAfmkyS34Aewdlfd8ZwATXcREykvOhn11/ehguzUp9gKztq7ZnAf7SfacZSYm1tFtXzXh6seePdMD/f3Dq+QNxdnoKU2+GQJLmStOxxGlg2HdrQ2Eawq7q7N+pbWpxXpCR11ULH4syOAFsyHNstI4XzyB0y5/22nWjHFuRcIhFUcKMnfiwvFXlhYJwxnGLNZGgegI2PwYwcLZ/KBney15YuOVN0skhHfFBL8y07cEjxhkfWBGXlXnsFFTf6VjpjjIrPCJOPhaUea9sxy3KrjBvLa8FtddWgfK5BRukYk1hlDjtfZ4khy7gam/kXCgLPO1uzfq34rGU4QrJLcgwKsSKLTGoIgbHq1rTSd93egNoSXrrqzlb6bJ9pDzVHDjFP0sowL0TeTXHRxsitIwR/rnAgN3mVfZQItr9xP5aH12H8cpctMK0HKwP4TYGaUVcg2XTGqN9gsB9jNyV6T4Xumxc0046brI8sUMKRE48I4fISzyCITdFKOYcPTdnsGcaX4OTnMwPnUX7JmlnK8W8lZWy9BCj9Tj8KZc09y3T+Kie0LfKDIyVl10k7bh3TJssO3pEzOcpv/8w6m2eLwTejtbfMP/mWqNzOeL+m7bNRYeWSK0yoJmJWm81tvN73mQK5+mBbvnOBnT3YGyHAsP96O+LrMI9V+46DN9CQF3HMaGsNGcGm4SvKwupBJBRMA0mk5GnZqG7IndmTQRkCxz3jhmfRd4ZAgQs36ACC/oZEmhXreBzNxN8BWc5iqkbEoKxfHgmGvprGvU5Y1Umjo/JKFNp1FicsB6Li+6R9iAJkefoIVBDfxFj4vENyLu0gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016jVqZCeCh88Hiv7gjkV6tr",
      "input": {
        "note": "The arm is frozen at the same joint configuration; it may be at a joint limit. Backing up slightly and raising to break out of the stall.",
        "targets": {
          "left_x": 0.4,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016jVqZCeCh88Hiv7gjkV6tr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8452, 2.326, 2.8986, -1.5547, -0.5919, -0.6033, 0.7653, -0.0219, 0.8177, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4047 left_y=-0.3023 left_z=0.3073 left_yaw=-0.0383 left_pitch=-0.1976 left_roll=0.087 left_gripper=0.7653 right_x=0.2889 right_y=0.0002 right_z=0.1606 right_yaw=-0.0008 right_pitch=-0.0759 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.759, -16.335, 6.3248, 1.7411, -0.6032, -0.0562, 0.1441, -0.0342, -1.2923, 6.9812, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313d2ae84d1db61c1a05a827905b62269dd7d4ab13de4214c98de6363b1139fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c0f265a4f0940712ece94100e9901886ebe92dc6495009cdc1e892db250526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f548d2b421c0b4210aceb7b427ae046a1ec11987720ca3c5c6472b923ef8330d",
        "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 · 26.89 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]: [-0.8181, 2.3219, 2.859, -1.438, -0.5949, -0.5804, 0.7617, -0.0216, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3053 left_z=0.3124 left_yaw=-0.0314 left_pitch=-0.14 left_roll=0.047 left_gripper=0.7617 right_x=0.2889 right_y=0.0003 right_z=0.1607 right_yaw=-0.0004 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3487, -15.3504, 5.7915, 2.0635, -0.6032, 0.2125, 0.2222, -0.0205, -1.347, 6.9812, 1.6435, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8181, 2.3219, 2.859, -1.438, -0.5953, -0.5804, 0.7637, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3052 left_z=0.3124 left_yaw=-0.0312 left_pitch=-0.1398 left_roll=0.0472 left_gripper=0.7637 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -15.3504, 5.7915, 2.0879, -0.6667, 0.2271, 0.1978, -0.1846, -1.388, 7.2957, 1.6825, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8452, 2.326, 2.8986, -1.5547, -0.5919, -0.6033, 0.7653, -0.0219, 0.8177, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4047 left_y=-0.3023 left_z=0.3073 left_yaw=-0.0383 left_pitch=-0.1976 left_roll=0.087 left_gripper=0.7653 right_x=0.2889 right_y=0.0002 right_z=0.1606 right_yaw=-0.0008 right_pitch=-0.0759 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.759, -16.335, 6.3248, 1.7411, -0.6032, -0.0562, 0.1441, -0.0342, -1.2923, 6.9812, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313d2ae84d1db61c1a05a827905b62269dd7d4ab13de4214c98de6363b1139fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c0f265a4f0940712ece94100e9901886ebe92dc6495009cdc1e892db250526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f548d2b421c0b4210aceb7b427ae046a1ec11987720ca3c5c6472b923ef8330d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwBQKEAgRGAI4AUIIdGhpbmtpbmcSDOZWf6+pj26fme91kBoMn6n883fiALVuaPc5IjD6mTcpoOGGgx+1tyYnSQbSqXfd3g8eeYSpLk+dbVFi4TM2YWVpbhB0avvxD/uOTYAq3ROdrlIIVbQJba8WFA05+cuo6std57y/uZZY+54GgU68gE0UpyM/zekusaLUZeFl6qM4JS9PzzWLty5zWBXFFnlEmhz0N4E44UizSi/zzbonSESJWhqZBky84iksKdqmxr9IMGyR04Hb1nFSAnzbiq7P6mV/9r5yhcbmZeRZn8JDG/zyki4iLFvRAW+WoCMAt6Yp+O9oKTpPChih2OjljkKHhuNiyMRCOJPgC9Y+lXYD0WF/ZI9cF9zuk3lwjWx35M/q4IEdwAffpCU2rD5VpybvDfAc6pDfhU4GU/ZNeOubLt7/NYmY6AJyzqha7cLPawbsnEL9llppdnAQr7aovDgJc7zoMmcTDXzyhQ4oM/rY7AqA2B8clexiOvVBL4281LGw2Fq2b9bxRcv3/n437DpthtsryaouJKQBZvF2gqFTWxMU0kRNeHi4AzLMaLDoLD+RKZXpAB5KzBJTDItpxEKdeqRdQ3Ns4in5nOXWWYosnyOIcRABKJC6Q/neykDePVBvC6CfoP7RcV3OTTh1YUMgXMuwUc2eJ7IH0CG6Seum7aq6yQoFgf1jWHsLCX38Nr1w9KvUByMJdFSGf1YSp0NS23uBeCj6eAxfWcrxbHm6PUhvSvC+WjiV2GyE9lorD/dwiENsc42/Gh93iHPphlMWMlRhaTU1OgE/LruWuJcKVAJ2eb5d56QTwHVgvYq4YBzOgl8L/F4NwPpggTFZ6frqPLZj/m4kCsqB0+VA51oVSZ7OQvmSiXPyD7Yo3VZA4i+FsMxa4NVbS2vxHdvT54hme1N2fBCUXeDwutOfwddjyftWe7zEmfSVmW3uo83Qywl+LA+VU4LkbVP4ERmXx/V1TMXCBITmrDz4qojDOb6utbElYUl9IJH5sZuGwWcfSzORg8ptes2BcXIPtdtnliQyrEVDhP64z+F0YM4cBK+RL/FJFlSaHIz5RTdWawxuTuDA5oPhU+7c4VTW1i7WCuL4VoukT6hlXfke3RE0NsHjhXPVIY3VAB88i7nrfG0lhn44mqVXGzmx8BKap85yEdQ94vvObUkwZmGGFxfnvFlTMWDCZb+o7ju7EajNAOg0KI+1CUlGSYbgGVukPf08TWzmid/2wjpDtalLs6sgwOh0HfhNlVw3Yt1tKbJg4WP1zi5nQp50zYI+/+GYzdBFIRKc8zbx7qD4p0nVEobPo2BypL77TiuLgcMZoAC3wg4mZMhBeY/djG+qcEdnKOf2ByC0nK0dv+BjUk0KQtJh5jKOw/++ksbMnEfEX+/0tLzPVPxWqsZxycEanav/Bio6UIN5sY73D82hBBf0ZYeeKhFPq5EYWLwwT++MQzJ0IwjR6qNR6JVZW0maOTm4R5PkopoAqvGZny2pMNKOp8t/9Sc+GUhwt9tML04uBN3r1/Ow4s/mDMb9liTtAuBngS5d3lPsT+KW0sS3MVQQ6ZpxzTl56Xw6U/6xqZRlibmTs0J8k0rK7Z9nmr1nw/tF5AdllI94AEoB+cKpDupEYmOn//AwAidQpR4sMKsyqvJqgNe2CbVMpCJCLW88xZ/D3Wk5eWWqshX+g4X4oBhbJY6TLynhM+vt24hxtIBDwYlG8WPXyvXFU2+0sc5aYRlylFe2x8/rpojeJivMBX804dOgpgYPwKbRfEP9Q/F3PcA5hBjfTRPrTrDOYnjR7Vwib+j3kSjkBLQvQM2+whzHnbfQnxFD7t7/bTv75hMQB+5uwJcsNFebTZenTCR3AMqPbl1aq0ojU57vFNR7JebqxNI506fqYz9HGXi7iHeaitFugcoX7DxjnX1RYSBpmbNtK5lvrEUFCx/Ar7hNW4HojKdgJjcc2AHD4ycm2RGs9hpYdviM++BzsESDWQMFNb1UHT8zEJXplP5B1x3Qke2aYmgst+YRl0hgCdyL4Cofd/V8tdKS9+PvfMhsWdwv+mD0eRrYpQKMmfGkp+bFxJdw/dKeabRXbLEmDojg+bcv4bol1kLo09dxGx5OGczUdeNtW/Psw2IF8dABsamtsN4w1fYLICiH/D5hO/81mY2eRzdv2u6aONtBClYTTWl8czgK/zk+BRhHqiQo2gCPCGroLibnBHtuiLU8HSDdCcQLdA/3lKMeUWhFTnVWcpfcwkKxT4IaTTRu8k7PE3CPMvarS4CgpxP1wPc2zRKXwYoGJ7UhS5D70H1mwl8l7P4yL3QszKXZyEn3c9YjLcH7WH4PUc3uhm+puKjZiLw7aw8vQK+osUa7NceCzao0HkulNH1Orm2MjfI0jnQOWnedPJ9du0Qb7NKYn81DGJAMRwtdSYm/Mj+xpH7g79OQ4H0mC1en7uhKcWsrQYJt45gINQw44EfeDxWetBxMcTZSX8GFIdQhjOyxdjbYaWfyLOAWrZV98DRlphQwbMdX5lbh1zG8nLXv6OVSQHwe9OwqC8GBJpnjTaDdYZak5MoOKBOKQ0WyPTUCd/G4YT/wzZ+Njc8We9jFwBOfg83ahR9YNmQDLNCPC3h3QwaphIb5vVv7covmOIfVQ0USTZiZ+GCLCD8pGGrWiAS6ukmxfrjtfjBXG7w6kX2N9qMykT6FCkbxtd4tkVkE/Ehhx+GqBLfZPt4N5if3y96nXMUmXICBQRaY3f0EjxJLyrEbBeVcL3vpeHtvYLV0eC23m++l47PGr/1h28VFqh4D6p6dTpSsXcAZitr4NiPcj+Rgc/SzcDJenrMgzKhtokfMToPJ+/Y4Ke3yGbCVQTd6pYiE/wTfRTEw31IDFT6+2R9NlZumTzXXC6B1ymPYkQmJtjoDM+MpraSJ4sofXHjSiXU0CjG9kqAWuWLzVlvgC1gPhESi7S5HvdBVjqOo0FOxy+akUq+E4apnG++gdt2OvwMhSSdRXM+0h6mkqu6ENiKD5A5INZnTSTMZVJhsCsaupuRJfqn/o/KP2uXhG/5SgeDqwaGd+7McZHOK+RQbacDh5UYKq47ocQnZIK+lZ5r+ZFTIzkhWnmbnDku2N+fIhwON/xUiynLI4jqNt5AGhFOmCyGMQkQiBkX713mdjnfC3PVu7J+3hc7xaFnGkimx6iiuESDf6v/UC4sFJLsKSiWZYW9+5UrQ+TMj5+cHP8hQa4nUzHckCngIdidrJd/IVyfrz7wQWSX1h7iQr7Se8LUKxcZzyFhxvvr+dzgxejDaLtJ35wz3TRJLsOzVqYvc+iEehPWPXOJTcaK1a0unNWn5y/iHnEjyjUnzcNn9s38lLbjZVo94tcBlvSK/CMYVezuhzt46iLHi8hz3jWCLp/LnNRm3J/w42oD4nCh/QUhjkaJo6zdJQVMvPHBo6bKBRkrvZJwieRUI+ZX3FEDJ7YlRDzzLzFDrOTByQHJFlMYQTcU0AgCEZHHEtX+8lRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MDKPjozzVMkfqG2j9KVbaH",
      "input": {
        "note": "The wrist view shows the pot's near rim still beyond the hanging brick, and the arm is at its reach limit. Tipping the tool forward so the dangling brick swings out over the pot interior.",
        "targets": {
          "left_pitch": 0.5,
          "left_x": 0.42,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01MDKPjozzVMkfqG2j9KVbaH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9211, 2.5904, 3.1229, -0.7963, -0.944, -0.1535, 0.7657, -0.0219, 0.8204, 0.5941, -0.4305, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4758 left_y=-0.3838 left_z=0.3813 left_yaw=-0.021 left_pitch=0.4111 left_roll=0.0994 left_gripper=0.7657 right_x=0.2878 right_y=0.0002 right_z=0.1581 right_yaw=-0.0009 right_pitch=-0.087 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.2171, 6.612, 1.9072, -0.1197, 0.2808, 0.0317, -0.2256, -1.5795, 7.0085, 1.746, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c2644f91167ef7ef332986dcc68b4132f2e7506088de0f68606908a8d60d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a61ae8b4b2a2f1134730b35b6dab9a665b3ff47183a9be415d7e3a08b2e9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b11c08c5694a9a4963c09653b3b5028a6e0aa5d595bd072a8bd105bb5e1df4c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 10.67 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]: [-0.8181, 2.3219, 2.859, -1.438, -0.5953, -0.5804, 0.7637, -0.0219, 0.8173, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4265 left_y=-0.3052 left_z=0.3124 left_yaw=-0.0312 left_pitch=-0.1398 left_roll=0.0472 left_gripper=0.7637 right_x=0.2889 right_y=0.0002 right_z=0.1607 right_yaw=-0.0008 right_pitch=-0.0755 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -15.3504, 5.7915, 2.0879, -0.6667, 0.2271, 0.1978, -0.1846, -1.388, 7.2957, 1.6825, -0.0562, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8452, 2.326, 2.8986, -1.5547, -0.5919, -0.6033, 0.7653, -0.0219, 0.8177, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4047 left_y=-0.3023 left_z=0.3073 left_yaw=-0.0383 left_pitch=-0.1976 left_roll=0.087 left_gripper=0.7653 right_x=0.2889 right_y=0.0002 right_z=0.1606 right_yaw=-0.0008 right_pitch=-0.0759 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.759, -16.335, 6.3248, 1.7411, -0.6032, -0.0562, 0.1441, -0.0342, -1.2923, 6.9812, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9211, 2.5904, 3.1229, -0.7963, -0.944, -0.1535, 0.7657, -0.0219, 0.8204, 0.5941, -0.4305, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4758 left_y=-0.3838 left_z=0.3813 left_yaw=-0.021 left_pitch=0.4111 left_roll=0.0994 left_gripper=0.7657 right_x=0.2878 right_y=0.0002 right_z=0.1581 right_yaw=-0.0009 right_pitch=-0.087 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.2171, 6.612, 1.9072, -0.1197, 0.2808, 0.0317, -0.2256, -1.5795, 7.0085, 1.746, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c2644f91167ef7ef332986dcc68b4132f2e7506088de0f68606908a8d60d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81a61ae8b4b2a2f1134730b35b6dab9a665b3ff47183a9be415d7e3a08b2e9c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11c08c5694a9a4963c09653b3b5028a6e0aa5d595bd072a8bd105bb5e1df4c7",
        "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_01SRDFcVvWuJ79gPDYYowCM3",
      "input": {
        "note": "The arm jumped to a new configuration and is now high over the pot area but ~8 cm right of the pot's centre line. Shifting left to y=-0.31 so the hanging brick is over the pot centre before releasing.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.46,
          "left_y": -0.31,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SRDFcVvWuJ79gPDYYowCM3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8604, 2.6011, 3.1229, -0.873, -0.8967, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.4381, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4976 left_y=-0.3613 left_z=0.3602 left_yaw=-0.0278 left_pitch=0.3436 left_roll=0.1602 left_gripper=0.7658 right_x=0.2866 right_y=0.0002 right_z=0.1567 right_yaw=-0.0009 right_pitch=-0.0946 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [0.7316, -18.7966, 6.6803, 1.7314, -0.0562, -0.0513, -0.0024, -0.212, -1.3744, 7.1863, 1.7118, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c2286775d247e1809e00f5d4a9fb01bbdf8709dacfc3150cf6a1dedbc660b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ce0914579bd691e47312c5d1431003c924cdb6dba93c686df7aca4427ed3f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62b061124c8ea5190e63560f47832ddf2b4b9a9a5b07ff6e59c50eb8d91e1ca7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 10.65 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]: [-0.8452, 2.326, 2.8986, -1.5547, -0.5919, -0.6033, 0.7653, -0.0219, 0.8177, 0.5945, -0.4225, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4047 left_y=-0.3023 left_z=0.3073 left_yaw=-0.0383 left_pitch=-0.1976 left_roll=0.087 left_gripper=0.7653 right_x=0.2889 right_y=0.0002 right_z=0.1606 right_yaw=-0.0008 right_pitch=-0.0759 right_roll=0.0029 right_gripper=0.9964\nstate[joint_eff]: [-0.759, -16.335, 6.3248, 1.7411, -0.6032, -0.0562, 0.1441, -0.0342, -1.2923, 6.9812, 1.6728, -0.0464, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9211, 2.5904, 3.1229, -0.7963, -0.944, -0.1535, 0.7657, -0.0219, 0.8204, 0.5941, -0.4305, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4758 left_y=-0.3838 left_z=0.3813 left_yaw=-0.021 left_pitch=0.4111 left_roll=0.0994 left_gripper=0.7657 right_x=0.2878 right_y=0.0002 right_z=0.1581 right_yaw=-0.0009 right_pitch=-0.087 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.2171, 6.612, 1.9072, -0.1197, 0.2808, 0.0317, -0.2256, -1.5795, 7.0085, 1.746, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8604, 2.6011, 3.1229, -0.873, -0.8967, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.4381, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4976 left_y=-0.3613 left_z=0.3602 left_yaw=-0.0278 left_pitch=0.3436 left_roll=0.1602 left_gripper=0.7658 right_x=0.2866 right_y=0.0002 right_z=0.1567 right_yaw=-0.0009 right_pitch=-0.0946 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [0.7316, -18.7966, 6.6803, 1.7314, -0.0562, -0.0513, -0.0024, -0.212, -1.3744, 7.1863, 1.7118, -0.0659, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c2286775d247e1809e00f5d4a9fb01bbdf8709dacfc3150cf6a1dedbc660b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ce0914579bd691e47312c5d1431003c924cdb6dba93c686df7aca4427ed3f54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b061124c8ea5190e63560f47832ddf2b4b9a9a5b07ff6e59c50eb8d91e1ca7",
        "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_01ABQw3SEydw623CFPVmdXtL",
      "input": {
        "note": "The gripper is now over the pot in the top view but the tool is tipped forward, swinging the brick beyond the grasp point. Straightening the tool and shifting toward the pot centre so the brick hangs over the middle of the pot.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.47,
          "left_y": -0.32,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01ABQw3SEydw623CFPVmdXtL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8486, 2.5992, 3.1229, -0.9325, -0.8867, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.445, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4989 left_y=-0.3537 left_z=0.3507 left_yaw=-0.0384 left_pitch=0.3017 left_roll=0.202 left_gripper=0.7658 right_x=0.2856 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1014 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -15.9932, 6.653, 1.6435, -0.1343, 0.0024, -0.0122, -0.0479, -1.2376, 7.2, 1.7167, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3457d13a8357244b78e61bd59e1536e56bf831ed671b1a20361b36d5a6fb4831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4975636f6e96b545c2030652c9646d304c99bfd40677f39a2423a04699e9559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad2a18cb7566608ec16461f8a6290514d4a7a07af332ba29730694eb0533afa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.858 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]: [-0.9211, 2.5904, 3.1229, -0.7963, -0.944, -0.1535, 0.7657, -0.0219, 0.8204, 0.5941, -0.4305, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4758 left_y=-0.3838 left_z=0.3813 left_yaw=-0.021 left_pitch=0.4111 left_roll=0.0994 left_gripper=0.7657 right_x=0.2878 right_y=0.0002 right_z=0.1581 right_yaw=-0.0009 right_pitch=-0.087 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4171, -13.2171, 6.612, 1.9072, -0.1197, 0.2808, 0.0317, -0.2256, -1.5795, 7.0085, 1.746, -0.0513, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8604, 2.6011, 3.1229, -0.873, -0.8967, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.4381, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4976 left_y=-0.3613 left_z=0.3602 left_yaw=-0.0278 left_pitch=0.3436 left_roll=0.1602 left_gripper=0.7658 right_x=0.2866 right_y=0.0002 right_z=0.1567 right_yaw=-0.0009 right_pitch=-0.0946 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [0.7316, -18.7966, 6.6803, 1.7314, -0.0562, -0.0513, -0.0024, -0.212, -1.3744, 7.1863, 1.7118, -0.0659, -0.0269, -0.0122]\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]: [-0.8486, 2.5992, 3.1229, -0.9325, -0.8867, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.445, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4989 left_y=-0.3537 left_z=0.3507 left_yaw=-0.0384 left_pitch=0.3017 left_roll=0.202 left_gripper=0.7658 right_x=0.2856 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1014 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -15.9932, 6.653, 1.6435, -0.1343, 0.0024, -0.0122, -0.0479, -1.2376, 7.2, 1.7167, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3457d13a8357244b78e61bd59e1536e56bf831ed671b1a20361b36d5a6fb4831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4975636f6e96b545c2030652c9646d304c99bfd40677f39a2423a04699e9559",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad2a18cb7566608ec16461f8a6290514d4a7a07af332ba29730694eb0533afa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DSqfFjRhc3ZoRPP2HieUtN",
      "input": {
        "note": "The gripper sits above the pot in the top view and the pot is no longer ahead of the fingertips in the wrist view, so the hanging brick should be over the pot interior. Opening the gripper to drop the brick into the water.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DSqfFjRhc3ZoRPP2HieUtN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8364, 2.5172, 2.9601, -1.0481, -0.8345, -0.2451, 0.9954, -0.0219, 0.8204, 0.5941, -0.4454, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.492 left_y=-0.3442 left_z=0.3183 left_yaw=-0.0519 left_pitch=0.1574 left_roll=0.2403 left_gripper=0.9954 right_x=0.2855 right_y=0.0003 right_z=0.1553 right_yaw=-0.0009 right_pitch=-0.1018 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -13.3402, 7.9795, 1.1502, -0.3443, 0.0562, 0.1099, -0.0752, -1.347, 6.9538, 1.6484, -0.0366, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926591fb025134fd8e318e08f29529e3c3227cc2e52d65f1e111661e36af3d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d8f317eea2d878a8fd78c31a5379cf98726f9279a94e12c9a4c282ad9560c1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbbe1f1a3e896b8e7623675af34eb790fb6f96696f6e0b52217013e5874d8e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 9.415 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]: [-0.8604, 2.6011, 3.1229, -0.873, -0.8967, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.4381, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.4976 left_y=-0.3613 left_z=0.3602 left_yaw=-0.0278 left_pitch=0.3436 left_roll=0.1602 left_gripper=0.7658 right_x=0.2866 right_y=0.0002 right_z=0.1567 right_yaw=-0.0009 right_pitch=-0.0946 right_roll=0.0036 right_gripper=0.9964\nstate[joint_eff]: [0.7316, -18.7966, 6.6803, 1.7314, -0.0562, -0.0513, -0.0024, -0.212, -1.3744, 7.1863, 1.7118, -0.0659, -0.0269, -0.0122]\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]: [-0.8486, 2.5992, 3.1229, -0.9325, -0.8867, -0.1543, 0.7658, -0.0219, 0.8204, 0.5941, -0.445, -0.0166, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4989 left_y=-0.3537 left_z=0.3507 left_yaw=-0.0384 left_pitch=0.3017 left_roll=0.202 left_gripper=0.7658 right_x=0.2856 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1014 right_roll=0.0034 right_gripper=0.9964\nstate[joint_eff]: [0.4581, -15.9932, 6.653, 1.6435, -0.1343, 0.0024, -0.0122, -0.0479, -1.2376, 7.2, 1.7167, -0.0024, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8364, 2.5172, 2.9601, -1.0481, -0.8345, -0.2451, 0.9954, -0.0219, 0.8204, 0.5941, -0.4454, -0.0166, -0.0269, 0.9964]\nstate[eef_state]: left_x=0.492 left_y=-0.3442 left_z=0.3183 left_yaw=-0.0519 left_pitch=0.1574 left_roll=0.2403 left_gripper=0.9954 right_x=0.2855 right_y=0.0003 right_z=0.1553 right_yaw=-0.0009 right_pitch=-0.1018 right_roll=0.0037 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -13.3402, 7.9795, 1.1502, -0.3443, 0.0562, 0.1099, -0.0752, -1.347, 6.9538, 1.6484, -0.0366, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926591fb025134fd8e318e08f29529e3c3227cc2e52d65f1e111661e36af3d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d8f317eea2d878a8fd78c31a5379cf98726f9279a94e12c9a4c282ad9560c1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbbe1f1a3e896b8e7623675af34eb790fb6f96696f6e0b52217013e5874d8e6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0gcKEAgRGAI4AUIIdGhpbmtpbmcSDE0du5kmBJU8tsP8qhoMss0rg+GueodqM41sIjCX3v5R3kdbzEUTIhUb9cfg1RCjhbu3XeC6CwQSGHRFXu0JNf2R5F74leA5Y1Hqxq8q7wYr0F/FUIo0GAPAA3bH0tFKvXhQMkuqilKjTAWFEXwz+UqYXw4si465XorNUS+4sKrHYGnjhDMx1ficZE/HmxNk0Y/j4fROo4yeXo47mZQDiT4KUgoBz+/kuyDH4GNPL87zUD0VBOdcrSmlpevWFsvSciETG6Xh+sEB/DYRHmGQBl7Xl4Y2nzsPIgmP6OhcDdH76W1WHn/WJKDcrnMHfvPARqI96tgadM2YTE45zml8oQJe5UuWTK09euhoPSMV4IGK+BhKH88Pux5tBVFpKImSWsnaOcmEpC/9wmpvRSQDPVMIyfT+iDwNi/18zeTbbdYqaU9wMX+90FGSANiVfnDoTNHNKZr0iNM7hKvdD8ujIJWM5KZluJj4SvIUgTErG11iH90uWW3RNN3igh3A+gYwDOJR2m0TuBmap7/t34ydwa1Ofp1UkIVnpzTPus63cW06UAR19df23NhQBePqnfjrot2WBso12618CQMusZaV6CaYC3N0DHgZzEY+fg6wXXofv4a05AgArhNy1ZE1LfGMeAZe8a9Ga3y5s2a7wRMYFlJ9Ki6gYkO6S43+24RAdxQoBEWi3H/wOtATNkr6bLQMvdPl8NnEdkhkRrlxpL1dXbXzAgtMHv1ghMzReC39RNw/g21zHtpRHKGjWC4sDjbjR3UAcC4B8RduXW7h0EvwAW+MDbsMmsi8jalfJJONtAXhN6DbZTSaf3yCEflpblewCzsP7Dujq7tnfxwMImDOpYkv/ezts2Gmsb9KO+ZAGShaDYyBu9VFnpQ+wfxh1NCyfSxcqxpG3nVWFMM641w1cnFREU8yzdniKrVLzFQdVPi+zysQ10sTS4KUW3BN0LDW1qq1obMNrIsUF3wKoa1EvqL9wbyd/wSfKz8DzbUoecjurg2JfTDHi23L+63AwM9AkrronqTVHXbZzy1S2nlfdVBbaLXJLs9UgIWC8yWRlHGxJ10yRGvWjw9x4Z7IOL65pPnG/EW8goP8tQuo+r8HW762Xam0MDABIYU40L60slk83xZibUYVQT2lPfIfj8aPhfB9bPAW54Nbx3dFi1j48Th6rMIhT/JoaWb8P9GB6js/0YvcwR1fRBGkUhbMubKSCboun5/GCbfwtxKgtT9qClkHkf1IrDzUbYKdwjuaXOx2/8EQEkrOn7UF/mVQAqwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLc4vYWdeFVuTbhhN6PdjT",
      "input": {
        "note": "The brick has been released over the pot (pot rim visible under the jaws in the wrist view). Retracting the left arm toward home so the top camera can verify the brick landed in the pot.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.1,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01VLc4vYWdeFVuTbhhN6PdjT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6544, 2.1822, 3.1214, -1.549, -0.688, -0.1707, 0.9958, -0.0216, 0.8204, 0.5941, -0.4454, -0.0162, -0.0273, 0.9964]\nstate[eef_state]: left_x=0.4174 left_y=-0.1743 left_z=0.4432 left_yaw=-0.0218 left_pitch=0.0894 left_roll=0.2469 left_gripper=0.9958 right_x=0.2855 right_y=0.0003 right_z=0.1553 right_yaw=-0.0007 right_pitch=-0.1018 right_roll=0.0032 right_gripper=0.9964\nstate[joint_eff]: [0.3487, -11.4256, 4.7385, 1.5556, -0.2418, 0.2466, 0.0317, -0.1299, -1.306, 6.9538, 1.6435, -0.0317, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:626bcd39fcbcf0df002ab28a9a651c004c4e4cfcf5097cb78397f60f6cf2dd25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d51a899da1ea4bffa7d11337371d70ecd87f54fa9d41e25810348c15f2288de7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3a84cfdb5992a12898f39062d555aacbeb5c868aeeaaec7af4ee08c5d2bb2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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