adhoc

completed
2026-09-18T16:59:55.204223+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
169.4 s
total steps
127
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick is visible in the right wrist camera slightly left of the jaw column and a bit ahead; the pot is in the centre of the table. Moving the right arm to hover above the brick.
move_to
right_x0.3600right_y0.0600right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7952, 0.6052, -0.3786, -0.0193, -0.0162, 0.9996, -0.0212, 0.7937, 0.6033, -0.3782, -0.012, -0.0196, 0.9966] state[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1805 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966 state[joint_eff]: [-0.3761, -1.6615, 10.0718, 1.79, -0.0806, 0.0024, -0.0611, -0.4444, -1.4974, 10.1538, 1.9023, -0.0904, 0.0366, -0.3736] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.06, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick is visible in the right wrist camera slightly left of the jaw column and a bit ahead; the pot is in the centre of the table. Moving the right arm to hover above the brick."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe brick sits just below and left of the jaw column with its long side along the jaw axis, so I'm advancing ~3 cm, shifting left slightly, rotating the tool 90° to close on the short side, and lowering to 8 cm.
move_to
right_x0.3750right_y0.0750right_z0.0800right_yaw1.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0166, 0.9995, 0.2531, 1.1599, 0.6113, -0.1402, 0.1761, 0.0986, 0.9966] state[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9995 right_x=0.3393 right_y=0.0595 right_z=0.1225 right_yaw=0.0516 right_pitch=-0.1087 right_roll=-0.0246 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.347, 6.8581, 1.79, -0.0415, -0.0757, -0.0171, 0.1709, -4.2598, 9.9214, 1.9805, 0.2173, 0.2173, -0.3687] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.075, "right_z": 0.08, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The brick sits just below and left of the jaw column with its long side along the jaw axis, so I'm advancing ~3 cm, shifting left slightly, rotating the tool 90\u00b0 to close on the short side, and lowering to 8 cm."})
tool
executing move_to over 10 steps (1.0s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe brick is now aligned lengthwise between the jaws in the wrist view, slightly left of the jaw column. Descending to table level to grasp it across its short side.
move_to
right_x0.3900right_y0.0630right_z0.0000right_yaw1.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1833, 1.9938, 1.3678, -0.8352, -0.8368, -1.4342, 0.9966] state[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0179 left_roll=0.0003 left_gripper=0.9995 right_x=0.4007 right_y=0.0628 right_z=0.0707 right_yaw=1.2957 right_pitch=-0.1608 right_roll=0.0026 right_gripper=0.9966 state[joint_eff]: [-0.212, -1.2786, 7.1316, 1.7656, -0.0269, -0.0464, -0.0073, 0.1573, -11.3436, 5.7368, -0.2466, -0.7546, -0.022, -0.359] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.063, "right_z": 0.0, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The brick is now aligned lengthwise between the jaws in the wrist view, slightly left of the jaw column. Descending to table level to grasp it across its short side."})
tool
executing move_to over 5 steps (0.5s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
The brick fills the wrist view between the jaws at table level. Closing the gripper.
agent noteAt table level the brick lies between the jaws in the wrist view; closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1856, 2.2101, 1.4002, -0.8871, -0.8368, -1.6859, 0.9964] state[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9995 right_x=0.3845 right_y=0.0649 right_z=0.0011 right_yaw=1.4696 right_pitch=-0.1596 right_roll=0.0514 right_gripper=0.9964 state[joint_eff]: [-0.2393, -1.4017, 7.0085, 1.7363, -0.0562, -0.0269, -0.0122, -0.2667, -10.906, 7.3368, -0.0513, -0.2125, -0.0464, -0.3736] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
The brick fills the wrist view between the jaws at table level. Closing the gripper.
move_to({"targets": {"right_gripper": 0.0}, "note": "At table level the brick lies between the jaws in the wrist view; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteGripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 10 cm to confirm the brick comes along.
move_to
right_z0.1000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1856, 2.2208, 1.4082, -0.8883, -0.8383, -1.7477, 0.7468] state[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3858 right_y=0.0649 right_z=-0.0008 right_yaw=1.5037 right_pitch=-0.1571 right_roll=0.0083 right_gripper=0.7468 state[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.7314, -0.0317, -0.0415, -0.0122, -0.4991, -10.3179, 6.3795, 0.0464, -0.4811, -0.0366, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 10 cm to confirm the brick comes along."})
tool
executing move_to over 8 steps (0.8s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe arm only reached 6 cm; the brick is long so it still fills the wrist view. Lifting higher to 20 cm to clearly verify the brick is in the jaws in the overhead view.
move_to
right_z0.2000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1852, 2.1296, 1.557, -1.1503, -0.7673, -1.7481, 0.7468] state[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0562 right_z=0.0588 right_yaw=1.5202 right_pitch=-0.224 right_roll=0.0394 right_gripper=0.7468 state[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7314, -0.0317, -0.0269, -0.0122, -0.1983, -15.4735, 8.0752, -0.2759, -1.116, -0.0171, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_gripper": 0.0}, "note": "The arm only reached 6 cm; the brick is long so it still fills the wrist view. Lifting higher to 20 cm to clearly verify the brick is in the jaws in the overhead view."})
tool
executing move_to over 10 steps (1.0s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteOverhead view confirms the brick is lifted (its shadow is on the table below). Carrying it high toward the pot, which I estimate at roughly x=0.47, y=0.26 in the right arm's frame.
move_to
right_x0.4700right_y0.2600right_z0.3000right_yaw1.5000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3908, -0.0196, -0.0166, 0.9995, -0.1699, 2.0853, 1.8851, -1.5219, -0.6956, -1.734, 0.7468] state[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9995 right_x=0.3851 right_y=0.0524 right_z=0.1488 right_yaw=1.5408 right_pitch=-0.2946 right_roll=0.0585 right_gripper=0.7468 state[joint_eff]: [-0.1983, -1.2239, 7.159, 1.7021, -0.0317, -0.0659, -0.0122, 0.6496, -14.7761, 7.5282, -0.2808, -1.116, 0.1636, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.26, "right_z": 0.3, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "Overhead view confirms the brick is lifted (its shadow is on the table below). Carrying it high toward the pot, which I estimate at roughly x=0.47, y=0.26 in the right arm's frame."})
tool
executing move_to over 18 steps (1.8s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe brick is hovering over the pot's near-right rim; the wrist view shows the pot interior to the image-right (forward). Shifting forward and a bit left to centre the brick over the pot opening.
move_to
right_x0.4500right_y0.2700right_z0.2500right_yaw1.5000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3183, 2.3138, 2.5809, -1.5936, -0.6056, -1.0756, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4148 right_y=0.2463 right_z=0.2202 right_yaw=1.5066 right_pitch=-0.3569 right_roll=0.0637 right_gripper=0.7467 state[joint_eff]: [-0.1162, -1.306, 6.9949, 1.7265, -0.0513, -0.022, -0.0122, 0.1983, -12.6427, 8.7043, 0.8864, -0.8913, 0.1343, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.27, "right_z": 0.25, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "The brick is hovering over the pot's near-right rim; the wrist view shows the pot interior to the image-right (forward). Shifting forward and a bit left to centre the brick over the pot opening."})
tool
executing move_to over 8 steps (0.8s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteOverhead view shows the brick directly above the pot opening; the arm seems reach-limited at x≈0.415. Lowering the brick a few cm toward the pot rim before releasing so it drops in cleanly.
move_to
right_x0.4200right_y0.2550right_z0.1600right_yaw1.5000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3542, 2.3486, 2.5965, -1.5963, -0.5385, -1.0351, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4146 right_y=0.2537 right_z=0.2023 right_yaw=1.5011 right_pitch=-0.4269 right_roll=0.0828 right_gripper=0.7467 state[joint_eff]: [-0.3624, -1.3197, 7.2137, 1.746, -0.0366, -0.0415, -0.0122, 0.1846, -11.7128, 9.1692, 0.9158, -0.9158, 0.1343, 1.0379] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.255, "right_z": 0.16, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "Overhead view shows the brick directly above the pot opening; the arm seems reach-limited at x\u22480.415. Lowering the brick a few cm toward the pot rim before releasing so it drops in cleanly."})
tool
executing move_to over 8 steps (0.8s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteThe brick is over the pot but slightly toward its near-right edge in the overhead view. Nudging 2–3 cm to the arm's left to centre it over the opening before releasing.
move_to
right_x0.4200right_y0.2750right_z0.1300right_yaw1.5000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0193, -0.0166, 0.9995, 0.3576, 2.3341, 2.2642, -1.3991, -0.4938, -1.0317, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4133 right_y=0.2477 right_z=0.1212 right_yaw=1.5429 right_pitch=-0.5151 right_roll=0.1895 right_gripper=0.7467 state[joint_eff]: [-0.3077, -1.2923, 7.0085, 1.7656, -0.0415, -0.0757, -0.0122, -0.4991, -18.359, 7.2821, 0.7057, -0.7253, -0.0562, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.275, "right_z": 0.13, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "The brick is over the pot but slightly toward its near-right edge in the overhead view. Nudging 2\u20133 cm to the arm's left to centre it over the opening before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe brick now sits over the centre of the pot opening in the overhead view at about 11 cm height. Opening the gripper to drop it into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.403, 2.4207, 2.3833, -1.4395, -0.4423, -0.9508, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4167 right_y=0.2638 right_z=0.1085 right_yaw=1.5252 right_pitch=-0.5735 right_roll=0.2162 right_gripper=0.7467 state[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.7509, -0.0366, -0.0464, -0.0122, 0.4444, -13.2991, 10.4821, 0.442, -0.7595, 0.1587, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The brick now sits over the centre of the pot opening in the overhead view at about 11 cm height. Opening the gripper to drop it into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe gripper reading is still 0.75, so it hasn't opened yet; commanding the open again to release the brick into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4038, 2.421, 2.3817, -1.4391, -0.4183, -0.9424, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.418 right_y=0.2605 right_z=0.1062 right_yaw=1.5124 right_pitch=-0.5966 right_roll=0.2093 right_gripper=0.7467 state[joint_eff]: [-0.1573, -1.2786, 7.0496, 1.6923, -0.0562, -0.0317, -0.0122, -0.0752, -13.4222, 5.8735, 0.4567, -0.4811, -0.1245, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The gripper reading is still 0.75, so it hasn't opened yet; commanding the open again to release the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe gripper still reads 0.75 after two open commands; the wrist pitch is pinned at its -0.6 limit which may be interfering. Easing the pitch back and raising slightly while commanding the gripper open again.
move_to
right_gripper1.0000right_pitch-0.3000right_z0.1200
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4042, 2.421, 2.3802, -1.4311, -0.4026, -0.9417, 0.7467] state[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.4204 right_y=0.259 right_z=0.1049 right_yaw=1.502 right_pitch=-0.6077 right_roll=0.1942 right_gripper=0.7467 state[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.6923, -0.0317, -0.0611, -0.0122, -0.1436, -13.1077, 5.8598, 0.3883, -0.4127, -0.0171, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_pitch": -0.3, "right_z": 0.12}, "note": "The gripper still reads 0.75 after two open commands; the wrist pitch is pinned at its -0.6 limit which may be interfering. Easing the pitch back and raising slightly while commanding the gripper open again."})
tool
executing move_to over 11 steps (1.1s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
The gripper opened and the wrist camera shows the black brick lying inside the pot. Retracting the right arm to clear the view.
agent noteThe wrist camera shows the black brick resting inside the pot. Moving the right arm up and back toward home to clear the overhead view for confirmation.
move_to
right_x0.3000right_y0.0500right_z0.2500right_yaw0.0000right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.4068, -0.0193, -0.0166, 0.9995, 0.3183, 2.2978, 2.0514, -1.1709, -0.6529, -0.9878, 0.9962] state[eef_state]: left_x=0.2923 left_y=0.0012 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.037 left_roll=0.0004 left_gripper=0.9995 right_x=0.4209 right_y=0.2555 right_z=0.0999 right_yaw=1.5038 right_pitch=-0.3542 right_roll=0.2287 right_gripper=0.9962 state[joint_eff]: [-0.294, -1.3744, 7.0085, 1.8486, -0.022, -0.0562, -0.0122, -0.3487, -15.8701, 5.8051, 0.6032, -0.398, -0.0904, -0.3883] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
The gripper opened and the wrist camera shows the black brick lying inside the pot. Retracting the right arm to clear the view.
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The wrist camera shows the black brick resting inside the pot. Moving the right arm up and back toward home to clear the overhead view for confirmation."})
tool
executing move_to over 18 steps (1.8s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
The overhead and wrist views both show the black brick sitting inside the pot.
agent noteGrasped the black brick with the right arm (rotated 90° to close across its short side, gripper settled at 0.75), carried it to the pot at right_x≈0.42, right_y≈0.26, lowered to ~10 cm and released it; the brick now lies inside the pot as confirmed by overhead and wrist cameras.
done
hindsightThe "black brick" is a ~15×7 cm power-bank-like slab lying with its long axis along the arm's y; yaw the tool ~1.5 rad to grasp across the short side (settled gripper ≈0.75). Gripper open commands are delta-clamped: a 3-step open from 0.75 did nothing twice; pairing the open with a small arm motion (longer step count) let it complete. The right arm hit a reach limit near x≈0.415 at y≈0.25 with z 0.1–0.3 and the wrist pitch drifted to its -0.6 limit; the pot centre is at about right_x 0.42–0.45, right_y 0.26 and is reachable enough to drop the brick in from z≈0.1. Overhead top_cam coordinates: brick at (165,122) ≈ right (0.385, 0.065); pot at (120,70) ≈ right (0.43, 0.26).
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4149, -0.0196, -0.017, 0.9995, 0.1642, 0.8944, 0.8921, -0.5625, -0.0772, 0.1974, 0.9964] state[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1698 left_yaw=0.0011 left_pitch=-0.0496 left_roll=0.0006 left_gripper=0.9995 right_x=0.301 right_y=0.0673 right_z=0.2457 right_yaw=0.1249 right_pitch=-0.0086 right_roll=0.218 right_gripper=0.9964 state[joint_eff]: [-0.3214, -1.6889, 7.0085, 1.79, -0.0708, -0.0464, -0.0122, 0.2256, -1.5385, 7.3368, 1.8681, 0.1197, 0.1636, -0.3932] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
The overhead and wrist views both show the black brick sitting inside the pot.
done({"summary": "Grasped the black brick with the right arm (rotated 90\u00b0 to close across its short side, gripper settled at 0.75), carried it to the pot at right_x\u22480.42, right_y\u22480.26, lowered to ~10 cm and released it; the brick now lies inside the pot as confirmed by overhead and wrist cameras.", "hindsight": "The \"black brick\" is a ~15\u00d77 cm power-bank-like slab lying with its long axis along the arm's y; yaw the tool ~1.5 rad to grasp across the short side (settled gripper \u22480.75). Gripper open commands are delta-clamped: a 3-step open from 0.75 did nothing twice; pairing the open with a small arm motion (longer step count) let it complete. The right arm hit a reach limit near x\u22480.415 at y\u22480.25 with z 0.1\u20130.3 and the wrist pitch drifted to its -0.6 limit; the pot centre is at about right_x 0.42\u20130.45, right_y 0.26 and is reachable enough to drop the brick in from z\u22480.1. Overhead top_cam coordinates: brick at (165,122) \u2248 right (0.385, 0.065); pot at (120,70) \u2248 right (0.43, 0.26)."})
tool
done: Grasped the black brick with the right arm (rotated 90° to close across its short side, gripper settled at 0.75), carried it to the pot at right_x≈0.42, right_y≈0.26, lowered to ~10 cm and released it; the brick now lies inside the pot as confirmed by overhead and wrist cameras.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 17 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, 0.7952, 0.6052, -0.3786, -0.0193, -0.0162, 0.9996, -0.0212, 0.7937, 0.6033, -0.3782, -0.012, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1805 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.6615, 10.0718, 1.79, -0.0806, 0.0024, -0.0611, -0.4444, -1.4974, 10.1538, 1.9023, -0.0904, 0.0366, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f1e559c5acfb680fc204fc5ff5e4f6dde729464355c53645e903d9761e0016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c29abb800c069d94bb4d4339d5146c1dc2a34dffe4a8b05aa5c6858ea83535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f7ebb9f19aa4e829792bdc79c724dd824fce95e883cdc6c6e15f12967280650",
        "media_type": "image/png",
        "type": "base64"
      },
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    }
  ],
  "role": "user"
}
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wire blob b3c29abb800c
wire blob 5f7ebb9f19aa
call 1 attempt 0 · /messages · status 200 · 12.08 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, 0.7952, 0.6052, -0.3786, -0.0193, -0.0162, 0.9996, -0.0212, 0.7937, 0.6033, -0.3782, -0.012, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1805 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.6615, 10.0718, 1.79, -0.0806, 0.0024, -0.0611, -0.4444, -1.4974, 10.1538, 1.9023, -0.0904, 0.0366, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70f1e559c5acfb680fc204fc5ff5e4f6dde729464355c53645e903d9761e0016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3c29abb800c069d94bb4d4339d5146c1dc2a34dffe4a8b05aa5c6858ea83535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7ebb9f19aa4e829792bdc79c724dd824fce95e883cdc6c6e15f12967280650",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TPrtDRDBxccJ9LPgkh91gC",
      "input": {
        "note": "The black brick is visible in the right wrist camera slightly left of the jaw column and a bit ahead; the pot is in the centre of the table. Moving the right arm to hover above the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.06,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TPrtDRDBxccJ9LPgkh91gC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0166, 0.9995, 0.2531, 1.1599, 0.6113, -0.1402, 0.1761, 0.0986, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9995 right_x=0.3393 right_y=0.0595 right_z=0.1225 right_yaw=0.0516 right_pitch=-0.1087 right_roll=-0.0246 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.347, 6.8581, 1.79, -0.0415, -0.0757, -0.0171, 0.1709, -4.2598, 9.9214, 1.9805, 0.2173, 0.2173, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:764c6215d2c75b910392d9dd19100055e7d7a821a00acc93de37e06005e8542c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:789942119c323886e2a428b1a220d0f88424e17afaebff2181c31bfa3511a15e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cace6c5ffbcd1138e0ae885d0b8c6c5c0ecb470291e605f7b01c81fe18f3df24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 764c6215d2c7
wire blob 789942119c32
wire blob cace6c5ffbcd
call 2 attempt 0 · /messages · status 200 · 9.104 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, 0.7952, 0.6052, -0.3786, -0.0193, -0.0162, 0.9996, -0.0212, 0.7937, 0.6033, -0.3782, -0.012, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1805 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.6615, 10.0718, 1.79, -0.0806, 0.0024, -0.0611, -0.4444, -1.4974, 10.1538, 1.9023, -0.0904, 0.0366, -0.3736]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0166, 0.9995, 0.2531, 1.1599, 0.6113, -0.1402, 0.1761, 0.0986, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9995 right_x=0.3393 right_y=0.0595 right_z=0.1225 right_yaw=0.0516 right_pitch=-0.1087 right_roll=-0.0246 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.347, 6.8581, 1.79, -0.0415, -0.0757, -0.0171, 0.1709, -4.2598, 9.9214, 1.9805, 0.2173, 0.2173, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:764c6215d2c75b910392d9dd19100055e7d7a821a00acc93de37e06005e8542c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:789942119c323886e2a428b1a220d0f88424e17afaebff2181c31bfa3511a15e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cace6c5ffbcd1138e0ae885d0b8c6c5c0ecb470291e605f7b01c81fe18f3df24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 764c6215d2c7]
[blob 789942119c32]
[blob cace6c5ffbcd]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011y91Jt5Wpy363hT94xYM7v",
      "input": {
        "note": "The brick sits just below and left of the jaw column with its long side along the jaw axis, so I'm advancing ~3 cm, shifting left slightly, rotating the tool 90° to close on the short side, and lowering to 8 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.375,
          "right_y": 0.075,
          "right_yaw": 1.5,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011y91Jt5Wpy363hT94xYM7v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1833, 1.9938, 1.3678, -0.8352, -0.8368, -1.4342, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0179 left_roll=0.0003 left_gripper=0.9995 right_x=0.4007 right_y=0.0628 right_z=0.0707 right_yaw=1.2957 right_pitch=-0.1608 right_roll=0.0026 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.2786, 7.1316, 1.7656, -0.0269, -0.0464, -0.0073, 0.1573, -11.3436, 5.7368, -0.2466, -0.7546, -0.022, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbb21dc487ec087066be2ecc816cf4de8bc9e28c002f6174fa0c31cefe96a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cf5512120a50ddeb82880e05da23c94763ab606eb39033b99976473ea83330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e022856842c0f2e2579ad8bca3a353c2aeaaa08987e7e85257f5ce5942873055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5fbb21dc487e
wire blob b9cf5512120a
wire blob e022856842c0
call 3 attempt 0 · /messages · status 200 · 5.152 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, 0.7952, 0.6052, -0.3786, -0.0193, -0.0162, 0.9996, -0.0212, 0.7937, 0.6033, -0.3782, -0.012, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2952 left_y=0.0012 left_z=0.1805 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0005 right_z=0.1801 right_yaw=0.0003 right_pitch=-0.0008 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.3761, -1.6615, 10.0718, 1.79, -0.0806, 0.0024, -0.0611, -0.4444, -1.4974, 10.1538, 1.9023, -0.0904, 0.0366, -0.3736]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0166, 0.9995, 0.2531, 1.1599, 0.6113, -0.1402, 0.1761, 0.0986, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9995 right_x=0.3393 right_y=0.0595 right_z=0.1225 right_yaw=0.0516 right_pitch=-0.1087 right_roll=-0.0246 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.347, 6.8581, 1.79, -0.0415, -0.0757, -0.0171, 0.1709, -4.2598, 9.9214, 1.9805, 0.2173, 0.2173, -0.3687]",
      "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, 0.804, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1833, 1.9938, 1.3678, -0.8352, -0.8368, -1.4342, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0179 left_roll=0.0003 left_gripper=0.9995 right_x=0.4007 right_y=0.0628 right_z=0.0707 right_yaw=1.2957 right_pitch=-0.1608 right_roll=0.0026 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.2786, 7.1316, 1.7656, -0.0269, -0.0464, -0.0073, 0.1573, -11.3436, 5.7368, -0.2466, -0.7546, -0.022, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbb21dc487ec087066be2ecc816cf4de8bc9e28c002f6174fa0c31cefe96a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9cf5512120a50ddeb82880e05da23c94763ab606eb39033b99976473ea83330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e022856842c0f2e2579ad8bca3a353c2aeaaa08987e7e85257f5ce5942873055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5fbb21dc487e]
[blob b9cf5512120a]
[blob e022856842c0]
{
  "content": [
    {
      "signature": "CAQSrgsKEAgRGAI4AUIIdGhpbmtpbmcSDKm8UuOO3Alms8HxDRoM4KxdHsm3nKChlCU8IjBYXzFk8jjQPiScG09QOd7cLvsyg92/nPCZxbzJe02u9bbFb4Z98S10wXxLg44jA7oqywp5sni2lYAgCyJl8AGA+cDllfl93upGqoB2tV1kPRajw5gFRpVWqW/5z0ryH0IDaKkDBjJoikEOpzV0+crYYCkzyS7i86oi1fkCWrU2//7aVsOluRGZtRtglaXs7aC5wXS3CDVkkUIMjdAFSyAPXSFk9g5uNTziGSVNsPciglE8t8JofdkkORamqW/LaklhdkPkYaioIzH43x8Ir0Ez/aNvcbWU3TWXjFJXMLvLZzYzqHYr6MspaWEwzAu6J3RMb0zMGYrNsWgLpdtdZomxoU7j1CUrSuvgLrBU5/3esqjjBi5Xqbatr4PnrinJKLqIcr/X/d6NJ1vs8TVYB+ogyawBbM+WLJpkct9siQcngwrCL5YJuCldIUAGQGeSv40N89dzv4QrG7EixZEZMHc2b25st3DTfAF/Ha7kQfjYGxZrXVTX9gTuXlvECfMs0hONNj4XqyJKk/E8Tg8rm4ZJV0ew2TEjnYOozvcZ4uZd6nEFjni3ACklhvBPespApehKsEKyupfcABgKumiy5irOzKZT/kyjptG+hch5XTXvaNdFp/TIGZtoXk/fB3yOmEBFAeq+GQiaAxi5iKtIjeSCEtSY26hbYWx0YZonTlhijVl5zWjOLjt7CRW4jw1kb9nCQ2CGHGnzAKk9TOMB5361jYHFVl72tz+wgM6BBoduCQ9ZMRzyTL464IX7DjB3uV2fqB3MValIcmafnKHMVT7PW6Ex3T5avhv1QQsfMk9z9QToIE+Qh1jT9zMND2ISWVbHSoUItRYP5SRA8zs5nDppMa9mXCyzyyHwvaB7uJbQrroefL2T5EL/jSY/nrjFjJgiH01Z1Fplx1062C0E4dznTur4FgtRNVJPCJtSd7nJQ8Src8sfvkIpKhr0CaTnEtvsiNJ5eLxhSLdr/OYGe8u3D6COQOLphq0ltFVM5dHy5rCAf98QIQcENl6IMHZ9t5kjlILVHdNDGcBNQsn99RTxytHJuY7HR4B0ipeoIX04P2odGZZEEcZuvkDsuQJztOaEwls3MVe7uUq9qGKQ6AfbiJNP1QaMnCMIaqHubj+l9MU1OOD2VJCmqjWkT4CqTjcXvDDCUFszjC5DCKTpKoEJEMsN1QH1CwillLDWHdnC1hMwWPB35fomezIDcYwllNja0yoa1CGCDwhGAEOCUYZPtyJ4gQoLC2TfhR3ARH+DvAZAqu4Un8k2aqNITUKJj4b9uEFL5yOBpJjL6UF8Af1pBzOYslJQS7V3gTT4GMKA8PVIpnakyHU0VhbVtT+pVeNJh6KhC5lub8mHswUgJXlAly2K7kM0G3nFMfyYh+Cpojv2XSq+FL3FksHQqhu5NE7uVFGnIkkuRqdPxrtvQRVPipdA9SpaBezUABxNAdaQ1GKads9kk9AOB4nf9Hs7IM/JmU7vcGT6xFQtEP6GaxZ1Ad3NxaxPMxv/ERDjMljBAl9cHC2K7s7qx7MPji78YdfrvLgTwCOBpA0EV15+e+6bnpPuCoGnsYendXR+n483EKKfhC+H7cqgzScy3+1Rz3g6vTO1dQvX7rSomLLt/GQ0a4FVYWcYGHtGWlfzMCHgya02eML1bW0htTZSHLVHdHJ6eJidTIV7trc4xbR42q54OsOEdmxtJQeeDQldkHhUgJUcg1amW+y5qRSPkhWV5oFt8fNAt8/9oovgSEJhEK/8D95/CijrX1Oqwd+2CVuz+lvYbADovSYLaz5Rw1NaIC4mOTMHJxsngggkDP95rmT82wrrbAVsr1ZuuK2G208EzLv7sSVHXgZSYXS30i23u0emrfFPsfGQIPN7VUcl1RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jf4ysizEWwC5ktkvDu8295",
      "input": {
        "note": "The brick is now aligned lengthwise between the jaws in the wrist view, slightly left of the jaw column. Descending to table level to grasp it across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.063,
          "right_yaw": 1.5,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Jf4ysizEWwC5ktkvDu8295",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1856, 2.2101, 1.4002, -0.8871, -0.8368, -1.6859, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9995 right_x=0.3845 right_y=0.0649 right_z=0.0011 right_yaw=1.4696 right_pitch=-0.1596 right_roll=0.0514 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.0085, 1.7363, -0.0562, -0.0269, -0.0122, -0.2667, -10.906, 7.3368, -0.0513, -0.2125, -0.0464, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7acc58249adc89712a2eb6d483bb57c22a06591c761ecadb5c7dd0209889b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309840f6aa6e993f16388aa79b7839de07cfb9516b5929d2cca3174cdb9a627c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ad28bfdfa7ffa9d674b75b38eb6432911891052b02c1e22c137ec1f1d662df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d7acc58249ad
wire blob 309840f6aa6e
wire blob 4ad28bfdfa7f
call 4 attempt 0 · /messages · status 200 · 5.707 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3859, -0.0196, -0.0166, 0.9995, 0.2531, 1.1599, 0.6113, -0.1402, 0.1761, 0.0986, 0.9966]\nstate[eef_state]: left_x=0.2947 left_y=0.0013 left_z=0.1791 left_yaw=0.0009 left_pitch=-0.0084 left_roll=0.0001 left_gripper=0.9995 right_x=0.3393 right_y=0.0595 right_z=0.1225 right_yaw=0.0516 right_pitch=-0.1087 right_roll=-0.0246 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.347, 6.8581, 1.79, -0.0415, -0.0757, -0.0171, 0.1709, -4.2598, 9.9214, 1.9805, 0.2173, 0.2173, -0.3687]",
      "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, 0.804, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1833, 1.9938, 1.3678, -0.8352, -0.8368, -1.4342, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0179 left_roll=0.0003 left_gripper=0.9995 right_x=0.4007 right_y=0.0628 right_z=0.0707 right_yaw=1.2957 right_pitch=-0.1608 right_roll=0.0026 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.2786, 7.1316, 1.7656, -0.0269, -0.0464, -0.0073, 0.1573, -11.3436, 5.7368, -0.2466, -0.7546, -0.022, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1856, 2.2101, 1.4002, -0.8871, -0.8368, -1.6859, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9995 right_x=0.3845 right_y=0.0649 right_z=0.0011 right_yaw=1.4696 right_pitch=-0.1596 right_roll=0.0514 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.0085, 1.7363, -0.0562, -0.0269, -0.0122, -0.2667, -10.906, 7.3368, -0.0513, -0.2125, -0.0464, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7acc58249adc89712a2eb6d483bb57c22a06591c761ecadb5c7dd0209889b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:309840f6aa6e993f16388aa79b7839de07cfb9516b5929d2cca3174cdb9a627c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ad28bfdfa7ffa9d674b75b38eb6432911891052b02c1e22c137ec1f1d662df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d7acc58249ad]
[blob 309840f6aa6e]
[blob 4ad28bfdfa7f]
{
  "content": [
    {
      "text": "The brick fills the wrist view between the jaws at table level. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014GHQwJtQ5HYuWT2LsnmKBV",
      "input": {
        "note": "At table level the brick lies between the jaws in the wrist view; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014GHQwJtQ5HYuWT2LsnmKBV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1856, 2.2208, 1.4082, -0.8883, -0.8383, -1.7477, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3858 right_y=0.0649 right_z=-0.0008 right_yaw=1.5037 right_pitch=-0.1571 right_roll=0.0083 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.7314, -0.0317, -0.0415, -0.0122, -0.4991, -10.3179, 6.3795, 0.0464, -0.4811, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afbdcfc4dfa4e907036f5f26d664f97f80e5ff16f492800b26fa78282a8b617d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0c0a40ce9a55d630a1b7a1b90153bd11439911795f84158c1e7ed5fec4c8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a81efeb9211aae0da15dd163cca8d57c861f4973cd83c8149f529b73c0bbfb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob afbdcfc4dfa4
wire blob 9b0c0a40ce9a
wire blob 4a81efeb9211
call 5 attempt 0 · /messages · status 200 · 9.415 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, 0.804, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1833, 1.9938, 1.3678, -0.8352, -0.8368, -1.4342, 0.9966]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1768 left_yaw=0.0009 left_pitch=-0.0179 left_roll=0.0003 left_gripper=0.9995 right_x=0.4007 right_y=0.0628 right_z=0.0707 right_yaw=1.2957 right_pitch=-0.1608 right_roll=0.0026 right_gripper=0.9966\nstate[joint_eff]: [-0.212, -1.2786, 7.1316, 1.7656, -0.0269, -0.0464, -0.0073, 0.1573, -11.3436, 5.7368, -0.2466, -0.7546, -0.022, -0.359]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1856, 2.2101, 1.4002, -0.8871, -0.8368, -1.6859, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9995 right_x=0.3845 right_y=0.0649 right_z=0.0011 right_yaw=1.4696 right_pitch=-0.1596 right_roll=0.0514 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.0085, 1.7363, -0.0562, -0.0269, -0.0122, -0.2667, -10.906, 7.3368, -0.0513, -0.2125, -0.0464, -0.3736]",
      "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, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1856, 2.2208, 1.4082, -0.8883, -0.8383, -1.7477, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3858 right_y=0.0649 right_z=-0.0008 right_yaw=1.5037 right_pitch=-0.1571 right_roll=0.0083 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.7314, -0.0317, -0.0415, -0.0122, -0.4991, -10.3179, 6.3795, 0.0464, -0.4811, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afbdcfc4dfa4e907036f5f26d664f97f80e5ff16f492800b26fa78282a8b617d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0c0a40ce9a55d630a1b7a1b90153bd11439911795f84158c1e7ed5fec4c8ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a81efeb9211aae0da15dd163cca8d57c861f4973cd83c8149f529b73c0bbfb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob afbdcfc4dfa4]
[blob 9b0c0a40ce9a]
[blob 4a81efeb9211]
{
  "content": [
    {
      "signature": "CAQSwAYKEAgRGAI4AUIIdGhpbmtpbmcSDMDDVJwsbIRVFzdsJRoMdidTpjNp4Tz07JtFIjCBMyl8yTcbDYHqMk9GpyguWFF3xFGeiAe/Oa5qAPGqQ0ycjVmy6Mp4+yotffk+Dpwq3QWGONerkUcwPvYPHc488E40BnQMxXDCXrq5H32EGKFCYzZM5wu3CSmY8jP2NOlJpLD8wPsfBTIQyNKq2wmPvOSuPBhnMstX+fiQfBiJcZ8z1lFVfj24lQZ5+A+nRwGeRyQuoSSwcblzQ2tMGmEaLc66ngz7aVj+wYtMUUrBgZyurBuj59ptAT66ttpv1flXifUMdyBJIR4+2quMTGyqrQhbokFqRv91Li1iu0Fg+CTt7uGrAPeQ70Uzis5N+aI69Adk7bQztkanG75jEbod7/48GiT7bimi8qoReTi9KU0GjIEDp5yvFxYYcsmyYtUkJTi9K+R9pvB4Yonu30N4uYStCTZa7BvaK6AUzMYRx0EARZEnRSjvJmGCCDM43dW8CajXsFh7e7X9EDiHnxzEwG+PUyfSya5JvYkBBO8rm0UyJHTdj6Q0PtWU5Rq5ber0TALcCKro+a8UEAg+8dg+getjIRl6dMpDFg/exuFlYYR4EAfuuCTT7zN2hxk7Z80+fByJx3+t4wecuSRhdN57J8sCg1w++JT2SXLc+69SUqhHVlJ5nfd8IzKray46jYCaqX9AX2o56tzYHCuGPXwiRmiIBs1tsrIt76YgqtP2qRYt4MWoxkVjHHK7wP7NyjvoipaGvBKWoRllrQiVTYnLqsbeWyOOxpYLmDQFUdcjmY91uj6luV+dYNIxiyAQfECA8y3CYmbCRqC3ipTZnx0k7/xTW3RAixN/CM8cdEuSF8aIBCYPDMrhugvP1MQOIjiAoItmY0f+/AiLre4oUv6xrJTUTmYgjGeEHKs236fBL/07GLePfReAzxbpnRk7C+YEVRHJo+QUhkDOHZUhYkuC409qWyxkY0pzzkyrI2bLN3+9ejhD4xbDqPL8vHHY0dJiQcpHWRl4IDcsrhDpgy2Y0wX5CW8gK5/4BlWpEI41JGj+AKEJHoXbwyOEdad0LNib38xn8Wyn6otLPDLgRX3ZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EQNbzKSYpihMcNNWhHbCg7",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 10 cm to confirm the brick comes along.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01EQNbzKSYpihMcNNWhHbCg7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1852, 2.1296, 1.557, -1.1503, -0.7673, -1.7481, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0562 right_z=0.0588 right_yaw=1.5202 right_pitch=-0.224 right_roll=0.0394 right_gripper=0.7468\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7314, -0.0317, -0.0269, -0.0122, -0.1983, -15.4735, 8.0752, -0.2759, -1.116, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8de572fc5c62a6a4fb9f8daad834b14daad51f989651a9743e0e22594586f8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5396d0b0a2292ca039c2feefe40d2aa8ad5ff6521f7e45202ed316e13915d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d628df4130e28120793870ae7a0fc70a8fb4c0c3f2b581117df229604cbdc40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d8de572fc5c6
wire blob fc5396d0b0a2
wire blob 3d628df4130e
call 6 attempt 0 · /messages · status 200 · 10.76 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, 0.8051, 0.6075, -0.3901, -0.0196, -0.0166, 0.9995, -0.1856, 2.2101, 1.4002, -0.8871, -0.8368, -1.6859, 0.9964]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1764 left_yaw=0.0009 left_pitch=-0.0191 left_roll=0.0003 left_gripper=0.9995 right_x=0.3845 right_y=0.0649 right_z=0.0011 right_yaw=1.4696 right_pitch=-0.1596 right_roll=0.0514 right_gripper=0.9964\nstate[joint_eff]: [-0.2393, -1.4017, 7.0085, 1.7363, -0.0562, -0.0269, -0.0122, -0.2667, -10.906, 7.3368, -0.0513, -0.2125, -0.0464, -0.3736]",
      "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, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1856, 2.2208, 1.4082, -0.8883, -0.8383, -1.7477, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3858 right_y=0.0649 right_z=-0.0008 right_yaw=1.5037 right_pitch=-0.1571 right_roll=0.0083 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.7314, -0.0317, -0.0415, -0.0122, -0.4991, -10.3179, 6.3795, 0.0464, -0.4811, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1852, 2.1296, 1.557, -1.1503, -0.7673, -1.7481, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0562 right_z=0.0588 right_yaw=1.5202 right_pitch=-0.224 right_roll=0.0394 right_gripper=0.7468\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7314, -0.0317, -0.0269, -0.0122, -0.1983, -15.4735, 8.0752, -0.2759, -1.116, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8de572fc5c62a6a4fb9f8daad834b14daad51f989651a9743e0e22594586f8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc5396d0b0a2292ca039c2feefe40d2aa8ad5ff6521f7e45202ed316e13915d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d628df4130e28120793870ae7a0fc70a8fb4c0c3f2b581117df229604cbdc40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d8de572fc5c6]
[blob fc5396d0b0a2]
[blob 3d628df4130e]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EAEGLrAaZcsc8W4Dq77mLx",
      "input": {
        "note": "The arm only reached 6 cm; the brick is long so it still fills the wrist view. Lifting higher to 20 cm to clearly verify the brick is in the jaws in the overhead view.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EAEGLrAaZcsc8W4Dq77mLx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3908, -0.0196, -0.0166, 0.9995, -0.1699, 2.0853, 1.8851, -1.5219, -0.6956, -1.734, 0.7468]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9995 right_x=0.3851 right_y=0.0524 right_z=0.1488 right_yaw=1.5408 right_pitch=-0.2946 right_roll=0.0585 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2239, 7.159, 1.7021, -0.0317, -0.0659, -0.0122, 0.6496, -14.7761, 7.5282, -0.2808, -1.116, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c9a4a6cfa85ddcd92c0913a6fb540237875d363b01cde7bc09006569d45751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c5d69e8965df1f4c9dd5935dc75bd0b9985f5e8d65de432a4140861a1eb266c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:206b2ad086757ec3dd96feac41c307f6a0209acb1c35dd6643ff771bfbc2ec19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 94c9a4a6cfa8
wire blob 9c5d69e8965d
wire blob 206b2ad08675
call 7 attempt 0 · /messages · status 200 · 10.68 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, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1856, 2.2208, 1.4082, -0.8883, -0.8383, -1.7477, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3858 right_y=0.0649 right_z=-0.0008 right_yaw=1.5037 right_pitch=-0.1571 right_roll=0.0083 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2513, 7.0085, 1.7314, -0.0317, -0.0415, -0.0122, -0.4991, -10.3179, 6.3795, 0.0464, -0.4811, -0.0366, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1852, 2.1296, 1.557, -1.1503, -0.7673, -1.7481, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0562 right_z=0.0588 right_yaw=1.5202 right_pitch=-0.224 right_roll=0.0394 right_gripper=0.7468\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7314, -0.0317, -0.0269, -0.0122, -0.1983, -15.4735, 8.0752, -0.2759, -1.116, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3908, -0.0196, -0.0166, 0.9995, -0.1699, 2.0853, 1.8851, -1.5219, -0.6956, -1.734, 0.7468]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9995 right_x=0.3851 right_y=0.0524 right_z=0.1488 right_yaw=1.5408 right_pitch=-0.2946 right_roll=0.0585 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2239, 7.159, 1.7021, -0.0317, -0.0659, -0.0122, 0.6496, -14.7761, 7.5282, -0.2808, -1.116, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94c9a4a6cfa85ddcd92c0913a6fb540237875d363b01cde7bc09006569d45751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c5d69e8965df1f4c9dd5935dc75bd0b9985f5e8d65de432a4140861a1eb266c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:206b2ad086757ec3dd96feac41c307f6a0209acb1c35dd6643ff771bfbc2ec19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 94c9a4a6cfa8]
[blob 9c5d69e8965d]
[blob 206b2ad08675]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FtTdPTx4VSMBHYTLTcjiRv",
      "input": {
        "note": "Overhead view confirms the brick is lifted (its shadow is on the table below). Carrying it high toward the pot, which I estimate at roughly x=0.47, y=0.26 in the right arm's frame.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.47,
          "right_y": 0.26,
          "right_yaw": 1.5,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01FtTdPTx4VSMBHYTLTcjiRv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3183, 2.3138, 2.5809, -1.5936, -0.6056, -1.0756, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4148 right_y=0.2463 right_z=0.2202 right_yaw=1.5066 right_pitch=-0.3569 right_roll=0.0637 right_gripper=0.7467\nstate[joint_eff]: [-0.1162, -1.306, 6.9949, 1.7265, -0.0513, -0.022, -0.0122, 0.1983, -12.6427, 8.7043, 0.8864, -0.8913, 0.1343, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2529383f4aea6e27aadb7f4e6dba0ee758fff41550e8667128740c7b7f7b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f095db000bfa8a19bbc90869f78ab425a3f106ba718fa96ad34c764b5cf8bd51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e15b73c3f1d1bc5837f78065ffb2a357b031427645a36a98051db54b0fd484a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob db2529383f4a
wire blob f095db000bfa
wire blob e15b73c3f1d1
call 8 attempt 0 · /messages · status 200 · 14.34 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, 0.8051, 0.6075, -0.3901, -0.0193, -0.0166, 0.9995, -0.1852, 2.1296, 1.557, -1.1503, -0.7673, -1.7481, 0.7468]\nstate[eef_state]: left_x=0.2946 left_y=0.0012 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0191 left_roll=0.0001 left_gripper=0.9995 right_x=0.3852 right_y=0.0562 right_z=0.0588 right_yaw=1.5202 right_pitch=-0.224 right_roll=0.0394 right_gripper=0.7468\nstate[joint_eff]: [-0.2393, -1.2786, 7.1043, 1.7314, -0.0317, -0.0269, -0.0122, -0.1983, -15.4735, 8.0752, -0.2759, -1.116, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3908, -0.0196, -0.0166, 0.9995, -0.1699, 2.0853, 1.8851, -1.5219, -0.6956, -1.734, 0.7468]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9995 right_x=0.3851 right_y=0.0524 right_z=0.1488 right_yaw=1.5408 right_pitch=-0.2946 right_roll=0.0585 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2239, 7.159, 1.7021, -0.0317, -0.0659, -0.0122, 0.6496, -14.7761, 7.5282, -0.2808, -1.116, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3183, 2.3138, 2.5809, -1.5936, -0.6056, -1.0756, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4148 right_y=0.2463 right_z=0.2202 right_yaw=1.5066 right_pitch=-0.3569 right_roll=0.0637 right_gripper=0.7467\nstate[joint_eff]: [-0.1162, -1.306, 6.9949, 1.7265, -0.0513, -0.022, -0.0122, 0.1983, -12.6427, 8.7043, 0.8864, -0.8913, 0.1343, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2529383f4aea6e27aadb7f4e6dba0ee758fff41550e8667128740c7b7f7b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f095db000bfa8a19bbc90869f78ab425a3f106ba718fa96ad34c764b5cf8bd51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e15b73c3f1d1bc5837f78065ffb2a357b031427645a36a98051db54b0fd484a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob db2529383f4a]
[blob f095db000bfa]
[blob e15b73c3f1d1]
{
  "content": [
    {
      "signature": "CAQS9QoKEAgRGAI4AUIIdGhpbmtpbmcSDI86Ip3YYfP1FflvNRoMJXxoTKdIgkQWWH14IjAdPV4qqsxBY8ZVJIPGrvRTB45lg+/RvmDATKYI+Rbev7rJ3k+HWk7eO5Z5z1S1oMIqkgqZ2nJ4byk/zl+VPXgQDand9qKaZ67cKcgwsXdzX8dZPTJ+A4sAR5QACDmGlo28sYL+N43n7am1x1rH47anXFF2VFD4DP6HEfl07Gqc3FXz/5H8eX6oYUiWCHKSENGxpbSF3uajUuH0A/eZHpBtjbZwHnbnUdl6/fzv8Sd3N5q1Czyid1etDUyNRzrAgO3lh+7/fblcfKKPSjiIkka/Rc+1NOWNoCT5bUXrtBHJdqnbp7hcPIYVlsRk3knb+FgwahgsoZeVZdRhwm25+UxwTO4hQF6O7QRJvRrrTT1WfntVdQ8NnNmVaIdrD/sxDVmbBYgvEDtmPWNqVj4YQXPphhr54dGjYuTw0eqPegjsH0N6fY9ragfc7QBxfVnMH5TXt0iaGYptBDyerPzhav2MDG6zzsRBw878njYpah4MKz3JGLVOkcSH5WCgwjpo7wviOEcVKi2WJM6IWNcnD4DdO9Nl0OkS5Ok74zI6u+MpMv/1LQ7QbVarUdnHlI+uNxDeBdvDUAdTJlWebFSPrJ59GRtPh4V0jQeRT1FhewA4ox68/Hcq3a7gSmajiOqXI4EsMWZLi5S+pOqsJqSbMQ4TKcvKjM7Y6B/hXLSQYK8FsM+ogkGEQ7GTz9TO5oOVGthBZYT4BI6x5Fx0HssKB6FJk8hYcUFkhCYC1FDNnlHtBJFZ9Pr/7B/s9Pz763S22S2IStS6V4NiaxWMcSqmmk3uwnb6VWYhcUp3YNyidwm14JoO0HWh5V8TRWYqxJa1WX/0dVY0JbfofHxQ9drjKVuaWvZmNw7cuGpsFT/utJkS7azSiBgi9GEwv3Ghpvbnbpdvqkkt5Wz1YyQPcNgD9v6g0vG7AMgv+D0JbL3VYGkmPltI8Q3+69G4ALHgZmCrA6zR1g63+Jr6n3EaBZGZ9BHG5wgAxb8MkZT/yb5RTtoPlHpUdms8JTiF2kpvIqMvMdmbjdlhstMgORVNgnrbZDGXBASGyUS3vG6PGDTB2chjUfQzXbXPIUHhcxrOMAfilhEfD+cWmblaabbOPVBfnDTuGJ7XtDJ2ivQ39PUN+gtEeXYCgB2mjthyhpmZnDltYezIRk+QGJcFIdkHWihnm1oZlqAdBX8AV9zYs4QpzkSyNKh3zDHYW994NF/TayCsJQGdaKt073YKy1WOEw1Q8aZ8qIHIHBo1XmVXc0OwSYfOH03cajIHr2sAw1MtzzX0lkjPS6YI0Tx+uBIv0PUBUhG/gwmdzuA9JuBkZdkesoq9jVInRuP0bTK1Zu9+ir4lNmc6jbZsVKh6XaxyqyhFyshuvv5Lf5hdeVgox5Oa1KL0AWTITy5YXsjLXi9OuFhmV7E2m6VSOYuR/rHF3B+fbMJ9wOPtMNDKR2K9s00J3wsg6lDxALgA/QOJTuE78pA69pfcGs1lLuPjL/zrv7YCgUYCcm3Ti4Va144O2MDjhdl8szff3Rn2xviczwhhemIuQ0AGtEgUMmG9E7QLo741TaUIpq7stCMHGmkqkKLGXJOPcISfRSZxFtvYi/bLBsj7Fym6H2a53aePxWjV2GPbLgHjcgoS7PUtohmC/aq33ihg4As3f2eo+PVyI9A6mWHPBMyUeyhsvrHmmYECGg2rHutuJn55b+IMT6aIXq8OQy5WFLbxsJPdLExrMqMJwLuBJ1EcVCXUCpNQibJ+xguuAgN+0O4et+tqukVZdAlyFwSs0RaaZgXKHbdxY3RhrXOqfvCRANGDfxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nsffts8tqoPBSPT2yiYEwT",
      "input": {
        "note": "The brick is hovering over the pot's near-right rim; the wrist view shows the pot interior to the image-right (forward). Shifting forward and a bit left to centre the brick over the pot opening.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.27,
          "right_yaw": 1.5,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Nsffts8tqoPBSPT2yiYEwT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3542, 2.3486, 2.5965, -1.5963, -0.5385, -1.0351, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4146 right_y=0.2537 right_z=0.2023 right_yaw=1.5011 right_pitch=-0.4269 right_roll=0.0828 right_gripper=0.7467\nstate[joint_eff]: [-0.3624, -1.3197, 7.2137, 1.746, -0.0366, -0.0415, -0.0122, 0.1846, -11.7128, 9.1692, 0.9158, -0.9158, 0.1343, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5f3454c31a2eda7baa4547b153c3b0eab4d7a9de6e904c8f5d7eb280bde46e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99304d37b38394e3ea34b57a0b6448f447733d396bedd3654a7ac735c64f3fd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6448167ffc664f62855bd7ebff9b66bd9d393100544abf6130f41457f27563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 9a5f3454c31a
wire blob 99304d37b383
wire blob b6448167ffc6
call 9 attempt 0 · /messages · status 200 · 13.96 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3908, -0.0196, -0.0166, 0.9995, -0.1699, 2.0853, 1.8851, -1.5219, -0.6956, -1.734, 0.7468]\nstate[eef_state]: left_x=0.2945 left_y=0.0013 left_z=0.1763 left_yaw=0.0009 left_pitch=-0.0198 left_roll=0.0003 left_gripper=0.9995 right_x=0.3851 right_y=0.0524 right_z=0.1488 right_yaw=1.5408 right_pitch=-0.2946 right_roll=0.0585 right_gripper=0.7468\nstate[joint_eff]: [-0.1983, -1.2239, 7.159, 1.7021, -0.0317, -0.0659, -0.0122, 0.6496, -14.7761, 7.5282, -0.2808, -1.116, 0.1636, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3183, 2.3138, 2.5809, -1.5936, -0.6056, -1.0756, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4148 right_y=0.2463 right_z=0.2202 right_yaw=1.5066 right_pitch=-0.3569 right_roll=0.0637 right_gripper=0.7467\nstate[joint_eff]: [-0.1162, -1.306, 6.9949, 1.7265, -0.0513, -0.022, -0.0122, 0.1983, -12.6427, 8.7043, 0.8864, -0.8913, 0.1343, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3542, 2.3486, 2.5965, -1.5963, -0.5385, -1.0351, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4146 right_y=0.2537 right_z=0.2023 right_yaw=1.5011 right_pitch=-0.4269 right_roll=0.0828 right_gripper=0.7467\nstate[joint_eff]: [-0.3624, -1.3197, 7.2137, 1.746, -0.0366, -0.0415, -0.0122, 0.1846, -11.7128, 9.1692, 0.9158, -0.9158, 0.1343, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5f3454c31a2eda7baa4547b153c3b0eab4d7a9de6e904c8f5d7eb280bde46e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99304d37b38394e3ea34b57a0b6448f447733d396bedd3654a7ac735c64f3fd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6448167ffc664f62855bd7ebff9b66bd9d393100544abf6130f41457f27563e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 9a5f3454c31a]
[blob 99304d37b383]
[blob b6448167ffc6]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cTpsyV55KuSpDsfCnQ6Q5",
      "input": {
        "note": "Overhead view shows the brick directly above the pot opening; the arm seems reach-limited at x≈0.415. Lowering the brick a few cm toward the pot rim before releasing so it drops in cleanly.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.255,
          "right_yaw": 1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_015cTpsyV55KuSpDsfCnQ6Q5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0193, -0.0166, 0.9995, 0.3576, 2.3341, 2.2642, -1.3991, -0.4938, -1.0317, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4133 right_y=0.2477 right_z=0.1212 right_yaw=1.5429 right_pitch=-0.5151 right_roll=0.1895 right_gripper=0.7467\nstate[joint_eff]: [-0.3077, -1.2923, 7.0085, 1.7656, -0.0415, -0.0757, -0.0122, -0.4991, -18.359, 7.2821, 0.7057, -0.7253, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a58a0a455663f3dfe76ac7ecd0a479a1d334488b385f0cec7cd0f315b296d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2d14b43193d398f717cd6bd672643a24e04ff5e813871b6cc25cb24ba9adc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da5cfbfde15a49d8b004b60a873e3d87e846c71aa43c0f44afca8bf0e2990096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6a58a0a45566
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 7.123 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3183, 2.3138, 2.5809, -1.5936, -0.6056, -1.0756, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4148 right_y=0.2463 right_z=0.2202 right_yaw=1.5066 right_pitch=-0.3569 right_roll=0.0637 right_gripper=0.7467\nstate[joint_eff]: [-0.1162, -1.306, 6.9949, 1.7265, -0.0513, -0.022, -0.0122, 0.1983, -12.6427, 8.7043, 0.8864, -0.8913, 0.1343, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3542, 2.3486, 2.5965, -1.5963, -0.5385, -1.0351, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4146 right_y=0.2537 right_z=0.2023 right_yaw=1.5011 right_pitch=-0.4269 right_roll=0.0828 right_gripper=0.7467\nstate[joint_eff]: [-0.3624, -1.3197, 7.2137, 1.746, -0.0366, -0.0415, -0.0122, 0.1846, -11.7128, 9.1692, 0.9158, -0.9158, 0.1343, 1.0379]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0193, -0.0166, 0.9995, 0.3576, 2.3341, 2.2642, -1.3991, -0.4938, -1.0317, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4133 right_y=0.2477 right_z=0.1212 right_yaw=1.5429 right_pitch=-0.5151 right_roll=0.1895 right_gripper=0.7467\nstate[joint_eff]: [-0.3077, -1.2923, 7.0085, 1.7656, -0.0415, -0.0757, -0.0122, -0.4991, -18.359, 7.2821, 0.7057, -0.7253, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a58a0a455663f3dfe76ac7ecd0a479a1d334488b385f0cec7cd0f315b296d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2d14b43193d398f717cd6bd672643a24e04ff5e813871b6cc25cb24ba9adc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da5cfbfde15a49d8b004b60a873e3d87e846c71aa43c0f44afca8bf0e2990096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6a58a0a45566]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YUBuRUtPfjZTU26uEVSKAa",
      "input": {
        "note": "The brick is over the pot but slightly toward its near-right edge in the overhead view. Nudging 2–3 cm to the arm's left to centre it over the opening before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.275,
          "right_yaw": 1.5,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01YUBuRUtPfjZTU26uEVSKAa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.403, 2.4207, 2.3833, -1.4395, -0.4423, -0.9508, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4167 right_y=0.2638 right_z=0.1085 right_yaw=1.5252 right_pitch=-0.5735 right_roll=0.2162 right_gripper=0.7467\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.7509, -0.0366, -0.0464, -0.0122, 0.4444, -13.2991, 10.4821, 0.442, -0.7595, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2071670cc857e41fc30f08a2bc3b83b5d643e6a025a18641b6a21c36456e97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926953ffbdd9c38bc9b561da794ab5df8555498b73a084d394ec60410d25bacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaac97c76c77c1be76d6c5d66d45616a7dddd636769e1c71604b7fe244176e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.121 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.3542, 2.3486, 2.5965, -1.5963, -0.5385, -1.0351, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4146 right_y=0.2537 right_z=0.2023 right_yaw=1.5011 right_pitch=-0.4269 right_roll=0.0828 right_gripper=0.7467\nstate[joint_eff]: [-0.3624, -1.3197, 7.2137, 1.746, -0.0366, -0.0415, -0.0122, 0.1846, -11.7128, 9.1692, 0.9158, -0.9158, 0.1343, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0193, -0.0166, 0.9995, 0.3576, 2.3341, 2.2642, -1.3991, -0.4938, -1.0317, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4133 right_y=0.2477 right_z=0.1212 right_yaw=1.5429 right_pitch=-0.5151 right_roll=0.1895 right_gripper=0.7467\nstate[joint_eff]: [-0.3077, -1.2923, 7.0085, 1.7656, -0.0415, -0.0757, -0.0122, -0.4991, -18.359, 7.2821, 0.7057, -0.7253, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.403, 2.4207, 2.3833, -1.4395, -0.4423, -0.9508, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4167 right_y=0.2638 right_z=0.1085 right_yaw=1.5252 right_pitch=-0.5735 right_roll=0.2162 right_gripper=0.7467\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.7509, -0.0366, -0.0464, -0.0122, 0.4444, -13.2991, 10.4821, 0.442, -0.7595, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f2071670cc857e41fc30f08a2bc3b83b5d643e6a025a18641b6a21c36456e97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926953ffbdd9c38bc9b561da794ab5df8555498b73a084d394ec60410d25bacb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaac97c76c77c1be76d6c5d66d45616a7dddd636769e1c71604b7fe244176e00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgRGAI4AUIIdGhpbmtpbmcSDLObsDaDjAV474hNhxoMVC2SpvMij98WXTOyIjBqpJQEbuOea44Eulr/OYUuHMozcta4G6qH2Q417De3uRrZYsyGV1JHv4Zu/Puf+DUqqwasTfdf9BNW7w0HF3mNoY1M/+ry3LAQpC1HObPFqkUpOYnWTfkDhvFLUfbGZxdm55tiks0J5HuA1JNvooY23oqDE6gTw+WCmkYF6sp4HEIQxXbZiOS30kaD6sneH0/BE3cXr8KSYqgFh+4adenqoC5Pwe+lVZaE43Ux4svj63YQCpynDgOu4QZnd4P2XQZ9c67dcd8wMZY4zeVMayvXDi3EMU+RNPBwdKXEmHNQmDuAisguBzJbuvnCoejAeKdD2s00YSLiC+UKtWs+Hg/owXvTAQEvjUM/pKgfUDBWv5/v1d79JQMm8+pU7BDh2FhUzvBCuaD+8qmYhdwZPavkWoK9yakFHATtCVbRhBRu6C5XV3Z2VtEdZ9Pn2zzW01XPc1rWzj2z7OYPtbBJFo3Dxopp5nAQ78h9LyD9PW3jL5xkjClaPoT2Uv7nsCfuGDWFjVa0PPyhV5eDvOjqrgzpb07/SF7GOEmbd4kG0WzMWBRV1ZUaQLsAcXU1pSH6DZNbh3oSJxjkmuB8IU/QShVFc3CXj4jm1pUMNO+irj2rZ+PSxK9Tlxk1w80BjEH7ab6giSLJ+JBVNJRCcW/eFyYPS+DsNGLPohIHTN95/kt5EziN2MyfTtxxb7B0AuDiLPXRZbXPgxrlEAXSYcdaRL1bQ1YuhZPVL9rrdoWdFmVLt6YV6KW3uf5UZJT18BTji4Wt9+5LTTLhJMt3zgcVsDc8/EdyQgoOfUIi3HMzlpntnj8+3WRnFpoF79+qf9V6S7gyCW59EgoYswvR4Znx+s2CnTAd4/AbE5g+vDYJv+X3dOaDHr6s6IH4GvHG6R/7Dk7uTWer7tYZEnt8ZA/q61LjSva+2cnP+3ltLQMioPREvUiCYh5YBfVzio7OxQmohAlwT68KGSugoQpLtNycnOTW3bz1oeEsAgua0nc3hZRElTWn3AZ0L6nbx0qVYZUKtUwbJNgtuLp8j2KS5OMJdzwdIsJN83QS2DjyRBqqI5ROt4IyuIxu4wcUCzfHYgUDfiBHLXFwE+CcBBo0wt70Kf/05o8EAVegNhvvwmw6/Io1FRWAAmAcUanTtUEIosQDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDhm5UVnLxJx8m5M5adGRe",
      "input": {
        "note": "The brick now sits over the centre of the pot opening in the overhead view at about 11 cm height. Opening the gripper to drop it into the pot.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RDhm5UVnLxJx8m5M5adGRe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4038, 2.421, 2.3817, -1.4391, -0.4183, -0.9424, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.418 right_y=0.2605 right_z=0.1062 right_yaw=1.5124 right_pitch=-0.5966 right_roll=0.2093 right_gripper=0.7467\nstate[joint_eff]: [-0.1573, -1.2786, 7.0496, 1.6923, -0.0562, -0.0317, -0.0122, -0.0752, -13.4222, 5.8735, 0.4567, -0.4811, -0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1792c633d90392b97e2d820f0ce2b332a69734bc15f6583429a008a043ecc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa2265b7cdc044c87cfaf1cf48a6bd727feac670c1035539195d235403bd9f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c20f9b1a0201dee118636a06ed6b1da89be849c5f2224113e516ad8878139e85",
        "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 · 12.59 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0193, -0.0166, 0.9995, 0.3576, 2.3341, 2.2642, -1.3991, -0.4938, -1.0317, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0233 left_roll=0.0001 left_gripper=0.9995 right_x=0.4133 right_y=0.2477 right_z=0.1212 right_yaw=1.5429 right_pitch=-0.5151 right_roll=0.1895 right_gripper=0.7467\nstate[joint_eff]: [-0.3077, -1.2923, 7.0085, 1.7656, -0.0415, -0.0757, -0.0122, -0.4991, -18.359, 7.2821, 0.7057, -0.7253, -0.0562, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.403, 2.4207, 2.3833, -1.4395, -0.4423, -0.9508, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4167 right_y=0.2638 right_z=0.1085 right_yaw=1.5252 right_pitch=-0.5735 right_roll=0.2162 right_gripper=0.7467\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.7509, -0.0366, -0.0464, -0.0122, 0.4444, -13.2991, 10.4821, 0.442, -0.7595, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4038, 2.421, 2.3817, -1.4391, -0.4183, -0.9424, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.418 right_y=0.2605 right_z=0.1062 right_yaw=1.5124 right_pitch=-0.5966 right_roll=0.2093 right_gripper=0.7467\nstate[joint_eff]: [-0.1573, -1.2786, 7.0496, 1.6923, -0.0562, -0.0317, -0.0122, -0.0752, -13.4222, 5.8735, 0.4567, -0.4811, -0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd1792c633d90392b97e2d820f0ce2b332a69734bc15f6583429a008a043ecc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1aa2265b7cdc044c87cfaf1cf48a6bd727feac670c1035539195d235403bd9f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20f9b1a0201dee118636a06ed6b1da89be849c5f2224113e516ad8878139e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wYKEAgRGAI4AUIIdGhpbmtpbmcSDCi7CSVJNveJrR0j7RoMCNw3EZ5Ib+hotMk2IjDMYeGoe2/kxx17SB9HNJQdfW6DBrRy+mBJIDuAtJTls3sMUx5OnkD0HmIR0eTUj5IqhAZHep1l9XoB/BRl3CHdygvFi0xPAG/EBdv4NWSbpsAi0sbX6VBgiROOYyJ+w9hpx/2e0C0Efo/6VKPCIoFOzVfLZmQmC/3hOlvz/7NmyTTZcN7i2lABqG+JuRenGVxkAm/ejsD76+Ny7KRMv0h6Usr2tC+8fHrw16eCtKQ54V0YHlOHHuUy1RoHgh7DMntVyX2eWwkCW4x9xvcdCihUDng+sncvGRDjHlDJJRU6FoOIcOcz7FS7OhTR+s1UBbLNFdwqHR7wtCIRJPF0UEXUE1FgplHLikz4IH8ROVlBxx4YrzDeWxNtDr4yNNZyIvOi0S9mbOxirBM+2QELVlXzNNsUWe677eViFER8WlkZgTIrW8Nse4JJ/gkzBw2rA6pIdMbvsmhOYu7As2BsyEtJcFb9hsRrm7E2QgzH8obv78dqcu8nJDNFqgt3OK+kMeSOYFxuS/JYBGaLOBip8rnzYdsQAzmX5LsZnj8fR0wOXLq12Sqs/TOVmr67b/oM/Xr5fgKBDvN0oug7I0YgUwZ8t5qYidQA19/iae9Q2iQJhLROlHGGjuyZF9SoGsy1Oct5uCRr7+8CRTeVIWwPqUQ0FoGlBQ8L2VlGh+YbkzFrzSwkL68d7v1hEMYwsh4quWoY5aFoiHF9RR0N7bfGeckCqUJviacaEBCXS+MQF4jv0kgwFkPy440y5A1tUDzdyGwHexMbPTI/m2JU4ztD6MMTM4SekuCKyZH+K8vhI7mDKwXhMtCM1C68I+5gfkccucyf8tPEkDB3vqlmHgE/3ifY1X7GyfL7HDv54bzFFv1Hb+wbvXFJ9S2tCK+mFn8E2VZfi3Ri0rrjQq8FmPRdzbbSRiiSwFes7+5KEUmmnUz9sckNHbYpTfKiQHL0CZCa8GROXkosEJj50evvyeS2st3AqaUU5jt3WVPXV852YqNjVarbQeMwea/qA3fAoCGSwEbZ3VGWMAoyl0O6x2c493dfhidwxlR86y72oIl3QDNoJ8rYtbRg37Bb/6lUO1AZZOt+hlpHilk2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016QAxUNDKmkMwH3UXk5rapL",
      "input": {
        "note": "The gripper reading is still 0.75, so it hasn't opened yet; commanding the open again to release the brick into the pot.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016QAxUNDKmkMwH3UXk5rapL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4042, 2.421, 2.3802, -1.4311, -0.4026, -0.9417, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.4204 right_y=0.259 right_z=0.1049 right_yaw=1.502 right_pitch=-0.6077 right_roll=0.1942 right_gripper=0.7467\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.6923, -0.0317, -0.0611, -0.0122, -0.1436, -13.1077, 5.8598, 0.3883, -0.4127, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187a21377ae911172fdb6fe6a28d0d06a6214e7c0fc09bfcfe217aae38d57033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dab8926ddcebc20f67ed3b0b1992ec5d3b5ad42881ea96f084d4f8061e8f3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e24bf435a15dbde162c68a7ed3fe7e404fba0059193f2de168aa5a8847ca8557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.674 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3935, -0.0193, -0.0166, 0.9995, 0.403, 2.4207, 2.3833, -1.4395, -0.4423, -0.9508, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0012 left_z=0.1756 left_yaw=0.0006 left_pitch=-0.0229 left_roll=0.0001 left_gripper=0.9995 right_x=0.4167 right_y=0.2638 right_z=0.1085 right_yaw=1.5252 right_pitch=-0.5735 right_roll=0.2162 right_gripper=0.7467\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.7509, -0.0366, -0.0464, -0.0122, 0.4444, -13.2991, 10.4821, 0.442, -0.7595, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4038, 2.421, 2.3817, -1.4391, -0.4183, -0.9424, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.418 right_y=0.2605 right_z=0.1062 right_yaw=1.5124 right_pitch=-0.5966 right_roll=0.2093 right_gripper=0.7467\nstate[joint_eff]: [-0.1573, -1.2786, 7.0496, 1.6923, -0.0562, -0.0317, -0.0122, -0.0752, -13.4222, 5.8735, 0.4567, -0.4811, -0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4042, 2.421, 2.3802, -1.4311, -0.4026, -0.9417, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.4204 right_y=0.259 right_z=0.1049 right_yaw=1.502 right_pitch=-0.6077 right_roll=0.1942 right_gripper=0.7467\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.6923, -0.0317, -0.0611, -0.0122, -0.1436, -13.1077, 5.8598, 0.3883, -0.4127, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:187a21377ae911172fdb6fe6a28d0d06a6214e7c0fc09bfcfe217aae38d57033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dab8926ddcebc20f67ed3b0b1992ec5d3b5ad42881ea96f084d4f8061e8f3d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e24bf435a15dbde162c68a7ed3fe7e404fba0059193f2de168aa5a8847ca8557",
        "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_018AbkkqDS8GzUFZpnbgdfHp",
      "input": {
        "note": "The gripper still reads 0.75 after two open commands; the wrist pitch is pinned at its -0.6 limit which may be interfering. Easing the pitch back and raising slightly while commanding the gripper open again.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": -0.3,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_018AbkkqDS8GzUFZpnbgdfHp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.4068, -0.0193, -0.0166, 0.9995, 0.3183, 2.2978, 2.0514, -1.1709, -0.6529, -0.9878, 0.9962]\nstate[eef_state]: left_x=0.2923 left_y=0.0012 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.037 left_roll=0.0004 left_gripper=0.9995 right_x=0.4209 right_y=0.2555 right_z=0.0999 right_yaw=1.5038 right_pitch=-0.3542 right_roll=0.2287 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -1.3744, 7.0085, 1.8486, -0.022, -0.0562, -0.0122, -0.3487, -15.8701, 5.8051, 0.6032, -0.398, -0.0904, -0.3883]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533b4415b3fdca42aa68977ab292a55ad948802d17f8398f7e7ad320d7a0fdcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1135498c7342f59cddd00beebaaf5945158d07d1ada08930c7a42c0b610e14bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b86c5654703bf57a43c6bc8d1049d044271ab2cd419a2976c7e14030dccbe94a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 10.31 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4038, 2.421, 2.3817, -1.4391, -0.4183, -0.9424, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.418 right_y=0.2605 right_z=0.1062 right_yaw=1.5124 right_pitch=-0.5966 right_roll=0.2093 right_gripper=0.7467\nstate[joint_eff]: [-0.1573, -1.2786, 7.0496, 1.6923, -0.0562, -0.0317, -0.0122, -0.0752, -13.4222, 5.8735, 0.4567, -0.4811, -0.1245, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6075, -0.3939, -0.0196, -0.0166, 0.9995, 0.4042, 2.421, 2.3802, -1.4311, -0.4026, -0.9417, 0.7467]\nstate[eef_state]: left_x=0.2941 left_y=0.0013 left_z=0.1756 left_yaw=0.0009 left_pitch=-0.0233 left_roll=0.0004 left_gripper=0.9995 right_x=0.4204 right_y=0.259 right_z=0.1049 right_yaw=1.502 right_pitch=-0.6077 right_roll=0.1942 right_gripper=0.7467\nstate[joint_eff]: [-0.0889, -1.2786, 7.1726, 1.6923, -0.0317, -0.0611, -0.0122, -0.1436, -13.1077, 5.8598, 0.3883, -0.4127, -0.0171, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.4068, -0.0193, -0.0166, 0.9995, 0.3183, 2.2978, 2.0514, -1.1709, -0.6529, -0.9878, 0.9962]\nstate[eef_state]: left_x=0.2923 left_y=0.0012 left_z=0.1727 left_yaw=0.0006 left_pitch=-0.037 left_roll=0.0004 left_gripper=0.9995 right_x=0.4209 right_y=0.2555 right_z=0.0999 right_yaw=1.5038 right_pitch=-0.3542 right_roll=0.2287 right_gripper=0.9962\nstate[joint_eff]: [-0.294, -1.3744, 7.0085, 1.8486, -0.022, -0.0562, -0.0122, -0.3487, -15.8701, 5.8051, 0.6032, -0.398, -0.0904, -0.3883]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:533b4415b3fdca42aa68977ab292a55ad948802d17f8398f7e7ad320d7a0fdcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1135498c7342f59cddd00beebaaf5945158d07d1ada08930c7a42c0b610e14bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86c5654703bf57a43c6bc8d1049d044271ab2cd419a2976c7e14030dccbe94a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "text": "The gripper opened and the wrist camera shows the black brick lying inside the pot. Retracting the right arm to clear the view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K54uUddSbJxEwyGq5pfUfw",
      "input": {
        "note": "The wrist camera shows the black brick resting inside the pot. Moving the right arm up and back toward home to clear the overhead view for confirmation.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01K54uUddSbJxEwyGq5pfUfw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4149, -0.0196, -0.017, 0.9995, 0.1642, 0.8944, 0.8921, -0.5625, -0.0772, 0.1974, 0.9964]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1698 left_yaw=0.0011 left_pitch=-0.0496 left_roll=0.0006 left_gripper=0.9995 right_x=0.301 right_y=0.0673 right_z=0.2457 right_yaw=0.1249 right_pitch=-0.0086 right_roll=0.218 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.6889, 7.0085, 1.79, -0.0708, -0.0464, -0.0122, 0.2256, -1.5385, 7.3368, 1.8681, 0.1197, 0.1636, -0.3932]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:deccd1b25913f937d4d81a84a98444efe5ab6759bdc00fad06ed2c38eeccafad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f321c8c9b02b6575d5be9b8fe97ecdcde542d416d7d02509e74783e4cca92dac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71e3903ff5736d65427041f47d02c7437a8eae422ade17554d089dd326a0a182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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