adhoc

completed
2026-09-18T16:24:05.966610+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
436.8 s
total steps
256
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
I'll use the right arm: the brick sits roughly 27 cm left of the left arm (≈ right_y 0.37), and the pot is well within the right arm's reach. First, fly above the brick.
agent noteThe black brick lies mid-table, long axis left-right, and the pot is forward-right of it. Flying the right arm above the brick, starting to yaw so the jaws will close across the brick's short side.
move_to
right_x0.3500right_y0.3600right_z0.1500right_yaw1.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7937, 0.6048, -0.3756, -0.0219, -0.041, 0.9951, -0.0181, 0.7921, 0.6022, -0.379, -0.017, -0.0341, 0.998] state[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9951 right_x=0.2946 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998 state[joint_eff]: [-0.5675, -1.4701, 10.1128, 1.7753, -0.0073, 0.2271, -0.3394, -0.7043, -1.347, 10.1949, 1.9072, -0.1148, 0.1441, -0.2271] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll use the right arm: the brick sits roughly 27 cm left of the left arm (≈ right_y 0.37), and the pot is well within the right arm's reach. First, fly above the brick.
move_to({"targets": {"right_x": 0.35, "right_y": 0.36, "right_z": 0.15, "right_yaw": 1.2, "right_gripper": 1.0}, "note": "The black brick lies mid-table, long axis left-right, and the pot is forward-right of it. Flying the right arm above the brick, starting to yaw so the jaws will close across the brick's short side."})
tool
executing move_to over 30 steps (3.0s)
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 is in the right wrist view but its long axis runs across the jaw-closing direction, so I rotate the tool about 90° and nudge slightly forward before re-checking alignment.
move_to
right_x0.3700right_y0.3500right_z0.1500right_yaw-0.4000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0425, 0.9949, 0.6262, 1.7679, 1.1618, -0.0715, -0.4339, -0.3367, 0.998] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0015 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9949 right_x=0.3488 right_y=0.3484 right_z=0.1363 right_yaw=1.1538 right_pitch=-0.0363 right_roll=0.0106 right_gripper=0.998 state[joint_eff]: [-0.0479, -1.6205, 6.8581, 1.8095, -0.0464, -0.0464, -0.0366, 0.1709, -9.1419, 8.8684, 1.6288, -0.4176, -0.1245, -0.2271] 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": {"right_x": 0.37, "right_y": 0.35, "right_z": 0.15, "right_yaw": -0.4, "right_gripper": 1.0}, "note": "The brick is in the right wrist view but its long axis runs across the jaw-closing direction, so I rotate the tool about 90\u00b0 and nudge slightly forward before re-checking alignment."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brick now appears upright on the jaw column in the right wrist view with space below it, so I advance ~3 cm forward and descend to table level to straddle it.
move_to
right_x0.4100right_y0.4000right_z0.0100right_yaw-0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8032, 0.6067, -0.392, -0.0227, -0.049, 0.9948, 1.0397, 2.2627, 1.9415, -0.7372, 0.8337, 0.9726, 0.998] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1762 left_yaw=0.0049 left_pitch=-0.024 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3793 right_y=0.3946 right_z=0.1304 right_yaw=-0.1547 right_pitch=-0.0583 right_roll=0.0605 right_gripper=0.998 state[joint_eff]: [0.0342, -1.4291, 7.2274, 1.8193, -0.0366, 0.0122, -0.022, -0.4034, -12.506, 5.4769, 0.1587, 0.525, 0.2466, -0.2271] camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.4, "right_z": 0.01, "right_yaw": -0.15, "right_gripper": 1.0}, "note": "The brick now appears upright on the jaw column in the right wrist view with space below it, so I advance ~3 cm forward and descend to table level to straddle it."})
tool
executing move_to over 8 steps (0.8s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe brick fills the right wrist view centered between the jaws; the arm stopped at z=0.08, so I continue the descent to table level before closing.
move_to
right_x0.3900right_y0.3950right_z0.0050right_yaw-0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6064, -0.3935, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6495, 0.8211, 0.9527, 0.998] state[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0051 left_pitch=-0.027 left_roll=-0.006 left_gripper=0.9948 right_x=0.3819 right_y=0.3932 right_z=0.0801 right_yaw=-0.1492 right_pitch=-0.0854 right_roll=0.0062 right_gripper=0.998 state[joint_eff]: [-0.0615, -1.388, 7.0222, 1.707, -0.0562, -0.0513, -0.0122, -0.6769, -15.7607, 6.8444, 1.2479, 0.4176, 0.0269, -0.2271] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.395, "right_z": 0.005, "right_yaw": -0.15, "right_gripper": 1.0}, "note": "The brick fills the right wrist view centered between the jaws; the arm stopped at z=0.08, so I continue the descent to table level before closing."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe right arm has stalled at z=0.08: the brick is ~0.55 m from the right base, beyond its tool-down reach. Parking the right arm home so the left arm (brick is ~0.46 m from its base) can take over.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6064, -0.4019, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6468, 0.8207, 0.9485, 0.998] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3821 right_y=0.3936 right_z=0.0803 right_yaw=-0.1466 right_pitch=-0.0847 right_roll=0.0055 right_gripper=0.998 state[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.7656, -0.0659, -0.0659, -0.0171, -0.4855, -15.7744, 6.8171, 1.1697, 0.3736, 0.0073, -0.2271] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The right arm has stalled at z=0.08: the brick is ~0.55 m from the right base, beyond its tool-down reach. Parking the right arm home so the left arm (brick is ~0.46 m from its base) can take over."})
tool
executing move_to over 33 steps (3.3s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteRight arm is parked home; the brick was centered under the right gripper at right (0.38, 0.39), i.e. left frame (0.38, -0.255). Flying the left arm above that point to check alignment in its wrist camera.
move_to
left_x0.3800left_y-0.2550left_z0.1500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.0494, 0.9948, 0.001, 0.8474, 0.6712, -0.4831, 0.0517, 0.02, 0.998] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0052 left_pitch=-0.0495 left_roll=-0.0055 left_gripper=0.9948 right_x=0.2919 right_y=-0.0053 right_z=0.1752 right_yaw=-0.0682 right_pitch=-0.0895 right_roll=0.0024 right_gripper=0.998 state[joint_eff]: [-0.0752, -1.5521, 7.4325, 1.7509, -0.0415, -0.0464, -0.0122, -0.1709, -2.0171, 7.9248, 1.6142, -0.1148, -0.1587, -0.2271] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.255, "left_z": 0.15, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Right arm is parked home; the brick was centered under the right gripper at right (0.38, 0.39), i.e. left frame (0.38, -0.255). Flying the left arm above that point to check alignment in its wrist camera."})
tool
executing move_to over 23 steps (2.3s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteIn the left wrist view the brick stands upright in the image but sits ~4 cm left of the jaw column and its centre is ahead of the fingertips; shifting left/forward and lowering to 9 cm to re-check.
move_to
left_x0.4100left_y-0.2150left_z0.0900left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8291, 1.6974, 1.1458, -0.2874, -0.6296, -0.5926, 0.9952, 0.0002, 0.8501, 0.6708, -0.4984, 0.0437, 0.0036, 0.9978] state[eef_state]: left_x=0.3737 left_y=-0.2486 left_z=0.1384 left_yaw=-0.0148 left_pitch=-0.0811 left_roll=0.0114 left_gripper=0.9952 right_x=0.2897 right_y=-0.0041 right_z=0.1713 right_yaw=-0.0534 right_pitch=-0.108 right_roll=-0.0067 right_gripper=0.9978 state[joint_eff]: [-0.3214, -8.335, 8.5675, 1.3358, -0.5592, -0.105, -0.5201, -0.1299, -1.7436, 7.1316, 1.7656, 0.0464, 0.0855, -0.0269] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.215, "left_z": 0.09, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "In the left wrist view the brick stands upright in the image but sits ~4 cm left of the jaw column and its centre is ahead of the fingertips; shifting left/forward and lowering to 9 cm to re-check."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteBrick is now nearly on the jaw column, still ~2 cm left of it and its centre a few cm ahead of the fingertips; final offset and descent to table level to straddle the brick.
move_to
left_x0.4300left_y-0.1900left_z0.0100left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.696, 1.7748, 1.0386, -0.1093, -0.5694, -0.5236, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, 0.0025, 0.9978] state[eef_state]: left_x=0.4014 left_y=-0.2066 left_z=0.0868 left_yaw=0.0383 left_pitch=-0.1184 left_roll=0.0383 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0525 right_pitch=-0.1119 right_roll=-0.0075 right_gripper=0.9978 state[joint_eff]: [-0.6769, -8.7726, 6.2701, 1.7753, -0.0464, 0.0513, -0.5201, -0.0342, -1.5385, 6.9265, 1.6825, -0.0366, -0.022, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.19, "left_z": 0.01, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Brick is now nearly on the jaw column, still ~2 cm left of it and its centre a few cm ahead of the fingertips; final offset and descent to table level to straddle the brick."})
tool
executing move_to over 5 steps (0.5s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteThe brick is now centred between the jaws in the left wrist view, but the arm only reached z=0.07; shoulder effort is still negative so it's not in contact. Re-issuing a slightly lower target to complete the descent.
move_to
left_x0.4300left_y-0.1950left_z0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6823, 1.805, 1.013, -0.0399, -0.5472, -0.5129, 0.9952, -0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978] state[eef_state]: left_x=0.4055 left_y=-0.2064 left_z=0.0734 left_yaw=0.0289 left_pitch=-0.1193 left_roll=0.0251 left_gripper=0.9952 right_x=0.2893 right_y=-0.0041 right_z=0.1705 right_yaw=-0.0515 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978 state[joint_eff]: [0.1983, -8.4855, 5.7915, 1.4725, -0.3053, 0.0806, -0.5201, -0.1573, -1.4427, 6.9265, 1.6728, -0.0269, -0.0269, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.195, "left_z": 0.0, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The brick is now centred between the jaws in the left wrist view, but the arm only reached z=0.07; shoulder effort is still negative so it's not in contact. Re-issuing a slightly lower target to complete the descent."})
tool
executing move_to over 5 steps (0.5s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe left arm is frozen at z=0.073 despite two descent commands; I suspect the fingertips are resting on top of a taller-than-expected brick. Stepping 7 cm to the arm's left and descending to the table to see the brick from the side and confirm its height.
move_to
left_x0.4050left_y-0.1350left_z0.0000left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6823, 1.805, 1.013, -0.0399, -0.5476, -0.5129, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978] state[eef_state]: left_x=0.4056 left_y=-0.2064 left_z=0.0734 left_yaw=0.0292 left_pitch=-0.1191 left_roll=0.0253 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0511 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978 state[joint_eff]: [0.1846, -8.3487, 5.7915, 1.453, -0.3394, 0.0757, -0.5201, -0.1846, -1.5248, 6.9675, 1.6484, -0.0024, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.135, "left_z": 0.0, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm is frozen at z=0.073 despite two descent commands; I suspect the fingertips are resting on top of a taller-than-expected brick. Stepping 7 cm to the arm's left and descending to the table to see the brick from the side and confirm its height."})
tool
executing move_to over 7 steps (0.7s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe arm descended freely beside the brick, and the wrist view shows a large object roughly 6–7 cm tall and nearly jaw-width — a real brick shape. The earlier stall was a jaw landing on its top; re-centring 1.5 cm to the left of the previous try, at 12 cm height, to align before a fresh descent.
move_to
left_x0.4050left_y-0.1900left_z0.1200left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.506, 1.8618, 0.72, 0.3477, -0.4114, -0.3779, 0.9952, 0.0002, 0.8509, 0.6708, -0.5045, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.3989 left_y=-0.1362 left_z=0.0018 left_yaw=0.0251 left_pitch=-0.1486 left_roll=0.0264 left_gripper=0.9952 right_x=0.2888 right_y=-0.004 right_z=0.1699 right_yaw=-0.0509 right_pitch=-0.1149 right_roll=-0.0101 right_gripper=0.9978 state[joint_eff]: [0.8137, -6.0923, 4.465, 1.409, -0.1343, 0.1245, -0.3736, 0.0342, -1.5521, 6.9812, 1.7363, -0.0171, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.19, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The arm descended freely beside the brick, and the wrist view shows a large object roughly 6\u20137 cm tall and nearly jaw-width \u2014 a real brick shape. The earlier stall was a jaw landing on its top; re-centring 1.5 cm to the left of the previous try, at 12 cm height, to align before a fresh descent."})
tool
executing move_to over 8 steps (0.8s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteFrom 10 cm up the brick looks ~6 cm wide, tilted about 20° with its far end to the arm's right, and sits ~3 cm left of the jaw column. Shifting left and yawing the tool clockwise to square the jaws to it.
move_to
left_x0.4100left_y-0.1650left_z0.1000left_yaw-0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6228, 1.7164, 1.0439, -0.1596, -0.4625, -0.4519, 0.9952, 0.0002, 0.8509, 0.6708, -0.5056, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4063 left_y=-0.1903 left_z=0.0989 left_yaw=-0.0084 left_pitch=-0.1592 left_roll=0.0225 left_gripper=0.9952 right_x=0.2887 right_y=-0.004 right_z=0.1697 right_yaw=-0.0509 right_pitch=-0.1161 right_roll=-0.0101 right_gripper=0.9978 state[joint_eff]: [-0.5538, -11.1111, 8.3624, 1.37, -0.2759, -0.022, -0.5153, -0.1026, -1.5248, 7.0496, 1.6239, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.165, "left_z": 0.1, "left_yaw": -0.3, "left_gripper": 1.0}, "note": "From 10 cm up the brick looks ~6 cm wide, tilted about 20\u00b0 with its far end to the arm's right, and sits ~3 cm left of the jaw column. Shifting left and yawing the tool clockwise to square the jaws to it."})
tool
executing move_to over 3 steps (0.3s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteThe brick is now vertical in the left wrist view and centred between the jaws; holding this xy and yaw while descending to table level.
move_to
left_x0.4030left_y-0.1490left_z0.0000left_yaw-0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4667, 1.652, 0.9249, -0.1059, -0.2569, -0.2481, 0.9952, -0.0002, 0.8509, 0.6708, -0.5068, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4027 left_y=-0.1486 left_z=0.079 left_yaw=-0.1292 left_pitch=-0.234 left_roll=0.0355 left_gripper=0.9952 right_x=0.2885 right_y=-0.0041 right_z=0.1695 right_yaw=-0.0513 right_pitch=-0.1172 right_roll=-0.0102 right_gripper=0.9978 state[joint_eff]: [-1.9624, -10.1402, 7.0632, 2.0977, 0.2662, 0.1587, -0.5201, -0.3487, -1.5248, 6.9128, 1.6679, -0.0317, -0.0366, -0.0122] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.403, "left_y": -0.149, "left_z": 0.0, "left_yaw": -0.13, "left_gripper": 1.0}, "note": "The brick is now vertical in the left wrist view and centred between the jaws; holding this xy and yaw while descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteDescent stops again at z≈0.07 with shoulder effort dropping, which means contact; the brick appears between the jaws in the wrist view. Closing the gripper here to test whether the brick is already between the jaws (it may be standing ~7 cm tall).
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4706, 1.6642, 0.8879, -0.0452, -0.2489, -0.2363, 0.9952, -0.0002, 0.8509, 0.6708, -0.5201, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4009 left_y=-0.1511 left_z=0.0695 left_yaw=-0.1471 left_pitch=-0.2254 left_roll=0.0345 left_gripper=0.9952 right_x=0.2864 right_y=-0.0041 right_z=0.1669 right_yaw=-0.0514 right_pitch=-0.1305 right_roll=-0.0109 right_gripper=0.9978 state[joint_eff]: [-0.0068, -7.1453, 6.0376, 1.58, -0.2662, -0.149, -0.5201, -0.1709, -1.4017, 6.8991, 1.7363, -0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Descent stops again at z\u22480.07 with shoulder effort dropping, which means contact; the brick appears between the jaws in the wrist view. Closing the gripper here to test whether the brick is already between the jaws (it may be standing ~7 cm tall)."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteThe close was empty (0.013) while the brick is still visible ahead, so the fingertips are short of it and something stops the descent at 7 cm. Opening and dropping to table level 5 cm nearer the base, to then slide forward and straddle the brick at floor height.
move_to
left_x0.3500left_y-0.1500left_z0.0000left_yaw-0.1300left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4706, 1.6642, 0.8879, -0.0471, -0.2562, -0.2508, 0.0127, -0.0002, 0.8509, 0.6708, -0.5243, 0.0433, -0.001, 0.9978] state[eef_state]: left_x=0.401 left_y=-0.1497 left_z=0.0694 left_yaw=-0.1329 left_pitch=-0.2252 left_roll=0.0298 left_gripper=0.0127 right_x=0.2857 right_y=-0.0041 right_z=0.1661 right_yaw=-0.0512 right_pitch=-0.1347 right_roll=-0.0114 right_gripper=0.9978 state[joint_eff]: [-0.0479, -7.7197, 6.1607, 1.4823, -0.0415, 0.1197, 1.1209, -0.1299, -1.4017, 6.9265, 1.6679, -0.022, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.15, "left_z": 0.0, "left_yaw": -0.13, "left_gripper": 1.0}, "note": "The close was empty (0.013) while the brick is still visible ahead, so the fingertips are short of it and something stops the descent at 7 cm. Opening and dropping to table level 5 cm nearer the base, to then slide forward and straddle the brick at floor height."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteAt table level the brick (a flat power bank, nearly jaw-width) lies directly ahead with its near end at the jaws, slightly tilted clockwise. Yawing a bit more clockwise and sliding forward 6 cm so the open jaws straddle it.
move_to
left_x0.4100left_y-0.1550left_z0.0000left_yaw-0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5545, 1.7039, 0.6029, 0.2359, -0.3035, -0.3157, 0.994, 0.0002, 0.8509, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.3479 left_y=-0.1491 left_z=0.0009 left_yaw=-0.1381 left_pitch=-0.2494 left_roll=0.0329 left_gripper=0.994 right_x=0.2852 right_y=-0.004 right_z=0.1656 right_yaw=-0.051 right_pitch=-0.1378 right_roll=-0.0112 right_gripper=0.9978 state[joint_eff]: [-0.4444, -5.1897, 4.588, 1.4335, -0.105, -0.0122, 0.0122, -0.1709, -1.5248, 7.0222, 1.6581, -0.0562, -0.0464, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.155, "left_z": 0.0, "left_yaw": -0.25, "left_gripper": 1.0}, "note": "At table level the brick (a flat power bank, nearly jaw-width) lies directly ahead with its near end at the jaws, slightly tilted clockwise. Yawing a bit more clockwise and sliding forward 6 cm so the open jaws straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe arm slid forward at table level and the brick now fills the wrist view with a jaw visible on each side of it; 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]: [-0.4362, 1.8507, 0.7841, 0.2489, -0.1951, -0.189, 0.9952, 0.0002, 0.8528, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.406 left_y=-0.1475 left_z=0.0028 left_yaw=-0.1845 left_pitch=-0.2339 left_roll=0.0287 left_gripper=0.9952 right_x=0.2853 right_y=-0.004 right_z=0.165 right_yaw=-0.0511 right_pitch=-0.1401 right_roll=-0.0114 right_gripper=0.9978 state[joint_eff]: [0.4581, -7.5966, 6.0103, 1.409, 0.0757, 0.1343, -0.5201, -0.1026, -1.4974, 6.8991, 1.5995, -0.022, -0.022, -0.0122] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm slid forward at table level and the brick now fills the wrist view with a jaw visible on each side of it; closing the gripper to grasp it across its width."})
tool
executing move_to over 10 steps (1.0s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteGripper settled at 0.75 (~7 cm), consistent with the brick's width, so it is grasped. Lifting to 17 cm to confirm the brick comes along before carrying it to the pot.
move_to
left_x0.4100left_y-0.1500left_z0.1700left_yaw-0.1900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.432, 1.8606, 0.7948, 0.2539, -0.1886, -0.1833, 0.7528, 0.0002, 0.8539, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4096 left_y=-0.1484 left_z=0.003 left_yaw=-0.1893 left_pitch=-0.2297 left_roll=0.0267 left_gripper=0.7528 right_x=0.2853 right_y=-0.004 right_z=0.1647 right_yaw=-0.0511 right_pitch=-0.1412 right_roll=-0.0114 right_gripper=0.9978 state[joint_eff]: [-0.4991, -9.265, 4.2872, 1.409, -0.1441, -0.0806, 1.0281, -0.0752, -1.5385, 7.1043, 1.6142, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.15, "left_z": 0.17, "left_yaw": -0.19, "left_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width, so it is grasped. Lifting to 17 cm to confirm the brick comes along before carrying it to the pot."})
tool
executing move_to over 11 steps (1.1s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteThe gripper still reads 0.75 after lifting, so the brick is held (it extends forward from the jaws, hence still visible). Carrying it up and toward the pot, which I estimate ~17 cm to the right and slightly forward, rising well above the rim height.
move_to
left_x0.4400left_y-0.3000left_z0.2600left_yaw-0.1900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.432, 1.6165, 1.1332, -0.458, -0.1799, -0.1837, 0.7527, -0.0002, 0.8551, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.3966 left_y=-0.1441 left_z=0.118 left_yaw=-0.1873 left_pitch=-0.3568 left_roll=0.0521 left_gripper=0.7527 right_x=0.2854 right_y=-0.0041 right_z=0.1644 right_yaw=-0.0514 right_pitch=-0.142 right_roll=-0.0115 right_gripper=0.9978 state[joint_eff]: [-0.6496, -11.8632, 10.947, 1.9756, -0.2125, -0.0708, 1.0281, -0.212, -1.6205, 7.0359, 1.5849, -0.0269, -0.0659, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.3, "left_z": 0.26, "left_yaw": -0.19, "left_gripper": 0.0}, "note": "The gripper still reads 0.75 after lifting, so the brick is held (it extends forward from the jaws, hence still visible). Carrying it up and toward the pot, which I estimate ~17 cm to the right and slightly forward, rising well above the rim height."})
tool
executing move_to over 14 steps (1.4s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteTop view shows the gripper hovering just left of the pot with the brick pointing forward over the table; the pot rim is visible on the right of the wrist view. Shifting ~8 cm right toward the pot centre and levelling the tool so the brick hangs over the water.
move_to
left_x0.4500left_y-0.3800left_z0.2400left_yaw-0.1900left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7067, 2.2974, 2.5488, -1.3281, -0.3031, -0.4187, 0.7527, -0.0002, 0.8566, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4403 left_y=-0.3019 left_z=0.2184 left_yaw=-0.1981 left_pitch=-0.4361 left_roll=0.0654 left_gripper=0.7527 right_x=0.2855 right_y=-0.0041 right_z=0.164 right_yaw=-0.0515 right_pitch=-0.1439 right_roll=-0.0116 right_gripper=0.9978 state[joint_eff]: [-0.4171, -10.865, 5.9282, 0.5788, -0.4029, -0.0366, 1.033, -0.1162, -1.5111, 6.9812, 1.6142, -0.0269, -0.0317, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.38, "left_z": 0.24, "left_yaw": -0.19, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Top view shows the gripper hovering just left of the pot with the brick pointing forward over the table; the pot rim is visible on the right of the wrist view. Shifting ~8 cm right toward the pot centre and levelling the tool so the brick hangs over the water."})
tool
executing move_to over 15 steps (1.5s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
right_cam
camera right_cam step 222
assistant
agent noteThe wrist view now shows the brick over the white pot interior with the rim and handle to the left; the grasp point sits over the pot's near half. Nudging 3 cm further forward so the whole brick clears the near rim before releasing.
move_to
left_x0.4700left_y-0.3800left_z0.1800left_yaw-0.1900left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8711, 2.2513, 2.1113, -0.7982, -0.5358, -0.432, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4377 left_y=-0.3744 left_z=0.1635 left_yaw=-0.2007 left_pitch=-0.2111 left_roll=0.1481 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978 state[joint_eff]: [-0.6769, -19.7402, 7.9932, 2.1074, -0.7888, 0.1929, 1.0281, -0.2256, -1.5795, 7.0769, 1.6239, -0.0415, -0.0269, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.38, "left_z": 0.18, "left_yaw": -0.19, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The wrist view now shows the brick over the white pot interior with the rim and handle to the left; the grasp point sits over the pot's near half. Nudging 3 cm further forward so the whole brick clears the near rim before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 230
top_cam
camera top_cam step 230
left_cam
camera left_cam step 230
right_cam
camera right_cam step 230
assistant
agent noteThe brick is now fully surrounded by the white pot interior in the wrist view and the arm is at its reach limit; opening the gripper to drop the brick into the pot.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8635, 2.2639, 1.9709, -0.601, -0.5774, -0.3603, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4511 left_y=-0.3737 left_z=0.1319 left_yaw=-0.2063 left_pitch=-0.163 left_roll=0.2002 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978 state[joint_eff]: [0.4444, -16.0752, 8.0205, 2.2637, -0.7448, 0.2662, 1.033, -0.1436, -1.3744, 6.8991, 1.6093, -0.0611, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The brick is now fully surrounded by the white pot interior in the wrist view and the arm is at its reach limit; opening the gripper to drop the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteThe gripper still reads 0.75 — the short open command was rate-clamped before the jaws moved. Re-issuing the open command to release the brick into the pot.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8639, 2.2593, 1.935, -0.5564, -0.5793, -0.3641, 0.7527, -0.0002, 0.8574, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4516 left_y=-0.3742 left_z=0.1268 left_yaw=-0.2046 left_pitch=-0.1511 left_roll=0.1902 left_gripper=0.7527 right_x=0.2856 right_y=-0.0041 right_z=0.1638 right_yaw=-0.0515 right_pitch=-0.1443 right_roll=-0.0116 right_gripper=0.9978 state[joint_eff]: [-0.1299, -12.7932, 9.7846, 1.2332, -0.5006, -0.0073, 1.033, -0.0479, -1.5248, 7.0769, 1.6435, -0.0317, -0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The gripper still reads 0.75 \u2014 the short open command was rate-clamped before the jaws moved. Re-issuing the open command to release the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 236
top_cam
camera top_cam step 236
left_cam
camera left_cam step 236
right_cam
camera right_cam step 236
assistant
agent noteThe jaws still have not opened after two short commands; pairing the open with a small 3 cm lift to give the controller a longer motion window to actuate the gripper.
move_to
left_x0.4500left_y-0.3730left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8642, 2.2593, 1.9446, -0.585, -0.5739, -0.3664, 0.7526, -0.0002, 0.8597, 0.6708, -0.5278, 0.0433, -0.001, 0.9978] state[eef_state]: left_x=0.4491 left_y=-0.3729 left_z=0.1262 left_yaw=-0.2058 left_pitch=-0.1685 left_roll=0.197 left_gripper=0.7526 right_x=0.2856 right_y=-0.0041 right_z=0.1632 right_yaw=-0.0513 right_pitch=-0.1469 right_roll=-0.012 right_gripper=0.9978 state[joint_eff]: [-0.3487, -13.2991, 5.9419, 1.5849, -0.359, -0.0024, 1.033, -0.2256, -1.7573, 6.9675, 1.5849, -0.0415, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.373, "left_z": 0.16, "left_gripper": 1.0}, "note": "The jaws still have not opened after two short commands; pairing the open with a small 3 cm lift to give the controller a longer motion window to actuate the gripper."})
tool
executing move_to over 3 steps (0.3s)
step 239
top_cam
camera top_cam step 239
left_cam
camera left_cam step 239
assistant
agent noteThe gripper opened (0.89) and the brick has dropped; the wrist view shows it lying inside the white pot. Retracting the left arm up and back so the top camera can confirm the brick is in the pot.
move_to
left_x0.3000left_y-0.2000left_z0.2500left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8639, 2.2662, 2.022, -0.6781, -0.5701, -0.3706, 0.8944, -0.0002, 0.8604, 0.6708, -0.5282, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.4478 left_y=-0.3719 left_z=0.1395 left_yaw=-0.2035 left_pitch=-0.1876 left_roll=0.2054 left_gripper=0.8944 right_x=0.2856 right_y=-0.0041 right_z=0.1629 right_yaw=-0.0515 right_pitch=-0.1481 right_roll=-0.0118 right_gripper=0.9978 state[joint_eff]: [0.0479, -13.1487, 9.9487, 1.326, -0.3199, 0.0806, -0.1197, -0.0342, -1.2786, 6.8991, 1.6044, -0.0269, -0.0269, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The gripper opened (0.89) and the brick has dropped; the wrist view shows it lying inside the white pot. Retracting the left arm up and back so the top camera can confirm the brick is in the pot."})
tool
executing move_to over 16 steps (1.6s)
step 255
assistant
The top camera now shows the black brick lying inside the pot, and the left wrist camera confirms it resting in the water inside the white pot interior.
agent noteGrasped the black brick (a flat ~7 cm-wide power-bank shaped block) with the left arm by sliding the open jaws over it at table level, carried it over the pot, and released it; the top and left wrist cameras both show the brick inside the pot.
done
hindsight1) The brick sat at left frame (0.41, -0.15), i.e. right frame (0.41, 0.50) — beyond the right arm's tool-down reach and y bound; the top-cam x-scale near mid-frame was ~5 px/cm, not 2.8, so the object was much closer to the left arm than it looked. Pick the arm on whose side the object lies. 2) Descents directly onto the brick stalled at z≈0.07 twice (a jaw landed on the brick edge because its width ~7 cm is close to the jaw span). What worked: go to z=0 a few cm short of it, then slide forward radially so the open jaws straddle it, then close (settled 0.75 ≈ 7 cm). 3) Short gripper-only moves (3 steps) got rate-clamped and did nothing; pair the open/close with a small arm motion or send it as a 10-step move. 4) The pot centre is about left (0.47, -0.36), right at the left arm's reach limit at z≈0.15; the arm sagged from 0.24 to 0.13 with load, and the brick still landed inside. 5) Pitch drifts to -0.2..-0.4 during sideways reaches; command left_pitch 0 explicitly when carrying.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9768, 1.4353, 1.2747, -0.7727, -0.831, -0.5777, 0.9945, 0.0002, 0.8639, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978] state[eef_state]: left_x=0.3061 left_y=-0.2137 left_z=0.2418 left_yaw=-0.0338 left_pitch=-0.0216 left_roll=0.1956 left_gripper=0.9945 right_x=0.2858 right_y=-0.004 right_z=0.162 right_yaw=-0.0511 right_pitch=-0.1511 right_roll=-0.0119 right_gripper=0.9978 state[joint_eff]: [-0.5265, -6.8991, 6.6803, 1.2821, -0.5153, -0.149, -0.569, -0.1709, -1.7299, 6.9265, 1.6386, -0.0464, -0.0415, -0.0122] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
The top camera now shows the black brick lying inside the pot, and the left wrist camera confirms it resting in the water inside the white pot interior.
done({"summary": "Grasped the black brick (a flat ~7 cm-wide power-bank shaped block) with the left arm by sliding the open jaws over it at table level, carried it over the pot, and released it; the top and left wrist cameras both show the brick inside the pot.", "hindsight": "1) The brick sat at left frame (0.41, -0.15), i.e. right frame (0.41, 0.50) \u2014 beyond the right arm's tool-down reach and y bound; the top-cam x-scale near mid-frame was ~5 px/cm, not 2.8, so the object was much closer to the left arm than it looked. Pick the arm on whose side the object lies. 2) Descents directly onto the brick stalled at z\u22480.07 twice (a jaw landed on the brick edge because its width ~7 cm is close to the jaw span). What worked: go to z=0 a few cm short of it, then slide forward radially so the open jaws straddle it, then close (settled 0.75 \u2248 7 cm). 3) Short gripper-only moves (3 steps) got rate-clamped and did nothing; pair the open/close with a small arm motion or send it as a 10-step move. 4) The pot centre is about left (0.47, -0.36), right at the left arm's reach limit at z\u22480.15; the arm sagged from 0.24 to 0.13 with load, and the brick still landed inside. 5) Pitch drifts to -0.2..-0.4 during sideways reaches; command left_pitch 0 explicitly when carrying."})
tool
done: Grasped the black brick (a flat ~7 cm-wide power-bank shaped block) with the left arm by sliding the open jaws over it at table level, carried it over the pot, and released it; the top and left wrist cameras both show the brick 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 · 29.97 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7937, 0.6048, -0.3756, -0.0219, -0.041, 0.9951, -0.0181, 0.7921, 0.6022, -0.379, -0.017, -0.0341, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9951 right_x=0.2946 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -1.4701, 10.1128, 1.7753, -0.0073, 0.2271, -0.3394, -0.7043, -1.347, 10.1949, 1.9072, -0.1148, 0.1441, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec1c93622cc2ded9b14cadbbeabdb6609432f19f85dc86d7221229e978d63cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d92d0bf16771783e6537154761a18175a1bf3b9092d6542a9ada372d112430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:644e6b9ac9851b390a12d6a64101e526d1653e97a833827b5e02bd8d1fa8dcc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 22.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7937, 0.6048, -0.3756, -0.0219, -0.041, 0.9951, -0.0181, 0.7921, 0.6022, -0.379, -0.017, -0.0341, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9951 right_x=0.2946 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -1.4701, 10.1128, 1.7753, -0.0073, 0.2271, -0.3394, -0.7043, -1.347, 10.1949, 1.9072, -0.1148, 0.1441, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec1c93622cc2ded9b14cadbbeabdb6609432f19f85dc86d7221229e978d63cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2d92d0bf16771783e6537154761a18175a1bf3b9092d6542a9ada372d112430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:644e6b9ac9851b390a12d6a64101e526d1653e97a833827b5e02bd8d1fa8dcc9",
        "media_type": "image/png",
        "type": "base64"
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  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll use the right arm: the brick sits roughly 27 cm left of the left arm (≈ right_y 0.37), and the pot is well within the right arm's reach. First, fly above the brick.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V9SdYzMYPM4YtDXbh6Ke5i",
      "input": {
        "note": "The black brick lies mid-table, long axis left-right, and the pot is forward-right of it. Flying the right arm above the brick, starting to yaw so the jaws will close across the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.36,
          "right_yaw": 1.2,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 30 steps (3.0s)",
      "tool_use_id": "toolu_01V9SdYzMYPM4YtDXbh6Ke5i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0425, 0.9949, 0.6262, 1.7679, 1.1618, -0.0715, -0.4339, -0.3367, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0015 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9949 right_x=0.3488 right_y=0.3484 right_z=0.1363 right_yaw=1.1538 right_pitch=-0.0363 right_roll=0.0106 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.6205, 6.8581, 1.8095, -0.0464, -0.0464, -0.0366, 0.1709, -9.1419, 8.8684, 1.6288, -0.4176, -0.1245, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e97e806719aabef5ea15dc0ecef505d087565b3c5d754e8bdb11ef5e914ed9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005cdd92537b7590fe1b2ec6dea0900be9c435a9193e0adee3d17426070f4993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75885b9379ebbd1b6163fa246011814332f12da94428faa1972779265bbba13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 12.97 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7937, 0.6048, -0.3756, -0.0219, -0.041, 0.9951, -0.0181, 0.7921, 0.6022, -0.379, -0.017, -0.0341, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9951 right_x=0.2946 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -1.4701, 10.1128, 1.7753, -0.0073, 0.2271, -0.3394, -0.7043, -1.347, 10.1949, 1.9072, -0.1148, 0.1441, -0.2271]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0425, 0.9949, 0.6262, 1.7679, 1.1618, -0.0715, -0.4339, -0.3367, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0015 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9949 right_x=0.3488 right_y=0.3484 right_z=0.1363 right_yaw=1.1538 right_pitch=-0.0363 right_roll=0.0106 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.6205, 6.8581, 1.8095, -0.0464, -0.0464, -0.0366, 0.1709, -9.1419, 8.8684, 1.6288, -0.4176, -0.1245, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e97e806719aabef5ea15dc0ecef505d087565b3c5d754e8bdb11ef5e914ed9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:005cdd92537b7590fe1b2ec6dea0900be9c435a9193e0adee3d17426070f4993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75885b9379ebbd1b6163fa246011814332f12da94428faa1972779265bbba13b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JAuK7a2fW1vQy3dvYKnELU",
      "input": {
        "note": "The brick is in the right wrist view but its long axis runs across the jaw-closing direction, so I rotate the tool about 90° and nudge slightly forward before re-checking alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.35,
          "right_yaw": -0.4,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JAuK7a2fW1vQy3dvYKnELU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6067, -0.392, -0.0227, -0.049, 0.9948, 1.0397, 2.2627, 1.9415, -0.7372, 0.8337, 0.9726, 0.998]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1762 left_yaw=0.0049 left_pitch=-0.024 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3793 right_y=0.3946 right_z=0.1304 right_yaw=-0.1547 right_pitch=-0.0583 right_roll=0.0605 right_gripper=0.998\nstate[joint_eff]: [0.0342, -1.4291, 7.2274, 1.8193, -0.0366, 0.0122, -0.022, -0.4034, -12.506, 5.4769, 0.1587, 0.525, 0.2466, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e879e16624e9735da3f3297c4d59c78898cee6670aa16217f8616616350b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed9ba7a8791c71dac76dfbf347ffb8a0f55b74c3915938aa50278f95a534c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9169c0e94cc094b57bc8b6a51a41a58982c6ecd8b2b7d7b18aaf906441f4b7ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.208 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7937, 0.6048, -0.3756, -0.0219, -0.041, 0.9951, -0.0181, 0.7921, 0.6022, -0.379, -0.017, -0.0341, 0.998]\nstate[eef_state]: left_x=0.2954 left_y=0.0017 left_z=0.1814 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9951 right_x=0.2946 right_y=0.0012 right_z=0.1798 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.998\nstate[joint_eff]: [-0.5675, -1.4701, 10.1128, 1.7753, -0.0073, 0.2271, -0.3394, -0.7043, -1.347, 10.1949, 1.9072, -0.1148, 0.1441, -0.2271]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0425, 0.9949, 0.6262, 1.7679, 1.1618, -0.0715, -0.4339, -0.3367, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0015 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9949 right_x=0.3488 right_y=0.3484 right_z=0.1363 right_yaw=1.1538 right_pitch=-0.0363 right_roll=0.0106 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.6205, 6.8581, 1.8095, -0.0464, -0.0464, -0.0366, 0.1709, -9.1419, 8.8684, 1.6288, -0.4176, -0.1245, -0.2271]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6067, -0.392, -0.0227, -0.049, 0.9948, 1.0397, 2.2627, 1.9415, -0.7372, 0.8337, 0.9726, 0.998]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1762 left_yaw=0.0049 left_pitch=-0.024 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3793 right_y=0.3946 right_z=0.1304 right_yaw=-0.1547 right_pitch=-0.0583 right_roll=0.0605 right_gripper=0.998\nstate[joint_eff]: [0.0342, -1.4291, 7.2274, 1.8193, -0.0366, 0.0122, -0.022, -0.4034, -12.506, 5.4769, 0.1587, 0.525, 0.2466, -0.2271]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e879e16624e9735da3f3297c4d59c78898cee6670aa16217f8616616350b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eed9ba7a8791c71dac76dfbf347ffb8a0f55b74c3915938aa50278f95a534c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9169c0e94cc094b57bc8b6a51a41a58982c6ecd8b2b7d7b18aaf906441f4b7ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AwKEAgRGAI4AUIIdGhpbmtpbmcSDGm6A7J/ai9oFH2VuRoMh6oQkUbRq78AP+V6IjBZPgMFHjPjmc98NU3PZ4qsjfGT3PaZp6I6TmONBQZqa+0dOirqp4Fow9dGr+TfKlAq8QufulA0HXSoB3am2ihLTpn2VKELxgIL4X8bLi1MnipTU1IJMEqwUxe0+SgA1TckiC9X5XEXzViXN3gKC0Hq2O+ODX31p429IgsF6D7no5bkCBxZ3YWD937aoDDBAE19auh8SZOHgIGDtw6h++NzYy6Zzo2WAFl31hH59RF0iwwEn8SdOR2xgs6Aag7LC0nuXLTQinNJDNVS5U7xOJdmE9HusMyr+a2aZHPZT66e7K79tGpqbahCtlEaWdPyDM8B2bjBN4Q4WdFDmsClSfbPFatbmyfIAxstKhYjq4mYXpDrw89WT9hnRTQQx/PcL2soGooi6v6TkQSobTg7OxvMsiRpug+t5OQJWm4ucQ86EG4ppYYDOe297DLx4UltVmUTvW4mf62FF/BKyepLZARgD2W9ympE9NpOjmtws5lYhsr70eI2sPCelN+0absP0gWQHhCXV07/DHp62anAf3Vkot5udK835QP3q+VX0UJy6jL6EAuKDUYX7RtltUxMM/3rof//b1pAb8ARXKbIZQGa5QspIE5dk9D1D3ARrDyaZi/OdVcLoXQCzqRFqP+h6zYZTGDytllEJN7wqGPZktFDeksJ2KkOAOrqP1N8fPpYjyCz0WZyleZlird/iFF7zhwOLnhavB9/cH80Hful7LNLHT9xd47xxqesyChViu1hUDMFQK20HX6FWFV2VYzBjDkV27H7yzFyQa4+w5yhmTl5phGgXlYq2cHa+9COcj809P8aktPPXA4mnSykzwXr8oc6Z5SVzfXEcBYIoyOx6VqAYPaQl0EjymkAf64VETRIT9EAfZwtFa3ys/o6SzwWRGmh8Md95096BYkgTGT74hLo39qyBiHG4sB4ubg67sFX2rW4Wc+BNTDY8NbzmmMVICPP8cLEcgR9HvlUrvIyiPQUHmgxbFfGezhuGuysIX9vLa9f2MqB42jQgIR9mclaaypswqNT0/6OF3ic/bzICHhlEPXF/o6rmqDL2kD2hdrudPLLxi7fPd99/G5UlSde06RO2JSfsJG/TiqcuIWoxZRN/xwdlCRB41Cn8rel6gVmfP3Z9Il5a1IbrF3rQuJIOKbGQ86cLOKij5BT4B4Dk/l9OoRNlrt+IZ+ap36IHc+dnoMCjk6ajeYWTQsrgdlITuHTmsxxFiIUgsY1vC+oXKE3F9/yhLHfKgoFW3fRw4BHw33rqFyysLvJRUN3y88OtYhM31zCSMSNIh0fL5GhPs72hhr6jbZpWNAybmvrL1FvI33+Fd+jaomMjyA7Yfd/uO7ecHDvdteHQI6eP384FupKD9Z+FNZScNclxV8qrr/sElvsh+/hp28nGeHdiIjLPLVUZIiD2RlPbGy7IJXbmFHiOmq0WGuuRNqgw/6lXgzUhgDrxbVALSSGBpdOrD6+wH6l+IWpRA0MTpdxRuP0I2qy/3ECHyk2876RvPASc25ddpO/pN5C/v1FkY3+yxWA3dCgJUsYmRD21ZcRNNZBSFTvUPTMvpTjWkJ7GRQlKclQ0RyUt4Ptxwmaxc83pdeAJDdNqe9lOktjjTW25Yig+wcZ/6hVXR8LpXgfpIL09proeQpxNiAG6SOh0AanASou779ejINDQzhmDVl/ejqbyVcWikLYcWXjk/ggJoLuOx+n6yp84jzQOITPowJLvxYp6+I+xXnrMJd7EeJQ+8KkMt4xXdf7X/yL/a+Ah5O9uQbn8MGPM4LI7WkHwJXyNMbT29LQvKYNKZ7uDXOddzdmlVP1b0bPep3zLpuhEpJTwob15KEYrpiK006Lya/uAcWVwRLHr7ryZChY/ObCkWG6kv9b/OHpO6p5l2JARms4GSnjcpkaqOlhsRKe6rZswFt5KZxm1775hbZ4uXE6YAn8kdwvm0W3SxDeYn9608LUWCGmznWPd61da85F1GF/YYI6bfaClcJVcZYWtiCMhXfRi2OnRYGQBkNZdAwTTlHNBY0ZQ9ADazg+oH7ZC8W7DBmTFR+9wGhwnCVQzbqoGBLgdSM2xAs6SArdKVW7K/UnoEckpGyVqAMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TA3oWhJLvBVustvQaCdj6g",
      "input": {
        "note": "The brick now appears upright on the jaw column in the right wrist view with space below it, so I advance ~3 cm forward and descend to table level to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.41,
          "right_y": 0.4,
          "right_yaw": -0.15,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TA3oWhJLvBVustvQaCdj6g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6064, -0.3935, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6495, 0.8211, 0.9527, 0.998]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0051 left_pitch=-0.027 left_roll=-0.006 left_gripper=0.9948 right_x=0.3819 right_y=0.3932 right_z=0.0801 right_yaw=-0.1492 right_pitch=-0.0854 right_roll=0.0062 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.707, -0.0562, -0.0513, -0.0122, -0.6769, -15.7607, 6.8444, 1.2479, 0.4176, 0.0269, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07979ed3fa516a0f940112f94dcef76f001f5f7c4100030d0e68ce89019026b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade9883be116c44506d18b330e99d5d401f66387faba0d9d037ebe0dd350a2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96f0c8e519c45cef3f8ec927158688ec3aca9f529e03f3d1bf36c074964a1c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 15.25 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3862, -0.0227, -0.0425, 0.9949, 0.6262, 1.7679, 1.1618, -0.0715, -0.4339, -0.3367, 0.998]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.179 left_yaw=0.0015 left_pitch=-0.013 left_roll=-0.0006 left_gripper=0.9949 right_x=0.3488 right_y=0.3484 right_z=0.1363 right_yaw=1.1538 right_pitch=-0.0363 right_roll=0.0106 right_gripper=0.998\nstate[joint_eff]: [-0.0479, -1.6205, 6.8581, 1.8095, -0.0464, -0.0464, -0.0366, 0.1709, -9.1419, 8.8684, 1.6288, -0.4176, -0.1245, -0.2271]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6067, -0.392, -0.0227, -0.049, 0.9948, 1.0397, 2.2627, 1.9415, -0.7372, 0.8337, 0.9726, 0.998]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1762 left_yaw=0.0049 left_pitch=-0.024 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3793 right_y=0.3946 right_z=0.1304 right_yaw=-0.1547 right_pitch=-0.0583 right_roll=0.0605 right_gripper=0.998\nstate[joint_eff]: [0.0342, -1.4291, 7.2274, 1.8193, -0.0366, 0.0122, -0.022, -0.4034, -12.506, 5.4769, 0.1587, 0.525, 0.2466, -0.2271]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6064, -0.3935, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6495, 0.8211, 0.9527, 0.998]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0051 left_pitch=-0.027 left_roll=-0.006 left_gripper=0.9948 right_x=0.3819 right_y=0.3932 right_z=0.0801 right_yaw=-0.1492 right_pitch=-0.0854 right_roll=0.0062 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.707, -0.0562, -0.0513, -0.0122, -0.6769, -15.7607, 6.8444, 1.2479, 0.4176, 0.0269, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07979ed3fa516a0f940112f94dcef76f001f5f7c4100030d0e68ce89019026b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ade9883be116c44506d18b330e99d5d401f66387faba0d9d037ebe0dd350a2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f0c8e519c45cef3f8ec927158688ec3aca9f529e03f3d1bf36c074964a1c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlAgKEAgRGAI4AUIIdGhpbmtpbmcSDCG+I95hys32E4cnQxoMZ/uPy6gj33SH2SD5IjCeMs5MWuGQ42Q93moMzILE+pCAcQP2cHsNH8lk3h1B6RUvhydFz7vbi0ZjBc7Bu0YqsQdzonhAfe1a8QgT3D0ty6v+D+VMM1N3wHx6Hc7vcxEGAUyG5AFJUOOPx7vwELDPJKIVb7LY86sdisZgT1zGKH5lJjre7JR07zN4jfXpBsv7lgBpm1lg2pAN+S/uheFQjN38Wej2P0wSPuxVKfawX67iMiYxHZdSnhOVdXmFV/Ip6o6jkYHUZYwEyM6of5ZlqS1R82s9bL5Ij7XRC2bQvHRTc1zegDNxYT3suybeZyDlVFL23MWY3iq9hwtkNdoxMuvoZAnLbUq3IIn4bT3HdAGb5uKCnfqzQ56mL4GUqB3FpALfUkEPWSXwtB7uszlUQLftZL0rfWsUhfmQyDtpYLISH4+2JGqcCEowFIq60jROY1Q5GEMsBPePphCVhUaee/jJLgW5xZX00PIDM7KlTsuiwakmWgqrvscWkJOSfGzVtZqpSt5d9VlvJtC2sK1GR2iEOHcL0eVxAtQC8mMv3RvnhrHIAhAimDXfH3z4ciAaMjdzq+ciLfNFUmIzfuHA4F80TaO30Q0/kN6kyE1rybCSWMpNBIFnvhtfdMSASzIUFS1/SPrJ/kX2oVRf44mrjDefaHFDVnpa2UhShXApY5+RIfVEfPtbdukD8jglE+bWMQ2Ts4YKqLlZAW3i+1GFvDzbFDcai6CKoQyekZPcVYJuglT8cvXx6dSFBmPmnBOBD7zjliwgh2ZmI+RC1mvJqWhvXkveXvFTOAiIQf81w5NeAbn8PiRsz/2uYr7Aoc6cazLt8ezFMZDNVpDiWeZtWt7KQ6U6XTkWzPpmShEP3pu8qNgzW47nOS9TC+LrsNV35kBwKWQeJyVLr+ny4Dn7l8YelreOj7RmXowoMIJcHCzvnynhRCqMFr6G4ElqIu9VFDb4i4yJGVO+FzuuHxlAs5h9Uf6rDna9Kla269pbu/lcUz/ZFmJhsvR0GHUUZ2awFyAMwUWtMu2WAqhWG9OqdxNsMewwXvTnn1lXKFyNMTy3HCXln2JvtjKbb/y1agkV1Y2JuCpLVnqSXeQ2FOsofSvAsGwAx83iufQScvyWaBNCekWZOIM/q+QDLDWejYZzxCoOAgGeXNrP8T+wg7fWnqq94SRt6p8vp6NuOTOU3SMvvBiOhYIWsHf+Ktqo2mj+4N1OHcZqcJ2YC4iDI0tmGhzq9h43fLbAWt91uFGlxWKTQyt8M/5XCP9ZWi2YkjOhkHWuwq0eeAvzY50QhQJPdC127SlKqnGX8H57lR7bb8bRThA6dKQPWP//bilsAgtDn8QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TnTPX1YpioEN3KoKq53mAY",
      "input": {
        "note": "The brick fills the right wrist view centered between the jaws; the arm stopped at z=0.08, so I continue the descent to table level before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.395,
          "right_yaw": -0.15,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TnTPX1YpioEN3KoKq53mAY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6064, -0.4019, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6468, 0.8207, 0.9485, 0.998]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3821 right_y=0.3936 right_z=0.0803 right_yaw=-0.1466 right_pitch=-0.0847 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.7656, -0.0659, -0.0659, -0.0171, -0.4855, -15.7744, 6.8171, 1.1697, 0.3736, 0.0073, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0c63966f59d64affcc7e2cf623b1cbd65f6b25d0a05b7b2fa998eb969424d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ec5b08e6fb226a9cae5577cc43fd5423ec1204c839302993725d620ac7602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30e87faef8370930b65a455b26e29fe215cf94bdf2e93992c3c4ae7a4ad163e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 24.76 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6067, -0.392, -0.0227, -0.049, 0.9948, 1.0397, 2.2627, 1.9415, -0.7372, 0.8337, 0.9726, 0.998]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1762 left_yaw=0.0049 left_pitch=-0.024 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3793 right_y=0.3946 right_z=0.1304 right_yaw=-0.1547 right_pitch=-0.0583 right_roll=0.0605 right_gripper=0.998\nstate[joint_eff]: [0.0342, -1.4291, 7.2274, 1.8193, -0.0366, 0.0122, -0.022, -0.4034, -12.506, 5.4769, 0.1587, 0.525, 0.2466, -0.2271]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6064, -0.3935, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6495, 0.8211, 0.9527, 0.998]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0051 left_pitch=-0.027 left_roll=-0.006 left_gripper=0.9948 right_x=0.3819 right_y=0.3932 right_z=0.0801 right_yaw=-0.1492 right_pitch=-0.0854 right_roll=0.0062 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.707, -0.0562, -0.0513, -0.0122, -0.6769, -15.7607, 6.8444, 1.2479, 0.4176, 0.0269, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6064, -0.4019, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6468, 0.8207, 0.9485, 0.998]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3821 right_y=0.3936 right_z=0.0803 right_yaw=-0.1466 right_pitch=-0.0847 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.7656, -0.0659, -0.0659, -0.0171, -0.4855, -15.7744, 6.8171, 1.1697, 0.3736, 0.0073, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe0c63966f59d64affcc7e2cf623b1cbd65f6b25d0a05b7b2fa998eb969424d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ec5b08e6fb226a9cae5577cc43fd5423ec1204c839302993725d620ac7602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e87faef8370930b65a455b26e29fe215cf94bdf2e93992c3c4ae7a4ad163e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012873aePYwumKmZALQR7SBq",
      "input": {
        "note": "The right arm has stalled at z=0.08: the brick is ~0.55 m from the right base, beyond its tool-down reach. Parking the right arm home so the left arm (brick is ~0.46 m from its base) can take over.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 33 steps (3.3s)",
      "tool_use_id": "toolu_012873aePYwumKmZALQR7SBq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.0494, 0.9948, 0.001, 0.8474, 0.6712, -0.4831, 0.0517, 0.02, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0052 left_pitch=-0.0495 left_roll=-0.0055 left_gripper=0.9948 right_x=0.2919 right_y=-0.0053 right_z=0.1752 right_yaw=-0.0682 right_pitch=-0.0895 right_roll=0.0024 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5521, 7.4325, 1.7509, -0.0415, -0.0464, -0.0122, -0.1709, -2.0171, 7.9248, 1.6142, -0.1148, -0.1587, -0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982555055605085e437b0049801e0002b5978709f4c87ec559a25147ead52d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0403f5f71945b537a8ba9038900f803fb690ef62ca036ff62d90c0fbe32efc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41be83e112dcfd89713682c353a38b17d6b0868ad1355ff7fa50279a12cd9180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 11.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6064, -0.3935, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6495, 0.8211, 0.9527, 0.998]\nstate[eef_state]: left_x=0.2939 left_y=0.0018 left_z=0.1754 left_yaw=0.0051 left_pitch=-0.027 left_roll=-0.006 left_gripper=0.9948 right_x=0.3819 right_y=0.3932 right_z=0.0801 right_yaw=-0.1492 right_pitch=-0.0854 right_roll=0.0062 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.388, 7.0222, 1.707, -0.0562, -0.0513, -0.0122, -0.6769, -15.7607, 6.8444, 1.2479, 0.4176, 0.0269, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6064, -0.4019, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6468, 0.8207, 0.9485, 0.998]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3821 right_y=0.3936 right_z=0.0803 right_yaw=-0.1466 right_pitch=-0.0847 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.7656, -0.0659, -0.0659, -0.0171, -0.4855, -15.7744, 6.8171, 1.1697, 0.3736, 0.0073, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.0494, 0.9948, 0.001, 0.8474, 0.6712, -0.4831, 0.0517, 0.02, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0052 left_pitch=-0.0495 left_roll=-0.0055 left_gripper=0.9948 right_x=0.2919 right_y=-0.0053 right_z=0.1752 right_yaw=-0.0682 right_pitch=-0.0895 right_roll=0.0024 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5521, 7.4325, 1.7509, -0.0415, -0.0464, -0.0122, -0.1709, -2.0171, 7.9248, 1.6142, -0.1148, -0.1587, -0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982555055605085e437b0049801e0002b5978709f4c87ec559a25147ead52d4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0403f5f71945b537a8ba9038900f803fb690ef62ca036ff62d90c0fbe32efc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41be83e112dcfd89713682c353a38b17d6b0868ad1355ff7fa50279a12cd9180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BA3HV9gAzdGKtRJzmK5B6s",
      "input": {
        "note": "Right arm is parked home; the brick was centered under the right gripper at right (0.38, 0.39), i.e. left frame (0.38, -0.255). Flying the left arm above that point to check alignment in its wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.255,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01BA3HV9gAzdGKtRJzmK5B6s",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8291, 1.6974, 1.1458, -0.2874, -0.6296, -0.5926, 0.9952, 0.0002, 0.8501, 0.6708, -0.4984, 0.0437, 0.0036, 0.9978]\nstate[eef_state]: left_x=0.3737 left_y=-0.2486 left_z=0.1384 left_yaw=-0.0148 left_pitch=-0.0811 left_roll=0.0114 left_gripper=0.9952 right_x=0.2897 right_y=-0.0041 right_z=0.1713 right_yaw=-0.0534 right_pitch=-0.108 right_roll=-0.0067 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -8.335, 8.5675, 1.3358, -0.5592, -0.105, -0.5201, -0.1299, -1.7436, 7.1316, 1.7656, 0.0464, 0.0855, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb39c3f76cd0f921469e7c199f3a16386af750a5cdb89a280d7e27a7c7d8ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43906f8f070c4b4697d583856925f4facbe9e497c1f0f56d0f3de53abef0e5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32061f012e997bb243f2226ad2ea5cab2c3847f68c08d5e7b3de5fb0c99f178e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 10.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6064, -0.4019, -0.0227, -0.0494, 0.9948, 1.0313, 2.3283, 1.8736, -0.6468, 0.8207, 0.9485, 0.998]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1735 left_yaw=0.0051 left_pitch=-0.0362 left_roll=-0.0058 left_gripper=0.9948 right_x=0.3821 right_y=0.3936 right_z=0.0803 right_yaw=-0.1466 right_pitch=-0.0847 right_roll=0.0055 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.3744, 7.0632, 1.7656, -0.0659, -0.0659, -0.0171, -0.4855, -15.7744, 6.8171, 1.1697, 0.3736, 0.0073, -0.2271]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.0494, 0.9948, 0.001, 0.8474, 0.6712, -0.4831, 0.0517, 0.02, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0052 left_pitch=-0.0495 left_roll=-0.0055 left_gripper=0.9948 right_x=0.2919 right_y=-0.0053 right_z=0.1752 right_yaw=-0.0682 right_pitch=-0.0895 right_roll=0.0024 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5521, 7.4325, 1.7509, -0.0415, -0.0464, -0.0122, -0.1709, -2.0171, 7.9248, 1.6142, -0.1148, -0.1587, -0.2271]\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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8291, 1.6974, 1.1458, -0.2874, -0.6296, -0.5926, 0.9952, 0.0002, 0.8501, 0.6708, -0.4984, 0.0437, 0.0036, 0.9978]\nstate[eef_state]: left_x=0.3737 left_y=-0.2486 left_z=0.1384 left_yaw=-0.0148 left_pitch=-0.0811 left_roll=0.0114 left_gripper=0.9952 right_x=0.2897 right_y=-0.0041 right_z=0.1713 right_yaw=-0.0534 right_pitch=-0.108 right_roll=-0.0067 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -8.335, 8.5675, 1.3358, -0.5592, -0.105, -0.5201, -0.1299, -1.7436, 7.1316, 1.7656, 0.0464, 0.0855, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eb39c3f76cd0f921469e7c199f3a16386af750a5cdb89a280d7e27a7c7d8ee1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43906f8f070c4b4697d583856925f4facbe9e497c1f0f56d0f3de53abef0e5cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32061f012e997bb243f2226ad2ea5cab2c3847f68c08d5e7b3de5fb0c99f178e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgQsKEAgRGAI4AUIIdGhpbmtpbmcSDB7S895ZxZP6KjeyWxoMCgHNsquM904dvoCDIjADZMxa9zRkR3/ASHF6ijBF8dE/jxLiE1ITk1fm8mw6bz11b6ZNSkEUgXpedPUoyQAqngq/YEJMj175TqYxunVUCQkDM/j2v/lC6oN0Xo3gc55fuehIU9/WLBdy0FkijpML0eUztApXUuoI+srXf5AVxEwP589BJMcXNre3LbP9Jzdt7YqSQk+8ipEwGk2as6dqHEkfmho7aucr20Ua8qMtwOWHTyUcdL9IlPI8wynVaQdNhF+AunHgO38k6l0bYiforBinzo9ux+eKgIGXajHzXkUMl7xCc6mEZqA52Lo1nBmdAFLpf+L7iHhFEzuROMT4PlHm107h93PAYCcibetqCzRhSyeZNLxGCwngM/Odn3Iz5jCtcKDDOwUV9uJJOIvNCqqOXb2orrCw8ABtBV/hoZe5teQzu0PMaI2wu///5A/eOjRoZxd58dprExxG0w+jeYtQoP9MD6cuSdfa3TsSagN4RiwgqTwHUBlTViN6LDowkg6eJk58hLd6IEi/mJN/yO2wxZxhbR/PJZhGy5aSXlghEEj8Ym8eZOg8OIw9IyuARRh2pBKyEh1BknNbNxFgxAZcUiauu1AMnGrR3Ao23BNmgCzlqmHYeDTXTNdYV6/DBGqGHRRFv7ycTe++Ze50/BRZk4JZgmgdjKcHxAcHvFTdWu5lyKtsw8QHuI5boAKjEY1TkO8Z/01mc53waGS3RVpQ7pcfSjyTx2f8H7F+/agvvcV5y4l81ltVe1ijAL57d40arX2hHfB5EZLqnqwttoELTa5KKHWRHsjqQDw1K5ma3XfKMYGEaDMVBjaNmDz+M+fky57+0xhiFSh88V57wi72zF+AN3tn+XabTGB9CqfX/srEEYaZSMY1waqbHezyF6gTZ8gRQFDJw53y6o/rrArH7e8WNZYzC79FHQzBiz/GI3VyrhrdTcj4WyD23PRMFfY88e/bi2JcZEEKm3VOmko3+emEUqW0rXXpA6mxFBNdl8DXpbvRSBw+BhPgDviJmlxuFzO4b8ztH4rodohGjMMYyIHnscXyAtD+1QdPv+kYoKKklcKS550B/qGUKVLL387ah2pxlo+gJWcxkEJqWQxosrx3pbLgUAEweDSyhCZV0f414cZwgO/4bzQwJWgpXreMvqmsi4/vMA0e2XKBfGXEOzqlNomUJ8Jh7szNBRIl9iG6v669CRKsahKMCMHqhFglITTwIeVyiKwi2pVczla0lI/0hhZVdyP+vZjBaPtVB3gS5O53+VLrVUoHmMDIRuEL1WNXVBcsLy4FW2IvztmD6uHkhDk1oeuHD0jtv3LjCHHMqMeycQGS0RIRX1R22d2+q4cDq5QggGE/lo9/MeLs1QmN17UzwBRNnZQij6xzOfQBPuGxOSu62Zpd5DC5DTdTaq5CCTWss4Uqr7ynw9Ghv37JURpDsKDY6xZHa7Ymn6Gr8/LjuwgrQ7/iiWupbAAk2+0WULIIzmvt08iddf6kxctgR7CtfR2bjQfB/7shy1mviOuOUQ0CuEbzyQVFwUQ1u+K/AaK7xDvmgOt9+wm46UgdsKg+cUQsxo9/6HvcYG6f0r8X5eQXAakBCHgBQY+spX8hn7cXlBggDrTMrP253klfpOVo7mMROaejEHo3OR4oixSGd8UzyYEhqM0CAps6aXu+L+WH34QNZUmWKTCHGbMDpxdZIqPHw9eF+Ul7Ysj3VvBkLBXLJCZfQMFCUWDOsmhQyHOb86ZxBQokoGWGn3pLyka8fBedO1FwW1FxyVjzYW895fUWxDGZyGeBld7mlP5UUkBsz7V9ORg8+evdy+AKM08G1GBOM0fbehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0126LryCX7aRajKM4TnswJVx",
      "input": {
        "note": "In the left wrist view the brick stands upright in the image but sits ~4 cm left of the jaw column and its centre is ahead of the fingertips; shifting left/forward and lowering to 9 cm to re-check.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.215,
          "left_yaw": 0.0,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0126LryCX7aRajKM4TnswJVx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.696, 1.7748, 1.0386, -0.1093, -0.5694, -0.5236, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, 0.0025, 0.9978]\nstate[eef_state]: left_x=0.4014 left_y=-0.2066 left_z=0.0868 left_yaw=0.0383 left_pitch=-0.1184 left_roll=0.0383 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0525 right_pitch=-0.1119 right_roll=-0.0075 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -8.7726, 6.2701, 1.7753, -0.0464, 0.0513, -0.5201, -0.0342, -1.5385, 6.9265, 1.6825, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0a1fd6905161c07eddca071638dada4cb81b25707261c3f0eac649e8d91399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ddfd0f68ae8223dcb3c6b0f1f5997d43f1df52492b177631040a5942f8492c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23d8cc4dd09208762cdec0cba7e2d8d6d36a4ee024cfaf17d39224f7d1543838",
        "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 · 13.76 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6037, -0.4076, -0.0227, -0.0494, 0.9948, 0.001, 0.8474, 0.6712, -0.4831, 0.0517, 0.02, 0.998]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1698 left_yaw=0.0052 left_pitch=-0.0495 left_roll=-0.0055 left_gripper=0.9948 right_x=0.2919 right_y=-0.0053 right_z=0.1752 right_yaw=-0.0682 right_pitch=-0.0895 right_roll=0.0024 right_gripper=0.998\nstate[joint_eff]: [-0.0752, -1.5521, 7.4325, 1.7509, -0.0415, -0.0464, -0.0122, -0.1709, -2.0171, 7.9248, 1.6142, -0.1148, -0.1587, -0.2271]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.8291, 1.6974, 1.1458, -0.2874, -0.6296, -0.5926, 0.9952, 0.0002, 0.8501, 0.6708, -0.4984, 0.0437, 0.0036, 0.9978]\nstate[eef_state]: left_x=0.3737 left_y=-0.2486 left_z=0.1384 left_yaw=-0.0148 left_pitch=-0.0811 left_roll=0.0114 left_gripper=0.9952 right_x=0.2897 right_y=-0.0041 right_z=0.1713 right_yaw=-0.0534 right_pitch=-0.108 right_roll=-0.0067 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -8.335, 8.5675, 1.3358, -0.5592, -0.105, -0.5201, -0.1299, -1.7436, 7.1316, 1.7656, 0.0464, 0.0855, -0.0269]",
      "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]: [-0.696, 1.7748, 1.0386, -0.1093, -0.5694, -0.5236, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, 0.0025, 0.9978]\nstate[eef_state]: left_x=0.4014 left_y=-0.2066 left_z=0.0868 left_yaw=0.0383 left_pitch=-0.1184 left_roll=0.0383 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0525 right_pitch=-0.1119 right_roll=-0.0075 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -8.7726, 6.2701, 1.7753, -0.0464, 0.0513, -0.5201, -0.0342, -1.5385, 6.9265, 1.6825, -0.0366, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0a1fd6905161c07eddca071638dada4cb81b25707261c3f0eac649e8d91399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ddfd0f68ae8223dcb3c6b0f1f5997d43f1df52492b177631040a5942f8492c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d8cc4dd09208762cdec0cba7e2d8d6d36a4ee024cfaf17d39224f7d1543838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgoKEAgRGAI4AUIIdGhpbmtpbmcSDFMQjU+9hKA0XBeJQxoMSL4X+bYR5Ab7uqj7IjBfUozvW2sbOcvcS/zXTiRmrjZmuWIKJg1CVgQz+c8nKDqBXLr1/G1Jg26+NW3nu5Aq4wnwjGmtG17vh+T7rTaO1ntHZYCjTCJhL9deaE/E880S54KL/4mg7gE5uoO+1CVBVp2XwFs8MY2uxR7CUh9FYz1rgQT/tVFM3/XuDfCGVECy6T43Ish5ZutRasVcp58w+vFGHDd9ZHS9M/BwO7zOM7W9wsU3RQBOoH0n8w6gLEOos0f9Sx5yjDd0nOHWhCmOfTK0+/B2mKx61piRLT1No7lsZB5dI0G6JRJ7lYSyiQ5fcpx+RJr1sNFb7eqb3PbxIazgD4bP7jQ+3Azd//cK0pMx+anjONY3B0qjDBPAdRCZwi1DxGVecolC4wcFcx4u9Et/TVWq3iGbzD4ERY+ibbDcJrxYMIf7H7OQGHGTWh50OsNhNaNNs1Iz1t/c2Ky5ghpNyqDlP6y7pUiAw+WYiWmwA9HsYbSP4ZATrEfTull8ru3rTg02HA4dF5G/AQoLuiRBMlSff9w5ErPAHtbmK9E8itw46alb9SUpifBSWQ9oe4VE8HG7KVukzC+gQ6VXJAeHGSI2r5ZL09beGr9k9uPgPHF+VJSMZugV0KNeVyhDVTlAeIV2rcSCRfvLix/GRxXtR04ZJZ7DBGah3D5KAnSwTGo31oItg8sIsN5uBNR3mPOuOLXnnTyeN7GHyKgdGrAIV5HsB0WE74TR2YS1YTMXFX/ewsSv3vvhmqWwkBqXEMNgt1Ll5BDf9UxE8nuQvh67Q4LsfItHtkJCxXWMX1qRn+LasoTnVBG69OIrv/ExtSqGLGLNTtZN/lG/iUkcB8RpKxlo4YzVWXlSIoX7fj5StzaLdV5vB4kLPE3quJ0K65dWo1ZMUtR9gLENl4MowvYwgugoBG9Ii22HGcehOeebk6MPYvPQtFx4WXZgjrmrHJHVtTJToTc8JejZCEHCPvvX74KR53SZlO123XgyMISO/QPMgEZvqf3Jv2rWZHJmyeRrMYLl0ieQGsCgTlmkDWV+7BJ3zi3aFwrs+NBEnTb4IK+SfSBYICDfSSTFa68vYyDuT6/tWeh8IabfViqZAkkoOpFrXg4J3L1QMpU1gWhGtUSJ1UfGQ/ZR1udT6xEFM5lyQcYOp9lwV1mTbn7Xp2wEW1xmsnLHzZVjeTb2qnjxPyBjao+wS+we7MZkvKI9GD/0ca04GbZCI3oxxcC7ZyawRqAe+PhfGG2VUexN/uwR1kkKhisaf219xyIyfogPq0odEMb4UT9LiXLRWqcj5btA6xKelBed09Os9DR20de4rhY9QLGLCTWLy2aAQ1C7yvJ20d7iRVR2nuWzB9JHjdi9PU1L3rbMdo6mN3zSy2N8tUQy5OiKHkJA/zj+MFIcKMMlfeRvyGvKMAnR9g9PfS3bn5dbr8AHvDTg9Fk3i4sGaNuBRJOYUH1JUT00jHY5+mQUVV7GI5tqw17K+Mo/vHWTshoiXMHpoinLOVTFT/6QsdcJD5VCIr/VN9yLqedp5InkQL3HAUMw5jAHV7RiLx1azPYY1h7MqYvrFJn1+B7j+9meTM4D0WqxmJi8s4Ioycy9ENqW5452V3Vy7TQts7zV+Y2Ux7ptZQp9qUTH/7mJT0uu0KeHGr0fm4vunTOfogC8Efll1liaDMSg7pGk+Yu4TZrtepp7fvr2eoO8RHmYXy9cgLsoyfd8XLduLfm7pnRO6mDQmEoiUAA7gCf5yLQRvGkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6ko1Lumzta19r2xWHt8VC",
      "input": {
        "note": "Brick is now nearly on the jaw column, still ~2 cm left of it and its centre a few cm ahead of the fingertips; final offset and descent to table level to straddle the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.19,
          "left_yaw": 0.0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G6ko1Lumzta19r2xWHt8VC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6823, 1.805, 1.013, -0.0399, -0.5472, -0.5129, 0.9952, -0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4055 left_y=-0.2064 left_z=0.0734 left_yaw=0.0289 left_pitch=-0.1193 left_roll=0.0251 left_gripper=0.9952 right_x=0.2893 right_y=-0.0041 right_z=0.1705 right_yaw=-0.0515 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1983, -8.4855, 5.7915, 1.4725, -0.3053, 0.0806, -0.5201, -0.1573, -1.4427, 6.9265, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4df4bc65d38c8748576610d40eb24a2e795de4d20f60230c63c642110f01e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158cc7d82e68b921201b5ff8ee0b99467ce69ffd70267a226a7bce16e72b1996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:359024fa52052216b30e501459614837da182e48a61c940aecb05818ab19b9dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 37.52 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]: [-0.8291, 1.6974, 1.1458, -0.2874, -0.6296, -0.5926, 0.9952, 0.0002, 0.8501, 0.6708, -0.4984, 0.0437, 0.0036, 0.9978]\nstate[eef_state]: left_x=0.3737 left_y=-0.2486 left_z=0.1384 left_yaw=-0.0148 left_pitch=-0.0811 left_roll=0.0114 left_gripper=0.9952 right_x=0.2897 right_y=-0.0041 right_z=0.1713 right_yaw=-0.0534 right_pitch=-0.108 right_roll=-0.0067 right_gripper=0.9978\nstate[joint_eff]: [-0.3214, -8.335, 8.5675, 1.3358, -0.5592, -0.105, -0.5201, -0.1299, -1.7436, 7.1316, 1.7656, 0.0464, 0.0855, -0.0269]",
      "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]: [-0.696, 1.7748, 1.0386, -0.1093, -0.5694, -0.5236, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, 0.0025, 0.9978]\nstate[eef_state]: left_x=0.4014 left_y=-0.2066 left_z=0.0868 left_yaw=0.0383 left_pitch=-0.1184 left_roll=0.0383 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0525 right_pitch=-0.1119 right_roll=-0.0075 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -8.7726, 6.2701, 1.7753, -0.0464, 0.0513, -0.5201, -0.0342, -1.5385, 6.9265, 1.6825, -0.0366, -0.022, -0.0122]",
      "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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5472, -0.5129, 0.9952, -0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4055 left_y=-0.2064 left_z=0.0734 left_yaw=0.0289 left_pitch=-0.1193 left_roll=0.0251 left_gripper=0.9952 right_x=0.2893 right_y=-0.0041 right_z=0.1705 right_yaw=-0.0515 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1983, -8.4855, 5.7915, 1.4725, -0.3053, 0.0806, -0.5201, -0.1573, -1.4427, 6.9265, 1.6728, -0.0269, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a4df4bc65d38c8748576610d40eb24a2e795de4d20f60230c63c642110f01e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158cc7d82e68b921201b5ff8ee0b99467ce69ffd70267a226a7bce16e72b1996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:359024fa52052216b30e501459614837da182e48a61c940aecb05818ab19b9dc",
        "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_01RsWhV8EgYXC6u2xM2etV2y",
      "input": {
        "note": "The brick is now centred between the jaws in the left wrist view, but the arm only reached z=0.07; shoulder effort is still negative so it's not in contact. Re-issuing a slightly lower target to complete the descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.195,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RsWhV8EgYXC6u2xM2etV2y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6823, 1.805, 1.013, -0.0399, -0.5476, -0.5129, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4056 left_y=-0.2064 left_z=0.0734 left_yaw=0.0292 left_pitch=-0.1191 left_roll=0.0253 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0511 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -8.3487, 5.7915, 1.453, -0.3394, 0.0757, -0.5201, -0.1846, -1.5248, 6.9675, 1.6484, -0.0024, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae97adbb34db708b2b35d4d00f452ccdae19d0458b43cc579a154f19ddab8f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922f3b2e09ded3602f6a447a5957966369e847fbfa3660451084505080b28101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c27a875714284f111643953a7dcbeb6ea969d7f9c5810c6a76c1ca39bf80b304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 34.8 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]: [-0.696, 1.7748, 1.0386, -0.1093, -0.5694, -0.5236, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, 0.0025, 0.9978]\nstate[eef_state]: left_x=0.4014 left_y=-0.2066 left_z=0.0868 left_yaw=0.0383 left_pitch=-0.1184 left_roll=0.0383 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0525 right_pitch=-0.1119 right_roll=-0.0075 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -8.7726, 6.2701, 1.7753, -0.0464, 0.0513, -0.5201, -0.0342, -1.5385, 6.9265, 1.6825, -0.0366, -0.022, -0.0122]",
      "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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5472, -0.5129, 0.9952, -0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4055 left_y=-0.2064 left_z=0.0734 left_yaw=0.0289 left_pitch=-0.1193 left_roll=0.0251 left_gripper=0.9952 right_x=0.2893 right_y=-0.0041 right_z=0.1705 right_yaw=-0.0515 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1983, -8.4855, 5.7915, 1.4725, -0.3053, 0.0806, -0.5201, -0.1573, -1.4427, 6.9265, 1.6728, -0.0269, -0.0269, -0.0122]",
      "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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5476, -0.5129, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4056 left_y=-0.2064 left_z=0.0734 left_yaw=0.0292 left_pitch=-0.1191 left_roll=0.0253 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0511 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -8.3487, 5.7915, 1.453, -0.3394, 0.0757, -0.5201, -0.1846, -1.5248, 6.9675, 1.6484, -0.0024, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae97adbb34db708b2b35d4d00f452ccdae19d0458b43cc579a154f19ddab8f1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:922f3b2e09ded3602f6a447a5957966369e847fbfa3660451084505080b28101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27a875714284f111643953a7dcbeb6ea969d7f9c5810c6a76c1ca39bf80b304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QYkwts93x5vS3q8LUd4pZe",
      "input": {
        "note": "The left arm is frozen at z=0.073 despite two descent commands; I suspect the fingertips are resting on top of a taller-than-expected brick. Stepping 7 cm to the arm's left and descending to the table to see the brick from the side and confirm its height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.405,
          "left_y": -0.135,
          "left_yaw": 0.0,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QYkwts93x5vS3q8LUd4pZe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.506, 1.8618, 0.72, 0.3477, -0.4114, -0.3779, 0.9952, 0.0002, 0.8509, 0.6708, -0.5045, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3989 left_y=-0.1362 left_z=0.0018 left_yaw=0.0251 left_pitch=-0.1486 left_roll=0.0264 left_gripper=0.9952 right_x=0.2888 right_y=-0.004 right_z=0.1699 right_yaw=-0.0509 right_pitch=-0.1149 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [0.8137, -6.0923, 4.465, 1.409, -0.1343, 0.1245, -0.3736, 0.0342, -1.5521, 6.9812, 1.7363, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2962995720aafd3a5fbb5e531d13d110cb752b64b906b699d11989453447bbe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa39507d2beac2aaf09f439079877470130ee92cc4aa3518f5a044cc8434cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc67aff93b7db9fb75837d463bf818413fcc05c96e4acdb980c10d774c8b867c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 17.55 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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5472, -0.5129, 0.9952, -0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4055 left_y=-0.2064 left_z=0.0734 left_yaw=0.0289 left_pitch=-0.1193 left_roll=0.0251 left_gripper=0.9952 right_x=0.2893 right_y=-0.0041 right_z=0.1705 right_yaw=-0.0515 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1983, -8.4855, 5.7915, 1.4725, -0.3053, 0.0806, -0.5201, -0.1573, -1.4427, 6.9265, 1.6728, -0.0269, -0.0269, -0.0122]",
      "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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5476, -0.5129, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4056 left_y=-0.2064 left_z=0.0734 left_yaw=0.0292 left_pitch=-0.1191 left_roll=0.0253 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0511 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -8.3487, 5.7915, 1.453, -0.3394, 0.0757, -0.5201, -0.1846, -1.5248, 6.9675, 1.6484, -0.0024, -0.0122, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.506, 1.8618, 0.72, 0.3477, -0.4114, -0.3779, 0.9952, 0.0002, 0.8509, 0.6708, -0.5045, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3989 left_y=-0.1362 left_z=0.0018 left_yaw=0.0251 left_pitch=-0.1486 left_roll=0.0264 left_gripper=0.9952 right_x=0.2888 right_y=-0.004 right_z=0.1699 right_yaw=-0.0509 right_pitch=-0.1149 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [0.8137, -6.0923, 4.465, 1.409, -0.1343, 0.1245, -0.3736, 0.0342, -1.5521, 6.9812, 1.7363, -0.0171, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2962995720aafd3a5fbb5e531d13d110cb752b64b906b699d11989453447bbe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa39507d2beac2aaf09f439079877470130ee92cc4aa3518f5a044cc8434cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc67aff93b7db9fb75837d463bf818413fcc05c96e4acdb980c10d774c8b867c",
        "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_013jnnkSXH5kxd27XTcEwNr2",
      "input": {
        "note": "The arm descended freely beside the brick, and the wrist view shows a large object roughly 6–7 cm tall and nearly jaw-width — a real brick shape. The earlier stall was a jaw landing on its top; re-centring 1.5 cm to the left of the previous try, at 12 cm height, to align before a fresh descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.405,
          "left_y": -0.19,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013jnnkSXH5kxd27XTcEwNr2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6228, 1.7164, 1.0439, -0.1596, -0.4625, -0.4519, 0.9952, 0.0002, 0.8509, 0.6708, -0.5056, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4063 left_y=-0.1903 left_z=0.0989 left_yaw=-0.0084 left_pitch=-0.1592 left_roll=0.0225 left_gripper=0.9952 right_x=0.2887 right_y=-0.004 right_z=0.1697 right_yaw=-0.0509 right_pitch=-0.1161 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [-0.5538, -11.1111, 8.3624, 1.37, -0.2759, -0.022, -0.5153, -0.1026, -1.5248, 7.0496, 1.6239, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68cd9d7c5fd28bab3a9c0d678c71275d9265867fb5d6e71f1137f7f683fb913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fd869e800f21282322279e058cf269b85e7acf13d6306c7d9159d69d15e132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e57c9c23f0c1221a38da3a4b06e49ec29b762ef5da16cf98354bb4e83012bbfa",
        "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 · 8.557 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]: [-0.6823, 1.805, 1.013, -0.0399, -0.5476, -0.5129, 0.9952, 0.0002, 0.8509, 0.6708, -0.5014, 0.0433, -0.0002, 0.9978]\nstate[eef_state]: left_x=0.4056 left_y=-0.2064 left_z=0.0734 left_yaw=0.0292 left_pitch=-0.1191 left_roll=0.0253 left_gripper=0.9952 right_x=0.2893 right_y=-0.004 right_z=0.1705 right_yaw=-0.0511 right_pitch=-0.1119 right_roll=-0.0096 right_gripper=0.9978\nstate[joint_eff]: [0.1846, -8.3487, 5.7915, 1.453, -0.3394, 0.0757, -0.5201, -0.1846, -1.5248, 6.9675, 1.6484, -0.0024, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.506, 1.8618, 0.72, 0.3477, -0.4114, -0.3779, 0.9952, 0.0002, 0.8509, 0.6708, -0.5045, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3989 left_y=-0.1362 left_z=0.0018 left_yaw=0.0251 left_pitch=-0.1486 left_roll=0.0264 left_gripper=0.9952 right_x=0.2888 right_y=-0.004 right_z=0.1699 right_yaw=-0.0509 right_pitch=-0.1149 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [0.8137, -6.0923, 4.465, 1.409, -0.1343, 0.1245, -0.3736, 0.0342, -1.5521, 6.9812, 1.7363, -0.0171, -0.0464, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6228, 1.7164, 1.0439, -0.1596, -0.4625, -0.4519, 0.9952, 0.0002, 0.8509, 0.6708, -0.5056, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4063 left_y=-0.1903 left_z=0.0989 left_yaw=-0.0084 left_pitch=-0.1592 left_roll=0.0225 left_gripper=0.9952 right_x=0.2887 right_y=-0.004 right_z=0.1697 right_yaw=-0.0509 right_pitch=-0.1161 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [-0.5538, -11.1111, 8.3624, 1.37, -0.2759, -0.022, -0.5153, -0.1026, -1.5248, 7.0496, 1.6239, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68cd9d7c5fd28bab3a9c0d678c71275d9265867fb5d6e71f1137f7f683fb913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fd869e800f21282322279e058cf269b85e7acf13d6306c7d9159d69d15e132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57c9c23f0c1221a38da3a4b06e49ec29b762ef5da16cf98354bb4e83012bbfa",
        "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_01BWmUvQbkisGspFoWMhtiYf",
      "input": {
        "note": "From 10 cm up the brick looks ~6 cm wide, tilted about 20° with its far end to the arm's right, and sits ~3 cm left of the jaw column. Shifting left and yawing the tool clockwise to square the jaws to it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.165,
          "left_yaw": -0.3,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BWmUvQbkisGspFoWMhtiYf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4667, 1.652, 0.9249, -0.1059, -0.2569, -0.2481, 0.9952, -0.0002, 0.8509, 0.6708, -0.5068, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4027 left_y=-0.1486 left_z=0.079 left_yaw=-0.1292 left_pitch=-0.234 left_roll=0.0355 left_gripper=0.9952 right_x=0.2885 right_y=-0.0041 right_z=0.1695 right_yaw=-0.0513 right_pitch=-0.1172 right_roll=-0.0102 right_gripper=0.9978\nstate[joint_eff]: [-1.9624, -10.1402, 7.0632, 2.0977, 0.2662, 0.1587, -0.5201, -0.3487, -1.5248, 6.9128, 1.6679, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7fb240446e943c3e892650dc2d5e1205167693c7312076931a7f5f19ddd888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434ad26612c234fa79910a5bdc5a53ce114c55facb3391af13cda816b2b0fe42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a55316d11c1af149fe456248bb71f30afb1184f101a5659489539a30027530f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 21.65 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]: [-0.506, 1.8618, 0.72, 0.3477, -0.4114, -0.3779, 0.9952, 0.0002, 0.8509, 0.6708, -0.5045, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3989 left_y=-0.1362 left_z=0.0018 left_yaw=0.0251 left_pitch=-0.1486 left_roll=0.0264 left_gripper=0.9952 right_x=0.2888 right_y=-0.004 right_z=0.1699 right_yaw=-0.0509 right_pitch=-0.1149 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [0.8137, -6.0923, 4.465, 1.409, -0.1343, 0.1245, -0.3736, 0.0342, -1.5521, 6.9812, 1.7363, -0.0171, -0.0464, -0.0122]\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]: [-0.6228, 1.7164, 1.0439, -0.1596, -0.4625, -0.4519, 0.9952, 0.0002, 0.8509, 0.6708, -0.5056, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4063 left_y=-0.1903 left_z=0.0989 left_yaw=-0.0084 left_pitch=-0.1592 left_roll=0.0225 left_gripper=0.9952 right_x=0.2887 right_y=-0.004 right_z=0.1697 right_yaw=-0.0509 right_pitch=-0.1161 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [-0.5538, -11.1111, 8.3624, 1.37, -0.2759, -0.022, -0.5153, -0.1026, -1.5248, 7.0496, 1.6239, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.4667, 1.652, 0.9249, -0.1059, -0.2569, -0.2481, 0.9952, -0.0002, 0.8509, 0.6708, -0.5068, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4027 left_y=-0.1486 left_z=0.079 left_yaw=-0.1292 left_pitch=-0.234 left_roll=0.0355 left_gripper=0.9952 right_x=0.2885 right_y=-0.0041 right_z=0.1695 right_yaw=-0.0513 right_pitch=-0.1172 right_roll=-0.0102 right_gripper=0.9978\nstate[joint_eff]: [-1.9624, -10.1402, 7.0632, 2.0977, 0.2662, 0.1587, -0.5201, -0.3487, -1.5248, 6.9128, 1.6679, -0.0317, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa7fb240446e943c3e892650dc2d5e1205167693c7312076931a7f5f19ddd888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:434ad26612c234fa79910a5bdc5a53ce114c55facb3391af13cda816b2b0fe42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a55316d11c1af149fe456248bb71f30afb1184f101a5659489539a30027530f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQkKEAgRGAI4AUIIdGhpbmtpbmcSDHeBWtFHALvVMO14YxoMNPsiFsphDoN/vH2SIjBAyQ0/L87CI5ev80EPeHB6Jf22wS8tIcm8d23+cYYJB0CKYtBA36t4rbHMtAK0Jj4qvgg3xbHSSuqUmKeeg+tjLXAHpR2dGKg7W2+1QbfkmbBVM4pF+G8zl4Q0E+zEMwcHQl2TIYwgYTm3+jkWHMmSG2Ls1Od+8vO+ukW0XySCsw5HIpJ5m978JfDkuK6fouxW5qeuK6QGT8cpHRt4asK3R2HuVoEuA4SpFJcFDHUyivhonXnuF2EacRXD0ZV+uNf4wHCVQdjIW+Tl0hqtvwXwxKdueYHi6pfc0qokWbfEUYjnyGuvnWPrGtC8DwsaWIF/pUgSFtwqociNgItYzgeEpLLLq7nlqDoNQD6ibpyNmrCb5tF3FJy5I56D8YKJ5eM6MSs7YSKn95YEdN3PTr1Ppht17W7jmMSevIKkpO+w/j7X8rYNEJt4f3jeNhmEMPdHt5pXKNQnmB54/zsc47WxIVTbE3pwtp/wDBpMzjTGHlDv9OYO7DFA+ZzKFGtDKQ8orcIwXgMWI55yhT36VWDYF88v/UFidOkq+RR2dGN9N2RMIs2vx84/b4d3Nm6OqyPTuIFUMZAtLW31JcylhNCQng03/mhOblAjvJOBX1cH5RBExc1AmDOkbUAj/4sT1bB01HVblRUr+FKeuTCsdnJTnXS2pGno2HHZvGKP/y2oCbe7sifCo4yWv7HU2bpvzra73hDuJqpnxie8cYCZ5xNR506a9lNasEmMxI157cRbUW4bfkPVraOnKK9v/WfkHVQvW//X/nYE6FsUC6TwYv10PdSMFznuQD4va960F63Qn7ZdQeUe3vYEE6fEXKPxoGnzB02sGCzX6lJdbvHegGBsDN848KX02KtyvzVYEyZrbKDBiZXS7Xx4BX6U+CPU+9iaRDYMv2Fm7P6UlR6GDv7r6Nd9HW3V34oTQUn7pn6XVIZrUCwgTQ2USVR8WybVcjycEfMuRRY4xR3cbtqhPl2OVm+6ysR1b2nSYqpKpV7ZF3WOc+0wLmS3iOdfsWTX1np6A8gdkhS4jhTEdvwxaROUn/FMAKa/yhUlZHIzXW44H+EeGxlPs0+Wt9zFB0ALLlZUv/ahWHkvI7D8umUiNeAPkF77glJr+DqdEHsiJAixp/b861YaJWXWiG4qbfbLPI81qboM9fndDVo9u4wea2mmA/0yCrIOD5XLnMwiWp63aKfobhAOTmoYGmGbPpwZIiYLTKoUygkR1u/Zec6qJUH8LjKmgnWllz+5wr9qagzwIUZC2tnbpnqexLY37OVvmfV0VcGJJ1RYdYNPQYRzhfnSJYB18139SV3F7CW1pVUgunaYyynBCRJ76eunfbOuXXn87gX9xOgCQne7kpMXff3dGhTN1eGcvPBM8N+kUxxPCSHsv88MZ+uBZzjg9aekFiqN6XP4w4ZNLmKX8AvNFJorUiIlLpNpju0l9jloSBq+zuXoqIdw5v6gvAHLWMoZ4Y+zTh7eeOxENDZ0JEjHA7geDBX/etkLbb5T1rfLleGtTDwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WMMPUKztAbYX4x4czpmAJ3",
      "input": {
        "note": "The brick is now vertical in the left wrist view and centred between the jaws; holding this xy and yaw while descending to table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.403,
          "left_y": -0.149,
          "left_yaw": -0.13,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WMMPUKztAbYX4x4czpmAJ3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4706, 1.6642, 0.8879, -0.0452, -0.2489, -0.2363, 0.9952, -0.0002, 0.8509, 0.6708, -0.5201, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4009 left_y=-0.1511 left_z=0.0695 left_yaw=-0.1471 left_pitch=-0.2254 left_roll=0.0345 left_gripper=0.9952 right_x=0.2864 right_y=-0.0041 right_z=0.1669 right_yaw=-0.0514 right_pitch=-0.1305 right_roll=-0.0109 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -7.1453, 6.0376, 1.58, -0.2662, -0.149, -0.5201, -0.1709, -1.4017, 6.8991, 1.7363, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e7631868eb860815701bea92f85f0d503fde86add34a7be3544fe1d1f05b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5cd46d7abc7774cc0268bec290a4eac65e5d3b6b482b09ccef149f2a0d52cc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:891fef612404e972158d99ff4a59cf4cb0a669b2a2dec5528ce0704d035f457e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 15.01 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]: [-0.6228, 1.7164, 1.0439, -0.1596, -0.4625, -0.4519, 0.9952, 0.0002, 0.8509, 0.6708, -0.5056, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4063 left_y=-0.1903 left_z=0.0989 left_yaw=-0.0084 left_pitch=-0.1592 left_roll=0.0225 left_gripper=0.9952 right_x=0.2887 right_y=-0.004 right_z=0.1697 right_yaw=-0.0509 right_pitch=-0.1161 right_roll=-0.0101 right_gripper=0.9978\nstate[joint_eff]: [-0.5538, -11.1111, 8.3624, 1.37, -0.2759, -0.022, -0.5153, -0.1026, -1.5248, 7.0496, 1.6239, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.4667, 1.652, 0.9249, -0.1059, -0.2569, -0.2481, 0.9952, -0.0002, 0.8509, 0.6708, -0.5068, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4027 left_y=-0.1486 left_z=0.079 left_yaw=-0.1292 left_pitch=-0.234 left_roll=0.0355 left_gripper=0.9952 right_x=0.2885 right_y=-0.0041 right_z=0.1695 right_yaw=-0.0513 right_pitch=-0.1172 right_roll=-0.0102 right_gripper=0.9978\nstate[joint_eff]: [-1.9624, -10.1402, 7.0632, 2.0977, 0.2662, 0.1587, -0.5201, -0.3487, -1.5248, 6.9128, 1.6679, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.4706, 1.6642, 0.8879, -0.0452, -0.2489, -0.2363, 0.9952, -0.0002, 0.8509, 0.6708, -0.5201, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4009 left_y=-0.1511 left_z=0.0695 left_yaw=-0.1471 left_pitch=-0.2254 left_roll=0.0345 left_gripper=0.9952 right_x=0.2864 right_y=-0.0041 right_z=0.1669 right_yaw=-0.0514 right_pitch=-0.1305 right_roll=-0.0109 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -7.1453, 6.0376, 1.58, -0.2662, -0.149, -0.5201, -0.1709, -1.4017, 6.8991, 1.7363, -0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e7631868eb860815701bea92f85f0d503fde86add34a7be3544fe1d1f05b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5cd46d7abc7774cc0268bec290a4eac65e5d3b6b482b09ccef149f2a0d52cc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:891fef612404e972158d99ff4a59cf4cb0a669b2a2dec5528ce0704d035f457e",
        "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_01BVHEC58agwSXcbNjUAaibK",
      "input": {
        "note": "Descent stops again at z≈0.07 with shoulder effort dropping, which means contact; the brick appears between the jaws in the wrist view. Closing the gripper here to test whether the brick is already between the jaws (it may be standing ~7 cm tall).",
        "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_01BVHEC58agwSXcbNjUAaibK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4706, 1.6642, 0.8879, -0.0471, -0.2562, -0.2508, 0.0127, -0.0002, 0.8509, 0.6708, -0.5243, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.401 left_y=-0.1497 left_z=0.0694 left_yaw=-0.1329 left_pitch=-0.2252 left_roll=0.0298 left_gripper=0.0127 right_x=0.2857 right_y=-0.0041 right_z=0.1661 right_yaw=-0.0512 right_pitch=-0.1347 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.7197, 6.1607, 1.4823, -0.0415, 0.1197, 1.1209, -0.1299, -1.4017, 6.9265, 1.6679, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210ca5c78616e0824d79efe558b32e42a7a08d16929f20053570cc1e39e70aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3eac92308815b457cdb73ef42fe0dddbe03bb2199723e50ed7e2c5aa7b94b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ef1428052bae92f9ad7457a2dc63a0da56e1140952fdffe2718661b1ba9342a",
        "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 · 11.96 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]: [-0.4667, 1.652, 0.9249, -0.1059, -0.2569, -0.2481, 0.9952, -0.0002, 0.8509, 0.6708, -0.5068, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4027 left_y=-0.1486 left_z=0.079 left_yaw=-0.1292 left_pitch=-0.234 left_roll=0.0355 left_gripper=0.9952 right_x=0.2885 right_y=-0.0041 right_z=0.1695 right_yaw=-0.0513 right_pitch=-0.1172 right_roll=-0.0102 right_gripper=0.9978\nstate[joint_eff]: [-1.9624, -10.1402, 7.0632, 2.0977, 0.2662, 0.1587, -0.5201, -0.3487, -1.5248, 6.9128, 1.6679, -0.0317, -0.0366, -0.0122]",
      "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]: [-0.4706, 1.6642, 0.8879, -0.0452, -0.2489, -0.2363, 0.9952, -0.0002, 0.8509, 0.6708, -0.5201, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4009 left_y=-0.1511 left_z=0.0695 left_yaw=-0.1471 left_pitch=-0.2254 left_roll=0.0345 left_gripper=0.9952 right_x=0.2864 right_y=-0.0041 right_z=0.1669 right_yaw=-0.0514 right_pitch=-0.1305 right_roll=-0.0109 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -7.1453, 6.0376, 1.58, -0.2662, -0.149, -0.5201, -0.1709, -1.4017, 6.8991, 1.7363, -0.0611, -0.0513, -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]: [-0.4706, 1.6642, 0.8879, -0.0471, -0.2562, -0.2508, 0.0127, -0.0002, 0.8509, 0.6708, -0.5243, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.401 left_y=-0.1497 left_z=0.0694 left_yaw=-0.1329 left_pitch=-0.2252 left_roll=0.0298 left_gripper=0.0127 right_x=0.2857 right_y=-0.0041 right_z=0.1661 right_yaw=-0.0512 right_pitch=-0.1347 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.7197, 6.1607, 1.4823, -0.0415, 0.1197, 1.1209, -0.1299, -1.4017, 6.9265, 1.6679, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210ca5c78616e0824d79efe558b32e42a7a08d16929f20053570cc1e39e70aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3eac92308815b457cdb73ef42fe0dddbe03bb2199723e50ed7e2c5aa7b94b30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ef1428052bae92f9ad7457a2dc63a0da56e1140952fdffe2718661b1ba9342a",
        "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_01NV7YNAPk4XBZXtvA9q7Wzg",
      "input": {
        "note": "The close was empty (0.013) while the brick is still visible ahead, so the fingertips are short of it and something stops the descent at 7 cm. Opening and dropping to table level 5 cm nearer the base, to then slide forward and straddle the brick at floor height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.15,
          "left_yaw": -0.13,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NV7YNAPk4XBZXtvA9q7Wzg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5545, 1.7039, 0.6029, 0.2359, -0.3035, -0.3157, 0.994, 0.0002, 0.8509, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3479 left_y=-0.1491 left_z=0.0009 left_yaw=-0.1381 left_pitch=-0.2494 left_roll=0.0329 left_gripper=0.994 right_x=0.2852 right_y=-0.004 right_z=0.1656 right_yaw=-0.051 right_pitch=-0.1378 right_roll=-0.0112 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -5.1897, 4.588, 1.4335, -0.105, -0.0122, 0.0122, -0.1709, -1.5248, 7.0222, 1.6581, -0.0562, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b53a74b8ee6b3c794770c847c84569364255b1f8c26d043e31d1fa27672901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bc5d4249fdd5afbe7839e9c6d01cbe3d8ff346e67446ca8fddb239488d52b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a83dcef0895e7266bb8df09d4ade68e9996cfebb7b1c800ad69331ff079ea4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 5.382 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]: [-0.4706, 1.6642, 0.8879, -0.0452, -0.2489, -0.2363, 0.9952, -0.0002, 0.8509, 0.6708, -0.5201, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4009 left_y=-0.1511 left_z=0.0695 left_yaw=-0.1471 left_pitch=-0.2254 left_roll=0.0345 left_gripper=0.9952 right_x=0.2864 right_y=-0.0041 right_z=0.1669 right_yaw=-0.0514 right_pitch=-0.1305 right_roll=-0.0109 right_gripper=0.9978\nstate[joint_eff]: [-0.0068, -7.1453, 6.0376, 1.58, -0.2662, -0.149, -0.5201, -0.1709, -1.4017, 6.8991, 1.7363, -0.0611, -0.0513, -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]: [-0.4706, 1.6642, 0.8879, -0.0471, -0.2562, -0.2508, 0.0127, -0.0002, 0.8509, 0.6708, -0.5243, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.401 left_y=-0.1497 left_z=0.0694 left_yaw=-0.1329 left_pitch=-0.2252 left_roll=0.0298 left_gripper=0.0127 right_x=0.2857 right_y=-0.0041 right_z=0.1661 right_yaw=-0.0512 right_pitch=-0.1347 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.7197, 6.1607, 1.4823, -0.0415, 0.1197, 1.1209, -0.1299, -1.4017, 6.9265, 1.6679, -0.022, -0.0757, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5545, 1.7039, 0.6029, 0.2359, -0.3035, -0.3157, 0.994, 0.0002, 0.8509, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3479 left_y=-0.1491 left_z=0.0009 left_yaw=-0.1381 left_pitch=-0.2494 left_roll=0.0329 left_gripper=0.994 right_x=0.2852 right_y=-0.004 right_z=0.1656 right_yaw=-0.051 right_pitch=-0.1378 right_roll=-0.0112 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -5.1897, 4.588, 1.4335, -0.105, -0.0122, 0.0122, -0.1709, -1.5248, 7.0222, 1.6581, -0.0562, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5b53a74b8ee6b3c794770c847c84569364255b1f8c26d043e31d1fa27672901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bc5d4249fdd5afbe7839e9c6d01cbe3d8ff346e67446ca8fddb239488d52b3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a83dcef0895e7266bb8df09d4ade68e9996cfebb7b1c800ad69331ff079ea4f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V9NCkTbJSG1zWr774BKFYA",
      "input": {
        "note": "At table level the brick (a flat power bank, nearly jaw-width) lies directly ahead with its near end at the jaws, slightly tilted clockwise. Yawing a bit more clockwise and sliding forward 6 cm so the open jaws straddle it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.155,
          "left_yaw": -0.25,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V9NCkTbJSG1zWr774BKFYA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4362, 1.8507, 0.7841, 0.2489, -0.1951, -0.189, 0.9952, 0.0002, 0.8528, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.406 left_y=-0.1475 left_z=0.0028 left_yaw=-0.1845 left_pitch=-0.2339 left_roll=0.0287 left_gripper=0.9952 right_x=0.2853 right_y=-0.004 right_z=0.165 right_yaw=-0.0511 right_pitch=-0.1401 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -7.5966, 6.0103, 1.409, 0.0757, 0.1343, -0.5201, -0.1026, -1.4974, 6.8991, 1.5995, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5157a00cf0b1f10967db9e18a4b1d130466617239dfb5e5b3a431f475573e6d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3345ac6348c12ae0066a9242dba48d28808e64304e7744a92beea7f8dbd5715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea16d3f989d85798d9b8f2e7469e3e3ee46b5fb66a66eee489a9edd4d2fbd2e5",
        "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 · 5.684 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]: [-0.4706, 1.6642, 0.8879, -0.0471, -0.2562, -0.2508, 0.0127, -0.0002, 0.8509, 0.6708, -0.5243, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.401 left_y=-0.1497 left_z=0.0694 left_yaw=-0.1329 left_pitch=-0.2252 left_roll=0.0298 left_gripper=0.0127 right_x=0.2857 right_y=-0.0041 right_z=0.1661 right_yaw=-0.0512 right_pitch=-0.1347 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.0479, -7.7197, 6.1607, 1.4823, -0.0415, 0.1197, 1.1209, -0.1299, -1.4017, 6.9265, 1.6679, -0.022, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5545, 1.7039, 0.6029, 0.2359, -0.3035, -0.3157, 0.994, 0.0002, 0.8509, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3479 left_y=-0.1491 left_z=0.0009 left_yaw=-0.1381 left_pitch=-0.2494 left_roll=0.0329 left_gripper=0.994 right_x=0.2852 right_y=-0.004 right_z=0.1656 right_yaw=-0.051 right_pitch=-0.1378 right_roll=-0.0112 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -5.1897, 4.588, 1.4335, -0.105, -0.0122, 0.0122, -0.1709, -1.5248, 7.0222, 1.6581, -0.0562, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4362, 1.8507, 0.7841, 0.2489, -0.1951, -0.189, 0.9952, 0.0002, 0.8528, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.406 left_y=-0.1475 left_z=0.0028 left_yaw=-0.1845 left_pitch=-0.2339 left_roll=0.0287 left_gripper=0.9952 right_x=0.2853 right_y=-0.004 right_z=0.165 right_yaw=-0.0511 right_pitch=-0.1401 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -7.5966, 6.0103, 1.409, 0.0757, 0.1343, -0.5201, -0.1026, -1.4974, 6.8991, 1.5995, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5157a00cf0b1f10967db9e18a4b1d130466617239dfb5e5b3a431f475573e6d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3345ac6348c12ae0066a9242dba48d28808e64304e7744a92beea7f8dbd5715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea16d3f989d85798d9b8f2e7469e3e3ee46b5fb66a66eee489a9edd4d2fbd2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgRGAI4AUIIdGhpbmtpbmcSDPGQAAhWUMZ4blIShxoMoPPAxdKHSqUuo5QDIjDKvidTQFL/ynJjbTl7/x5CZpw0DKU5YokBzWsU9MP6oOzvlKE4p4YKMr6VRCeA60MqpAag9fwlw+8S+BEy5xcl1hoZ0iFyLXHnLjYmIlkKzpLLAyWZMxytyKRRbhwixbLZcuzLxhVgsc0NRHWJFHiYa4LH8XTaq5g8EMNnmVob+tHHY/3myRu1nF5tosoVml7fBVZqgkMKssclPWc0E0oPH8BxCdFEpYtPzO+qcsHd9yUU/Y7WWojb5qmlQHLtOqq4kABGEmUxa4owOWIYXRkFC9D/E3d9tLaiMShs+bxxLJsp6iJZVhW7A/MYgr2jwnejR8JKG6nu7jfL9iRgF4Bk4xHbuH9bfXJc4pZ573CiCFcS3q6aKrCNMQe300TPpLCkzffncN2lPDD/bMPjQ54RQe8pDDzXN6sC6zLIj0iWPMcvMVBPQ97oDVeCsfJsvKZqHK9eg7RIleZ+grlNMFph9hjbeLgM4N90GnglqBaYFiFHFFcYOICogtgJ9fkP3Z4R7LxrnT4tffNzYnf22s/OhL7RldIZ7LPdGjywS8DDEqDk73lZOU03Mma/qEHUubS7f9zF0n9Fl3uBuOR72mQBVYxDzqWmNuiyEfg6HnmlD7EsiWnJGEQ7D2mzSBlqVF/j/mdPxoNeF1yEcNgdb2c3F301ahRbyQoKZ3Z+JTNkfZx5RDYOMVLPXayq1k8GZDoUbekDuTuEbYRWB2aftgc5quqLNt8bbSJYw4LM6XVOlpMkhEQSo7+xMWjt2bo8TAQeVtE3B1Yo0aMIf+cqvyVQXBOagxc3le0GJqO5tab5UyFdEAwCvMGvU09IfDuJ3c5Fczia8TvDqN4kWKv/iCr86jWko8u40gGuohxH5Rj7ArHX6Q30y61d5AfzMDos3osDKk/qbny3B2fw44ZMgCSdYyimFL9Ku84ZmxG6lCZjqfUQIWvYAdGbqV9FPwneFKu9SbV8iDsNp1PeCTCks3dOzbpmRpHwF1DgK8GsbEy/+rPxw9Ow4FjLSSnWEDBeFYq5R3VqCAHqkhCLeMHATOPWHs0wnWmHunoDbed1k5JYBjxxz6fgxqZnWtGndCo7kAW/rFHSOdoJGVg+ofw4KVDr+CkoZJlaXAVVjy8pBDOH2opKgSF6GQcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PiZTg3LmWwwYy65k2sUdND",
      "input": {
        "note": "The arm slid forward at table level and the brick now fills the wrist view with a jaw visible on each side of it; 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_01PiZTg3LmWwwYy65k2sUdND",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.8606, 0.7948, 0.2539, -0.1886, -0.1833, 0.7528, 0.0002, 0.8539, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4096 left_y=-0.1484 left_z=0.003 left_yaw=-0.1893 left_pitch=-0.2297 left_roll=0.0267 left_gripper=0.7528 right_x=0.2853 right_y=-0.004 right_z=0.1647 right_yaw=-0.0511 right_pitch=-0.1412 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -9.265, 4.2872, 1.409, -0.1441, -0.0806, 1.0281, -0.0752, -1.5385, 7.1043, 1.6142, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3338bb735cb9a2dccb60711c73f7802485334145a9dcc5405fc466f3c05fc249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf9f7185f2e1b483dbb87cbb50015fa62edfac5910c206d213be5f66d8efaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5aacff000ee4dbcb1d2da53a367e12fdf102032485e9227c2c373a42811d759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 28.23 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]: [-0.5545, 1.7039, 0.6029, 0.2359, -0.3035, -0.3157, 0.994, 0.0002, 0.8509, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3479 left_y=-0.1491 left_z=0.0009 left_yaw=-0.1381 left_pitch=-0.2494 left_roll=0.0329 left_gripper=0.994 right_x=0.2852 right_y=-0.004 right_z=0.1656 right_yaw=-0.051 right_pitch=-0.1378 right_roll=-0.0112 right_gripper=0.9978\nstate[joint_eff]: [-0.4444, -5.1897, 4.588, 1.4335, -0.105, -0.0122, 0.0122, -0.1709, -1.5248, 7.0222, 1.6581, -0.0562, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4362, 1.8507, 0.7841, 0.2489, -0.1951, -0.189, 0.9952, 0.0002, 0.8528, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.406 left_y=-0.1475 left_z=0.0028 left_yaw=-0.1845 left_pitch=-0.2339 left_roll=0.0287 left_gripper=0.9952 right_x=0.2853 right_y=-0.004 right_z=0.165 right_yaw=-0.0511 right_pitch=-0.1401 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -7.5966, 6.0103, 1.409, 0.0757, 0.1343, -0.5201, -0.1026, -1.4974, 6.8991, 1.5995, -0.022, -0.022, -0.0122]",
      "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]: [-0.432, 1.8606, 0.7948, 0.2539, -0.1886, -0.1833, 0.7528, 0.0002, 0.8539, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4096 left_y=-0.1484 left_z=0.003 left_yaw=-0.1893 left_pitch=-0.2297 left_roll=0.0267 left_gripper=0.7528 right_x=0.2853 right_y=-0.004 right_z=0.1647 right_yaw=-0.0511 right_pitch=-0.1412 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -9.265, 4.2872, 1.409, -0.1441, -0.0806, 1.0281, -0.0752, -1.5385, 7.1043, 1.6142, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3338bb735cb9a2dccb60711c73f7802485334145a9dcc5405fc466f3c05fc249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf9f7185f2e1b483dbb87cbb50015fa62edfac5910c206d213be5f66d8efaf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5aacff000ee4dbcb1d2da53a367e12fdf102032485e9227c2c373a42811d759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgRGAI4AUIIdGhpbmtpbmcSDPEkexdDs96PrkELjxoMa8uZ2NgURvNXwgmkIjBmVlqqMHzDPXauxFYEzUTY0HvcRGkYArg3XDyLlNdWyAyYrFZ5eeopP3DrD4KTzIkq7wXjdigCy0m+fzWx3XrUmhDBE4q6tgZF5w3F+FTsUwaijReuQjtf9uJm725vocyonfSfy8NdvcSwr48Nf/w4RRMUBzpselVvlb7/gB63GqXrw9IKAAUxPmPJezBImpE7IRQzA5xtxJC52Kf3ddPEA9OVRuWT9cTYBiQSiUwwrphBQk/JxjO20JndpRavEDPvazeexTHV6LUwU/UuwBsefPvj4MHTKB1WCwpWXFSZ4jZoZ9Miu+gX9+5kuR5pyZBSvDIuG2W2ouqlpc9w6fd4rAGB8XpfW9VzGphgWigY5tmJHe7bBnvShQIodElbvIjrXyd4z67t23GUoGDV7Ekieq+8bGL2jsEXDiby3zGin+bAzyhzUkfTvcw93/zmbX9HedlBcmKoZTrRcNRSyBqYTkrWQA3vN0/bxjVZBG5k7xpZeZNZkSiVpOv4s0jlImoQLWOhJvnvscx7p4KPo5TJG65u3LgOCkkuMun052KBZvyDjYhkUQ6INMMIg7Q/nCtzBEUFGhbU//Ix7COYj4Pbvqx02JYIbOMkynhkh4aZDg3YYILlOmI0FmH5w0Hfu0cXZuYPz14kEkGIEh/ggYkKLeQz33S9Pn3vYFbd5LlYNOZFdCkoC2SBStyh81sXP3gHYoYYs8pRZRUecqaArFzsqv7+OQ1c8QwRh5m0wQ1EuJvqLKkZvEJCwY/elv3Ic4gqK3NPJTvaqh7irbf4AvRqiHEHnwuGChnSRHoHWNUUX/YX4xpTmTO1VYDLlc5Vh0yChSZG74T71OADbsNpsUwQALsEXyQNoSFJFLoNzq1kWwheK5XzksqbhKu/8dy4cKKKBaRC3JMpjguNv27o3QL2hh7zixPxYZjLTtUA+Pedk2qh2a7xojKA06vzGhNHyDSwwB4+6JRrXmsnJyAy8un+EUYUaCYLoW6E6SVtUwHpsS/9ArZ8Jp0+U74g8pZ7LZL8oJDmUFbE9DUxyECWyFyJPe+Fl7qGcz5j7B7hXijgsfhnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkjycRNd1UGfLhBCbXERKZ",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width, so it is grasped. Lifting to 17 cm to confirm the brick comes along before carrying it to the pot.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.41,
          "left_y": -0.15,
          "left_yaw": -0.19,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EkjycRNd1UGfLhBCbXERKZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.6165, 1.1332, -0.458, -0.1799, -0.1837, 0.7527, -0.0002, 0.8551, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3966 left_y=-0.1441 left_z=0.118 left_yaw=-0.1873 left_pitch=-0.3568 left_roll=0.0521 left_gripper=0.7527 right_x=0.2854 right_y=-0.0041 right_z=0.1644 right_yaw=-0.0514 right_pitch=-0.142 right_roll=-0.0115 right_gripper=0.9978\nstate[joint_eff]: [-0.6496, -11.8632, 10.947, 1.9756, -0.2125, -0.0708, 1.0281, -0.212, -1.6205, 7.0359, 1.5849, -0.0269, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37eda82b8aec4962fb893d2749e45624a510fee032e9ba05835df412d0844170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3773bf25a864b56e94f2700b451411edbc35f0af85b69667cb9236366ede87d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bab14987fe735187b3d7508d7f04266c8d2af2254747392b06fb8739fa732862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 12.78 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]: [-0.4362, 1.8507, 0.7841, 0.2489, -0.1951, -0.189, 0.9952, 0.0002, 0.8528, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.406 left_y=-0.1475 left_z=0.0028 left_yaw=-0.1845 left_pitch=-0.2339 left_roll=0.0287 left_gripper=0.9952 right_x=0.2853 right_y=-0.004 right_z=0.165 right_yaw=-0.0511 right_pitch=-0.1401 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -7.5966, 6.0103, 1.409, 0.0757, 0.1343, -0.5201, -0.1026, -1.4974, 6.8991, 1.5995, -0.022, -0.022, -0.0122]",
      "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]: [-0.432, 1.8606, 0.7948, 0.2539, -0.1886, -0.1833, 0.7528, 0.0002, 0.8539, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4096 left_y=-0.1484 left_z=0.003 left_yaw=-0.1893 left_pitch=-0.2297 left_roll=0.0267 left_gripper=0.7528 right_x=0.2853 right_y=-0.004 right_z=0.1647 right_yaw=-0.0511 right_pitch=-0.1412 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -9.265, 4.2872, 1.409, -0.1441, -0.0806, 1.0281, -0.0752, -1.5385, 7.1043, 1.6142, -0.0513, -0.0513, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.6165, 1.1332, -0.458, -0.1799, -0.1837, 0.7527, -0.0002, 0.8551, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3966 left_y=-0.1441 left_z=0.118 left_yaw=-0.1873 left_pitch=-0.3568 left_roll=0.0521 left_gripper=0.7527 right_x=0.2854 right_y=-0.0041 right_z=0.1644 right_yaw=-0.0514 right_pitch=-0.142 right_roll=-0.0115 right_gripper=0.9978\nstate[joint_eff]: [-0.6496, -11.8632, 10.947, 1.9756, -0.2125, -0.0708, 1.0281, -0.212, -1.6205, 7.0359, 1.5849, -0.0269, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37eda82b8aec4962fb893d2749e45624a510fee032e9ba05835df412d0844170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3773bf25a864b56e94f2700b451411edbc35f0af85b69667cb9236366ede87d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab14987fe735187b3d7508d7f04266c8d2af2254747392b06fb8739fa732862",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GKfwAy5xpmJGDkEQxeMRNR",
      "input": {
        "note": "The gripper still reads 0.75 after lifting, so the brick is held (it extends forward from the jaws, hence still visible). Carrying it up and toward the pot, which I estimate ~17 cm to the right and slightly forward, rising well above the rim height.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.44,
          "left_y": -0.3,
          "left_yaw": -0.19,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GKfwAy5xpmJGDkEQxeMRNR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7067, 2.2974, 2.5488, -1.3281, -0.3031, -0.4187, 0.7527, -0.0002, 0.8566, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4403 left_y=-0.3019 left_z=0.2184 left_yaw=-0.1981 left_pitch=-0.4361 left_roll=0.0654 left_gripper=0.7527 right_x=0.2855 right_y=-0.0041 right_z=0.164 right_yaw=-0.0515 right_pitch=-0.1439 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -10.865, 5.9282, 0.5788, -0.4029, -0.0366, 1.033, -0.1162, -1.5111, 6.9812, 1.6142, -0.0269, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c701369d60cdf95fa47acd8ea385ac5d07d923c81890b3c26011b3566f631e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:728710b02505355e2645635122d0fce0e5ccdc855529330ccdfb348c976041a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32dc790111e31f45ae35332147136565a28999001b0d7d7daefce31029ec3e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 12.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.8606, 0.7948, 0.2539, -0.1886, -0.1833, 0.7528, 0.0002, 0.8539, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4096 left_y=-0.1484 left_z=0.003 left_yaw=-0.1893 left_pitch=-0.2297 left_roll=0.0267 left_gripper=0.7528 right_x=0.2853 right_y=-0.004 right_z=0.1647 right_yaw=-0.0511 right_pitch=-0.1412 right_roll=-0.0114 right_gripper=0.9978\nstate[joint_eff]: [-0.4991, -9.265, 4.2872, 1.409, -0.1441, -0.0806, 1.0281, -0.0752, -1.5385, 7.1043, 1.6142, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.6165, 1.1332, -0.458, -0.1799, -0.1837, 0.7527, -0.0002, 0.8551, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3966 left_y=-0.1441 left_z=0.118 left_yaw=-0.1873 left_pitch=-0.3568 left_roll=0.0521 left_gripper=0.7527 right_x=0.2854 right_y=-0.0041 right_z=0.1644 right_yaw=-0.0514 right_pitch=-0.142 right_roll=-0.0115 right_gripper=0.9978\nstate[joint_eff]: [-0.6496, -11.8632, 10.947, 1.9756, -0.2125, -0.0708, 1.0281, -0.212, -1.6205, 7.0359, 1.5849, -0.0269, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7067, 2.2974, 2.5488, -1.3281, -0.3031, -0.4187, 0.7527, -0.0002, 0.8566, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4403 left_y=-0.3019 left_z=0.2184 left_yaw=-0.1981 left_pitch=-0.4361 left_roll=0.0654 left_gripper=0.7527 right_x=0.2855 right_y=-0.0041 right_z=0.164 right_yaw=-0.0515 right_pitch=-0.1439 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -10.865, 5.9282, 0.5788, -0.4029, -0.0366, 1.033, -0.1162, -1.5111, 6.9812, 1.6142, -0.0269, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c701369d60cdf95fa47acd8ea385ac5d07d923c81890b3c26011b3566f631e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:728710b02505355e2645635122d0fce0e5ccdc855529330ccdfb348c976041a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32dc790111e31f45ae35332147136565a28999001b0d7d7daefce31029ec3e8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014zx1pYQVRqeKF1PLNY2ok8",
      "input": {
        "note": "Top view shows the gripper hovering just left of the pot with the brick pointing forward over the table; the pot rim is visible on the right of the wrist view. Shifting ~8 cm right toward the pot centre and levelling the tool so the brick hangs over the water.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_y": -0.38,
          "left_yaw": -0.19,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014zx1pYQVRqeKF1PLNY2ok8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8711, 2.2513, 2.1113, -0.7982, -0.5358, -0.432, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4377 left_y=-0.3744 left_z=0.1635 left_yaw=-0.2007 left_pitch=-0.2111 left_roll=0.1481 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -19.7402, 7.9932, 2.1074, -0.7888, 0.1929, 1.0281, -0.2256, -1.5795, 7.0769, 1.6239, -0.0415, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7dfb9a8ef8daad1fec0dd0f948f9be15132fc7ea522b5fbefd794621f247d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8510b7d830714e8511da271437dc3c7291d5b68b8fffaeeda217ba6ed09704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1b5fd2e0501561afa2458229bc3e9a1c2c7030b8db779365e4fedf0f66ce5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 8.388 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.6165, 1.1332, -0.458, -0.1799, -0.1837, 0.7527, -0.0002, 0.8551, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3966 left_y=-0.1441 left_z=0.118 left_yaw=-0.1873 left_pitch=-0.3568 left_roll=0.0521 left_gripper=0.7527 right_x=0.2854 right_y=-0.0041 right_z=0.1644 right_yaw=-0.0514 right_pitch=-0.142 right_roll=-0.0115 right_gripper=0.9978\nstate[joint_eff]: [-0.6496, -11.8632, 10.947, 1.9756, -0.2125, -0.0708, 1.0281, -0.212, -1.6205, 7.0359, 1.5849, -0.0269, -0.0659, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7067, 2.2974, 2.5488, -1.3281, -0.3031, -0.4187, 0.7527, -0.0002, 0.8566, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4403 left_y=-0.3019 left_z=0.2184 left_yaw=-0.1981 left_pitch=-0.4361 left_roll=0.0654 left_gripper=0.7527 right_x=0.2855 right_y=-0.0041 right_z=0.164 right_yaw=-0.0515 right_pitch=-0.1439 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -10.865, 5.9282, 0.5788, -0.4029, -0.0366, 1.033, -0.1162, -1.5111, 6.9812, 1.6142, -0.0269, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8711, 2.2513, 2.1113, -0.7982, -0.5358, -0.432, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4377 left_y=-0.3744 left_z=0.1635 left_yaw=-0.2007 left_pitch=-0.2111 left_roll=0.1481 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -19.7402, 7.9932, 2.1074, -0.7888, 0.1929, 1.0281, -0.2256, -1.5795, 7.0769, 1.6239, -0.0415, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7dfb9a8ef8daad1fec0dd0f948f9be15132fc7ea522b5fbefd794621f247d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8510b7d830714e8511da271437dc3c7291d5b68b8fffaeeda217ba6ed09704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1b5fd2e0501561afa2458229bc3e9a1c2c7030b8db779365e4fedf0f66ce5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013wwggzh4zTCZZof3HTvSum",
      "input": {
        "note": "The wrist view now shows the brick over the white pot interior with the rim and handle to the left; the grasp point sits over the pot's near half. Nudging 3 cm further forward so the whole brick clears the near rim before releasing.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.47,
          "left_y": -0.38,
          "left_yaw": -0.19,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013wwggzh4zTCZZof3HTvSum",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8635, 2.2639, 1.9709, -0.601, -0.5774, -0.3603, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4511 left_y=-0.3737 left_z=0.1319 left_yaw=-0.2063 left_pitch=-0.163 left_roll=0.2002 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [0.4444, -16.0752, 8.0205, 2.2637, -0.7448, 0.2662, 1.033, -0.1436, -1.3744, 6.8991, 1.6093, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b593ba63c9a24ed5853d462bfdbd093730355a003a70f621a2fa840aec6698f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7155a66c549aefb9d6490f4d2d97868b07999406ba38c9f7ada9b4d9f1d45342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:040b9987ef488568d549dba9b614152c8f6ffb2f13318041d51fbcb2c2d48949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.819 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7067, 2.2974, 2.5488, -1.3281, -0.3031, -0.4187, 0.7527, -0.0002, 0.8566, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4403 left_y=-0.3019 left_z=0.2184 left_yaw=-0.1981 left_pitch=-0.4361 left_roll=0.0654 left_gripper=0.7527 right_x=0.2855 right_y=-0.0041 right_z=0.164 right_yaw=-0.0515 right_pitch=-0.1439 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.4171, -10.865, 5.9282, 0.5788, -0.4029, -0.0366, 1.033, -0.1162, -1.5111, 6.9812, 1.6142, -0.0269, -0.0317, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8711, 2.2513, 2.1113, -0.7982, -0.5358, -0.432, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4377 left_y=-0.3744 left_z=0.1635 left_yaw=-0.2007 left_pitch=-0.2111 left_roll=0.1481 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -19.7402, 7.9932, 2.1074, -0.7888, 0.1929, 1.0281, -0.2256, -1.5795, 7.0769, 1.6239, -0.0415, -0.0269, -0.0122]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8635, 2.2639, 1.9709, -0.601, -0.5774, -0.3603, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4511 left_y=-0.3737 left_z=0.1319 left_yaw=-0.2063 left_pitch=-0.163 left_roll=0.2002 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [0.4444, -16.0752, 8.0205, 2.2637, -0.7448, 0.2662, 1.033, -0.1436, -1.3744, 6.8991, 1.6093, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b593ba63c9a24ed5853d462bfdbd093730355a003a70f621a2fa840aec6698f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7155a66c549aefb9d6490f4d2d97868b07999406ba38c9f7ada9b4d9f1d45342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:040b9987ef488568d549dba9b614152c8f6ffb2f13318041d51fbcb2c2d48949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgRGAI4AUIIdGhpbmtpbmcSDP3q5sGIXfdJk4N69xoMbYRyeJGYxyDj57rTIjA0o0R9oQ0OHNRmQOFP7048D008hcfWTw0H+Ljh5v+zfQs9RifhH7WKF5em4YBR53wqygeYScyoZK3Iv1bOmOoPYztoWUcBPGn4A7W20qHjA7HDwGgj2uuSg/DJ3znOPT2OsH4e7nIAznYBYz0aZW8VMsP4QLCk16Tnl8/OJLBsFN4XFIJd23DW+ECWU3nNsFWpFuzlwCknXNXR9A2rXPZT5LhznHZZKzIP8+G4i5WO0i42J2gBxj5qEoHSF6agJH9qQMni0mnw4jhwR0bn/gueP0zCjI5zD2TyStOXQYob2rtZDtQucpa7aACg32lOreGWD8AXKbKnfabu41BGQ+yLEa26KoLUYmsLZEl5hewGIzx7h99S3qgdVmtPok3CSEO7eE4YZwVUbvinZcQBEt11EN/m89vnh7gzOaKkAN5HXKcblDwq3TLRdFEjybD7/DHXdu5Dy1V0LXPKLJqbgMujBK+/B7lLhqt5v/FPdvMtachA3NgNgzhLUsJACfTBQRb9Rhk+Urx2nrXdY729yPEoOHFhsI10bqVcLGWTv0rV3ZQl4b3yVvfUxSlyGmVPWlfv85fdKh9NePOpxuJZPYm+yT082A7dlul8c6NTp+cphl1kuPzXEt3xzI+pyPVl6cOboERBLPVh4cWaylujjjYhVA4LveU0FIHEwth3sg1gjMj9zSHcrWI3FqcvQsk5syZ22iY0475KgjOOC46Uj+wa09mG6NKWIwjVcuVFPYFKWXWBSVbin5/yr1Vh9vDPkFFY3RkWlNTCBW3ufK5BSJhiwlLvii/l9E06UhNSkfUn0EH6KPBtTXzpHGH1oH84JpKoZU4jNur0jw0p4nOA9QS1SLyx9b/xw3M4xo+ziafk6ZPfSeRRUVY0kO7BjyWSBUGTzNpAxjxgBf794pHoxQJ6LBijx4IgL8QOfl9d+nW/TyeSZHHc30VBwWLeQBvJMQvb1xXGbvGNnfMnlA//JkdGsFiY16rOG3vdYLzuHWgMG/qwPa3sBKg1iGgVCics+Evt7DFvlSyBzvF7sP8JdvsAVVTsCyUAV2uoGzSlMdEZE4Tt84+Gsq3tq6hLTssWlCAOFBPIFgfgjio7elqfkCJw9vBRL5RQgExkpumYToxCfN1dcGhzRPtad2e9CogcoXsWE8YgzWu4otUiEwd7cNAYg5E2ywaGKxHacOCULdAe4u5/Fw3vD0MaxSkrsOEQXJbmAq7QsqWxaMlViqjHsH0EzbzhiKPMBuez4yieHMtJoJJwltXc8Q9pTu5MitGstxnkI6khQ/8krYjmm+7xN6FstoAo0dcR+ZsWy2lNY4QWa3zhDJBhYUMDESdFSe+U7lR6mqFTAl95hooO5sIPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011bexGjJF7oqmtQVbPFgMvo",
      "input": {
        "note": "The brick is now fully surrounded by the white pot interior in the wrist view and the arm is at its reach limit; opening the gripper to drop the brick into the pot.",
        "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_011bexGjJF7oqmtQVbPFgMvo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2593, 1.935, -0.5564, -0.5793, -0.3641, 0.7527, -0.0002, 0.8574, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4516 left_y=-0.3742 left_z=0.1268 left_yaw=-0.2046 left_pitch=-0.1511 left_roll=0.1902 left_gripper=0.7527 right_x=0.2856 right_y=-0.0041 right_z=0.1638 right_yaw=-0.0515 right_pitch=-0.1443 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -12.7932, 9.7846, 1.2332, -0.5006, -0.0073, 1.033, -0.0479, -1.5248, 7.0769, 1.6435, -0.0317, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f05ca062b5e65f6d9ccbed5e8b7a96d68621295c7607ae5827680ce4692746e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23798a39a62da379617409c01d9914f75af12c0655a0b667df6c5101678e8e0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9ac6d24469a43da25d75b0e52fec2b5d54562f96c26952a018cc0d869db6fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.992 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8711, 2.2513, 2.1113, -0.7982, -0.5358, -0.432, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4377 left_y=-0.3744 left_z=0.1635 left_yaw=-0.2007 left_pitch=-0.2111 left_roll=0.1481 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.6769, -19.7402, 7.9932, 2.1074, -0.7888, 0.1929, 1.0281, -0.2256, -1.5795, 7.0769, 1.6239, -0.0415, -0.0269, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8635, 2.2639, 1.9709, -0.601, -0.5774, -0.3603, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4511 left_y=-0.3737 left_z=0.1319 left_yaw=-0.2063 left_pitch=-0.163 left_roll=0.2002 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [0.4444, -16.0752, 8.0205, 2.2637, -0.7448, 0.2662, 1.033, -0.1436, -1.3744, 6.8991, 1.6093, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2593, 1.935, -0.5564, -0.5793, -0.3641, 0.7527, -0.0002, 0.8574, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4516 left_y=-0.3742 left_z=0.1268 left_yaw=-0.2046 left_pitch=-0.1511 left_roll=0.1902 left_gripper=0.7527 right_x=0.2856 right_y=-0.0041 right_z=0.1638 right_yaw=-0.0515 right_pitch=-0.1443 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -12.7932, 9.7846, 1.2332, -0.5006, -0.0073, 1.033, -0.0479, -1.5248, 7.0769, 1.6435, -0.0317, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f05ca062b5e65f6d9ccbed5e8b7a96d68621295c7607ae5827680ce4692746e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23798a39a62da379617409c01d9914f75af12c0655a0b667df6c5101678e8e0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ac6d24469a43da25d75b0e52fec2b5d54562f96c26952a018cc0d869db6fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAcKEAgRGAI4AUIIdGhpbmtpbmcSDDN/uUkf/eFYl3QiABoMeclQ2zJ/j6h99iNtIjCn2PqT4qpGLNwl4mtV4Ls3nSM3TgNHx01MaB+FVWuNNeWq+dxiyjne7qM1eJAlA84quQbGnJ8ad31cPFrMUihzepT+eTzxefZXINLbIHKwXubDcgDlZPD22TVq8wD39U7k8FN6/sOTKbO2FHypM2xAPRXI+P6HbhBuT1IASqMAMjnFjpkOwKfKrCiHjRj4hJ4CiN6nobXQ5F40zudxQdN1vb2QTZ0VxjZaGuGFuK99QIf3vU3aX7Ra1cpdm646hlu14aYxsCxQjQghWuo8mLEwvs6VjCrbCl1eLIyG4tB8vbvcEskvtIFuIfovJRNfs83lGNZ2CxTTJAqiRUYhxEQISoy8XZiuc9mJY1jMd3A5w3uN/FHZ7JHBgzyjh9tbHWujmWLGWNlFRCM05hSetaQB196HQ57nwS8ZYgzYlYG2Z0bkVmyuZGIvPf3BJzwE57YoLm41LAsg8Np8Hmigx/kHMKsLehmI0PnRXfirBi1N0MKFcvXM1JWuHq5IXdrl6IziQo1e7Sx8UxF7XWajXJGt+oDqeTaYsxwc97y3jDpm0W0V80HnUCm2Q+hRXeKfcZW1aoMX+yZQuSTg86qntrbHjr60JNuu8Yc1WXntkyUBPFHbcpC03lUFaPjm+W/ZLlhpHH/FCqWErTERViYW5n2PVyztMghqGACGz3V9E1S8s0u01pU2o+9vlJEr2u5copeyxoh8pcZ+7s4tkTM5bCFX3l5lJmJE4GZEYCka/Z9RA+sCS6ZrPESYKs0XS1tBVjUuRNUiKJwgezf+6UaGgSSVu8h0bSDl44aLZoyk3Dq0Axq8mgfGs9hGQ1pJ6FjxvZNDlyDw9NoMBFQqGSs4cgG3WNGvS1Fmvyes2deytqQcYtXkdKtdMAeXF8O8/eNa4nhnlhctqM/umj+LxubiSW46aktqFJibvzOGRdCVFCLT7IwZcrf6DNpsL7EvLpR7c57g1XYwPqVOqtN8QWLbhQN366uswj7LGpyzpq4KX32HIGkZ6ow7JtsIjOTgyz2c939mWGx1qo7/uIE65YCST7rPiylp4kM331DnLHOe1yxj3th2Rcy/3J4JdUJ4za59mrovkakNFDCyxEuVi0O6v1hzmmiTQG8LNyfv89UW/KVy/fbHwnDedJuz2y5kAkb9oVAFwGFO7ZbtMs6t5p4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BqmCAA6gepbvvwQgjCqNb4",
      "input": {
        "note": "The gripper still reads 0.75 — the short open command was rate-clamped before the jaws moved. Re-issuing the open command to release the brick into the pot.",
        "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_01BqmCAA6gepbvvwQgjCqNb4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8642, 2.2593, 1.9446, -0.585, -0.5739, -0.3664, 0.7526, -0.0002, 0.8597, 0.6708, -0.5278, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.4491 left_y=-0.3729 left_z=0.1262 left_yaw=-0.2058 left_pitch=-0.1685 left_roll=0.197 left_gripper=0.7526 right_x=0.2856 right_y=-0.0041 right_z=0.1632 right_yaw=-0.0513 right_pitch=-0.1469 right_roll=-0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -13.2991, 5.9419, 1.5849, -0.359, -0.0024, 1.033, -0.2256, -1.7573, 6.9675, 1.5849, -0.0415, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220bd1d85a436f8d2e0ad020b0a1d9caf80d3d97ddb7266edbfae1dcd5c4ded5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f112c696fa552dbca1413a8b0230bca2f447ee0be7d301bd9e305fb8c8c9404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d5516b7b50555642f3354ad8579f85e5a5822865220d46d1722189720139730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 7.315 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8635, 2.2639, 1.9709, -0.601, -0.5774, -0.3603, 0.7527, 0.0002, 0.8574, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4511 left_y=-0.3737 left_z=0.1319 left_yaw=-0.2063 left_pitch=-0.163 left_roll=0.2002 left_gripper=0.7527 right_x=0.2855 right_y=-0.004 right_z=0.1638 right_yaw=-0.0511 right_pitch=-0.1446 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [0.4444, -16.0752, 8.0205, 2.2637, -0.7448, 0.2662, 1.033, -0.1436, -1.3744, 6.8991, 1.6093, -0.0611, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2593, 1.935, -0.5564, -0.5793, -0.3641, 0.7527, -0.0002, 0.8574, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4516 left_y=-0.3742 left_z=0.1268 left_yaw=-0.2046 left_pitch=-0.1511 left_roll=0.1902 left_gripper=0.7527 right_x=0.2856 right_y=-0.0041 right_z=0.1638 right_yaw=-0.0515 right_pitch=-0.1443 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -12.7932, 9.7846, 1.2332, -0.5006, -0.0073, 1.033, -0.0479, -1.5248, 7.0769, 1.6435, -0.0317, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8642, 2.2593, 1.9446, -0.585, -0.5739, -0.3664, 0.7526, -0.0002, 0.8597, 0.6708, -0.5278, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.4491 left_y=-0.3729 left_z=0.1262 left_yaw=-0.2058 left_pitch=-0.1685 left_roll=0.197 left_gripper=0.7526 right_x=0.2856 right_y=-0.0041 right_z=0.1632 right_yaw=-0.0513 right_pitch=-0.1469 right_roll=-0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -13.2991, 5.9419, 1.5849, -0.359, -0.0024, 1.033, -0.2256, -1.7573, 6.9675, 1.5849, -0.0415, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220bd1d85a436f8d2e0ad020b0a1d9caf80d3d97ddb7266edbfae1dcd5c4ded5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f112c696fa552dbca1413a8b0230bca2f447ee0be7d301bd9e305fb8c8c9404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d5516b7b50555642f3354ad8579f85e5a5822865220d46d1722189720139730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwkKEAgRGAI4AUIIdGhpbmtpbmcSDJoyEHZoFtAUdbG4IRoMd1pRl84JZ4YHNtXsIjDFeqD8cz6E2qxoVXZawTKP7WDC5vKRh8yp91wGT7FqYpdcmq/t/f+4kyk7IJSz+/gqyAjzy9kjqr3cNsj6U5kbBvoNSYgvPVVg/fhkyAanTHwSHplq62a7HT4yGPxmMeyoPNcaMm7pL9NrerizcbEim1meks0CSzGB3CTbMQEwU/Ea8bWM10DWGk/6WfQehW1lBC75jf159UEO5ld63r0x3F+SHTBnbOnkSRiLMx193FaMqwsqazDnw28mLDg+fHRFHqOyQTmMYJG7ZYPj0mOeUfgexHkf2XtlsgMqZVA9/AK5feS5jLcAAZhF4l194WhYuvC1QXVd7RC3zC7AcKAA1ms5sWgm0SbPchGqEk05pxPuUCVEPZImJfL3cT05SHWFZtmzOSjqmcuJokmqKX6XEJmu4OAbC62kM4RR/sk14LUs82T0H//z6+WmYKSeNBeo1iJxBHnEoZ2DMN0wRpTUIvCxw1WSKqHCsa6xvIhsLTIj31KFQAFSntL8E0VVvEeGEAni35Z2oQTo3Pd5hXubsfoMkd3uIyqtjV31OPVdx8+tNitSIeRGNzGJDFLGNchmjBWvmniwNuPjU8/A6DyoyRh75lziZNNYlLo4A2ojXmYj8tFppr5XM+5GcV4JJVy/9fCiHw2YZQsgJmxIZLJ6elGvoyWR6TTZ+oxGG/jKuoHfSlAHv/v24cIvo9RtsHOJBsBFWFZJplzpPMxOahmiRBSKaUANVoV8lZIQJUEhWoEAar5NjuPoba+MqoGpvCT6uYpptGCkz6IIXjfTGij2E+xQ/qIokmpKmv2t5rF36sGEIofM2EXQY0WLrE0NkcyPkmezG0VPRy+okTXEo5nJd3arth3PIMnfbUUs+lOhnLoCf5pw8nwzYtIR3eUapUADZTkYYgDLK41qxNKwXWOj6mYUmADKAeq5b0cIp3and6GEHw2AIx/Cx2d2RZUINz671T5aY+tEmjJSXGXqJfguaLj1yM4Aum1nuA+zqirSIUmkwCCsQ+PsnlHuepiiBjAVRGSQ5wbe882sbK2lmBss0tllloH1Rt40rAbNoVRtizfOP6QuMtezRmqEAQPhQ+FlHEjkYuwa05A9XiGORwd7UiHSgVOqRMCtRU+nNzazUQsDAs2GMHeXNRB8M3SS04pblLKda+tGnTtMSxyfcCN4yj16m3zpfHnRbZfzhGvUCCq6wGnojBGmFCsumzu3HweihY/BSuhfV5V99X1yMwPXUnzmO2svZ8KTbu/f1JKMbzXN/ReM1SS8ITuVKtBxOx8/OkHuZXZK5joCt6BHkyPzZx96zdsWZOcXszh7BoCU1tM5VlQBqCWmA7hucHops1QdXXZJbLdvTvTc9f87DGDlH55G6PB4fY+ghH0KXrkQHYJprznOxDoTT2Vdwfr6+XjmdmkvEZnT65LiXPUQiiu6BAwWzKPGofij9U60W/h8cDG5QkPLfMswZn5nIlXUoiUE973H1JB698dvT53TsNRCda4qbEpsV/D4M2LVWEw5nxzN22KJKsoK8GJ0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MsX7YDYgnzRbXgc5AS3WFk",
      "input": {
        "note": "The jaws still have not opened after two short commands; pairing the open with a small 3 cm lift to give the controller a longer motion window to actuate the gripper.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.373,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01MsX7YDYgnzRbXgc5AS3WFk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2662, 2.022, -0.6781, -0.5701, -0.3706, 0.8944, -0.0002, 0.8604, 0.6708, -0.5282, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4478 left_y=-0.3719 left_z=0.1395 left_yaw=-0.2035 left_pitch=-0.1876 left_roll=0.2054 left_gripper=0.8944 right_x=0.2856 right_y=-0.0041 right_z=0.1629 right_yaw=-0.0515 right_pitch=-0.1481 right_roll=-0.0118 right_gripper=0.9978\nstate[joint_eff]: [0.0479, -13.1487, 9.9487, 1.326, -0.3199, 0.0806, -0.1197, -0.0342, -1.2786, 6.8991, 1.6044, -0.0269, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6ff9faf962073067029b051c0ce9cdc5cc09e96bacb1c4223371f55ac61b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18cbde03bcd4f2f47d61033b2c37259588095327b6c6759af80cb54a117dfdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbb8c69c3f27ee7c8470f5df69e4a387a0f391f57218d3be4c674cfbb1119a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 13.92 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2593, 1.935, -0.5564, -0.5793, -0.3641, 0.7527, -0.0002, 0.8574, 0.6708, -0.5274, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4516 left_y=-0.3742 left_z=0.1268 left_yaw=-0.2046 left_pitch=-0.1511 left_roll=0.1902 left_gripper=0.7527 right_x=0.2856 right_y=-0.0041 right_z=0.1638 right_yaw=-0.0515 right_pitch=-0.1443 right_roll=-0.0116 right_gripper=0.9978\nstate[joint_eff]: [-0.1299, -12.7932, 9.7846, 1.2332, -0.5006, -0.0073, 1.033, -0.0479, -1.5248, 7.0769, 1.6435, -0.0317, -0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8642, 2.2593, 1.9446, -0.585, -0.5739, -0.3664, 0.7526, -0.0002, 0.8597, 0.6708, -0.5278, 0.0433, -0.001, 0.9978]\nstate[eef_state]: left_x=0.4491 left_y=-0.3729 left_z=0.1262 left_yaw=-0.2058 left_pitch=-0.1685 left_roll=0.197 left_gripper=0.7526 right_x=0.2856 right_y=-0.0041 right_z=0.1632 right_yaw=-0.0513 right_pitch=-0.1469 right_roll=-0.012 right_gripper=0.9978\nstate[joint_eff]: [-0.3487, -13.2991, 5.9419, 1.5849, -0.359, -0.0024, 1.033, -0.2256, -1.7573, 6.9675, 1.5849, -0.0415, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8639, 2.2662, 2.022, -0.6781, -0.5701, -0.3706, 0.8944, -0.0002, 0.8604, 0.6708, -0.5282, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.4478 left_y=-0.3719 left_z=0.1395 left_yaw=-0.2035 left_pitch=-0.1876 left_roll=0.2054 left_gripper=0.8944 right_x=0.2856 right_y=-0.0041 right_z=0.1629 right_yaw=-0.0515 right_pitch=-0.1481 right_roll=-0.0118 right_gripper=0.9978\nstate[joint_eff]: [0.0479, -13.1487, 9.9487, 1.326, -0.3199, 0.0806, -0.1197, -0.0342, -1.2786, 6.8991, 1.6044, -0.0269, -0.0269, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6ff9faf962073067029b051c0ce9cdc5cc09e96bacb1c4223371f55ac61b15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b18cbde03bcd4f2f47d61033b2c37259588095327b6c6759af80cb54a117dfdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb8c69c3f27ee7c8470f5df69e4a387a0f391f57218d3be4c674cfbb1119a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzAgKEAgRGAI4AUIIdGhpbmtpbmcSDG2dWLU2MXVvqy8ctRoM0mLi+Kh+PvVqJpG3IjCWk3C8FuigQjEFW7w0+vRGsGjhyKlZXkOFxAyC5C4VsI1DqkiuaPUb8wns0+Kbgzsq6QdWYAUBJ65rQQwna+hqjYZTqZ0AspSF0TmtmeCOGFPdNbrlHsVND0dsjE9NOiuObkJ7PMqPzOfoUbz6YAnXCTxgzxz4Fp4MwSvXU8GgTEvu4G9vKn7o+X6ZT60W6ge2XKVl0pFs4Ukr5kHgTK71WrOV5t24dsCIFKy22s+pTKTUT3sfdYlNx8JMlgOGAYS9HO7lOwswO6Vx6eekBuy2smbCQ3jGM82hVY8XJ4rzigPi4IUnSCFH2Tu6x6aqLXww0nX8xRKv/UEg4/6qLFzUZyhHH6cNq0h1RzQr0ZbJe5Wu9d6LJzp0BFzeni0lN0BESeYplDFAO2OR6DTT2a2X9tH5e/rywsPRVfH/S72Jro8DPwScYzUTYT2OQh+8lx6tWFmco/FUez7zBwBk+sMjMlhnm+JY2+ofzQ2AWYCbJXQ+wq0tu/FlwWuHre+lRdyWaJGfoN/a/7sCn+WX1avf40sOwcvooQ2WBW8z5cih/1+Jb9b6lwyVG5TvJ/JxNsB3+aZkWolI00ETHorusTE5ghMbUeVlDGKULMfC9lS2+ZoqyfCKFchJYTaosUCt7gEDqgo5EFuFma9fx7lzdilyT+eYhcynGVqSmUDpt39Xq4x3kJe8W4wHwDOukpn6fmUa5s4ic1rpXtE6aXc7ypxouN1m0P3R71XfSN/k0Ty3FPMV0z8BacjsbJg2PXRQlK6SWUO3QlMGl5oEt+1uqUsjhvxAlLM2B/ByWxrEL6UwYJOHjQA4CD2qjHFhDWM1QaXYrG9zmP1Linlsrc6+oBlr2UmfTnlceL+S9z5iEPFe8u5Iq0vleYfdBHTOrazJ2b0A6d1+EdZ1Rh3A8dTmdymRHfWWqA5bneUaLzLZs+b8A/t6oul5x7rKFxH4ahkW+yeg09Np3c1+GmgfWCFif6YjxzwqHAwWBy3STbCBrvlEdAVydpL0nJILgluZET/IixynAvK9xlSVcK70/Awvom8CLb4uzZVTawAAx0thuQyygbDY4JrKZ/GtD+dgzU1adSrXp3RzTrN/jph56roIFL8ncDwuIp4iln3611+FVNbUo58OCfTSMpy220QFZAK6l9lhHrY5QGY/Li2IVtOiTNppS9ul0Gh67K+XVp9ugC4aTE5cr2I1GdjY7QURzDBwaNQZjFXzo4rU7cVGeG/ozOuq6FICHsvDYMpLGZh78h5uWH2l1ZdfaEFvh7Qup3R/dQvBo1F83EyaIzdvmR2fvSmsBq1JMLc3pw2AKQLphi97ttPBSrNuueIEdQrw5eP2fp7mpZVcZ0l6dcLAo0Zy4X21Vl6rUauaA5A94B+RXP2oS3dJpN8wYxM+oChG6BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H8JLrSb2DMkGrXFtpMg14x",
      "input": {
        "note": "The gripper opened (0.89) and the brick has dropped; the wrist view shows it lying inside the white pot. Retracting the left arm up and back so the top camera can confirm the brick is in the pot.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01H8JLrSb2DMkGrXFtpMg14x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9768, 1.4353, 1.2747, -0.7727, -0.831, -0.5777, 0.9945, 0.0002, 0.8639, 0.6708, -0.5278, 0.0433, -0.0006, 0.9978]\nstate[eef_state]: left_x=0.3061 left_y=-0.2137 left_z=0.2418 left_yaw=-0.0338 left_pitch=-0.0216 left_roll=0.1956 left_gripper=0.9945 right_x=0.2858 right_y=-0.004 right_z=0.162 right_yaw=-0.0511 right_pitch=-0.1511 right_roll=-0.0119 right_gripper=0.9978\nstate[joint_eff]: [-0.5265, -6.8991, 6.6803, 1.2821, -0.5153, -0.149, -0.569, -0.1709, -1.7299, 6.9265, 1.6386, -0.0464, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e44e8dfe6a83ffb16f2380e9efc4625893671e48cfac4f5a404f14d467d199e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04238e77ad04eacf02d7f052d532ea99c2bb57f50cccd225a7084a122abb4ea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c47dcf833e189830dcf25cc3b252a650becad90cd1ff919f3218433b5b2b0ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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