adhoc

completed
2026-09-18T06:45:34.950019+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
435.1 s
total steps
246
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
Scene: the pot is at centre-top of the overhead view, the black brick lies just left of it (roughly 23 cm to the left arm's right, at about x≈0.30). I'll use the left arm to fetch it.
agent noteThe black brick sits left of the pot in the overhead view, roughly 23 cm to the right of the left arm's current position. Flying the left gripper above it at z=0.15 to align with the wrist camera.
move_to
left_x0.3000left_y-0.2200left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3767, -0.0227, -0.0406, 0.9934, -0.0219, 0.7925, 0.6014, -0.3798, -0.0166, -0.0338, 0.9987] state[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9987 state[joint_eff]: [-0.6906, -1.4838, 10.0991, 1.7998, -0.0562, 0.2906, -0.4518, -0.4855, -1.3333, 10.3453, 1.8974, -0.0708, 0.2027, -0.1441] 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
Scene: the pot is at centre-top of the overhead view, the black brick lies just left of it (roughly 23 cm to the left arm's right, at about x≈0.30). I'll use the left arm to fetch it.
move_to({"targets": {"left_x": 0.3, "left_y": -0.22, "left_z": 0.15, "left_gripper": 1.0}, "note": "The black brick sits left of the pot in the overhead view, roughly 23 cm to the right of the left arm's current position. Flying the left gripper above it at z=0.15 to align with the wrist camera."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteWrist cam shows the brick left of the jaw column and tilted clockwise about 30°. Shifting left ~4 cm, slightly forward, yawing -0.5 rad to align the jaws across its short axis, and descending to 7 cm to re-check.
move_to
left_x0.3100left_y-0.1700left_z0.0700left_yaw-0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9733, 1.4078, 0.8402, -0.3248, -0.7513, -0.6876, 0.9935, -0.0219, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.2945 left_y=-0.2121 left_z=0.1364 left_yaw=-0.0231 left_pitch=-0.0398 left_roll=0.0337 left_gripper=0.9935 right_x=0.2928 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=0.0024 right_gripper=0.9986 state[joint_eff]: [-0.3487, -5.9009, 8.9094, 1.3895, -0.4567, -0.0269, -0.6374, -0.0752, -1.6205, 7.1726, 1.8584, -0.0317, -0.0611, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.17, "left_z": 0.07, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "Wrist cam shows the brick left of the jaw column and tilted clockwise about 30\u00b0. Shifting left ~4 cm, slightly forward, yawing -0.5 rad to align the jaws across its short axis, and descending to 7 cm to re-check."})
tool
executing move_to over 5 steps (0.5s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe brick now fills the wrist view, centred a bit left of the jaw column and extending forward; yaw only reached -0.29. Shifting ~2 cm left and forward, finishing the yaw to -0.6, and descending to 3 cm before the final grasp descent.
move_to
left_x0.3200left_y-0.1200left_z0.0300left_yaw-0.6000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5816, 1.309, 0.4149, 0.1444, -0.2447, -0.1871, 0.9935, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.3001 left_y=-0.1418 left_z=0.0491 left_yaw=-0.2928 left_pitch=-0.1573 left_roll=0.0452 left_gripper=0.9935 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=0.0027 right_gripper=0.9986 state[joint_eff]: [-0.1026, -3.5624, 6.612, 2.0781, -0.0415, 0.1978, -0.6862, -0.0615, -1.306, 7.1863, 1.7656, -0.0562, -0.0659, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.12, "left_z": 0.03, "left_yaw": -0.6, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The brick now fills the wrist view, centred a bit left of the jaw column and extending forward; yaw only reached -0.29. Shifting ~2 cm left and forward, finishing the yaw to -0.6, and descending to 3 cm before the final grasp descent."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe brick is now on the jaw column and nearly aligned; its centre sits forward of the fingertips. Advancing ~3 cm radially to grasp nearer its middle, at table level.
move_to
left_x0.3400left_y-0.1000left_z0.0100left_yaw-0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.2466, 1.4864, 0.2726, 0.5301, 0.1684, 0.1349, 0.9934, -0.0216, 0.7998, 0.5957, -0.3943, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.3127 left_y=-0.1056 left_z=0.0123 left_yaw=-0.4831 left_pitch=-0.1064 left_roll=0.0192 left_gripper=0.9934 right_x=0.2922 right_y=0.0002 right_z=0.1716 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0026 right_gripper=0.9986 state[joint_eff]: [0.212, -4.6564, 4.3556, 2.0781, 0.188, 0.188, -0.4029, -0.0615, -1.2923, 7.4051, 1.7167, -0.0611, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.34, "left_y": -0.1, "left_z": 0.01, "left_yaw": -0.6, "left_gripper": 1.0}, "note": "The brick is now on the jaw column and nearly aligned; its centre sits forward of the fingertips. Advancing ~3 cm radially to grasp nearer its middle, at table level."})
tool
executing move_to over 3 steps (0.3s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
Brick is centred between the jaws in the wrist view; closing.
agent noteThe brick sits centred between the jaws at table height. Closing the left gripper to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1371, 1.6077, 0.3611, 0.5274, 0.3027, 0.2413, 0.9934, -0.0219, 0.804, 0.5953, -0.395, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.3344 left_y=-0.0957 left_z=0.0056 left_yaw=-0.5441 left_pitch=-0.1141 left_roll=0.0087 left_gripper=0.9934 right_x=0.2922 right_y=0.0001 right_z=0.1702 right_yaw=-0.0014 right_pitch=-0.0328 right_roll=0.0029 right_gripper=0.9986 state[joint_eff]: [-0.1573, -5.8735, 6.147, 1.6728, 0.3687, 0.2515, -0.3834, -0.1162, -1.5385, 7.0769, 1.7753, -0.0562, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
Brick is centred between the jaws in the wrist view; closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "The brick sits centred between the jaws at table height. Closing the left gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe close was empty (reading 0.01) and the wrist cam shows the brick entirely ahead of the closed jaws. Opening and advancing about 4 cm radially before retrying.
move_to
left_x0.3750left_y-0.0950left_z0.0100left_yaw-0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1234, 1.618, 0.3817, 0.4782, 0.3431, 0.2913, 0.01, -0.0216, 0.8043, 0.5949, -0.4118, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.3318 left_y=-0.0974 left_z=0.0015 left_yaw=-0.5925 left_pitch=-0.1382 left_roll=0.006 left_gripper=0.01 right_x=0.2898 right_y=0.0002 right_z=0.1665 right_yaw=-0.0014 right_pitch=-0.0503 right_roll=0.0031 right_gripper=0.9986 state[joint_eff]: [-0.1162, -5.5453, 5.9145, 1.707, 0.2808, 0.0708, 0.7937, -0.1026, -1.1282, 7.0769, 1.873, -0.0464, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.095, "left_z": 0.01, "left_yaw": -0.6, "left_gripper": 1.0}, "note": "The close was empty (reading 0.01) and the wrist cam shows the brick entirely ahead of the closed jaws. Opening and advancing about 4 cm radially before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe brick now spans the wrist view between the open jaws with its near edge right at the fingertips. Closing to grasp.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0956, 1.71, 0.5377, 0.3862, 0.3511, 0.3096, 0.9928, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0307, 0.9986] state[eef_state]: left_x=0.3666 left_y=-0.0926 left_z=0.0041 left_yaw=-0.583 left_pitch=-0.1605 left_roll=0.002 left_gripper=0.9928 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0016 right_pitch=-0.0545 right_roll=0.0037 right_gripper=0.9986 state[joint_eff]: [0.4308, -5.6274, 6.8171, 1.6777, 0.3004, 0.1245, -0.3834, -0.1299, -1.0735, 7.0359, 1.7118, -0.0708, -0.0024, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The brick now spans the wrist view between the open jaws with its near edge right at the fingertips. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteEmpty again; the wrist view still shows the whole brick ahead of the jaws, about 12 px/cm so its centre is ~8 cm further out. Opening and advancing to x=0.44 for a centred grasp.
move_to
left_x0.4400left_y-0.0900left_z0.0150left_yaw-0.6000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0944, 1.7138, 0.5388, 0.3771, 0.3435, 0.3069, 0.01, -0.0219, 0.8043, 0.5945, -0.416, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.3657 left_y=-0.0908 left_z=0.0013 left_yaw=-0.5752 left_pitch=-0.1735 left_roll=-0.0007 left_gripper=0.01 right_x=0.2892 right_y=0.0002 right_z=0.1655 right_yaw=-0.0014 right_pitch=-0.0549 right_roll=0.0034 right_gripper=0.9986 state[joint_eff]: [-0.1983, -6.612, 4.6564, 1.5849, 0.2955, 0.0024, 0.7692, -0.0068, -1.2923, 6.9949, 1.7363, -0.0708, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.09, "left_z": 0.015, "left_yaw": -0.6, "left_gripper": 1.0}, "note": "Empty again; the wrist view still shows the whole brick ahead of the jaws, about 12 px/cm so its centre is ~8 cm further out. Opening and advancing to x=0.44 for a centred grasp."})
tool
executing move_to over 10 steps (1.0s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe brick is now between the jaws but its long axis runs diagonally (back-left to front-right) and its centre is ~3 cm to the tool's right—it seems to have been nudged. Lifting slightly, yawing to -1.35 to align the jaws across its short side, and shifting right.
move_to
left_x0.4450left_y-0.1100left_z0.0500left_yaw-1.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0647, 1.8839, 0.8402, 0.2119, 0.3527, 0.3367, 0.9927, -0.0219, 0.8051, 0.5945, -0.4225, -0.0166, -0.0307, 0.9986] state[eef_state]: left_x=0.4307 left_y=-0.0854 left_z=0.0074 left_yaw=-0.5721 left_pitch=-0.2004 left_roll=-0.001 left_gripper=0.9927 right_x=0.2883 right_y=0.0002 right_z=0.164 right_yaw=-0.0016 right_pitch=-0.0622 right_roll=0.0038 right_gripper=0.9986 state[joint_eff]: [0.253, -8.1573, 7.3778, 1.4188, 0.4029, 0.1441, -0.3492, -0.1299, -1.347, 7.1726, 1.7167, -0.0659, 0.0122, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.11, "left_z": 0.05, "left_yaw": -1.35, "left_gripper": 1.0}, "note": "The brick is now between the jaws but its long axis runs diagonally (back-left to front-right) and its centre is ~3 cm to the tool's right\u2014it seems to have been nudged. Lifting slightly, yawing to -1.35 to align the jaws across its short side, and shifting right."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe arm overshot to x=0.485 and the brick now appears horizontal in the wrist view, to the right of the jaws — my yaw went the wrong way. Rotating to yaw +0.25 to bring the jaws across the brick's short side and shifting right toward it.
move_to
left_x0.4800left_y-0.1300left_z0.0500left_yaw0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [0.0299, 2.1242, 1.475, -0.4606, 0.6868, 1.0, 0.9934, -0.0219, 0.8093, 0.5945, -0.4252, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.4851 left_y=-0.0939 left_z=0.0513 left_yaw=-1.1164 left_pitch=-0.2023 left_roll=0.0867 left_gripper=0.9934 right_x=0.2881 right_y=0.0002 right_z=0.1623 right_yaw=-0.0014 right_pitch=-0.069 right_roll=0.0037 right_gripper=0.9986 state[joint_eff]: [-0.6906, -11.5897, 5.8462, 0.4469, 0.6374, 0.2222, -0.4567, -0.2256, -1.3607, 7.0359, 1.8388, -0.0757, -0.022, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.13, "left_z": 0.05, "left_yaw": 0.25, "left_gripper": 1.0}, "note": "The arm overshot to x=0.485 and the brick now appears horizontal in the wrist view, to the right of the jaws \u2014 my yaw went the wrong way. Rotating to yaw +0.25 to bring the jaws across the brick's short side and shifting right toward it."})
tool
executing move_to over 9 steps (0.9s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe brick now stands nearly vertical in the wrist view but sits ~6 cm to the tool's right, under the right jaw. Shifting right (base -y) by 6 cm with a slight yaw tweak to centre it between the jaws.
move_to
left_x0.4750left_y-0.2100left_z0.0400left_yaw-0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.432, 1.9934, 1.2228, -0.1131, -0.363, -0.2787, 0.9934, -0.0216, 0.815, 0.5945, -0.4381, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.4774 left_y=-0.1471 left_z=0.0435 left_yaw=0.0145 left_pitch=-0.247 left_roll=0.1092 left_gripper=0.9934 right_x=0.2864 right_y=0.0003 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.0041 right_gripper=0.9986 state[joint_eff]: [-0.3077, -9.5658, 7.0496, 1.1258, -0.3004, -0.0073, -0.4469, -0.0479, -1.7573, 6.9949, 1.7851, -0.0415, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.475, "left_y": -0.21, "left_z": 0.04, "left_yaw": -0.1, "left_gripper": 1.0}, "note": "The brick now stands nearly vertical in the wrist view but sits ~6 cm to the tool's right, under the right jaw. Shifting right (base -y) by 6 cm with a slight yaw tweak to centre it between the jaws."})
tool
executing move_to over 6 steps (0.6s)
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 arm did not move sideways—likely at its reach limit at x≈0.47. Pulling back to x=0.45 while shifting right 4 cm so the brick (visible under the right jaw, near the bottom-right) comes between the jaws within reach.
move_to
left_x0.4500left_y-0.1900left_z0.0350left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.3664, -0.3286, 0.9934, -0.0219, 0.8173, 0.5945, -0.445, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.4743 left_y=-0.15 left_z=0.037 left_yaw=0.0379 left_pitch=-0.261 left_roll=0.0857 left_gripper=0.9934 right_x=0.2855 right_y=0.0002 right_z=0.1563 right_yaw=-0.0017 right_pitch=-0.0969 right_roll=0.004 right_gripper=0.9986 state[joint_eff]: [-0.253, -11.1248, 5.9145, 1.5165, -0.0952, 0.1978, -0.4469, -0.0752, -1.5248, 7.1316, 1.7167, -0.0366, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.45, "left_y": -0.19, "left_z": 0.035, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The arm did not move sideways\u2014likely at its reach limit at x\u22480.47. Pulling back to x=0.45 while shifting right 4 cm so the brick (visible under the right jaw, near the bottom-right) comes between the jaws within reach."})
tool
executing move_to over 4 steps (0.4s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe left arm is not responding at this extended pose (x≈0.47), so I'm freeing it by raising to z=0.15 and pulling back to x=0.38 before re-approaching the brick.
move_to
left_x0.3800left_y-0.1700left_z0.1500left_yaw0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.363, -0.3244, 0.9934, -0.0216, 0.8173, 0.5945, -0.4454, -0.0166, -0.0307, 0.9986] state[eef_state]: left_x=0.4742 left_y=-0.1506 left_z=0.0369 left_yaw=0.0329 left_pitch=-0.2624 left_roll=0.0862 left_gripper=0.9934 right_x=0.2854 right_y=0.0004 right_z=0.1562 right_yaw=-0.0012 right_pitch=-0.0973 right_roll=0.0045 right_gripper=0.9986 state[joint_eff]: [-0.0342, -11.3026, 6.0923, 1.5067, -0.1392, 0.1783, -0.4469, -0.0479, -1.347, 7.0906, 1.7021, -0.0464, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.17, "left_z": 0.15, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm is not responding at this extended pose (x\u22480.47), so I'm freeing it by raising to z=0.15 and pulling back to x=0.38 before re-approaching the brick."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteFrom higher up the brick is visible right next to the pot, about 7 cm right and 7 cm forward of the grasp point, tilted slightly counter-clockwise. Approaching at x=0.45, y=-0.23 with the tool pitched forward to extend reach, yaw tweaked to match its tilt.
move_to
left_x0.4500left_y-0.2300left_z0.0400left_yaw0.1500left_pitch0.4000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6003, 1.6367, 1.1648, -0.4782, -0.4225, -0.4229, 0.9935, -0.0219, 0.8211, 0.5945, -0.4477, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.3874 left_y=-0.173 left_z=0.1296 left_yaw=-0.0183 left_pitch=-0.2733 left_roll=0.0843 left_gripper=0.9935 right_x=0.2852 right_y=0.0003 right_z=0.1548 right_yaw=-0.0013 right_pitch=-0.1034 right_roll=0.0044 right_gripper=0.9986 state[joint_eff]: [-0.4581, -9.812, 9.2513, 1.3651, -0.4567, -0.105, -0.442, -0.2393, -1.3333, 7.1726, 1.7021, -0.0415, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.23, "left_z": 0.04, "left_yaw": 0.15, "left_pitch": 0.4, "left_gripper": 1.0}, "note": "From higher up the brick is visible right next to the pot, about 7 cm right and 7 cm forward of the grasp point, tilted slightly counter-clockwise. Approaching at x=0.45, y=-0.23 with the tool pitched forward to extend reach, yaw tweaked to match its tilt."})
tool
executing move_to over 23 steps (2.3s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteThe brick is now directly under the jaws but its long axis runs across the jaw closing direction, so the 9.5 cm jaws can't span it. Raising slightly and yawing the tool ~90° so the jaws close across the brick's short side.
move_to
left_x0.4450left_y-0.2250left_z0.0800left_yaw-1.4000left_pitch0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7624, 2.2707, 0.9653, 0.9199, -0.9298, -0.2272, 0.9935, -0.0216, 0.8242, 0.5945, -0.4496, -0.0166, -0.0307, 0.9986] state[eef_state]: left_x=0.444 left_y=-0.2232 left_z=0.0274 left_yaw=0.132 left_pitch=0.335 left_roll=0.1195 left_gripper=0.9935 right_x=0.2851 right_y=0.0004 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0048 right_gripper=0.9986 state[joint_eff]: [-0.5402, -9.7983, 6.0786, 1.8632, -0.232, 0.1929, -0.3932, -0.0342, -1.5658, 6.9675, 1.6777, -0.0366, -0.0513, -0.0073] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": -0.225, "left_z": 0.08, "left_yaw": -1.4, "left_pitch": 0.35, "left_gripper": 1.0}, "note": "The brick is now directly under the jaws but its long axis runs across the jaw closing direction, so the 9.5 cm jaws can't span it. Raising slightly and yawing the tool ~90\u00b0 so the jaws close across the brick's short side."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteYaw only reached -1.09 and the arm drifted forward to x=0.49; the brick is at the bottom of the wrist view between the jaws. Completing the rotation to -1.57 and pulling back slightly so the jaws sit over the brick's middle.
move_to
left_x0.4600left_y-0.2100left_z0.0600left_yaw-1.5700left_pitch0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.16, 2.1521, 1.0786, 0.7341, 0.7879, 0.4065, 0.9934, -0.0219, 0.8272, 0.5945, -0.4679, -0.0162, -0.0307, 0.9986] state[eef_state]: left_x=0.4924 left_y=-0.2027 left_z=0.0814 left_yaw=-1.0899 left_pitch=0.3182 left_roll=0.1942 left_gripper=0.9934 right_x=0.2823 right_y=0.0003 right_z=0.1493 right_yaw=-0.0018 right_pitch=-0.1297 right_roll=0.005 right_gripper=0.9986 state[joint_eff]: [0.1162, -9.9761, 4.9436, 1.6484, 0.4713, 0.1832, -0.4615, -0.0889, -1.5795, 7.2137, 1.7607, -0.0317, 0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.21, "left_z": 0.06, "left_yaw": -1.57, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "Yaw only reached -1.09 and the arm drifted forward to x=0.49; the brick is at the bottom of the wrist view between the jaws. Completing the rotation to -1.57 and pulling back slightly so the jaws sit over the brick's middle."})
tool
executing move_to over 4 steps (0.4s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteRe-reading the earlier views, the brick's long axis runs along base x, so yaw 0 puts the jaws across its short side (it looked vertical at yaw 0). Returning to yaw 0 and descending over the brick at x≈0.465, y≈-0.20 with forward pitch to gain reach.
move_to
left_x0.4650left_y-0.2000left_z0.0350left_yaw0.0000left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1116, 2.2543, 1.4151, 0.2028, 1.0775, 0.8684, 0.9934, -0.0219, 0.8299, 0.5945, -0.4721, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.4986 left_y=-0.2088 left_z=0.0832 left_yaw=-1.4549 left_pitch=0.252 left_roll=0.3164 left_gripper=0.9934 right_x=0.2817 right_y=0.0003 right_z=0.1478 right_yaw=-0.0013 right_pitch=-0.1365 right_roll=0.0051 right_gripper=0.9986 state[joint_eff]: [-0.3214, -12.0, 6.0513, 1.199, 0.7839, 0.1441, -0.4615, -0.212, -1.4564, 6.9812, 1.6288, -0.0708, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_y": -0.2, "left_z": 0.035, "left_yaw": 0.0, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "Re-reading the earlier views, the brick's long axis runs along base x, so yaw 0 puts the jaws across its short side (it looked vertical at yaw 0). Returning to yaw 0 and descending over the brick at x\u22480.465, y\u2248-0.20 with forward pitch to gain reach."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe arm is stuck in an awkward extended pose (yaw drifted to -1.56, position frozen). Retracting up and back to x=0.35, z=0.20 with yaw 0 to unfold it before a clean re-approach.
move_to
left_x0.3500left_y-0.2000left_z0.2000left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1093, 2.2707, 1.4685, 0.0288, 1.1286, 1.0588, 0.9934, -0.0219, 0.8307, 0.5945, -0.4721, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.4877 left_y=-0.2105 left_z=0.0779 left_yaw=-1.5563 left_pitch=0.226 left_roll=0.3558 left_gripper=0.9934 right_x=0.2818 right_y=0.0003 right_z=0.1476 right_yaw=-0.0016 right_pitch=-0.1373 right_roll=0.0048 right_gripper=0.9986 state[joint_eff]: [-0.1573, -12.041, 7.3231, 1.1893, 0.525, 0.1685, -0.4274, -0.1983, -1.4017, 7.1179, 1.5897, -0.0415, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.2, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm is stuck in an awkward extended pose (yaw drifted to -1.56, position frozen). Retracting up and back to x=0.35, z=0.20 with yaw 0 to unfold it before a clean re-approach."})
tool
executing move_to over 11 steps (1.1s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteFrom above, the brick lies just left of the pot handle with its long axis nearly along base x, about 9 cm ahead and 2 cm left of the grasp point. Moving over it at z=0.10 with forward pitch for reach, yaw ≈ -0.1 to match its slight tilt.
move_to
left_x0.4400left_y-0.2350left_z0.1000left_yaw-0.1000left_pitch0.3000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.849, 1.5291, 1.1038, -0.2375, -0.5945, -0.141, 0.9934, -0.0219, 0.8349, 0.5941, -0.4793, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.3595 left_y=-0.2532 left_z=0.1963 left_yaw=-0.3045 left_pitch=0.0092 left_roll=0.255 left_gripper=0.9934 right_x=0.2807 right_y=0.0003 right_z=0.145 right_yaw=-0.0015 right_pitch=-0.1491 right_roll=0.0051 right_gripper=0.9986 state[joint_eff]: [-0.1299, -6.735, 7.4735, 1.2283, -0.4029, 0.0366, -0.3883, -0.3761, -1.5658, 7.1316, 1.6435, -0.0317, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.235, "left_z": 0.1, "left_yaw": -0.1, "left_pitch": 0.3, "left_roll": 0.0, "left_gripper": 1.0}, "note": "From above, the brick lies just left of the pot handle with its long axis nearly along base x, about 9 cm ahead and 2 cm left of the grasp point. Moving over it at z=0.10 with forward pitch for reach, yaw \u2248 -0.1 to match its slight tilt."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe arm only tracked part of the way (x=0.37, z=0.16), but the brick is now centred on the jaw column just ahead of the fingertips. Continuing forward and down to z=0.03 over the brick's middle.
move_to
left_x0.4400left_y-0.2350left_z0.0300left_yaw-0.1000left_pitch0.3000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8051, 1.5711, 0.9913, -0.0696, -0.5941, -0.1719, 0.9935, -0.0216, 0.8371, 0.5941, -0.4793, -0.0162, -0.0307, 0.9986] state[eef_state]: left_x=0.3722 left_y=-0.2393 left_z=0.1612 left_yaw=-0.2447 left_pitch=0.0246 left_roll=0.2214 left_gripper=0.9935 right_x=0.2807 right_y=0.0004 right_z=0.1444 right_yaw=-0.0014 right_pitch=-0.1514 right_roll=0.0054 right_gripper=0.9986 state[joint_eff]: [-0.294, -8.3624, 7.6103, 1.7851, -0.1001, 0.1587, -0.6667, -0.0752, -1.6068, 6.9128, 1.5751, -0.0073, -0.0269, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.235, "left_z": 0.03, "left_yaw": -0.1, "left_pitch": 0.3, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm only tracked part of the way (x=0.37, z=0.16), but the brick is now centred on the jaw column just ahead of the fingertips. Continuing forward and down to z=0.03 over the brick's middle."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe brick fills the wrist view between the open jaws at table level with its near end right at the fingertips. Advancing 2–3 cm onto its middle while closing the gripper.
move_to
left_x0.4550left_y-0.2300left_z0.0100left_yaw-0.1000left_pitch0.3000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7013, 2.1597, 0.8021, 0.9154, -0.5934, -0.1989, 0.9934, -0.0219, 0.8402, 0.5945, -0.4828, -0.0162, -0.0307, 0.9986] state[eef_state]: left_x=0.4274 left_y=-0.227 left_z=0.0123 left_yaw=-0.1143 left_pitch=0.2009 left_roll=0.0836 left_gripper=0.9934 right_x=0.2803 right_y=0.0003 right_z=0.1432 right_yaw=-0.0017 right_pitch=-0.1575 right_roll=0.0055 right_gripper=0.9986 state[joint_eff]: [0.7863, -9.6752, 5.6957, 1.5067, 0.3687, -0.2759, -0.4615, -0.1299, -1.6889, 7.2137, 1.5995, -0.0122, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.455, "left_y": -0.23, "left_z": 0.01, "left_yaw": -0.1, "left_pitch": 0.3, "left_gripper": 0.0}, "note": "The brick fills the wrist view between the open jaws at table level with its near end right at the fingertips. Advancing 2\u20133 cm onto its middle while closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteEmpty close again—the jaws shut just short of the brick's near edge, so advancing at table height keeps pushing it away. Opening, lifting to 6 cm and moving 3 cm further forward so I can descend directly onto the brick's near section.
move_to
left_x0.4800left_y-0.2300left_z0.0600left_yaw-0.1000left_pitch0.3500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6834, 2.2723, 0.868, 1.071, -0.6098, -0.1486, 0.0098, -0.0219, 0.8436, 0.5945, -0.4831, -0.0166, -0.0307, 0.9986] state[eef_state]: left_x=0.4488 left_y=-0.2304 left_z=0.0119 left_yaw=-0.095 left_pitch=0.2927 left_roll=0.0758 left_gripper=0.0098 right_x=0.2804 right_y=0.0004 right_z=0.1422 right_yaw=-0.0014 right_pitch=-0.1613 right_roll=0.0059 right_gripper=0.9986 state[joint_eff]: [0.5538, -8.5675, 5.8325, 1.8193, -0.0513, 0.1538, 0.7839, -0.0205, -1.5658, 6.9265, 1.6142, -0.0659, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": -0.23, "left_z": 0.06, "left_yaw": -0.1, "left_pitch": 0.35, "left_gripper": 1.0}, "note": "Empty close again\u2014the jaws shut just short of the brick's near edge, so advancing at table height keeps pushing it away. Opening, lifting to 6 cm and moving 3 cm further forward so I can descend directly onto the brick's near section."})
tool
executing move_to over 10 steps (1.0s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe brick now sits between the open jaws, spanning the wrist view up from the fingertips. Descending to table level and closing on it.
move_to
left_x0.4750left_y-0.2250left_z0.0000left_yaw-0.1000left_pitch0.3500left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6373, 2.236, 0.9298, 0.9878, -0.5892, -0.1127, 0.9923, -0.0216, 0.8436, 0.5941, -0.4923, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.4714 left_y=-0.2224 left_z=0.0312 left_yaw=-0.0842 left_pitch=0.2998 left_roll=0.0977 left_gripper=0.9923 right_x=0.2788 right_y=0.0004 right_z=0.1403 right_yaw=-0.0011 right_pitch=-0.1709 right_roll=0.0055 right_gripper=0.9986 state[joint_eff]: [0.4991, -13.9966, 6.4342, 1.7851, 0.0952, 0.1538, -0.4176, -0.1026, -1.1829, 6.9402, 1.6777, -0.0562, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.475, "left_y": -0.225, "left_z": 0.0, "left_yaw": -0.1, "left_pitch": 0.35, "left_gripper": 0.0}, "note": "The brick now sits between the open jaws, spanning the wrist view up from the fingertips. Descending to table level and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 214
top_cam
camera top_cam step 214
left_cam
camera left_cam step 214
right_cam
camera right_cam step 214
assistant
agent noteThe arm cannot descend at this reach (z stuck at 0.03), so the brick (x≈0.50) is just beyond a top-down grasp. I'll press the closed fingertips down onto the brick's near end and then drag it back toward the base into reach.
move_to
left_x0.5000left_y-0.2250left_z0.0200left_yaw-0.0500left_pitch0.5000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.635, 2.3577, 0.955, 1.2419, -0.5991, -0.086, 0.0098, -0.0219, 0.8436, 0.5945, -0.4976, -0.0162, -0.0311, 0.9986] state[eef_state]: left_x=0.4803 left_y=-0.2257 left_z=0.0326 left_yaw=-0.0559 left_pitch=0.433 left_roll=0.0374 left_gripper=0.0098 right_x=0.278 right_y=0.0004 right_z=0.1395 right_yaw=-0.0014 right_pitch=-0.1758 right_roll=0.0056 right_gripper=0.9986 state[joint_eff]: [-0.294, -7.9111, 3.9179, 1.0379, 0.1685, 0.0904, 0.7888, -0.1709, -1.4701, 6.8581, 1.6337, -0.0317, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.225, "left_z": 0.02, "left_yaw": -0.05, "left_pitch": 0.5, "left_gripper": 0.0}, "note": "The arm cannot descend at this reach (z stuck at 0.03), so the brick (x\u22480.50) is just beyond a top-down grasp. I'll press the closed fingertips down onto the brick's near end and then drag it back toward the base into reach."})
tool
executing move_to over 3 steps (0.3s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
assistant
agent noteFingertips are at x=0.50, z≈0.04, resting on top of the brick. Dragging back toward the base with downward pressure to pull the brick into reach.
move_to
left_x0.3800left_y-0.2300left_z0.0200left_yaw-0.0500left_pitch0.5000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6231, 2.4424, 1.0374, 1.3537, -0.5983, -0.0666, 0.0074, -0.0219, 0.8455, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.4968 left_y=-0.2301 left_z=0.0394 left_yaw=-0.025 left_pitch=0.5238 left_roll=-0.0092 left_gripper=0.0074 right_x=0.2779 right_y=0.0004 right_z=0.1389 right_yaw=-0.0011 right_pitch=-0.1785 right_roll=0.0059 right_gripper=0.9986 state[joint_eff]: [1.265, -9.1009, 3.7128, 1.0037, 0.1294, 0.1832, 0.7595, -0.1026, -1.0188, 7.0359, 1.5458, -0.0513, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.23, "left_z": 0.02, "left_yaw": -0.05, "left_pitch": 0.5, "left_gripper": 0.0}, "note": "Fingertips are at x=0.50, z\u22480.04, resting on top of the brick. Dragging back toward the base with downward pressure to pull the brick into reach."})
tool
executing move_to over 9 steps (0.9s)
step 226
assistant
agent noteThe arm froze again at x≈0.50 without dragging the brick; it is reach-limited there. Retracting the left arm up and back to a safe pose before concluding.
move_to
left_x0.3000left_y-0.1500left_z0.1800left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6159, 2.4641, 1.05, 1.3956, -0.5972, -0.0486, 0.0074, -0.0216, 0.8467, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.4999 left_y=-0.2277 left_z=0.0411 left_yaw=-0.0191 left_pitch=0.5509 left_roll=-0.0099 left_gripper=0.0074 right_x=0.2779 right_y=0.0005 right_z=0.1386 right_yaw=-0.0007 right_pitch=-0.1796 right_roll=0.006 right_gripper=0.9986 state[joint_eff]: [0.3077, -9.4974, 4.1641, 1.4481, 0.1245, 0.0562, 0.7546, -0.1026, -1.5521, 6.8991, 1.5409, -0.0464, -0.0562, -0.0122] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.15, "left_z": 0.18, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm froze again at x\u22480.50 without dragging the brick; it is reach-limited there. Retracting the left arm up and back to a safe pose before concluding."})
tool
executing move_to over 19 steps (1.9s)
step 245
assistant
agent noteThe black brick (a power-bank-shaped block, ~4×12 cm, long axis along x) lies at about left_x≈0.50, left_y≈-0.23 (radius ≈0.55 m from the left base) right beside the pot. Every approach at x≥0.47 stalled: the arm could not descend below z≈0.03–0.04 or move sideways/back there, three closes shut just short of the brick's near edge, and a press-and-drag attempt did not move it. The pot itself (left_y≈-0.43) is also outside the left arm's reach, and the brick (right_y≈0.42, x≈0.5) is outside the right arm's box, so neither arm alone can complete the task with the remaining budget. The operator may want to move the brick ~10 cm closer to the bases.
give_up
hindsight1) Effective grasp reach is smaller than the sheet implies: at x≈0.47–0.50 with |y|≈0.22 (radius ≈0.53) the left arm could not descend below z≈0.03 and froze entirely (no x/y/yaw tracking) until raised to z≈0.2 and pulled back to x≈0.35. Treat radius > 0.50 m as unreachable for table-level grasps. 2) The IK is sloppy at long reach: yaw targets were tracked only partially (0.25→0.01, -1.4→-1.09) and x overshot by 4 cm (0.445→0.485); roll drifts to 0.2–0.35 uncommanded. Re-check readback every move. 3) Advancing at z≈0.01 with open jaws pushed this brick away each time (three empty closes right at its near edge); approach from ≥6 cm above and descend vertically instead. 4) The wrist camera with negative pitch (tool tilted back) looks much closer to the fingertips, so "brick fills the frame" does not mean it is between the jaws — check readback pitch. 5) In this scene the pot centre is at about left_y≈-0.43 / right_y≈0.22, x≈0.47: only the right arm can place into the pot; an object left of the pot near x≈0.5 needs a hand-over or operator repositioning.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7929, 1.1717, 0.7414, -0.2455, -0.651, -0.5068, 0.9934, -0.0219, 0.8494, 0.5941, -0.5014, -0.0166, -0.0311, 0.9986] state[eef_state]: left_x=0.3101 left_y=-0.1571 left_z=0.176 left_yaw=-0.0111 left_pitch=0.0453 left_roll=-0.0243 left_gripper=0.9934 right_x=0.2774 right_y=0.0004 right_z=0.1372 right_yaw=-0.0011 right_pitch=-0.1857 right_roll=0.0061 right_gripper=0.9986 state[joint_eff]: [-0.4855, -4.5197, 9.3607, 1.6093, -0.3053, -0.0806, -0.6325, -0.1436, -1.7026, 6.8991, 1.6435, -0.0562, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The black brick (a power-bank-shaped block, ~4\u00d712 cm, long axis along x) lies at about left_x\u22480.50, left_y\u2248-0.23 (radius \u22480.55 m from the left base) right beside the pot. Every approach at x\u22650.47 stalled: the arm could not descend below z\u22480.03\u20130.04 or move sideways/back there, three closes shut just short of the brick's near edge, and a press-and-drag attempt did not move it. The pot itself (left_y\u2248-0.43) is also outside the left arm's reach, and the brick (right_y\u22480.42, x\u22480.5) is outside the right arm's box, so neither arm alone can complete the task with the remaining budget. The operator may want to move the brick ~10 cm closer to the bases.", "hindsight": "1) Effective grasp reach is smaller than the sheet implies: at x\u22480.47\u20130.50 with |y|\u22480.22 (radius \u22480.53) the left arm could not descend below z\u22480.03 and froze entirely (no x/y/yaw tracking) until raised to z\u22480.2 and pulled back to x\u22480.35. Treat radius > 0.50 m as unreachable for table-level grasps. 2) The IK is sloppy at long reach: yaw targets were tracked only partially (0.25\u21920.01, -1.4\u2192-1.09) and x overshot by 4 cm (0.445\u21920.485); roll drifts to 0.2\u20130.35 uncommanded. Re-check readback every move. 3) Advancing at z\u22480.01 with open jaws pushed this brick away each time (three empty closes right at its near edge); approach from \u22656 cm above and descend vertically instead. 4) The wrist camera with negative pitch (tool tilted back) looks much closer to the fingertips, so \"brick fills the frame\" does not mean it is between the jaws \u2014 check readback pitch. 5) In this scene the pot centre is at about left_y\u2248-0.43 / right_y\u22480.22, x\u22480.47: only the right arm can place into the pot; an object left of the pot near x\u22480.5 needs a hand-over or operator repositioning."})
tool
give_up: The black brick (a power-bank-shaped block, ~4×12 cm, long axis along x) lies at about left_x≈0.50, left_y≈-0.23 (radius ≈0.55 m from the left base) right beside the pot. Every approach at x≥0.47 stalled: the arm could not descend below z≈0.03–0.04 or move sideways/back there, three closes shut just short of the brick's near edge, and a press-and-drag attempt did not move it. The pot itself (left_y≈-0.43) is also outside the left arm's reach, and the brick (right_y≈0.42, x≈0.5) is outside the right arm's box, so neither arm alone can complete the task with the remaining budget. The operator may want to move the brick ~10 cm closer to the bases.
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 · 21.41 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3767, -0.0227, -0.0406, 0.9934, -0.0219, 0.7925, 0.6014, -0.3798, -0.0166, -0.0338, 0.9987]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -1.4838, 10.0991, 1.7998, -0.0562, 0.2906, -0.4518, -0.4855, -1.3333, 10.3453, 1.8974, -0.0708, 0.2027, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b9af6e5a332d20ce3eac93782dd5444520d41e68de8944906df3cfd6025eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d321fb6077fd55d6d9c3e551931e85d7d941c387a04cb2a133baf7382a71b257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:badb6e1bd3dbe99c6969d147fade6506752b2ca476a144d17e68f86cbe8444b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 15.4 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3767, -0.0227, -0.0406, 0.9934, -0.0219, 0.7925, 0.6014, -0.3798, -0.0166, -0.0338, 0.9987]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -1.4838, 10.0991, 1.7998, -0.0562, 0.2906, -0.4518, -0.4855, -1.3333, 10.3453, 1.8974, -0.0708, 0.2027, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b9af6e5a332d20ce3eac93782dd5444520d41e68de8944906df3cfd6025eab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d321fb6077fd55d6d9c3e551931e85d7d941c387a04cb2a133baf7382a71b257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badb6e1bd3dbe99c6969d147fade6506752b2ca476a144d17e68f86cbe8444b8",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "Scene: the pot is at centre-top of the overhead view, the black brick lies just left of it (roughly 23 cm to the left arm's right, at about x≈0.30). I'll use the left arm to fetch it.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KCfxLnJDpRP22jrDFnVYzp",
      "input": {
        "note": "The black brick sits left of the pot in the overhead view, roughly 23 cm to the right of the left arm's current position. Flying the left gripper above it at z=0.15 to align with the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.22,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01KCfxLnJDpRP22jrDFnVYzp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9733, 1.4078, 0.8402, -0.3248, -0.7513, -0.6876, 0.9935, -0.0219, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2121 left_z=0.1364 left_yaw=-0.0231 left_pitch=-0.0398 left_roll=0.0337 left_gripper=0.9935 right_x=0.2928 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=0.0024 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -5.9009, 8.9094, 1.3895, -0.4567, -0.0269, -0.6374, -0.0752, -1.6205, 7.1726, 1.8584, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcfff60085183f39a9b85264d27dc4c7abec7f5bee593683aeccc4d783ca903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea3ca8e3467a08982186e021b422b2fbda548a06e939ac62fc1604b299bf0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38d591a83559ab15f30672f9f60d19ff79b6b5634385bac0c354b3e06ce41fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 2 attempt 0 · /messages · status 200 · 11.94 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3767, -0.0227, -0.0406, 0.9934, -0.0219, 0.7925, 0.6014, -0.3798, -0.0166, -0.0338, 0.9987]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -1.4838, 10.0991, 1.7998, -0.0562, 0.2906, -0.4518, -0.4855, -1.3333, 10.3453, 1.8974, -0.0708, 0.2027, -0.1441]",
      "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]: [-0.9733, 1.4078, 0.8402, -0.3248, -0.7513, -0.6876, 0.9935, -0.0219, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2121 left_z=0.1364 left_yaw=-0.0231 left_pitch=-0.0398 left_roll=0.0337 left_gripper=0.9935 right_x=0.2928 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=0.0024 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -5.9009, 8.9094, 1.3895, -0.4567, -0.0269, -0.6374, -0.0752, -1.6205, 7.1726, 1.8584, -0.0317, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcfff60085183f39a9b85264d27dc4c7abec7f5bee593683aeccc4d783ca903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea3ca8e3467a08982186e021b422b2fbda548a06e939ac62fc1604b299bf0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38d591a83559ab15f30672f9f60d19ff79b6b5634385bac0c354b3e06ce41fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017pL5KvY3KxndQNmvHSLGDx",
      "input": {
        "note": "Wrist cam shows the brick left of the jaw column and tilted clockwise about 30°. Shifting left ~4 cm, slightly forward, yawing -0.5 rad to align the jaws across its short axis, and descending to 7 cm to re-check.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": -0.17,
          "left_yaw": -0.5,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017pL5KvY3KxndQNmvHSLGDx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5816, 1.309, 0.4149, 0.1444, -0.2447, -0.1871, 0.9935, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3001 left_y=-0.1418 left_z=0.0491 left_yaw=-0.2928 left_pitch=-0.1573 left_roll=0.0452 left_gripper=0.9935 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=0.0027 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -3.5624, 6.612, 2.0781, -0.0415, 0.1978, -0.6862, -0.0615, -1.306, 7.1863, 1.7656, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631db4c607ac517b5c36816b811846f9d27de454ca6e0d1751973a2859864962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970e5fbcd274199924e7f269c247b30c7746cd8b2cea85a563090edd966ebd23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:38db901bda1ac44753ee84a8d008a0de6d5f7d37d008fd9cb6d5ef73d362acc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 11.64 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6048, -0.3767, -0.0227, -0.0406, 0.9934, -0.0219, 0.7925, 0.6014, -0.3798, -0.0166, -0.0338, 0.9987]\nstate[eef_state]: left_x=0.2953 left_y=0.0017 left_z=0.1809 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2944 right_y=0.0001 right_z=0.1792 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.6906, -1.4838, 10.0991, 1.7998, -0.0562, 0.2906, -0.4518, -0.4855, -1.3333, 10.3453, 1.8974, -0.0708, 0.2027, -0.1441]",
      "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]: [-0.9733, 1.4078, 0.8402, -0.3248, -0.7513, -0.6876, 0.9935, -0.0219, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2121 left_z=0.1364 left_yaw=-0.0231 left_pitch=-0.0398 left_roll=0.0337 left_gripper=0.9935 right_x=0.2928 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=0.0024 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -5.9009, 8.9094, 1.3895, -0.4567, -0.0269, -0.6374, -0.0752, -1.6205, 7.1726, 1.8584, -0.0317, -0.0611, -0.0171]",
      "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]: [-0.5816, 1.309, 0.4149, 0.1444, -0.2447, -0.1871, 0.9935, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3001 left_y=-0.1418 left_z=0.0491 left_yaw=-0.2928 left_pitch=-0.1573 left_roll=0.0452 left_gripper=0.9935 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=0.0027 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -3.5624, 6.612, 2.0781, -0.0415, 0.1978, -0.6862, -0.0615, -1.306, 7.1863, 1.7656, -0.0562, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:631db4c607ac517b5c36816b811846f9d27de454ca6e0d1751973a2859864962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970e5fbcd274199924e7f269c247b30c7746cd8b2cea85a563090edd966ebd23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38db901bda1ac44753ee84a8d008a0de6d5f7d37d008fd9cb6d5ef73d362acc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WofmrKdy1zNTPNmB3pAxSN",
      "input": {
        "note": "The brick now fills the wrist view, centred a bit left of the jaw column and extending forward; yaw only reached -0.29. Shifting ~2 cm left and forward, finishing the yaw to -0.6, and descending to 3 cm before the final grasp descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.32,
          "left_y": -0.12,
          "left_yaw": -0.6,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01WofmrKdy1zNTPNmB3pAxSN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2466, 1.4864, 0.2726, 0.5301, 0.1684, 0.1349, 0.9934, -0.0216, 0.7998, 0.5957, -0.3943, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3127 left_y=-0.1056 left_z=0.0123 left_yaw=-0.4831 left_pitch=-0.1064 left_roll=0.0192 left_gripper=0.9934 right_x=0.2922 right_y=0.0002 right_z=0.1716 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0026 right_gripper=0.9986\nstate[joint_eff]: [0.212, -4.6564, 4.3556, 2.0781, 0.188, 0.188, -0.4029, -0.0615, -1.2923, 7.4051, 1.7167, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0afc5230146feb538b8520fc575c622d3eada91151018f35311ba8fa39bc5189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10632660c46792c527cae92f30ce16801fe3f9302bf56cb3a2f5cbe5c5762bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b63a6fcb333993ea4b6440824d9222a8e6c2f74051f9a61c7dab8f3fefdbb32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.22 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]: [-0.9733, 1.4078, 0.8402, -0.3248, -0.7513, -0.6876, 0.9935, -0.0219, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.2945 left_y=-0.2121 left_z=0.1364 left_yaw=-0.0231 left_pitch=-0.0398 left_roll=0.0337 left_gripper=0.9935 right_x=0.2928 right_y=0.0 right_z=0.1746 right_yaw=-0.0018 right_pitch=-0.0191 right_roll=0.0024 right_gripper=0.9986\nstate[joint_eff]: [-0.3487, -5.9009, 8.9094, 1.3895, -0.4567, -0.0269, -0.6374, -0.0752, -1.6205, 7.1726, 1.8584, -0.0317, -0.0611, -0.0171]",
      "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]: [-0.5816, 1.309, 0.4149, 0.1444, -0.2447, -0.1871, 0.9935, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3001 left_y=-0.1418 left_z=0.0491 left_yaw=-0.2928 left_pitch=-0.1573 left_roll=0.0452 left_gripper=0.9935 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=0.0027 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -3.5624, 6.612, 2.0781, -0.0415, 0.1978, -0.6862, -0.0615, -1.306, 7.1863, 1.7656, -0.0562, -0.0659, -0.0122]",
      "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]: [-0.2466, 1.4864, 0.2726, 0.5301, 0.1684, 0.1349, 0.9934, -0.0216, 0.7998, 0.5957, -0.3943, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3127 left_y=-0.1056 left_z=0.0123 left_yaw=-0.4831 left_pitch=-0.1064 left_roll=0.0192 left_gripper=0.9934 right_x=0.2922 right_y=0.0002 right_z=0.1716 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0026 right_gripper=0.9986\nstate[joint_eff]: [0.212, -4.6564, 4.3556, 2.0781, 0.188, 0.188, -0.4029, -0.0615, -1.2923, 7.4051, 1.7167, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0afc5230146feb538b8520fc575c622d3eada91151018f35311ba8fa39bc5189",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10632660c46792c527cae92f30ce16801fe3f9302bf56cb3a2f5cbe5c5762bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63a6fcb333993ea4b6440824d9222a8e6c2f74051f9a61c7dab8f3fefdbb32d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NojFDE6hJT4b29K4byY6by",
      "input": {
        "note": "The brick is now on the jaw column and nearly aligned; its centre sits forward of the fingertips. Advancing ~3 cm radially to grasp nearer its middle, at table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.1,
          "left_yaw": -0.6,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NojFDE6hJT4b29K4byY6by",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1371, 1.6077, 0.3611, 0.5274, 0.3027, 0.2413, 0.9934, -0.0219, 0.804, 0.5953, -0.395, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3344 left_y=-0.0957 left_z=0.0056 left_yaw=-0.5441 left_pitch=-0.1141 left_roll=0.0087 left_gripper=0.9934 right_x=0.2922 right_y=0.0001 right_z=0.1702 right_yaw=-0.0014 right_pitch=-0.0328 right_roll=0.0029 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -5.8735, 6.147, 1.6728, 0.3687, 0.2515, -0.3834, -0.1162, -1.5385, 7.0769, 1.7753, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb279d82d2260bd4fd3421243e22bf3654c319c96e7adee084470a8af179c118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a15fe3384c6904e39dd8da1e44ed61c3b68d617f883d55e0d41857c434c2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5569fdf9a1db20955239b54d50c2d226966268e59886e46c76182de1bbaec05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 7.479 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]: [-0.5816, 1.309, 0.4149, 0.1444, -0.2447, -0.1871, 0.9935, -0.0216, 0.7986, 0.5999, -0.3935, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3001 left_y=-0.1418 left_z=0.0491 left_yaw=-0.2928 left_pitch=-0.1573 left_roll=0.0452 left_gripper=0.9935 right_x=0.2927 right_y=0.0002 right_z=0.174 right_yaw=-0.0011 right_pitch=-0.0214 right_roll=0.0027 right_gripper=0.9986\nstate[joint_eff]: [-0.1026, -3.5624, 6.612, 2.0781, -0.0415, 0.1978, -0.6862, -0.0615, -1.306, 7.1863, 1.7656, -0.0562, -0.0659, -0.0122]",
      "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]: [-0.2466, 1.4864, 0.2726, 0.5301, 0.1684, 0.1349, 0.9934, -0.0216, 0.7998, 0.5957, -0.3943, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3127 left_y=-0.1056 left_z=0.0123 left_yaw=-0.4831 left_pitch=-0.1064 left_roll=0.0192 left_gripper=0.9934 right_x=0.2922 right_y=0.0002 right_z=0.1716 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0026 right_gripper=0.9986\nstate[joint_eff]: [0.212, -4.6564, 4.3556, 2.0781, 0.188, 0.188, -0.4029, -0.0615, -1.2923, 7.4051, 1.7167, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1371, 1.6077, 0.3611, 0.5274, 0.3027, 0.2413, 0.9934, -0.0219, 0.804, 0.5953, -0.395, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3344 left_y=-0.0957 left_z=0.0056 left_yaw=-0.5441 left_pitch=-0.1141 left_roll=0.0087 left_gripper=0.9934 right_x=0.2922 right_y=0.0001 right_z=0.1702 right_yaw=-0.0014 right_pitch=-0.0328 right_roll=0.0029 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -5.8735, 6.147, 1.6728, 0.3687, 0.2515, -0.3834, -0.1162, -1.5385, 7.0769, 1.7753, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb279d82d2260bd4fd3421243e22bf3654c319c96e7adee084470a8af179c118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a15fe3384c6904e39dd8da1e44ed61c3b68d617f883d55e0d41857c434c2b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5569fdf9a1db20955239b54d50c2d226966268e59886e46c76182de1bbaec05a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Brick is centred between the jaws in the wrist view; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NFbGxQuiPvvLDXCPZTndRr",
      "input": {
        "note": "The brick sits centred between the jaws at table height. Closing the left gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NFbGxQuiPvvLDXCPZTndRr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1234, 1.618, 0.3817, 0.4782, 0.3431, 0.2913, 0.01, -0.0216, 0.8043, 0.5949, -0.4118, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3318 left_y=-0.0974 left_z=0.0015 left_yaw=-0.5925 left_pitch=-0.1382 left_roll=0.006 left_gripper=0.01 right_x=0.2898 right_y=0.0002 right_z=0.1665 right_yaw=-0.0014 right_pitch=-0.0503 right_roll=0.0031 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -5.5453, 5.9145, 1.707, 0.2808, 0.0708, 0.7937, -0.1026, -1.1282, 7.0769, 1.873, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112a9d39830d89011e0219a2940931492d6ebe9fd869f5abae073481f506abfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b135555a12682046d90a0b25feaa7757090bbff92f730fa8f49106dbc66b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f835184444496e889df984e30ede7b858d8ff4af391d075218b5e9bb7a2ace1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 6.331 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]: [-0.2466, 1.4864, 0.2726, 0.5301, 0.1684, 0.1349, 0.9934, -0.0216, 0.7998, 0.5957, -0.3943, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3127 left_y=-0.1056 left_z=0.0123 left_yaw=-0.4831 left_pitch=-0.1064 left_roll=0.0192 left_gripper=0.9934 right_x=0.2922 right_y=0.0002 right_z=0.1716 right_yaw=-0.0014 right_pitch=-0.0275 right_roll=0.0026 right_gripper=0.9986\nstate[joint_eff]: [0.212, -4.6564, 4.3556, 2.0781, 0.188, 0.188, -0.4029, -0.0615, -1.2923, 7.4051, 1.7167, -0.0611, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1371, 1.6077, 0.3611, 0.5274, 0.3027, 0.2413, 0.9934, -0.0219, 0.804, 0.5953, -0.395, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3344 left_y=-0.0957 left_z=0.0056 left_yaw=-0.5441 left_pitch=-0.1141 left_roll=0.0087 left_gripper=0.9934 right_x=0.2922 right_y=0.0001 right_z=0.1702 right_yaw=-0.0014 right_pitch=-0.0328 right_roll=0.0029 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -5.8735, 6.147, 1.6728, 0.3687, 0.2515, -0.3834, -0.1162, -1.5385, 7.0769, 1.7753, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1234, 1.618, 0.3817, 0.4782, 0.3431, 0.2913, 0.01, -0.0216, 0.8043, 0.5949, -0.4118, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3318 left_y=-0.0974 left_z=0.0015 left_yaw=-0.5925 left_pitch=-0.1382 left_roll=0.006 left_gripper=0.01 right_x=0.2898 right_y=0.0002 right_z=0.1665 right_yaw=-0.0014 right_pitch=-0.0503 right_roll=0.0031 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -5.5453, 5.9145, 1.707, 0.2808, 0.0708, 0.7937, -0.1026, -1.1282, 7.0769, 1.873, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112a9d39830d89011e0219a2940931492d6ebe9fd869f5abae073481f506abfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b135555a12682046d90a0b25feaa7757090bbff92f730fa8f49106dbc66b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f835184444496e889df984e30ede7b858d8ff4af391d075218b5e9bb7a2ace1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxQgKEAgRGAI4AUIIdGhpbmtpbmcSDCWb5sj52lMnQWA/wRoM3EXFDNFeXlXsdtkrIjApgi07lU54s/Vsg8PnlUQXhlMdTKgedMcWTTb7akhWIBqLuVJstOpVSPm1/2uek8oq4gcjl1o5Vjj6OAxiCytQyDoinD3X+ra1fK1IkRHW7qfzlsbdinTYVy2dZ4X+1b4e4Wyl3Z8BATCiZHa5lMfXFhIe+lvGSQgHx5q/Z+Yt5oX3VKoZUvv+d1qwAoU0bruBaapJV930AUyhiHeLxjQ+6AW/skmbd2jIBQKXOrEyD9dIFxei1IHVPQQ9qA0NNyxzwxiRkLA6+5+GPMWIIc6fPCKcTi9S4bwukJyTdorx7/+6QPudmXzZjHxOTKenyHIVBdp/hI7csEJVZs2nWq68t+zTMTZrOJZndS+V+G0FeDcoFuGbZTuj3jM83gZHs7dxAtWOEmRuGecvD8rUX7tX8qd3xiFymhjzmV9D9uJwpl5xIO6xTafouA+y10dwANHhs6OtLKbp0ctnimaCd7B+Nt31nfGdBPmBdSZjMGKV7EkQtiu8S4dW1U2Rxc1vagdUeUHeF+SYuAf74XCpxE0BJXv1yGJQhoY0Z7Wvmjh4yjapTTh5KEl4lE8oJjFrs052jN5Jmzwz4jzmyxwKvzFXeMFaUpXMGoTisjFZ9BX9//2wXisQ91ZeBcsRH+lNg41PxUWVw95eQrkRH+f8LvWqMFnMwhJk2+RMA0HKSSHsdrm/K7GHlfPQu4SgkPWZdnpwZWR2k1iFFTiLGyImsWL0/i28HRNNz/K3iQp2kOfN59EZVm92LujOhoTY3FFapduUUhKgNv7EqvcNaNiVRwuhTPX6LsE8X/3rAxxhJcTGKIqILWDCTMK5Eh0V71dAqCXapBXeUu5X+rXL3fRYnLJ2gagQgDPhI7MPOF/kQ868ORz/TMnyEkOFOUssCDJATexlFkmWFcXZUD2MUDYUbw4c+M/+Oq1JE/EJKUUPqpYeKtDv7Kd0JdE5J7RfTbHQdXrs4hrgQRiofifyQ84aO+BiQzLZmIJD/rkX7PAsnq4GcpcRSjFN9oA97dVvimENdsw5HkC8vMW6Q5SPu/4PGqQX5WN20Ee8NdsiZ0oF4rHOgV4+ipxlnHJ658RCIjkzpuy4uuNYWSbTc6XjpULrQcJ08RGbl4vHxcrLHKussxGh/cZYKxyIENwb96aegijU/dO+khrp0MzH27anl2ejf+dnin+0AAV4X53jnwBxkd3cYbNTB2/YLgDbtsv7+kk/OUuin3fAV9LeC2iSxExJ1Pr0FHgq285QIpeL/TdH+rnV12vYDkbiESpsgzVbIoAojDnEEdx7AHWZq+EiCPlVh2j1TDes9xSmFdpZKEZYICLJyOEAtZnwUh/L4SC/9VVGQki8lxodZ9GaTpsYhuWWl3bD0/6O1I4pq7YuRrqvv5c9LtaYAx9BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sv7pvkTUAX7Uv1cSdv9Uy2",
      "input": {
        "note": "The close was empty (reading 0.01) and the wrist cam shows the brick entirely ahead of the closed jaws. Opening and advancing about 4 cm radially before retrying.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.375,
          "left_y": -0.095,
          "left_yaw": -0.6,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Sv7pvkTUAX7Uv1cSdv9Uy2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0956, 1.71, 0.5377, 0.3862, 0.3511, 0.3096, 0.9928, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3666 left_y=-0.0926 left_z=0.0041 left_yaw=-0.583 left_pitch=-0.1605 left_roll=0.002 left_gripper=0.9928 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0016 right_pitch=-0.0545 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.6274, 6.8171, 1.6777, 0.3004, 0.1245, -0.3834, -0.1299, -1.0735, 7.0359, 1.7118, -0.0708, -0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f53dc44cf061b1cc788c0fecf711238a8e8f6a014ef012130da6250a56cf66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5490462343175f76b30ae8b4824389d9c97b4eacb77c5f322174015653018a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c3b5cedc30653e6d878602fd74517c1f252af2e54d22e7339592662926141e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 23.16 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]: [-0.1371, 1.6077, 0.3611, 0.5274, 0.3027, 0.2413, 0.9934, -0.0219, 0.804, 0.5953, -0.395, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3344 left_y=-0.0957 left_z=0.0056 left_yaw=-0.5441 left_pitch=-0.1141 left_roll=0.0087 left_gripper=0.9934 right_x=0.2922 right_y=0.0001 right_z=0.1702 right_yaw=-0.0014 right_pitch=-0.0328 right_roll=0.0029 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -5.8735, 6.147, 1.6728, 0.3687, 0.2515, -0.3834, -0.1162, -1.5385, 7.0769, 1.7753, -0.0562, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1234, 1.618, 0.3817, 0.4782, 0.3431, 0.2913, 0.01, -0.0216, 0.8043, 0.5949, -0.4118, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3318 left_y=-0.0974 left_z=0.0015 left_yaw=-0.5925 left_pitch=-0.1382 left_roll=0.006 left_gripper=0.01 right_x=0.2898 right_y=0.0002 right_z=0.1665 right_yaw=-0.0014 right_pitch=-0.0503 right_roll=0.0031 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -5.5453, 5.9145, 1.707, 0.2808, 0.0708, 0.7937, -0.1026, -1.1282, 7.0769, 1.873, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0956, 1.71, 0.5377, 0.3862, 0.3511, 0.3096, 0.9928, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3666 left_y=-0.0926 left_z=0.0041 left_yaw=-0.583 left_pitch=-0.1605 left_roll=0.002 left_gripper=0.9928 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0016 right_pitch=-0.0545 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.6274, 6.8171, 1.6777, 0.3004, 0.1245, -0.3834, -0.1299, -1.0735, 7.0359, 1.7118, -0.0708, -0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f53dc44cf061b1cc788c0fecf711238a8e8f6a014ef012130da6250a56cf66c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5490462343175f76b30ae8b4824389d9c97b4eacb77c5f322174015653018a41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c3b5cedc30653e6d878602fd74517c1f252af2e54d22e7339592662926141e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQYKEAgRGAI4AUIIdGhpbmtpbmcSDD7isJDp19DfHeK0JxoMEXpDfoCEuBoUx7cxIjDaYxmc/cn0O6opO/qp+/fUBfqN+dV4QpTfh4GfeooMfJQl6X8uLw/9ZibltM/RMrcq5gUuvDQ/RGkRU8K8rDSF8DHznKPuMI9ZXwko8aiJqdNO4efjVsaAfhAQfZ56UUqOFc4amsKPSZvhqVTzSv1D7owwOfSFVInPc1tbBcWxxdeHEP6CGv79G+gv/ht8WZSLxg3duwsW0FNPkFSsbsCQUn77rsGy8OJqQU6LQt2MtJm5uIIXoMKPupRcrjJVt5tXMbtKBEhlXrr+8SIpqETwfeh/Z2rR74K+HfxRlqZA2ozHl69PlYZShRzEMeWLqit+kbqykyTRbTmC8BUbmsZkxaXPZVDuceaF3udf/ZFcc+R5+3h9bcJ7f+QuMamVtM4L5z4P4EEsuxdJzD/mAu0J1dYYEpbn0pFtQxR5a9uBUNOUPLn18Mkg4dy/CUMnoax3ygmMUHbaMNIcWdN6GUkIwLu7d5JdT0p4Xn9U6GTW0rLVATJI1Mr/DsrbXAcQf+jajXtliZghnXHO9c3j5aRbLgMc5AfOK8OLCPsJgUSWHLfv31CsVQZBHMBhqn6NA92KGodfOxFGRTcM9vpOjlgfKONc00xKNjxkXNq7yghrEnuI3h55BjFogxs+MyDRRBMK4g7aja6K0lqQU7pc1WaC1Aa99n9q+VV8PUJCQqld56w73KrGg4AXEh/KdPrfsl/qHQXl0guefIllaLwktQmAQBV7lRVDOhHCTP3Tf/zU32jtALn4IN+IKUx9wPdnhYxHuwE3FqtcGVDWZqaPNUs++l9B9lATicCKAyv0mHIPWVr2utxsVo+1Fw69vpM8zEWmylBa8EtUgYtj7oYCxtIjna8/mf1aRDrkb+61BVmJtWg3k7ELUuL0iEZMbI10ppOLk+ilvkHQaenCwjCfa/3ohIFcu5Rb/DEigWxUbq2R5DlMndyAxLmGh07UcYDOSHhiLq6OAD8lmyHanjs9b83M0a7Bnr9Rf2BrNBvxjm50V1H0oTnMocL2RUJlHfhwTWVMClhaNP46PTfDpHlsXA+Kplg4OgUTfXIIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019giYxdCaFtemQoc1tFvDnY",
      "input": {
        "note": "The brick now spans the wrist view between the open jaws with its near edge right at the fingertips. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019giYxdCaFtemQoc1tFvDnY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0944, 1.7138, 0.5388, 0.3771, 0.3435, 0.3069, 0.01, -0.0219, 0.8043, 0.5945, -0.416, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3657 left_y=-0.0908 left_z=0.0013 left_yaw=-0.5752 left_pitch=-0.1735 left_roll=-0.0007 left_gripper=0.01 right_x=0.2892 right_y=0.0002 right_z=0.1655 right_yaw=-0.0014 right_pitch=-0.0549 right_roll=0.0034 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -6.612, 4.6564, 1.5849, 0.2955, 0.0024, 0.7692, -0.0068, -1.2923, 6.9949, 1.7363, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed172b7f54db6d85bb8d4ac4b6d7cc23081d8771cfe58fde1a744bd7785132d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e9ebb11edc8ce47a142e13229cac22885481e4ec049fcd827941f44860407f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94acd815d1dc08a1db6c4a1a92511a30afecca28c9ba5059ec7b6b9c2cb2bd1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 22.9 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]: [-0.1234, 1.618, 0.3817, 0.4782, 0.3431, 0.2913, 0.01, -0.0216, 0.8043, 0.5949, -0.4118, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3318 left_y=-0.0974 left_z=0.0015 left_yaw=-0.5925 left_pitch=-0.1382 left_roll=0.006 left_gripper=0.01 right_x=0.2898 right_y=0.0002 right_z=0.1665 right_yaw=-0.0014 right_pitch=-0.0503 right_roll=0.0031 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -5.5453, 5.9145, 1.707, 0.2808, 0.0708, 0.7937, -0.1026, -1.1282, 7.0769, 1.873, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0956, 1.71, 0.5377, 0.3862, 0.3511, 0.3096, 0.9928, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3666 left_y=-0.0926 left_z=0.0041 left_yaw=-0.583 left_pitch=-0.1605 left_roll=0.002 left_gripper=0.9928 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0016 right_pitch=-0.0545 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.6274, 6.8171, 1.6777, 0.3004, 0.1245, -0.3834, -0.1299, -1.0735, 7.0359, 1.7118, -0.0708, -0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0944, 1.7138, 0.5388, 0.3771, 0.3435, 0.3069, 0.01, -0.0219, 0.8043, 0.5945, -0.416, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3657 left_y=-0.0908 left_z=0.0013 left_yaw=-0.5752 left_pitch=-0.1735 left_roll=-0.0007 left_gripper=0.01 right_x=0.2892 right_y=0.0002 right_z=0.1655 right_yaw=-0.0014 right_pitch=-0.0549 right_roll=0.0034 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -6.612, 4.6564, 1.5849, 0.2955, 0.0024, 0.7692, -0.0068, -1.2923, 6.9949, 1.7363, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed172b7f54db6d85bb8d4ac4b6d7cc23081d8771cfe58fde1a744bd7785132d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e9ebb11edc8ce47a142e13229cac22885481e4ec049fcd827941f44860407f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94acd815d1dc08a1db6c4a1a92511a30afecca28c9ba5059ec7b6b9c2cb2bd1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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iCeXXEbdqWAcJ9Xv8CK7yG3nOOLqIvrfSEER4PYtlgaaoZWiPHNvcdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SfVbAEFp5N67jqxhKkvceC",
      "input": {
        "note": "Empty again; the wrist view still shows the whole brick ahead of the jaws, about 12 px/cm so its centre is ~8 cm further out. Opening and advancing to x=0.44 for a centred grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.09,
          "left_yaw": -0.6,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SfVbAEFp5N67jqxhKkvceC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0647, 1.8839, 0.8402, 0.2119, 0.3527, 0.3367, 0.9927, -0.0219, 0.8051, 0.5945, -0.4225, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4307 left_y=-0.0854 left_z=0.0074 left_yaw=-0.5721 left_pitch=-0.2004 left_roll=-0.001 left_gripper=0.9927 right_x=0.2883 right_y=0.0002 right_z=0.164 right_yaw=-0.0016 right_pitch=-0.0622 right_roll=0.0038 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.1573, 7.3778, 1.4188, 0.4029, 0.1441, -0.3492, -0.1299, -1.347, 7.1726, 1.7167, -0.0659, 0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e47bd8c8dab86de8d2df6ba22c7adc348069c0958f287825de50319098b6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe16a0f6c3e1c35798ee8dcb8068fd2ff65e48406e2f7f6c9490b3f21bf79871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbc03c1211ecb94b9ea328772f5564cd2c9fef6502062b7114ddc8f5f080ff9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 26.06 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]: [-0.0956, 1.71, 0.5377, 0.3862, 0.3511, 0.3096, 0.9928, -0.0219, 0.8043, 0.5945, -0.4156, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3666 left_y=-0.0926 left_z=0.0041 left_yaw=-0.583 left_pitch=-0.1605 left_roll=0.002 left_gripper=0.9928 right_x=0.2892 right_y=0.0002 right_z=0.1656 right_yaw=-0.0016 right_pitch=-0.0545 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [0.4308, -5.6274, 6.8171, 1.6777, 0.3004, 0.1245, -0.3834, -0.1299, -1.0735, 7.0359, 1.7118, -0.0708, -0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0944, 1.7138, 0.5388, 0.3771, 0.3435, 0.3069, 0.01, -0.0219, 0.8043, 0.5945, -0.416, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3657 left_y=-0.0908 left_z=0.0013 left_yaw=-0.5752 left_pitch=-0.1735 left_roll=-0.0007 left_gripper=0.01 right_x=0.2892 right_y=0.0002 right_z=0.1655 right_yaw=-0.0014 right_pitch=-0.0549 right_roll=0.0034 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -6.612, 4.6564, 1.5849, 0.2955, 0.0024, 0.7692, -0.0068, -1.2923, 6.9949, 1.7363, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0647, 1.8839, 0.8402, 0.2119, 0.3527, 0.3367, 0.9927, -0.0219, 0.8051, 0.5945, -0.4225, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4307 left_y=-0.0854 left_z=0.0074 left_yaw=-0.5721 left_pitch=-0.2004 left_roll=-0.001 left_gripper=0.9927 right_x=0.2883 right_y=0.0002 right_z=0.164 right_yaw=-0.0016 right_pitch=-0.0622 right_roll=0.0038 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.1573, 7.3778, 1.4188, 0.4029, 0.1441, -0.3492, -0.1299, -1.347, 7.1726, 1.7167, -0.0659, 0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e47bd8c8dab86de8d2df6ba22c7adc348069c0958f287825de50319098b6d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe16a0f6c3e1c35798ee8dcb8068fd2ff65e48406e2f7f6c9490b3f21bf79871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbc03c1211ecb94b9ea328772f5564cd2c9fef6502062b7114ddc8f5f080ff9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqx4KEAgRGAI4AUIIdGhpbmtpbmcSDJQp4nJuIpQjPED8NxoMtJdZKv2yxLoG56d1IjCV+v/qF1ejj55V4jdA4IcZXPSkpeaD8EnHeTA3me/86LErq63IgJ/LQncTWiT6P/EqyB1Dhlx3W7Z0zOlnui3Ah+AC/skFd3YRSy36WR0ibxEkgdhbPjfHr4d+d43KFJXZzRSR2XqJBOpHIGdMmVkt325VoGEfST64X/4jyT+9Ys1GP4/Pkfk6Nld/KL7UTCYLemXQRcWM/1nyOmq/60Rl1WJNwbb2txi6rKwqiPt2994svE2nSYnjVtJGf98VOve3Wex06kNineNGVo8EHfVxiRj3j47NNzBEfZzmqvAm2BBMNCSGM5ZqN6Yg0pvZPuoQHkUw59CMCFqPYfkh6jsdnnMxDT49h1khO3gWnodovUsZreYbStkAhZSILwXnnxv+IbqWUqaIvrRWNjkPLgR++ff2AP5YhH9osrlBYFLP2PUXYz2Zldg64eZ1M7k3tfe8IafipID2K2F5xY4yrcHuY9jcKT2Uk6Y6fynLHtcjd9Dv6XuH2BavN9klhf5M1oogV32zdAdOnlTBxfRr6U9+otsYStaW1x4w3ZRL7r/n9m9mDuWktwD4qXoke2gCtBn/aHXcFqEtWlZ+WBvVMljC+7F9eZtGzE9uP/4f8ze8h3jiZHnQWTwevIf17Ykvo9tZFYzUclgBX6XIcPkCAHQs5jDV51R+KUrfMv1CN+ttb10mVjcIavKWrAcH1wxm6Tow0nvwihSe2iJ7J+2NCsavA3EI2/fPvf8seYN9zWexZN2dKy+QsoeNbLyeHebLDN4+2iiWD3PIrHiyQlWRSTT3TATpS+sujs55+PJauOf5WDkNU4em/vwwyAZZUT4vwh6KTWBwQj953euBF2HbyVuX0l83GbG5Ga9m/n+zgdtt5l0h6DrAFoTvE6MRp7LRMnIPlfp0aTPJl+Rhl01u6pUwms0YllI3A+9YGTBvVyE3GdzUHDSJvCRcoth8KkJll1t2F7jhvjLrGVZFPKKm4ngfEmjPR50LFzH8Oa8zGl9NMW1WIAWlCVXDM3g/NqNY1qX7WncLC5wCpJs791gpYBXJYSy4In6JlO8PuhEfpFe8gX/MN1iI/UWkSKgyi8CFRS77Cu7vgCqb12IloalkzxapmYR8i9ogd1y0F3HnVqoikbQ+MVgpZ2tjljZj/py2nDUh7kWv5qTrLk1E//5SVSwab2oY+k8wroEZ0BY9tIAnhEF6KJclXWg3TBW0C8bgjGFII76u/PC55m/WO+j5atrP6LCq4Kqr8SOSuER1QXJ0Pzg8HCUtOPzaj2pUyQEG1aNvMusbsbYWHxvcTYxi/kL62bC2gXjgBEd3j+fiJqdDPyuxc6+ulAJQ31bt3YWAOvW3cxekj/CcrSGlXFP8USyXsFI9oeOHUg4LGaQuw9WbfG4Hsj94Co652I2DyI+RWi8ujoKn51WbaVRjEMwTTD10iqezfenTOC50Q2zdv3QXpaFnJR1kOXDUVQnfZoe1FIsf11J95guJw9R89Jj3Md/Rer83ek9v9614jtavrTu0ThJDQIVTATUv6NpfhE97watFrT0V9y7zNQMTE7tBWJvmrWplKtLBDyBDRRrI3jOK7LiUQ5dH8nOdQC7dnsla44k+6M2E0v6PKGzVRDBJGgcg4CGEaN8owSDYEuvaJZf3dDwid5MI1557Ylkm1lULLB7jQ+QMvqSQ9ohGdS1uy1bRHcrcfugSsYw0waXalX6vP/2NkiaNMX4L75f9/sY2GR/fle/nGThVT9Qd2phoS9gBa97PSnk4yvA9x6ygtDB8WivEdgFtfWSmU1ErKul6L4zireTmlL5MJBqQn0VwuOG9t0EIrhyzfWvHsdWdhcBMkZyF5dZjt12HFwwcrukJxf7W5FoXvzdY8Bx81pjDmnjPvs8RMOWCy9nT9cfTGuock2vBFwKH+WLcPdmEwob332Cyii5hVBs/b1OhJH6hsi9Aqrvm310tINSkR7ZkZ5CQla9gDFLo5MB53UqoV8vCyIF5z2Dmg97CWXpbrr+Mnk54WWc8O18338+lKUUlvP3yfm3ETaKiZckBW22KFHmx8P7DPanbR0UH18WPsWRRVuOKBzx9UEL6uTeCmLsVnL71yyb8GpPRR3Im4Ra+IhaHeKT0ZPm/+1YyeXDwNmOEdwzWdVO8vq+qMYiYfyfDrNC0DTVRI+BZwZzyKQ98cJJJ8UQ+EYrlKuqmAMAY7/fhpAs5jYQ4QrApi2iziKg0LXUiYTt+1CIp21XcY5+TB1LEt6mEmJC+xayvPu8flm56WO3pVXnVgUyuCSpj+/3McLd+wbKr3kt9Jp29LDgKOVT2+hAcfTx2ir1C+/M3j+9QF2Q/IIaY8YnS2S9GiMzgxeS5jeJqWH1xV0Pf4DEQD9zud6TdS3bSeJ7OS5bbcvYHsgE94z1sy7r6My1PI3FyVTMnc6dVr2T5e6H515OKiTcio7JJjLcaOD2Zb925GoI8xS/O52r7xZvtiC9FllwlU5XHlhKVTNwzBddyJ1j+ihvJFR0Ru2sGVe1a19RlDVlAVBKsydBQUc0rjIBJiiVmkcfr56hi92mfnSx7szT30fjL+251h2CATnMfoUl8lWpCJsCahdcC5EeXLGXvIua5n7srfbhkSX3VAwG/qhY4UEtX1wyohYer/ItG52WoWVT8wdbvB0f0bL5BQM4Dk8VVPq5Q2HMEAMNKAq8s+BinkMw3UAeq3ODFO938qK/8icqb1n/z8JD7dOT2GVDFGaxFibOLZcn9vpm+Ble0+VBJIDV/ss8tFYuVxUSpk5gLKKDWcCAYdRE0EK244qEDoVZzb5paD9vV3aTPkQ2JikvXj3B/Qb4LC2bLUy35HgCrzSjSInuZvSNQmnC7/9XxwOoKSEHa8SWoCVSgi5aJujgaeTQf9WcvylsKOxxZ6qgtZBqJ2DEuoLtl6aSgADjk1ZsqDZt8w2TPRCzmmGMxPPNysmqtCKr9CFGmRixj5oO8a81XHeRwUwiIW9yq5lPEMcnfPMe6hxyqSKlehtcbIw/Xa/JtoNX+G+XR16HHNwOQotCSM1Mr2l3gNiLX/LDGtAy9YfUVG/L90IaHHg/1XnPn65ZUzLWV07W9gyeLf9EEtNZUl+aGd908u+XqZR2P+IrynlD4OKDHu8jKx8PZpq/23VAvDtsr1l7ZQz4QtrV/J3s3xJPtwfzNglPCwZiEwYvWoPkdWLTfp4/IpuBkgc8nrCD+mypRqvVS1WIQQ1REICe9GFFc72t5F0bQTuxiF1+0C+zbYssCJfAg0ydi42jdjXNi/pc8fD6SRYN7VPV04FMdIvmVvfFsRjXEv2CPAxHLjZSCLGm1EEtb8TU+L5FaGkXOU/seqbPzSJfgnoH1xPynvN8LFzTu8ZzRzK5yJiUaIzziXntNCc5+RUUHD/zIYKBxFxyKz1nBwonXrhwHqc4UoMPfYRnjF7EWEtWZOhoxXqSj2BbdYjtSQg92U/s/9D+eseS9njEgVIf1CWlg0axrBHvhD0xpeMEctw6PlpNeobcSzeU1Fx7bYa4rlFZNgv5yO8E0u7Xe3HqniFlCHxXC+6CDMI9SG0dcMFEkdmltQeQwTpfR+aoD+h2ZRNqAoTD3WDegn2iny9ms5VIHyU+Grb/Z9TXJQQqspRT2ZP4ZTQgEmqdJxFBH74ZaUyaBlTCPNKtXYJgCil0mVeBTBlRJcxOqTV+lIn4keBK2XpnRovAyPqviG2QO/plzWdMoHOrzJRFHsA/uFMv5bQSU8YiWdOcb9G6xZiZLBJxmInk0r4ldI901si0tzVBGFJ4b+s2Li1ab7BljrowWIqxopvoIVS64x4q7+sP509K2nouFzFBXfgYsDBby8zsZsYOOKvW+pCFbU/VWoTsq7nLC6+JdXfVraO8Omaic3hoqaSQI2oq8WDnGZlWctk1IYCn26d/LPtyQvpRUSZEYXZGwV/BW3SyYCqg2GNfyjWC9w8IBiHNegUhovtC+M0FGOpfHNbZL5UyyIFT3x2CF4JRlWNdIzjfL9mBeyCsGRpzRQsViyq5CwquJFOf1lIpeWzsG9iegHTBw1+L/MAzn+4FZNOGovehTK5Q3EWU/mHBS7XEtdEQswve1xWX+0scEAFu4EjEIF9G18941Uav5JZx/h+3iMPScbRAZoZR86o5b9XeDBAEgmRHzI66FiJ5ATwQOYw1S0l6+IAg4uHXEfce//INeopU5Kcg3Vq1kT5H8YNjHS1aQ5PDxFepRwqzrnUNU9HpKURqOmov+814XadfuwAl9otj33QHSKfxLlqoF2C5tdqQ0a0WJQ6lu4RZreQrcQ/zZw0mIt5dyerG5RuLjfZ6YPa+WuMEQjQxiAJjnrgWoN+ENcx6Ei66/2SdFxTMspI+Kh3ZbpLrfKe66U4IAriZkDFEGmE1xy/Jl/VFFLrXZ560Va5f05nOB8PCoIn6TfV32tOMSmBtuRbyClK5reC9MLE7Obh8h+GLyEH5TyHKxKX2ZnGRe83XCYfniQIh+gRDXANQdj/6/Yw3rCVab/2+WzEJ24p3mbnNShqL4TrHYDnSISwoQraRmg40r58q/aRwMlfvZ9DCR8MBmlUollJ1IuMii+2H/O9vUsy73CuSJvA3kryi9PCNR933EV2ujZQm3PA+maFDDRKPknz7CN56NSsM2X9zBrL0p0VHrp1MOQuemoU0g+rJwzrkQtjxgWhZtITSsyLLNcDpabDH3VIFquH34am/yyNU0aRO5ykoSiALE4mg33xTn37SX85h6/w9YV8H2ZAhk3WebA5FFLGYUmt2YOoaMKLIkEp+DIL7XN2CSrud04JS8SIZKdrENuK0Wf7Xc7U29z06QuW5zQyZsQtjp3H1v2HhiAmeHuUfIP2d6H3o0UqLiEue9SijxS86ZCuT3gIZoMKStYJfEgqI92gZyhyw14U6jgiQRleF428qhIeXRZ4sq8vPoRN1vSIV/jILdpAeYdbg1m4AB1LQoVjlGq4C9N0ZCwsSpo+bExTaWSdljQ9bzf3/BkMB5J0z6c2ljwxGG8kJeL4bSIaQ2txiGFNnaW+6xtk1oV/3JGfxzSw9+aU8/xiavxWFonU9aePyYu1Ibf0yAYggrwSFES5CIIOo1AlnkWDOprBjKvRzi+Gn1yBCUH3OIaHCoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MyHXdVN6gUs8tKga1UMXZt",
      "input": {
        "note": "The brick is now between the jaws but its long axis runs diagonally (back-left to front-right) and its centre is ~3 cm to the tool's right—it seems to have been nudged. Lifting slightly, yawing to -1.35 to align the jaws across its short side, and shifting right.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.445,
          "left_y": -0.11,
          "left_yaw": -1.35,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MyHXdVN6gUs8tKga1UMXZt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0299, 2.1242, 1.475, -0.4606, 0.6868, 1.0, 0.9934, -0.0219, 0.8093, 0.5945, -0.4252, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4851 left_y=-0.0939 left_z=0.0513 left_yaw=-1.1164 left_pitch=-0.2023 left_roll=0.0867 left_gripper=0.9934 right_x=0.2881 right_y=0.0002 right_z=0.1623 right_yaw=-0.0014 right_pitch=-0.069 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -11.5897, 5.8462, 0.4469, 0.6374, 0.2222, -0.4567, -0.2256, -1.3607, 7.0359, 1.8388, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:535cd4bf7d6e2191f648fee4dae5a7166163f37412e82334fa83b6e921221fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ba318d78dd0c3c37bcfd47a477d354de29e94f8dd88f8b3b6ed611f7e065488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4fd5535cddac06bee3e251bcd6c08e4ae685635724afdb593725c6539383f2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 9.761 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]: [-0.0944, 1.7138, 0.5388, 0.3771, 0.3435, 0.3069, 0.01, -0.0219, 0.8043, 0.5945, -0.416, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3657 left_y=-0.0908 left_z=0.0013 left_yaw=-0.5752 left_pitch=-0.1735 left_roll=-0.0007 left_gripper=0.01 right_x=0.2892 right_y=0.0002 right_z=0.1655 right_yaw=-0.0014 right_pitch=-0.0549 right_roll=0.0034 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -6.612, 4.6564, 1.5849, 0.2955, 0.0024, 0.7692, -0.0068, -1.2923, 6.9949, 1.7363, -0.0708, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0647, 1.8839, 0.8402, 0.2119, 0.3527, 0.3367, 0.9927, -0.0219, 0.8051, 0.5945, -0.4225, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4307 left_y=-0.0854 left_z=0.0074 left_yaw=-0.5721 left_pitch=-0.2004 left_roll=-0.001 left_gripper=0.9927 right_x=0.2883 right_y=0.0002 right_z=0.164 right_yaw=-0.0016 right_pitch=-0.0622 right_roll=0.0038 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.1573, 7.3778, 1.4188, 0.4029, 0.1441, -0.3492, -0.1299, -1.347, 7.1726, 1.7167, -0.0659, 0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0299, 2.1242, 1.475, -0.4606, 0.6868, 1.0, 0.9934, -0.0219, 0.8093, 0.5945, -0.4252, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4851 left_y=-0.0939 left_z=0.0513 left_yaw=-1.1164 left_pitch=-0.2023 left_roll=0.0867 left_gripper=0.9934 right_x=0.2881 right_y=0.0002 right_z=0.1623 right_yaw=-0.0014 right_pitch=-0.069 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -11.5897, 5.8462, 0.4469, 0.6374, 0.2222, -0.4567, -0.2256, -1.3607, 7.0359, 1.8388, -0.0757, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:535cd4bf7d6e2191f648fee4dae5a7166163f37412e82334fa83b6e921221fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ba318d78dd0c3c37bcfd47a477d354de29e94f8dd88f8b3b6ed611f7e065488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd5535cddac06bee3e251bcd6c08e4ae685635724afdb593725c6539383f2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Lwe8TGC1vUqwgRRdtGWjzA",
      "input": {
        "note": "The arm overshot to x=0.485 and the brick now appears horizontal in the wrist view, to the right of the jaws — my yaw went the wrong way. Rotating to yaw +0.25 to bring the jaws across the brick's short side and shifting right toward it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.48,
          "left_y": -0.13,
          "left_yaw": 0.25,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Lwe8TGC1vUqwgRRdtGWjzA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.432, 1.9934, 1.2228, -0.1131, -0.363, -0.2787, 0.9934, -0.0216, 0.815, 0.5945, -0.4381, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4774 left_y=-0.1471 left_z=0.0435 left_yaw=0.0145 left_pitch=-0.247 left_roll=0.1092 left_gripper=0.9934 right_x=0.2864 right_y=0.0003 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -9.5658, 7.0496, 1.1258, -0.3004, -0.0073, -0.4469, -0.0479, -1.7573, 6.9949, 1.7851, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ffdd72d6aa778eccc7e933519aca4e5b8ebb1d95a87dc718948420c2b31f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec9d16a5a6afcd4cb44a6811ff0127f25c543fe31ad28a58ede9580401c134f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ac1a4b0133c081728b33833b6c31bef3650e7f8dcfd4cd5d795181cec63972b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 11.51 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]: [-0.0647, 1.8839, 0.8402, 0.2119, 0.3527, 0.3367, 0.9927, -0.0219, 0.8051, 0.5945, -0.4225, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4307 left_y=-0.0854 left_z=0.0074 left_yaw=-0.5721 left_pitch=-0.2004 left_roll=-0.001 left_gripper=0.9927 right_x=0.2883 right_y=0.0002 right_z=0.164 right_yaw=-0.0016 right_pitch=-0.0622 right_roll=0.0038 right_gripper=0.9986\nstate[joint_eff]: [0.253, -8.1573, 7.3778, 1.4188, 0.4029, 0.1441, -0.3492, -0.1299, -1.347, 7.1726, 1.7167, -0.0659, 0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0299, 2.1242, 1.475, -0.4606, 0.6868, 1.0, 0.9934, -0.0219, 0.8093, 0.5945, -0.4252, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4851 left_y=-0.0939 left_z=0.0513 left_yaw=-1.1164 left_pitch=-0.2023 left_roll=0.0867 left_gripper=0.9934 right_x=0.2881 right_y=0.0002 right_z=0.1623 right_yaw=-0.0014 right_pitch=-0.069 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -11.5897, 5.8462, 0.4469, 0.6374, 0.2222, -0.4567, -0.2256, -1.3607, 7.0359, 1.8388, -0.0757, -0.022, -0.0122]",
      "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]: [-0.432, 1.9934, 1.2228, -0.1131, -0.363, -0.2787, 0.9934, -0.0216, 0.815, 0.5945, -0.4381, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4774 left_y=-0.1471 left_z=0.0435 left_yaw=0.0145 left_pitch=-0.247 left_roll=0.1092 left_gripper=0.9934 right_x=0.2864 right_y=0.0003 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -9.5658, 7.0496, 1.1258, -0.3004, -0.0073, -0.4469, -0.0479, -1.7573, 6.9949, 1.7851, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16ffdd72d6aa778eccc7e933519aca4e5b8ebb1d95a87dc718948420c2b31f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec9d16a5a6afcd4cb44a6811ff0127f25c543fe31ad28a58ede9580401c134f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac1a4b0133c081728b33833b6c31bef3650e7f8dcfd4cd5d795181cec63972b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/woKEAgRGAI4AUIIdGhpbmtpbmcSDBw4IovckM/Bij62KxoMoURXr48PCfskNXMHIjAwpnB04qVC2xxYsst9LYUOe3GRH0OTg4O6O3b4gjG+2vpXHU7XgIhHUrYozlEBY8sqnApQeFEow5NgO5KNolb4fl3y/MalpdpUXSHhTkm6u7gbxJDY96XqA/6QECRPxjNJe1UuUNfqRCrb5pxDhVsBMjxR0n6q+PSjR3Zho+8QAigOu+fSMEZ/vUCaz5Jf/h9PxUgD8hoBDtIIuS/VsxnJTYX1iXtoSkQGdQ/52W1LQGVc8u1KF3lb0AAz0K7h4Yhh2MDMMjWADXT60O2s9wzeSEWeTk5yu+7sCf2huRsMBe69XinCthO/eNOD/MMkjvTpf/n1N9bV43xIV1TRNb5YI72ErFV01RRSbUJiIWG0LnlfhpJ93Buv8W1fmI3p1OWJCCEp/JMa90xcD+hCX9tqL/Sxhe7wXAYm8j3wF0RzRwyy+kg/XcxB6Uscavp+kdVdm9X4r9maiORToC0/FbPtvQycwhHINfmpliSE6iPd8lJvVVVXUDVcTyRgyd95qijXjw6Pz8iQ+Lf5rVd5TqCt4/cClhFsOzddiJZAOO8NuSLzpwHMhkdkABUsio3ycxK+jNT+j0JZFEgFCxf+PXRFl6QY+kLv7FmD0RLhvss21ZBW9jnBy++FQy/jjY1XJVUV4OadIraW6oyzlbJGZtMllwCccQ2JM49IT7jSWTREIJfSvj50kAKP7BVTX+upDlEP7RI5tQvp83g6egb+xW782fZlygS8Gj5FuIefsTJ8imykoA//NArhYYHOR4rvTHOBQDVHUwNvyit9WdCgrmZuaq4LJQ/BOpr+hB2Ba9NRHct/5QVz/MQBGs7MF6hZ8pY/D9zYb48VfRU+yPAWx+KYqFlOvmq/jhUjbhUk1zUA6MmTLuimZNEuNGHYuIOjeZ1oItBXQVUwxgUjYAM0Jq1PxSox+WraVxAxhmCXmPD3Xeuk4svryqysCKsQHuvx/OpoaCgbngm0+uMlDl1hxSnN0BXuje962mCPixmS872L4K7rK3JWrdZGyAP1EfPf9py0tlDZ3KfDHWYVwl4YGJjL3ZGAkUTJgoDFeep3yDc7mrpcVps6z1PBduhhv50kE78/t1yARKvhXG2ojimYIJ6ATUo2QNtklWQ6CJTA4+aBOmDW4JHBNwW6fyZF6LEoAyW1TB+T4LxmbPRTBl88NVfwOXZrydw5jkeR2jvnWVe6AypHiWYpjcpnhs+fSP0pYlROod9FRaCHAOWtdnjt8M1pAsNxN4RjZTh1e9aufaxxzrSlXt/3XBEUfsCjipgaMr1EbOlcKC6QJ/Psb1vZ+HaC9I3ljwqu4NSJPdaIM1UjDw7Ocid8x2PYTLaBFKWnPqkwhYKzliiXPLOrOkgefLqhW9r4EGrpaXb6t3L64NwklYIauy0JfeRZKHgx1JBu9P9jwxAetz88hWj+2UQqx6aS5gnoUYb4Ln1EXp+lf+G127adv43MfEOgQps7BXDhMY3QJKnCyjI2SOnQhJHRdkj00fCJCmQXpwBR55ei6tIG0D1LzCMTIDpE6bzcJJkiO+688DFQzBvOcxTK8V/hFheD5rm+3nIAD0TmSCcg+n89Gghf+1NoHnbXaZS8ghrZJSm7S+c02cH9mdslCNNu/JS5cp+qI5enVp6WnGlSbVoJKzeujTrlCaFr7lsSwWRh5DnHrYZuoykX2oOJ2C2ZyTvzYX994OOH/J5nHB8qMMOfzzTALI4YU0jH3k3h7SKeAqOQXuIFETZ/eQsBY23RTcGOuV70oDm07YWzzSk7OwRiLHslLSriUFFrHFoi8VTVzKjn7Rw0i5u6ptEY7PyedD0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0183BjTHvRxQvVpchUMvgQvW",
      "input": {
        "note": "The brick now stands nearly vertical in the wrist view but sits ~6 cm to the tool's right, under the right jaw. Shifting right (base -y) by 6 cm with a slight yaw tweak to centre it between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.475,
          "left_y": -0.21,
          "left_yaw": -0.1,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0183BjTHvRxQvVpchUMvgQvW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.3664, -0.3286, 0.9934, -0.0219, 0.8173, 0.5945, -0.445, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.15 left_z=0.037 left_yaw=0.0379 left_pitch=-0.261 left_roll=0.0857 left_gripper=0.9934 right_x=0.2855 right_y=0.0002 right_z=0.1563 right_yaw=-0.0017 right_pitch=-0.0969 right_roll=0.004 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -11.1248, 5.9145, 1.5165, -0.0952, 0.1978, -0.4469, -0.0752, -1.5248, 7.1316, 1.7167, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f372bad08fb371bce1ac9a77aac176e97083be3c355081f411ab607878323c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cbe58ecb60606dedcfd43be988c0eacc8b6ba8f8783612917cce26e9f8804a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a59eca226c9c0b245a2b26d4e6e1a7d366d867b9b48ea2c39b8e39d5748cd823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.787 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]: [0.0299, 2.1242, 1.475, -0.4606, 0.6868, 1.0, 0.9934, -0.0219, 0.8093, 0.5945, -0.4252, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4851 left_y=-0.0939 left_z=0.0513 left_yaw=-1.1164 left_pitch=-0.2023 left_roll=0.0867 left_gripper=0.9934 right_x=0.2881 right_y=0.0002 right_z=0.1623 right_yaw=-0.0014 right_pitch=-0.069 right_roll=0.0037 right_gripper=0.9986\nstate[joint_eff]: [-0.6906, -11.5897, 5.8462, 0.4469, 0.6374, 0.2222, -0.4567, -0.2256, -1.3607, 7.0359, 1.8388, -0.0757, -0.022, -0.0122]",
      "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]: [-0.432, 1.9934, 1.2228, -0.1131, -0.363, -0.2787, 0.9934, -0.0216, 0.815, 0.5945, -0.4381, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4774 left_y=-0.1471 left_z=0.0435 left_yaw=0.0145 left_pitch=-0.247 left_roll=0.1092 left_gripper=0.9934 right_x=0.2864 right_y=0.0003 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -9.5658, 7.0496, 1.1258, -0.3004, -0.0073, -0.4469, -0.0479, -1.7573, 6.9949, 1.7851, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.3664, -0.3286, 0.9934, -0.0219, 0.8173, 0.5945, -0.445, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.15 left_z=0.037 left_yaw=0.0379 left_pitch=-0.261 left_roll=0.0857 left_gripper=0.9934 right_x=0.2855 right_y=0.0002 right_z=0.1563 right_yaw=-0.0017 right_pitch=-0.0969 right_roll=0.004 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -11.1248, 5.9145, 1.5165, -0.0952, 0.1978, -0.4469, -0.0752, -1.5248, 7.1316, 1.7167, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f372bad08fb371bce1ac9a77aac176e97083be3c355081f411ab607878323c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1cbe58ecb60606dedcfd43be988c0eacc8b6ba8f8783612917cce26e9f8804a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59eca226c9c0b245a2b26d4e6e1a7d366d867b9b48ea2c39b8e39d5748cd823",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0199YSqNKKwpZB9ye7qHjJrj",
      "input": {
        "note": "The arm did not move sideways—likely at its reach limit at x≈0.47. Pulling back to x=0.45 while shifting right 4 cm so the brick (visible under the right jaw, near the bottom-right) comes between the jaws within reach.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "left_y": -0.19,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0199YSqNKKwpZB9ye7qHjJrj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.363, -0.3244, 0.9934, -0.0216, 0.8173, 0.5945, -0.4454, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4742 left_y=-0.1506 left_z=0.0369 left_yaw=0.0329 left_pitch=-0.2624 left_roll=0.0862 left_gripper=0.9934 right_x=0.2854 right_y=0.0004 right_z=0.1562 right_yaw=-0.0012 right_pitch=-0.0973 right_roll=0.0045 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -11.3026, 6.0923, 1.5067, -0.1392, 0.1783, -0.4469, -0.0479, -1.347, 7.0906, 1.7021, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce34fa4e04a45aa34efa0199760ff7dc46bbd1e48efd189332488dc2ff3ecb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ae3fe087724b29f617dfbf21a4ca8ffc0d919a3e7b8dec42162fefb1f38a8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e145f5da7db5d0b9a067744dc5d1329e1f65357c92fa62bdf3b83aef8e2efbd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 17.96 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]: [-0.432, 1.9934, 1.2228, -0.1131, -0.363, -0.2787, 0.9934, -0.0216, 0.815, 0.5945, -0.4381, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4774 left_y=-0.1471 left_z=0.0435 left_yaw=0.0145 left_pitch=-0.247 left_roll=0.1092 left_gripper=0.9934 right_x=0.2864 right_y=0.0003 right_z=0.1583 right_yaw=-0.001 right_pitch=-0.0877 right_roll=0.0041 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -9.5658, 7.0496, 1.1258, -0.3004, -0.0073, -0.4469, -0.0479, -1.7573, 6.9949, 1.7851, -0.0415, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.3664, -0.3286, 0.9934, -0.0219, 0.8173, 0.5945, -0.445, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.15 left_z=0.037 left_yaw=0.0379 left_pitch=-0.261 left_roll=0.0857 left_gripper=0.9934 right_x=0.2855 right_y=0.0002 right_z=0.1563 right_yaw=-0.0017 right_pitch=-0.0969 right_roll=0.004 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -11.1248, 5.9145, 1.5165, -0.0952, 0.1978, -0.4469, -0.0752, -1.5248, 7.1316, 1.7167, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.363, -0.3244, 0.9934, -0.0216, 0.8173, 0.5945, -0.4454, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4742 left_y=-0.1506 left_z=0.0369 left_yaw=0.0329 left_pitch=-0.2624 left_roll=0.0862 left_gripper=0.9934 right_x=0.2854 right_y=0.0004 right_z=0.1562 right_yaw=-0.0012 right_pitch=-0.0973 right_roll=0.0045 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -11.3026, 6.0923, 1.5067, -0.1392, 0.1783, -0.4469, -0.0479, -1.347, 7.0906, 1.7021, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce34fa4e04a45aa34efa0199760ff7dc46bbd1e48efd189332488dc2ff3ecb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ae3fe087724b29f617dfbf21a4ca8ffc0d919a3e7b8dec42162fefb1f38a8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e145f5da7db5d0b9a067744dc5d1329e1f65357c92fa62bdf3b83aef8e2efbd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgRGAI4AUIIdGhpbmtpbmcSDAV8nx4eDnSgO82+rRoMkpTBMIFJbFDKJuxeIjA4LRFym+LYYSSi+Gc723tseiHp8hLDz2CrE+6Qi1FYGr12ubkUiY8W1IYkBwRSjAoqpwa1ghkd24E/5BvcKdxIECj/JI50E3B/GDUzfw3QxiZXrEcVdMIPa/fAsaT/Ehv0tXmZlnWa86XMonV9qrP9u0JxvD7QsajPBxi3alvNj9zixqfsY9wKr+Y2toNQUBbtI5JhFCoMkl+xjVRBpRi/xmtXNXjQzEyKyiiqw4aCM+VBHqFmqL51FajYwsjVxQKJXpiiEU77Xjwnxh5DIT38avDL5Wnrzp/FVuRf+J5APPidMHSyjLnf4+CnemDRXhO+KTwqnTfWOz6kUnWDpk4E/TxW1vK3c5lvblDx9p6Bqsuz5FhB0YG7Bn4hf8dNIxfe9YEoCogv2jkEBXxZlKwGUblP/wVyY4bTOsHYBC3LJgrSOLI20IGyhsJoAcWLFaxtM9Q8f+3K89K+yyzmR1mNe0wiDKIjahwBs7K0gpaQxykFVrHlM+qpR5uvNesnshyDBUWDlaZjGfZZ+y3EoLz78oHYmlQZFF7gfNcLuDJ0You7OBh9W9tJ4FmKw6QbAzP8zp+vOIwa0P9idMV2BI/mKL9Jwd4EaOv2xTXxaoZuXYp3hb8ZNKiDHmo9i8MZM+WlK/fhw1kFv74F/MCOtBPmPQJILb2Q6Vu3nlz4Ld7Cr06StXsuu16scCIye9+w9tQPh3e4sS2Z4ZFOxOZpqQiIDI3m8d8lgyn7eCa99RLOloQ9LzCHU85iVByZrgv6uIeKy3hh3goZR9Dj2jUTipqsIorDLGnuEhpAMMJyEmwMYPTLRM79FJukfthbCQZ+B+TezpMMpVEuY+3PmtMHN9qB/Kblp8QvzHBkMprytt+TH8iOubiocqsMkQPlFafXxFXFb8jvS1QbrTT1aktmfwkErfeWhyEh8qoC9EYjqFLPjdvfVIiQiXw8J+Hd0uy09n+9T6Yt07bJkHQwstPu8f1Y8EpgqyYjR2Citl+LV9V0GQB4qS7y0AMygB92VuYd5/srGcasbmA+HEGk8sq2lajj1YvYon5Iw03nlaPdlXg/V8P1LNO/GoBc3q7NXYUz1PFfdIjFMZS/DJsnx4Q+y6G3nGI7bZMg7ny2WzA5lIe9WUMnNkA+jCTio+AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G63tWNfB5xkR6dDnUTjuGE",
      "input": {
        "note": "The left arm is not responding at this extended pose (x≈0.47), so I'm freeing it by raising to z=0.15 and pulling back to x=0.38 before re-approaching the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01G63tWNfB5xkR6dDnUTjuGE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6003, 1.6367, 1.1648, -0.4782, -0.4225, -0.4229, 0.9935, -0.0219, 0.8211, 0.5945, -0.4477, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3874 left_y=-0.173 left_z=0.1296 left_yaw=-0.0183 left_pitch=-0.2733 left_roll=0.0843 left_gripper=0.9935 right_x=0.2852 right_y=0.0003 right_z=0.1548 right_yaw=-0.0013 right_pitch=-0.1034 right_roll=0.0044 right_gripper=0.9986\nstate[joint_eff]: [-0.4581, -9.812, 9.2513, 1.3651, -0.4567, -0.105, -0.442, -0.2393, -1.3333, 7.1726, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2912cfe0a40659090d152460b3661828cc525d3e269ca043921564ed0eb69ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d9ef74bc58a80b6c87eb8a350be6d48a0189e74928b56dd2e29e0ce52c6a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73680b920d412ef89bae09c0ec8430724f9c5e4e5988d22fa42b372c9dd795bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 18.55 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]: [-0.4412, 2.006, 1.2251, -0.123, -0.3664, -0.3286, 0.9934, -0.0219, 0.8173, 0.5945, -0.445, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4743 left_y=-0.15 left_z=0.037 left_yaw=0.0379 left_pitch=-0.261 left_roll=0.0857 left_gripper=0.9934 right_x=0.2855 right_y=0.0002 right_z=0.1563 right_yaw=-0.0017 right_pitch=-0.0969 right_roll=0.004 right_gripper=0.9986\nstate[joint_eff]: [-0.253, -11.1248, 5.9145, 1.5165, -0.0952, 0.1978, -0.4469, -0.0752, -1.5248, 7.1316, 1.7167, -0.0366, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4412, 2.006, 1.2251, -0.123, -0.363, -0.3244, 0.9934, -0.0216, 0.8173, 0.5945, -0.4454, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4742 left_y=-0.1506 left_z=0.0369 left_yaw=0.0329 left_pitch=-0.2624 left_roll=0.0862 left_gripper=0.9934 right_x=0.2854 right_y=0.0004 right_z=0.1562 right_yaw=-0.0012 right_pitch=-0.0973 right_roll=0.0045 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -11.3026, 6.0923, 1.5067, -0.1392, 0.1783, -0.4469, -0.0479, -1.347, 7.0906, 1.7021, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6003, 1.6367, 1.1648, -0.4782, -0.4225, -0.4229, 0.9935, -0.0219, 0.8211, 0.5945, -0.4477, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3874 left_y=-0.173 left_z=0.1296 left_yaw=-0.0183 left_pitch=-0.2733 left_roll=0.0843 left_gripper=0.9935 right_x=0.2852 right_y=0.0003 right_z=0.1548 right_yaw=-0.0013 right_pitch=-0.1034 right_roll=0.0044 right_gripper=0.9986\nstate[joint_eff]: [-0.4581, -9.812, 9.2513, 1.3651, -0.4567, -0.105, -0.442, -0.2393, -1.3333, 7.1726, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2912cfe0a40659090d152460b3661828cc525d3e269ca043921564ed0eb69ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74d9ef74bc58a80b6c87eb8a350be6d48a0189e74928b56dd2e29e0ce52c6a55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73680b920d412ef89bae09c0ec8430724f9c5e4e5988d22fa42b372c9dd795bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BXfdfTe9dyiot9DyiQyvvE",
      "input": {
        "note": "From higher up the brick is visible right next to the pot, about 7 cm right and 7 cm forward of the grasp point, tilted slightly counter-clockwise. Approaching at x=0.45, y=-0.23 with the tool pitched forward to extend reach, yaw tweaked to match its tilt.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.4,
          "left_x": 0.45,
          "left_y": -0.23,
          "left_yaw": 0.15,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01BXfdfTe9dyiot9DyiQyvvE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7624, 2.2707, 0.9653, 0.9199, -0.9298, -0.2272, 0.9935, -0.0216, 0.8242, 0.5945, -0.4496, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.2232 left_z=0.0274 left_yaw=0.132 left_pitch=0.335 left_roll=0.1195 left_gripper=0.9935 right_x=0.2851 right_y=0.0004 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -9.7983, 6.0786, 1.8632, -0.232, 0.1929, -0.3932, -0.0342, -1.5658, 6.9675, 1.6777, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abea2f8f3154f7efbf046fc78e13f0ea784374063cacf602664bf2eb0ccdd646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2aacf340464d81cdeba9316d94c4a2ace0b6eeb84e834705dfd692e69d54387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28d2b793c24ff826aa7f1b2b952b9941ffd7a18b213ada69cdbb9a960594ccd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 20.56 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4412, 2.006, 1.2251, -0.123, -0.363, -0.3244, 0.9934, -0.0216, 0.8173, 0.5945, -0.4454, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4742 left_y=-0.1506 left_z=0.0369 left_yaw=0.0329 left_pitch=-0.2624 left_roll=0.0862 left_gripper=0.9934 right_x=0.2854 right_y=0.0004 right_z=0.1562 right_yaw=-0.0012 right_pitch=-0.0973 right_roll=0.0045 right_gripper=0.9986\nstate[joint_eff]: [-0.0342, -11.3026, 6.0923, 1.5067, -0.1392, 0.1783, -0.4469, -0.0479, -1.347, 7.0906, 1.7021, -0.0464, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6003, 1.6367, 1.1648, -0.4782, -0.4225, -0.4229, 0.9935, -0.0219, 0.8211, 0.5945, -0.4477, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3874 left_y=-0.173 left_z=0.1296 left_yaw=-0.0183 left_pitch=-0.2733 left_roll=0.0843 left_gripper=0.9935 right_x=0.2852 right_y=0.0003 right_z=0.1548 right_yaw=-0.0013 right_pitch=-0.1034 right_roll=0.0044 right_gripper=0.9986\nstate[joint_eff]: [-0.4581, -9.812, 9.2513, 1.3651, -0.4567, -0.105, -0.442, -0.2393, -1.3333, 7.1726, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7624, 2.2707, 0.9653, 0.9199, -0.9298, -0.2272, 0.9935, -0.0216, 0.8242, 0.5945, -0.4496, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.2232 left_z=0.0274 left_yaw=0.132 left_pitch=0.335 left_roll=0.1195 left_gripper=0.9935 right_x=0.2851 right_y=0.0004 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -9.7983, 6.0786, 1.8632, -0.232, 0.1929, -0.3932, -0.0342, -1.5658, 6.9675, 1.6777, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abea2f8f3154f7efbf046fc78e13f0ea784374063cacf602664bf2eb0ccdd646",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2aacf340464d81cdeba9316d94c4a2ace0b6eeb84e834705dfd692e69d54387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d2b793c24ff826aa7f1b2b952b9941ffd7a18b213ada69cdbb9a960594ccd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjhyesStuaCdWAkXZjV7qv",
      "input": {
        "note": "The brick is now directly under the jaws but its long axis runs across the jaw closing direction, so the 9.5 cm jaws can't span it. Raising slightly and yawing the tool ~90° so the jaws close across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.35,
          "left_x": 0.445,
          "left_y": -0.225,
          "left_yaw": -1.4,
          "left_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_01TjhyesStuaCdWAkXZjV7qv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.16, 2.1521, 1.0786, 0.7341, 0.7879, 0.4065, 0.9934, -0.0219, 0.8272, 0.5945, -0.4679, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4924 left_y=-0.2027 left_z=0.0814 left_yaw=-1.0899 left_pitch=0.3182 left_roll=0.1942 left_gripper=0.9934 right_x=0.2823 right_y=0.0003 right_z=0.1493 right_yaw=-0.0018 right_pitch=-0.1297 right_roll=0.005 right_gripper=0.9986\nstate[joint_eff]: [0.1162, -9.9761, 4.9436, 1.6484, 0.4713, 0.1832, -0.4615, -0.0889, -1.5795, 7.2137, 1.7607, -0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213003eb3dacaabf559135cceee14be34348099a547e9140e093d6c5b69713e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7567b29fecd7a8581e60a095496d65152074fa27eca3869834c4bad56e6f9f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:067957e972e252b71a928fe1d5a6809d856de8f0dde3cab879605ce3fb324be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 29.65 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6003, 1.6367, 1.1648, -0.4782, -0.4225, -0.4229, 0.9935, -0.0219, 0.8211, 0.5945, -0.4477, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3874 left_y=-0.173 left_z=0.1296 left_yaw=-0.0183 left_pitch=-0.2733 left_roll=0.0843 left_gripper=0.9935 right_x=0.2852 right_y=0.0003 right_z=0.1548 right_yaw=-0.0013 right_pitch=-0.1034 right_roll=0.0044 right_gripper=0.9986\nstate[joint_eff]: [-0.4581, -9.812, 9.2513, 1.3651, -0.4567, -0.105, -0.442, -0.2393, -1.3333, 7.1726, 1.7021, -0.0415, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7624, 2.2707, 0.9653, 0.9199, -0.9298, -0.2272, 0.9935, -0.0216, 0.8242, 0.5945, -0.4496, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.2232 left_z=0.0274 left_yaw=0.132 left_pitch=0.335 left_roll=0.1195 left_gripper=0.9935 right_x=0.2851 right_y=0.0004 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -9.7983, 6.0786, 1.8632, -0.232, 0.1929, -0.3932, -0.0342, -1.5658, 6.9675, 1.6777, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.16, 2.1521, 1.0786, 0.7341, 0.7879, 0.4065, 0.9934, -0.0219, 0.8272, 0.5945, -0.4679, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4924 left_y=-0.2027 left_z=0.0814 left_yaw=-1.0899 left_pitch=0.3182 left_roll=0.1942 left_gripper=0.9934 right_x=0.2823 right_y=0.0003 right_z=0.1493 right_yaw=-0.0018 right_pitch=-0.1297 right_roll=0.005 right_gripper=0.9986\nstate[joint_eff]: [0.1162, -9.9761, 4.9436, 1.6484, 0.4713, 0.1832, -0.4615, -0.0889, -1.5795, 7.2137, 1.7607, -0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213003eb3dacaabf559135cceee14be34348099a547e9140e093d6c5b69713e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7567b29fecd7a8581e60a095496d65152074fa27eca3869834c4bad56e6f9f56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:067957e972e252b71a928fe1d5a6809d856de8f0dde3cab879605ce3fb324be7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BnocCmXxPveCUNCTSGeefz",
      "input": {
        "note": "Yaw only reached -1.09 and the arm drifted forward to x=0.49; the brick is at the bottom of the wrist view between the jaws. Completing the rotation to -1.57 and pulling back slightly so the jaws sit over the brick's middle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.46,
          "left_y": -0.21,
          "left_yaw": -1.57,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BnocCmXxPveCUNCTSGeefz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1116, 2.2543, 1.4151, 0.2028, 1.0775, 0.8684, 0.9934, -0.0219, 0.8299, 0.5945, -0.4721, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4986 left_y=-0.2088 left_z=0.0832 left_yaw=-1.4549 left_pitch=0.252 left_roll=0.3164 left_gripper=0.9934 right_x=0.2817 right_y=0.0003 right_z=0.1478 right_yaw=-0.0013 right_pitch=-0.1365 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -12.0, 6.0513, 1.199, 0.7839, 0.1441, -0.4615, -0.212, -1.4564, 6.9812, 1.6288, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10693b2e46f21eb80c34c9be6fd5181caf7f6640141b0383345cb3cc7985fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56b4d87ce1852b723634976dfd6813cc2b9a565f2abee74500cceddbdb168bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a241db7e048a9bac7cd719ffbcd42b400afdac45c3d0f746f0f09c80d809827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 6.717 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7624, 2.2707, 0.9653, 0.9199, -0.9298, -0.2272, 0.9935, -0.0216, 0.8242, 0.5945, -0.4496, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.444 left_y=-0.2232 left_z=0.0274 left_yaw=0.132 left_pitch=0.335 left_roll=0.1195 left_gripper=0.9935 right_x=0.2851 right_y=0.0004 right_z=0.1536 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.5402, -9.7983, 6.0786, 1.8632, -0.232, 0.1929, -0.3932, -0.0342, -1.5658, 6.9675, 1.6777, -0.0366, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.16, 2.1521, 1.0786, 0.7341, 0.7879, 0.4065, 0.9934, -0.0219, 0.8272, 0.5945, -0.4679, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4924 left_y=-0.2027 left_z=0.0814 left_yaw=-1.0899 left_pitch=0.3182 left_roll=0.1942 left_gripper=0.9934 right_x=0.2823 right_y=0.0003 right_z=0.1493 right_yaw=-0.0018 right_pitch=-0.1297 right_roll=0.005 right_gripper=0.9986\nstate[joint_eff]: [0.1162, -9.9761, 4.9436, 1.6484, 0.4713, 0.1832, -0.4615, -0.0889, -1.5795, 7.2137, 1.7607, -0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1116, 2.2543, 1.4151, 0.2028, 1.0775, 0.8684, 0.9934, -0.0219, 0.8299, 0.5945, -0.4721, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4986 left_y=-0.2088 left_z=0.0832 left_yaw=-1.4549 left_pitch=0.252 left_roll=0.3164 left_gripper=0.9934 right_x=0.2817 right_y=0.0003 right_z=0.1478 right_yaw=-0.0013 right_pitch=-0.1365 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -12.0, 6.0513, 1.199, 0.7839, 0.1441, -0.4615, -0.212, -1.4564, 6.9812, 1.6288, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10693b2e46f21eb80c34c9be6fd5181caf7f6640141b0383345cb3cc7985fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56b4d87ce1852b723634976dfd6813cc2b9a565f2abee74500cceddbdb168bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a241db7e048a9bac7cd719ffbcd42b400afdac45c3d0f746f0f09c80d809827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BVNXnL5wyJRC2KpxRyHL3X",
      "input": {
        "note": "Re-reading the earlier views, the brick's long axis runs along base x, so yaw 0 puts the jaws across its short side (it looked vertical at yaw 0). Returning to yaw 0 and descending over the brick at x≈0.465, y≈-0.20 with forward pitch to gain reach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_x": 0.465,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BVNXnL5wyJRC2KpxRyHL3X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1093, 2.2707, 1.4685, 0.0288, 1.1286, 1.0588, 0.9934, -0.0219, 0.8307, 0.5945, -0.4721, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4877 left_y=-0.2105 left_z=0.0779 left_yaw=-1.5563 left_pitch=0.226 left_roll=0.3558 left_gripper=0.9934 right_x=0.2818 right_y=0.0003 right_z=0.1476 right_yaw=-0.0016 right_pitch=-0.1373 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -12.041, 7.3231, 1.1893, 0.525, 0.1685, -0.4274, -0.1983, -1.4017, 7.1179, 1.5897, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0067cb7d79d4ba1295c07f35ea967cb73eb602f4a20991068fde3be3356725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90790b09994710aad739c8ab056d57d44888e8f99196e398dc6eb32c7315f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:081f41bd3deddb61f68ee7d518eecacfd5b1aa92e873aa5f5cc54780a635e96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 16.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.16, 2.1521, 1.0786, 0.7341, 0.7879, 0.4065, 0.9934, -0.0219, 0.8272, 0.5945, -0.4679, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4924 left_y=-0.2027 left_z=0.0814 left_yaw=-1.0899 left_pitch=0.3182 left_roll=0.1942 left_gripper=0.9934 right_x=0.2823 right_y=0.0003 right_z=0.1493 right_yaw=-0.0018 right_pitch=-0.1297 right_roll=0.005 right_gripper=0.9986\nstate[joint_eff]: [0.1162, -9.9761, 4.9436, 1.6484, 0.4713, 0.1832, -0.4615, -0.0889, -1.5795, 7.2137, 1.7607, -0.0317, 0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1116, 2.2543, 1.4151, 0.2028, 1.0775, 0.8684, 0.9934, -0.0219, 0.8299, 0.5945, -0.4721, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4986 left_y=-0.2088 left_z=0.0832 left_yaw=-1.4549 left_pitch=0.252 left_roll=0.3164 left_gripper=0.9934 right_x=0.2817 right_y=0.0003 right_z=0.1478 right_yaw=-0.0013 right_pitch=-0.1365 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -12.0, 6.0513, 1.199, 0.7839, 0.1441, -0.4615, -0.212, -1.4564, 6.9812, 1.6288, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1093, 2.2707, 1.4685, 0.0288, 1.1286, 1.0588, 0.9934, -0.0219, 0.8307, 0.5945, -0.4721, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4877 left_y=-0.2105 left_z=0.0779 left_yaw=-1.5563 left_pitch=0.226 left_roll=0.3558 left_gripper=0.9934 right_x=0.2818 right_y=0.0003 right_z=0.1476 right_yaw=-0.0016 right_pitch=-0.1373 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -12.041, 7.3231, 1.1893, 0.525, 0.1685, -0.4274, -0.1983, -1.4017, 7.1179, 1.5897, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b0067cb7d79d4ba1295c07f35ea967cb73eb602f4a20991068fde3be3356725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c90790b09994710aad739c8ab056d57d44888e8f99196e398dc6eb32c7315f72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:081f41bd3deddb61f68ee7d518eecacfd5b1aa92e873aa5f5cc54780a635e96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSugcKEAgRGAI4AUIIdGhpbmtpbmcSDFDs/+raK78AFU+TQxoMlgv06ojjJC9gdndJIjCAOhJ4IFYGs4/L26+S61/5CNEoTI8hzmCK4Wjc/h4haTbPK4wGvrgAXD7bSdBd2doq1waPpPcJYnb1B71FHXROZ9eWs2ztEXvhcDHbqtb3/gd1rHuCZyDYruCsNMudSB9hPWBicHi4cjCHg7tA69FThVpsFd59a6tPLRF3ZP0UXguDWp1h4EsQchnvcA+y6vFtI3Irxo34wmjmWipUrfrDnkWBfh7yE5vQo3XTCcWp+9N0ww9QpsVQ9XfrXiaAl2S6cCmJCBChwLEw3xBUWO5gNogCxOe7mD/8NTV4OK8Rhc3IiujTOacAIYgoiuPLUnXNGH9RfTwXQ+BBhMV9Cqfaj4OzHvnAlijoBgacbSW/gR9yL553KnlZvKkGfYLWy0/CeLXVP/AE9OSG5A447MeCdToM9OV8mDrMR344zPmDBkRezdp7mRgHGOm82SkeJDGjglcyuxnWPva/NP0Mudt16vnmphZRGMVwfX9amFTYs0eMr+53MmWsAd36BfSVWkUewze5+Vbt5GJbDcOWvUlHzPb6OUAtiDCr04RKNQ/dsy4DuG5s5cHkIb18D94Bk7B8JKeO4gLAyzGeOMzqF7j5ow+j5nkNj0gvo/NwDm80WSpTpse2r9vwl3WlApIgx1Q2vDlHxFBZtUH72yRzgC2yinhRtrFYLk8K3KD6bF2bukTiCNF9TYD9ywwiOfF4WR9jIDp5DgtLkocb0b0Y3X+gVjL9IOWPYR25PBFeSebptnOLNgcwq6Vm6cw17efjiSSofPDJaabl4duGp2+j84Wz8hiU2fQv+5mD7zC7eVoRmMsng9QEVoV80/hcdcdpvLzqwE0AVRtABl5eu1qqaqnSzQsv8oyd+fv7jAoHOQ4YVxJxm+IcPkfzRkBdiiQEao/dGhbQHrTWyNOxeZMi3IeDSDue+5uAtdji5M3M2AZ275qR4H0r1Q7HWOhrvG5Z+BLINaxfU3HzC3/0+knyuGdGFXU///SNRzeX3xUdAzcFZuY1p98dpjPK6N4bY5NIAyAMC7/0JGHx/3MmOKbu481N+AMBCv0U+e3e483VIlrO6M58o+9Kmv8WZXU1f5YhMGLbhy6iOwIlAfz7BMzvLcuFQvHySBafEOSYOUUvHOTcGSPMK1MrgDtRpWay3xQYbCDa0nmT4CDYUsY0yMjbIPjApl1m/TrtlUMLqZ20S+6Hw1ENglLVDs9knyEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ETPtHhMsxFhyEaBuwiA5LQ",
      "input": {
        "note": "The arm is stuck in an awkward extended pose (yaw drifted to -1.56, position frozen). Retracting up and back to x=0.35, z=0.20 with yaw 0 to unfold it before a clean re-approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.35,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01ETPtHhMsxFhyEaBuwiA5LQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.849, 1.5291, 1.1038, -0.2375, -0.5945, -0.141, 0.9934, -0.0219, 0.8349, 0.5941, -0.4793, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3595 left_y=-0.2532 left_z=0.1963 left_yaw=-0.3045 left_pitch=0.0092 left_roll=0.255 left_gripper=0.9934 right_x=0.2807 right_y=0.0003 right_z=0.145 right_yaw=-0.0015 right_pitch=-0.1491 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -6.735, 7.4735, 1.2283, -0.4029, 0.0366, -0.3883, -0.3761, -1.5658, 7.1316, 1.6435, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e0caa09d8ad7241f2657fd22f05d4f8fab11cfea242f18afd9b05c55dec4df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67231eb41b437117cb82add63085fca2c718b25849e3c60be2caf2a1ed16c14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2965e471abb72418c3aae68083716163ef505dd360f092c46cb55b64ec1737a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 10.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1116, 2.2543, 1.4151, 0.2028, 1.0775, 0.8684, 0.9934, -0.0219, 0.8299, 0.5945, -0.4721, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4986 left_y=-0.2088 left_z=0.0832 left_yaw=-1.4549 left_pitch=0.252 left_roll=0.3164 left_gripper=0.9934 right_x=0.2817 right_y=0.0003 right_z=0.1478 right_yaw=-0.0013 right_pitch=-0.1365 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.3214, -12.0, 6.0513, 1.199, 0.7839, 0.1441, -0.4615, -0.212, -1.4564, 6.9812, 1.6288, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1093, 2.2707, 1.4685, 0.0288, 1.1286, 1.0588, 0.9934, -0.0219, 0.8307, 0.5945, -0.4721, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4877 left_y=-0.2105 left_z=0.0779 left_yaw=-1.5563 left_pitch=0.226 left_roll=0.3558 left_gripper=0.9934 right_x=0.2818 right_y=0.0003 right_z=0.1476 right_yaw=-0.0016 right_pitch=-0.1373 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -12.041, 7.3231, 1.1893, 0.525, 0.1685, -0.4274, -0.1983, -1.4017, 7.1179, 1.5897, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.849, 1.5291, 1.1038, -0.2375, -0.5945, -0.141, 0.9934, -0.0219, 0.8349, 0.5941, -0.4793, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3595 left_y=-0.2532 left_z=0.1963 left_yaw=-0.3045 left_pitch=0.0092 left_roll=0.255 left_gripper=0.9934 right_x=0.2807 right_y=0.0003 right_z=0.145 right_yaw=-0.0015 right_pitch=-0.1491 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -6.735, 7.4735, 1.2283, -0.4029, 0.0366, -0.3883, -0.3761, -1.5658, 7.1316, 1.6435, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67e0caa09d8ad7241f2657fd22f05d4f8fab11cfea242f18afd9b05c55dec4df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67231eb41b437117cb82add63085fca2c718b25849e3c60be2caf2a1ed16c14d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2965e471abb72418c3aae68083716163ef505dd360f092c46cb55b64ec1737a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStxAKEAgRGAI4AUIIdGhpbmtpbmcSDCcdsRF12pwKXCdQPxoMspP/w5plOpN1wZktIjDiuVBLBTJWDlsE/4e3dgzZr6WBzpKi80uvO4QJYfSAjRlsDhkdcs1xGPbEhhlCaM8q1A+4bXa0WTJOv+B4EfinmGDLBJXPF2j0Y3WGz0aFg2v+DIR5GwJEs1RfKLhGkbmlBkzrpmTR8NqHB23nzpnxv3oKjTWODcpxuGOvr1IRadhEo2bFFUxmbTHJpicpAabI55lSYd1f5/0ztNbf8n+al7n/4eoUPC4Nu7ZHqzwUQcKmfvAg1nhnqVlxfLikIYhGHZDmkCO9yT0AO7FZMlRqHkbjnmu3EkIk9IyEVbbb3l+6qv/7WlHiC7iqhOlAyH++/3NyLd5hJKcxgINknGThoGr+Y/IeKPb985vvymoau/juemRsSg2Hb045nClYqGdYX18XrAQNbUMh4I0K1lZSf/CUDmm/kfPITsAQrAhlwbgxdJf/A6j9nw9bHpejroibTvDigqncr0pBB9XAVVgmzPZhd29uK9nQ7SiHBkgPBbg5KggCOqHWW/gXC0+n1EM3LtRGPcv//q7aEpXIRHxrVsr/LeNgExDN2kh+2RvgHW6HQmUoDE+c3EW2vKsnnTNQ4PMH5B510eBoESJdpsAo6CBRLMattxWbD8Awu7eNlb2rRWymZI1S9aJyMwRM64xn5TnZa0tOeMUGMk354FsfhOxtLe/AKpZNrbQrvLQoB0neeIDCUOopoXGg8Owqx6KlkQjxDMa9UDmolWGPhtkDfhp6uNWoY6APbppR+GFmBJsMrRfJo94xRglH6Ucu/hEov9fsKPm8QoVWa7ZYtsRFBFmVJ4MkCMR7hM4LU7LYS7sBlnDhsEccfMAIhPEheS8jR5g05sl6XIVJ5Tsi0j/XGIbFRXxVCQ/23AjsfI2oksfjf83MJlm3efksEK+4ALb+K7/9W5ftfMMs8mHGhbH6Anx871yazWfwMEohm6zDm9bEBeXdjfOsGMm8eHqqd07y+I6U/U8P11rIMUN/hlI69dlTf2FiSj3CqloZc0WLoLvgtlfhPQRhA/s3XlaCJrNq5vq0Nu4HLnmh6e2VS9+M7wx7PPxl9IWYJt5pHKGJtURxVDMFBA5Ck760Y7FDx7WiAXfyiynsqOHZEy2qNkNxMjLc2YYk+SBT/E0crRqGU2g2JomLWoFKT54NC/qZOS5hMQkfgOgHudg1Sh7gJSXkhcr2nezbWnwsVaP4zr89jqzS1fHoinS1ikaLgIOrIeBRFBw1exFkv17bB6ggkTAZw6KQdWoFGlhBTPNeVFG84VF52xePExTm3UP+vVEjoWusA0kvF82/ob+k+DTBnQx7Zvg4GFNkplV4JgBJqq2wNgZIHqcpGNHRD1SjQFRSO+IunRsemE9NfRINlo6sgEMdl4TD3CULXMTq+ndUynZUJTHpcgUUwZDJaBfdC4m6O8R1nX4iSnhiXNaVigWqt8WvHAvm5ODzE9w0AV9fY9fFCJekGSGNO7UuhLgGV6eGhS7+XTmLQtZ8xh49r6dcFZj2lqHcgiwAPr7/DKL8tKx/l472iFd8hu/ptuRnbJPOeo/IWeaFVAWsuWuUEgHyX5q8xyVUNqWQyY4kBa7oIxYgIxCrMuymS+vthzQkvsd6EQoDnWeRLTBZ/dcsq5bErzuxmCwqzewkgPhRE3xb9pqwoV7AUWvqkH3J4N91hDllQOynl48SSFA2FBU5ZrBWVFbiVxQgq1zuU0h6fWFwfEo+fZwpxU/vMobXHPrCXdvoN64SdjgnJe69tinU0wBHa3Il2scwNTSZkmq0oLiCcxQmyk5+CXWMawpb8cBLPdq8carDIL5AihL2TAHM+yFqXIZc/rUnttqBfK55CqqrmXgL5hLfxKW7vc4huPmMbfMKd+APv2+vjaO00arw4nYlTVfiCE9w6CyNcIWNlGgzGrh5scN+QP9TS8jfTojuPbChoMgMrbOAvjL3f01poFFYVLifU6R4QucKBFJi9q9Y04Uw2bjudY4ihj3CEMbmrSC7aAuzO1IzTYAOnWYQeetiqIgwzSvLNyK5OHywe+M+WYCzkwknHXU3kCnYHeXudGc3IYYdJd9VLMD8RI8QI7a/rEnEpC7PcHuP+ilTqzEcVu3SICcqLfw4XtKr6IcV/59JGZMUlzn48iL6UcG0+kTRVLDx/0CnCoKQ6q1QFtt1yrtbmQYePejuH70+lMGObVUFBSxAwa1NBZQ91x1tMB+u/kbfLSsbqSuMXp3BZGljOEIZsY68U8HgZQ8rSjft5M97P5jKjCmDSQyyleAEB4swZCYRz5/Z8ABM3IvMDTbnoHACtjE+VhdQlV/sVQEvQt45TNai4IMiSmBs+fHxqDU+g18Y9JUMoipqqADzQe4SMSZ3gnF4P+lM4Rsee658xq/+Zi8q4bH4a+DjoDep+8z4plx/ORo4Xn3thOKpPDTiLw4cK5HzvhrG/i+Ux4arxxZ3vBDxExvAL4Y79LeKZG3PipADrTRUOP+nlGUB+OUoK51n4k7NsfMPum4y7DJedm5IJEGGPaUbxucb1SQh6Af9FvlUlcVVFts9DwpmRXlym6py1PBwNaMcCzgZlDYkQx1fVmEtI67YFUqAKZ+0eqgKhndBU+ztRBpBwz+M/iww8o0fd+AJHU8I1oNTz+KQBwgzZxMVnhWKEMk/UCg6iVXLmmTBNZBquYQnqUFwQm8CTFEqS9tGJWZacSqB/j+tVXPw7Ex2fESXfMXLuJwcAGvoxrKKskv3SgFP+NkIXfscRXyRIHmxP1C+6aEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019J7GV9QNRvJ5fhYccXd6LP",
      "input": {
        "note": "From above, the brick lies just left of the pot handle with its long axis nearly along base x, about 9 cm ahead and 2 cm left of the grasp point. Moving over it at z=0.10 with forward pitch for reach, yaw ≈ -0.1 to match its slight tilt.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.235,
          "left_yaw": -0.1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019J7GV9QNRvJ5fhYccXd6LP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8051, 1.5711, 0.9913, -0.0696, -0.5941, -0.1719, 0.9935, -0.0216, 0.8371, 0.5941, -0.4793, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3722 left_y=-0.2393 left_z=0.1612 left_yaw=-0.2447 left_pitch=0.0246 left_roll=0.2214 left_gripper=0.9935 right_x=0.2807 right_y=0.0004 right_z=0.1444 right_yaw=-0.0014 right_pitch=-0.1514 right_roll=0.0054 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -8.3624, 7.6103, 1.7851, -0.1001, 0.1587, -0.6667, -0.0752, -1.6068, 6.9128, 1.5751, -0.0073, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7aa452da93e192f8bd55b3afd673af1cec50f5bee0e4687e0705d4201979cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a830de885c4d886ab01cd6893c1b66040260f592cce7ac54599a9994ec917f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95eed540596d8533ff146900489a8164bfc92b6aeb3f62a726cf8d4d7a1b5c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 10.68 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1093, 2.2707, 1.4685, 0.0288, 1.1286, 1.0588, 0.9934, -0.0219, 0.8307, 0.5945, -0.4721, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4877 left_y=-0.2105 left_z=0.0779 left_yaw=-1.5563 left_pitch=0.226 left_roll=0.3558 left_gripper=0.9934 right_x=0.2818 right_y=0.0003 right_z=0.1476 right_yaw=-0.0016 right_pitch=-0.1373 right_roll=0.0048 right_gripper=0.9986\nstate[joint_eff]: [-0.1573, -12.041, 7.3231, 1.1893, 0.525, 0.1685, -0.4274, -0.1983, -1.4017, 7.1179, 1.5897, -0.0415, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.849, 1.5291, 1.1038, -0.2375, -0.5945, -0.141, 0.9934, -0.0219, 0.8349, 0.5941, -0.4793, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3595 left_y=-0.2532 left_z=0.1963 left_yaw=-0.3045 left_pitch=0.0092 left_roll=0.255 left_gripper=0.9934 right_x=0.2807 right_y=0.0003 right_z=0.145 right_yaw=-0.0015 right_pitch=-0.1491 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -6.735, 7.4735, 1.2283, -0.4029, 0.0366, -0.3883, -0.3761, -1.5658, 7.1316, 1.6435, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8051, 1.5711, 0.9913, -0.0696, -0.5941, -0.1719, 0.9935, -0.0216, 0.8371, 0.5941, -0.4793, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3722 left_y=-0.2393 left_z=0.1612 left_yaw=-0.2447 left_pitch=0.0246 left_roll=0.2214 left_gripper=0.9935 right_x=0.2807 right_y=0.0004 right_z=0.1444 right_yaw=-0.0014 right_pitch=-0.1514 right_roll=0.0054 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -8.3624, 7.6103, 1.7851, -0.1001, 0.1587, -0.6667, -0.0752, -1.6068, 6.9128, 1.5751, -0.0073, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db7aa452da93e192f8bd55b3afd673af1cec50f5bee0e4687e0705d4201979cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a830de885c4d886ab01cd6893c1b66040260f592cce7ac54599a9994ec917f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95eed540596d8533ff146900489a8164bfc92b6aeb3f62a726cf8d4d7a1b5c80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwoKEAgRGAI4AUIIdGhpbmtpbmcSDB27qq9cRbFjsDR0ShoMWuwYoJTR0WHo5Lo+IjDM9r3i3X3uQPbZEf2Xgc+G4VuAUHp5pfY5X1m80mtrOBBa6tWFaE0ANDtEWUzlAkEqqAmsriKPgE387j/rRmpcF78W2NmMmaflxtPDOUmNoHCUVCT08qgMBxseCsVZNU8ZKG/H+sWs2kutCJZo9yIqc7IXL1VhjZpgbVXmMt8lTp54IAMm1RmaFiknLuCQL1rpU867Z8lVfToJ0sxqbBliCgiCDZ/38AOZ8I/HwGJZJHlD5pCWGIjoYQR7+4F/+zARq8SFF2xe5B5wI9qlxWoi6ErJT9fqt38JFPfqHR0s+4h41WTQir56f4epentBbyYcueCXKVnCZSx5osYl9VkP9N8/CyM1S6ozdNd6/rNIzx0goiMLVg5TlxwM9to30uolcoQLH7aHhasqkVBlN0lIbGKwicMHDr8oovcyj9WxDJmN49HBr90LPy6MA7MVPib6tVQwM/Lr2Dc1uUZiEFp93UJ7x2cSGFN655qq0LudX4gj4fjJwuPng8xhupvuNSRwS4wSQ1RrW7jyAshontSf85Kk0bZEOEd6n5F7tKgP5Ff5ULD02do0fb1sW90jYp0Q54Gn4pA56TfTyu1Xl12MtreFv67fJakDoJYZkfqjnTgGRTdZXlk2sCzNEG4LW2pLAP7n6EAREmcbF0XLo/4ieNmpqowF8lbYAK9b8sGyk00vlQfva1gaPzIyr5MhzHUPYLkwArQT1KO3wrzBo5ZeAkfyvFKVt14Wh6/ZtlmGAs5XWLhnD+BFesATuQKxzwLSYYDkcbe9SAT4fiGvjL+vG5NgGauQzhcZKuLoFVGAoI+Ij8MNTqWufhZZVWBQKHMLMXJvNEyfoeEOJeeFUd3BfkOXUuGje625tR4iR4uWK7Q3uET1qlpTUnN2xFAbWeOLz289pAB5TKSlgeKyxIv6Fl3GtQTU0XTs8vSRP0excAc9IC8EF4A7b5hFSfY6ZNMxkB8gQPxa3z/SqBjVAN53DndgNeH0ehFNdiERYnEywUmOhXLQMJX37dNsfTwL04TKs+p9E06AtDYlCyyKvINClSoTV9PjSgvsjRnAz12SpZSWGPmsVtK8GG5Ow6G1fGNPufdVLhxEoY7iy4uJflIdDvIlZDT6SxKImc73njnF6okMaT5VfwSnwwZB9NadkvTf2k6W3Kc54hQRnaV/U/8EqU2e9aaMnDLEaCIEJf3KB8gp3HBq3l/varB9zsVtqQoc+9mbFjYvpiheI3hhK0zzFibovdtsMQw17tT2bu3IFKWCIc3p+MZAjoMc6vYDXsejJHtnIB0pMZzkhqUZxC5Zzs887xg338U5bwaH9GNUOsBf/15dANBPhEGs+kHbUlK3VzFPLgpv1ualfTCHe3C0/p/cBER2MwZK0FD8ZFE8UGXbQtxNhQpQ048J0mH0MEh7PRvWRaGVniGC0dgCIE55yIZ1xhxIEXRnfG2/fVv58KK0ReiEhKH9hqmEyRax1hgz1kBkDfa3z18bLyOL1b3pQVTRgCTc68Pe8FYOpFq1Q7ORg7bwZ/MOGK/sR1X8UoY4jP1KRkhKKd1sWdY17NAYAEQzZM3jr9nHDoxQTHugt1upkYr9DeNVdnq+sFLiOml2Grycp4hI99mFlKPFLeLgxhHhJV/BOAWQ3SgU7R1KTxT9Jq9MEPN6B6r9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LW5YgRMooWPFS2f8gnL4Bg",
      "input": {
        "note": "The arm only tracked part of the way (x=0.37, z=0.16), but the brick is now centred on the jaw column just ahead of the fingertips. Continuing forward and down to z=0.03 over the brick's middle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.235,
          "left_yaw": -0.1,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LW5YgRMooWPFS2f8gnL4Bg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7013, 2.1597, 0.8021, 0.9154, -0.5934, -0.1989, 0.9934, -0.0219, 0.8402, 0.5945, -0.4828, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4274 left_y=-0.227 left_z=0.0123 left_yaw=-0.1143 left_pitch=0.2009 left_roll=0.0836 left_gripper=0.9934 right_x=0.2803 right_y=0.0003 right_z=0.1432 right_yaw=-0.0017 right_pitch=-0.1575 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -9.6752, 5.6957, 1.5067, 0.3687, -0.2759, -0.4615, -0.1299, -1.6889, 7.2137, 1.5995, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3995231dcc21bf88cac6010ee60b825ce47296e33bd5ff9b2fe8c327076a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c40cc0668e90e544e412c7dd228a4e70afce4127d82c9511f0eebfd41911b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:208b4f3a6545c87d684f1728a8055cb6c936e0ee2adcb3e75dee4ff1e2744e18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 18.05 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.849, 1.5291, 1.1038, -0.2375, -0.5945, -0.141, 0.9934, -0.0219, 0.8349, 0.5941, -0.4793, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3595 left_y=-0.2532 left_z=0.1963 left_yaw=-0.3045 left_pitch=0.0092 left_roll=0.255 left_gripper=0.9934 right_x=0.2807 right_y=0.0003 right_z=0.145 right_yaw=-0.0015 right_pitch=-0.1491 right_roll=0.0051 right_gripper=0.9986\nstate[joint_eff]: [-0.1299, -6.735, 7.4735, 1.2283, -0.4029, 0.0366, -0.3883, -0.3761, -1.5658, 7.1316, 1.6435, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8051, 1.5711, 0.9913, -0.0696, -0.5941, -0.1719, 0.9935, -0.0216, 0.8371, 0.5941, -0.4793, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3722 left_y=-0.2393 left_z=0.1612 left_yaw=-0.2447 left_pitch=0.0246 left_roll=0.2214 left_gripper=0.9935 right_x=0.2807 right_y=0.0004 right_z=0.1444 right_yaw=-0.0014 right_pitch=-0.1514 right_roll=0.0054 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -8.3624, 7.6103, 1.7851, -0.1001, 0.1587, -0.6667, -0.0752, -1.6068, 6.9128, 1.5751, -0.0073, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7013, 2.1597, 0.8021, 0.9154, -0.5934, -0.1989, 0.9934, -0.0219, 0.8402, 0.5945, -0.4828, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4274 left_y=-0.227 left_z=0.0123 left_yaw=-0.1143 left_pitch=0.2009 left_roll=0.0836 left_gripper=0.9934 right_x=0.2803 right_y=0.0003 right_z=0.1432 right_yaw=-0.0017 right_pitch=-0.1575 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -9.6752, 5.6957, 1.5067, 0.3687, -0.2759, -0.4615, -0.1299, -1.6889, 7.2137, 1.5995, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd3995231dcc21bf88cac6010ee60b825ce47296e33bd5ff9b2fe8c327076a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c40cc0668e90e544e412c7dd228a4e70afce4127d82c9511f0eebfd41911b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:208b4f3a6545c87d684f1728a8055cb6c936e0ee2adcb3e75dee4ff1e2744e18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbKwUqXo57em79bC2DFs97",
      "input": {
        "note": "The brick fills the wrist view between the open jaws at table level with its near end right at the fingertips. Advancing 2–3 cm onto its middle while closing the gripper.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.3,
          "left_x": 0.455,
          "left_y": -0.23,
          "left_yaw": -0.1,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LbKwUqXo57em79bC2DFs97",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6834, 2.2723, 0.868, 1.071, -0.6098, -0.1486, 0.0098, -0.0219, 0.8436, 0.5945, -0.4831, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4488 left_y=-0.2304 left_z=0.0119 left_yaw=-0.095 left_pitch=0.2927 left_roll=0.0758 left_gripper=0.0098 right_x=0.2804 right_y=0.0004 right_z=0.1422 right_yaw=-0.0014 right_pitch=-0.1613 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [0.5538, -8.5675, 5.8325, 1.8193, -0.0513, 0.1538, 0.7839, -0.0205, -1.5658, 6.9265, 1.6142, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8542d180cd7eb469eb6804f5028800f47c12bcdf771db30278ba8dc6e9ace8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec8dd546960eacedee66c994cc856c25bdd1fd59026e63eb3c60659b0a0c0147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f4ebf6f8840a299e00987c1dc0f03e5d7e7cfcb43846a84981ca6b95e4f85d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.378 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8051, 1.5711, 0.9913, -0.0696, -0.5941, -0.1719, 0.9935, -0.0216, 0.8371, 0.5941, -0.4793, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.3722 left_y=-0.2393 left_z=0.1612 left_yaw=-0.2447 left_pitch=0.0246 left_roll=0.2214 left_gripper=0.9935 right_x=0.2807 right_y=0.0004 right_z=0.1444 right_yaw=-0.0014 right_pitch=-0.1514 right_roll=0.0054 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -8.3624, 7.6103, 1.7851, -0.1001, 0.1587, -0.6667, -0.0752, -1.6068, 6.9128, 1.5751, -0.0073, -0.0269, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7013, 2.1597, 0.8021, 0.9154, -0.5934, -0.1989, 0.9934, -0.0219, 0.8402, 0.5945, -0.4828, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4274 left_y=-0.227 left_z=0.0123 left_yaw=-0.1143 left_pitch=0.2009 left_roll=0.0836 left_gripper=0.9934 right_x=0.2803 right_y=0.0003 right_z=0.1432 right_yaw=-0.0017 right_pitch=-0.1575 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -9.6752, 5.6957, 1.5067, 0.3687, -0.2759, -0.4615, -0.1299, -1.6889, 7.2137, 1.5995, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6834, 2.2723, 0.868, 1.071, -0.6098, -0.1486, 0.0098, -0.0219, 0.8436, 0.5945, -0.4831, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4488 left_y=-0.2304 left_z=0.0119 left_yaw=-0.095 left_pitch=0.2927 left_roll=0.0758 left_gripper=0.0098 right_x=0.2804 right_y=0.0004 right_z=0.1422 right_yaw=-0.0014 right_pitch=-0.1613 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [0.5538, -8.5675, 5.8325, 1.8193, -0.0513, 0.1538, 0.7839, -0.0205, -1.5658, 6.9265, 1.6142, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d8542d180cd7eb469eb6804f5028800f47c12bcdf771db30278ba8dc6e9ace8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec8dd546960eacedee66c994cc856c25bdd1fd59026e63eb3c60659b0a0c0147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4ebf6f8840a299e00987c1dc0f03e5d7e7cfcb43846a84981ca6b95e4f85d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ZDZ3XHTYP9ocrGgKKoe4w",
      "input": {
        "note": "Empty close again—the jaws shut just short of the brick's near edge, so advancing at table height keeps pushing it away. Opening, lifting to 6 cm and moving 3 cm further forward so I can descend directly onto the brick's near section.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.35,
          "left_x": 0.48,
          "left_y": -0.23,
          "left_yaw": -0.1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012ZDZ3XHTYP9ocrGgKKoe4w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6373, 2.236, 0.9298, 0.9878, -0.5892, -0.1127, 0.9923, -0.0216, 0.8436, 0.5941, -0.4923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4714 left_y=-0.2224 left_z=0.0312 left_yaw=-0.0842 left_pitch=0.2998 left_roll=0.0977 left_gripper=0.9923 right_x=0.2788 right_y=0.0004 right_z=0.1403 right_yaw=-0.0011 right_pitch=-0.1709 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.4991, -13.9966, 6.4342, 1.7851, 0.0952, 0.1538, -0.4176, -0.1026, -1.1829, 6.9402, 1.6777, -0.0562, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71be00707519c5ebed398f19eab65cfd51df2ff63036997030d6014774768a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3217149d86abb47c983131b5b4e198a18b45a30b3d38ddfe469348de630c465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:97f330c206e78635a575cd9739a5e56e4b2180f5ff0fb95d7b59aaf2f70737a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 27.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7013, 2.1597, 0.8021, 0.9154, -0.5934, -0.1989, 0.9934, -0.0219, 0.8402, 0.5945, -0.4828, -0.0162, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4274 left_y=-0.227 left_z=0.0123 left_yaw=-0.1143 left_pitch=0.2009 left_roll=0.0836 left_gripper=0.9934 right_x=0.2803 right_y=0.0003 right_z=0.1432 right_yaw=-0.0017 right_pitch=-0.1575 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.7863, -9.6752, 5.6957, 1.5067, 0.3687, -0.2759, -0.4615, -0.1299, -1.6889, 7.2137, 1.5995, -0.0122, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6834, 2.2723, 0.868, 1.071, -0.6098, -0.1486, 0.0098, -0.0219, 0.8436, 0.5945, -0.4831, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4488 left_y=-0.2304 left_z=0.0119 left_yaw=-0.095 left_pitch=0.2927 left_roll=0.0758 left_gripper=0.0098 right_x=0.2804 right_y=0.0004 right_z=0.1422 right_yaw=-0.0014 right_pitch=-0.1613 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [0.5538, -8.5675, 5.8325, 1.8193, -0.0513, 0.1538, 0.7839, -0.0205, -1.5658, 6.9265, 1.6142, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6373, 2.236, 0.9298, 0.9878, -0.5892, -0.1127, 0.9923, -0.0216, 0.8436, 0.5941, -0.4923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4714 left_y=-0.2224 left_z=0.0312 left_yaw=-0.0842 left_pitch=0.2998 left_roll=0.0977 left_gripper=0.9923 right_x=0.2788 right_y=0.0004 right_z=0.1403 right_yaw=-0.0011 right_pitch=-0.1709 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.4991, -13.9966, 6.4342, 1.7851, 0.0952, 0.1538, -0.4176, -0.1026, -1.1829, 6.9402, 1.6777, -0.0562, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71be00707519c5ebed398f19eab65cfd51df2ff63036997030d6014774768a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3217149d86abb47c983131b5b4e198a18b45a30b3d38ddfe469348de630c465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97f330c206e78635a575cd9739a5e56e4b2180f5ff0fb95d7b59aaf2f70737a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6AgKEAgRGAI4AUIIdGhpbmtpbmcSDMbjU2GmOR2/F5YezBoMomiUZmSOTrOXpcFWIjCUpF7Dz2yxQybnwglrBiKIZCXPNRl3rfX5hxmx1o9URwwdpspZ9xxFGOzq15uurjUqhQjJjC+9IbCzF6ytKcegRz1EnDQA/XtUxyQPpRvjnQzuJ8MbcvB7v719qeGyaa8O+LGQ+l2KGjB20pOSV5EDSWubiHwfkdIjsIPmcqzH5rPe4cKq3XuRFKFBj0vJEB0pbNb67JplgV9m7eErACbS66FNhfBa4lo7rw6KRiiQIpc8ev6LWMtcoxX0sFkWtI6IhkNw/PpTbUhC7BerrQf05DYuWVpODwRyRDesoq/N+tsiTz7Ca8bVSzdDQCm2aFJXwo6lpEYOrRKQiw63lQ1ytLfvLMuDaQFj+BARaDPlpQ+/q6asHfYhT5Jm+kBEEgqKkFO0wWwrCekMQGO5vKDArK/2X+P4Oh3F9yHrlfXfF8FVhAYDaMH3sNrsVUwYDgMXAynfk2kYTnsRpR8aB3X/cfnKwasxbGy2EtNyc8ZSamyifK52OkscwHj5/LIVXup+UYmnu2rM8/rvXbI3A9iAGKZ1bjDLc3KrH1kf+BTLD/ySdpr5N/qPBhu20HxXOcgdGRIfkOEiD9B+pi9kqIQBuxgxa8wpHIrz4S9Ep6tUICz3zgNyc3AZpqPe7ZeJT9t1qC8IrjHTdMcWzwpKYUHyyyM1Q5OS2dPGcQhLOahCeDzLkSQ4AY2edXytPC4DD7//j1/VVbKZ3sEpZfx1CNveO/Sfpn2RzTuYzar+xwSGnadKnGb7SX1oQjUZVmoY8kgruaOp3P7mjvNdVBDG6Ry1zSGW6od8wKTS+Xi7USO+uUzJWK0NTkxOxNd84ng++V0VrAihGe9Jeku8a2Iw5LKuzWT744nS5wxEy5NxBOromW/1DeuW9g4YDRvm3WNyEa+qL9unuKYaV6I8ieM9x//UshmZK1Of82shuT3kQf8NdoMH+HxfEDawuTQ3irS5Qm4icnavskazQ7j3oG9bOC1mvwycfaDs/i6DqXZbGQXsAy2zaMyqavXP4UhgZmpxawwHyvSmPZ0zGA+kjPMb3UC9KfrUwcRyosabYTm5TxrFdL14GaPXIOo22b8eTaVTj+XAi455ycSVrYaYF+OrkMzCdEa/+xExYp/YS/1Buc0wp/8/ZvEBWlKJY7cnKi/dokXoiKKKR9Ap+l+3XX/eZv7ykpMQbduKfTQgsAMpxL+pifkkE16Nmy3CvK+XS8pYHlW7/2Q3uBDDAqfNh35tZpNDzwaP9Z1N6tfH4rzKyMGGlyL3oINfpfc+GGoPZZCWd2u/m5DYOiHhGJjxn4VO316a4v33QwaIDcVjAFSeKKVI3aQSoAzzRZATU/GGb2nM2c+MMn4Nl/OotZRn3DrTKfV40QP+iYQDCuIiIxqnMONQTrfy7fHc/puuyUxMu4Wg3NhJm1TwC6b18EwjGHu57nHJYWeQQoUs7y8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K1uJHbz7p7K9636147R7m8",
      "input": {
        "note": "The brick now sits between the open jaws, spanning the wrist view up from the fingertips. Descending to table level and closing on it.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.35,
          "left_x": 0.475,
          "left_y": -0.225,
          "left_yaw": -0.1,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K1uJHbz7p7K9636147R7m8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.635, 2.3577, 0.955, 1.2419, -0.5991, -0.086, 0.0098, -0.0219, 0.8436, 0.5945, -0.4976, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4803 left_y=-0.2257 left_z=0.0326 left_yaw=-0.0559 left_pitch=0.433 left_roll=0.0374 left_gripper=0.0098 right_x=0.278 right_y=0.0004 right_z=0.1395 right_yaw=-0.0014 right_pitch=-0.1758 right_roll=0.0056 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -7.9111, 3.9179, 1.0379, 0.1685, 0.0904, 0.7888, -0.1709, -1.4701, 6.8581, 1.6337, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d8e1de5a0f2c0e5a0e611f7f9bf60519c097ac08fb9ed1431c0f9beae2054bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d4d08e566ace3ce3742be013313feae7bd70ddcc233e06919cb782467066dc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5df47cbc48aa04537a645ea65bda0e61a16f18f891e8074f4ddcc0dc155defb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 7.449 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6834, 2.2723, 0.868, 1.071, -0.6098, -0.1486, 0.0098, -0.0219, 0.8436, 0.5945, -0.4831, -0.0166, -0.0307, 0.9986]\nstate[eef_state]: left_x=0.4488 left_y=-0.2304 left_z=0.0119 left_yaw=-0.095 left_pitch=0.2927 left_roll=0.0758 left_gripper=0.0098 right_x=0.2804 right_y=0.0004 right_z=0.1422 right_yaw=-0.0014 right_pitch=-0.1613 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [0.5538, -8.5675, 5.8325, 1.8193, -0.0513, 0.1538, 0.7839, -0.0205, -1.5658, 6.9265, 1.6142, -0.0659, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6373, 2.236, 0.9298, 0.9878, -0.5892, -0.1127, 0.9923, -0.0216, 0.8436, 0.5941, -0.4923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4714 left_y=-0.2224 left_z=0.0312 left_yaw=-0.0842 left_pitch=0.2998 left_roll=0.0977 left_gripper=0.9923 right_x=0.2788 right_y=0.0004 right_z=0.1403 right_yaw=-0.0011 right_pitch=-0.1709 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.4991, -13.9966, 6.4342, 1.7851, 0.0952, 0.1538, -0.4176, -0.1026, -1.1829, 6.9402, 1.6777, -0.0562, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.635, 2.3577, 0.955, 1.2419, -0.5991, -0.086, 0.0098, -0.0219, 0.8436, 0.5945, -0.4976, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4803 left_y=-0.2257 left_z=0.0326 left_yaw=-0.0559 left_pitch=0.433 left_roll=0.0374 left_gripper=0.0098 right_x=0.278 right_y=0.0004 right_z=0.1395 right_yaw=-0.0014 right_pitch=-0.1758 right_roll=0.0056 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -7.9111, 3.9179, 1.0379, 0.1685, 0.0904, 0.7888, -0.1709, -1.4701, 6.8581, 1.6337, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d8e1de5a0f2c0e5a0e611f7f9bf60519c097ac08fb9ed1431c0f9beae2054bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d4d08e566ace3ce3742be013313feae7bd70ddcc233e06919cb782467066dc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df47cbc48aa04537a645ea65bda0e61a16f18f891e8074f4ddcc0dc155defb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y6sNGP1E7XcZCCCYXftn53",
      "input": {
        "note": "The arm cannot descend at this reach (z stuck at 0.03), so the brick (x≈0.50) is just beyond a top-down grasp. I'll press the closed fingertips down onto the brick's near end and then drag it back toward the base into reach.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.5,
          "left_x": 0.5,
          "left_y": -0.225,
          "left_yaw": -0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Y6sNGP1E7XcZCCCYXftn53",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6231, 2.4424, 1.0374, 1.3537, -0.5983, -0.0666, 0.0074, -0.0219, 0.8455, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4968 left_y=-0.2301 left_z=0.0394 left_yaw=-0.025 left_pitch=0.5238 left_roll=-0.0092 left_gripper=0.0074 right_x=0.2779 right_y=0.0004 right_z=0.1389 right_yaw=-0.0011 right_pitch=-0.1785 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [1.265, -9.1009, 3.7128, 1.0037, 0.1294, 0.1832, 0.7595, -0.1026, -1.0188, 7.0359, 1.5458, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a0133e6e6ca6408835b60624b71d1b18afa71b96ac1e287d50056b95c46fe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e84e913f4d251edb9735aa00b44d746fa33f7dc6d3153f51fd7c52ee6cf2201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:393fd2908b9506835c4d2abb041581189f34ba7ce16fe6b98fd901cb2649561b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 16.48 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6373, 2.236, 0.9298, 0.9878, -0.5892, -0.1127, 0.9923, -0.0216, 0.8436, 0.5941, -0.4923, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4714 left_y=-0.2224 left_z=0.0312 left_yaw=-0.0842 left_pitch=0.2998 left_roll=0.0977 left_gripper=0.9923 right_x=0.2788 right_y=0.0004 right_z=0.1403 right_yaw=-0.0011 right_pitch=-0.1709 right_roll=0.0055 right_gripper=0.9986\nstate[joint_eff]: [0.4991, -13.9966, 6.4342, 1.7851, 0.0952, 0.1538, -0.4176, -0.1026, -1.1829, 6.9402, 1.6777, -0.0562, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.635, 2.3577, 0.955, 1.2419, -0.5991, -0.086, 0.0098, -0.0219, 0.8436, 0.5945, -0.4976, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4803 left_y=-0.2257 left_z=0.0326 left_yaw=-0.0559 left_pitch=0.433 left_roll=0.0374 left_gripper=0.0098 right_x=0.278 right_y=0.0004 right_z=0.1395 right_yaw=-0.0014 right_pitch=-0.1758 right_roll=0.0056 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -7.9111, 3.9179, 1.0379, 0.1685, 0.0904, 0.7888, -0.1709, -1.4701, 6.8581, 1.6337, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6231, 2.4424, 1.0374, 1.3537, -0.5983, -0.0666, 0.0074, -0.0219, 0.8455, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4968 left_y=-0.2301 left_z=0.0394 left_yaw=-0.025 left_pitch=0.5238 left_roll=-0.0092 left_gripper=0.0074 right_x=0.2779 right_y=0.0004 right_z=0.1389 right_yaw=-0.0011 right_pitch=-0.1785 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [1.265, -9.1009, 3.7128, 1.0037, 0.1294, 0.1832, 0.7595, -0.1026, -1.0188, 7.0359, 1.5458, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a0133e6e6ca6408835b60624b71d1b18afa71b96ac1e287d50056b95c46fe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e84e913f4d251edb9735aa00b44d746fa33f7dc6d3153f51fd7c52ee6cf2201",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:393fd2908b9506835c4d2abb041581189f34ba7ce16fe6b98fd901cb2649561b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgcKEAgRGAI4AUIIdGhpbmtpbmcSDFWxrY6YPdkRxFELFBoMcp0ZfdmIUfUW+AeCIjDlI9HUh2pJsBTluoDNVHg7LgPcKfY5MS2Ayqm4dbkF0/IwPpwgsiodeQVqSyhnb9oqtwafdlnpsWFeh3LHX8pJudycMHnoh+9FdLKuK/efrobn2IDBu28rlQtEROqS0mASvyRZMD9qaOm6+JRFP3CKiE2mxlARa59GvnTfzswRofjqbCHSyw2Y72VstxfALwtq3iDd6p/zHOTkpWLlHMDXzFeU24NrWZzhWpMoNYqI8Mj/retS97GsbyP2BNqkeKfN7bDPVTbCVqb05gqG1OoDfLtoj5JjqMbgPrp43CMkkW287t2FwaEbvkWCABN548pCProk60CdGs4Gl+bf+Acl6s1PGHVC7f8A8DsWyDrjH51gaVGVbLGzHqaDcYgQIjOv/1+iO8yzZ0isi5iwddt5sWwXryv8IGQpSjRLS649351G08qhgsCPbeuthPd5G8ICccVgyQzr8eGQ56W4b5bTuCiomuG6VCQ02XTMDqxIq2zr/0NjB8JUBrNvU5Z6spXVNvbk8rF+8LaldWY5vdHXgAh/zRB8/qHzmxLZCZujz0mw4LQhjBGVCz/YImeBmK3jwg78Y6PQFi96ed4L9tFIVbG8Jpmh7enUQT23NttLmDDCeVLKrT6BEyenMOUUV6yyY70RZoShG7zIZqadgl0YR3l3vn7mcwZbbtmNIlkWZNMY9iv7BLd/IZfhEdYS6Ro2k1AZh2lP70FA8RCH8oZ/SGWvEeR5kjbshti33HfXKnsNtwATO+bPVaO8gHN+ou2BNBjF30GjSZ363vPq142FR+AFfbLl4oAfj8+kiu5BWn/qpmNRseSpB77XWIY+m8p4O7B2Zzk5sY+6R7K6Xp0cQVwoYbz+/kCgTcOq4GRQW3njtvmliFG0ckVPH2r95+3MK/VAmCJYcMzOTmiXdISVpgm6bV/bOTH+DUjfpV5Ea2N/EO9c0U6aKVkASMw2dmeJexLYeCDXYFXgN5Z5myy2iF1m8oE8iRsdYy/H/6/jtwilE7HQIDanll1j5n/mi6McnDUdDLSJ2WiyjqqUP2J0pwa2okHERM5DZmuKElvuKvpUbFaqnAE41V28esmRMRUI+oRgfyppJAUbQedU4Q0x7nBrhyoLj3YFPtVMjKM6dD22cbGPl64aZ2RIDmj77pVWp/autI1oKayaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R39i6B3pqc16XzVnk31CFQ",
      "input": {
        "note": "Fingertips are at x=0.50, z≈0.04, resting on top of the brick. Dragging back toward the base with downward pressure to pull the brick into reach.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.5,
          "left_x": 0.38,
          "left_y": -0.23,
          "left_yaw": -0.05,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R39i6B3pqc16XzVnk31CFQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6159, 2.4641, 1.05, 1.3956, -0.5972, -0.0486, 0.0074, -0.0216, 0.8467, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4999 left_y=-0.2277 left_z=0.0411 left_yaw=-0.0191 left_pitch=0.5509 left_roll=-0.0099 left_gripper=0.0074 right_x=0.2779 right_y=0.0005 right_z=0.1386 right_yaw=-0.0007 right_pitch=-0.1796 right_roll=0.006 right_gripper=0.9986\nstate[joint_eff]: [0.3077, -9.4974, 4.1641, 1.4481, 0.1245, 0.0562, 0.7546, -0.1026, -1.5521, 6.8991, 1.5409, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c90055c0c555855592cada1294ae6dcca11d0ea9b50c13609a5e1e3c231a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab102d6037cc484b389ba57ccfd63da716d9ddaf30199fcae1cd4384bd8999cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9544977a3038f9c69cd4f2a427e0abe6c5a2dfc7fafab4cf261e887243839df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 18.04 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.635, 2.3577, 0.955, 1.2419, -0.5991, -0.086, 0.0098, -0.0219, 0.8436, 0.5945, -0.4976, -0.0162, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4803 left_y=-0.2257 left_z=0.0326 left_yaw=-0.0559 left_pitch=0.433 left_roll=0.0374 left_gripper=0.0098 right_x=0.278 right_y=0.0004 right_z=0.1395 right_yaw=-0.0014 right_pitch=-0.1758 right_roll=0.0056 right_gripper=0.9986\nstate[joint_eff]: [-0.294, -7.9111, 3.9179, 1.0379, 0.1685, 0.0904, 0.7888, -0.1709, -1.4701, 6.8581, 1.6337, -0.0317, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6231, 2.4424, 1.0374, 1.3537, -0.5983, -0.0666, 0.0074, -0.0219, 0.8455, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4968 left_y=-0.2301 left_z=0.0394 left_yaw=-0.025 left_pitch=0.5238 left_roll=-0.0092 left_gripper=0.0074 right_x=0.2779 right_y=0.0004 right_z=0.1389 right_yaw=-0.0011 right_pitch=-0.1785 right_roll=0.0059 right_gripper=0.9986\nstate[joint_eff]: [1.265, -9.1009, 3.7128, 1.0037, 0.1294, 0.1832, 0.7595, -0.1026, -1.0188, 7.0359, 1.5458, -0.0513, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6159, 2.4641, 1.05, 1.3956, -0.5972, -0.0486, 0.0074, -0.0216, 0.8467, 0.5945, -0.4984, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.4999 left_y=-0.2277 left_z=0.0411 left_yaw=-0.0191 left_pitch=0.5509 left_roll=-0.0099 left_gripper=0.0074 right_x=0.2779 right_y=0.0005 right_z=0.1386 right_yaw=-0.0007 right_pitch=-0.1796 right_roll=0.006 right_gripper=0.9986\nstate[joint_eff]: [0.3077, -9.4974, 4.1641, 1.4481, 0.1245, 0.0562, 0.7546, -0.1026, -1.5521, 6.8991, 1.5409, -0.0464, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c90055c0c555855592cada1294ae6dcca11d0ea9b50c13609a5e1e3c231a8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab102d6037cc484b389ba57ccfd63da716d9ddaf30199fcae1cd4384bd8999cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9544977a3038f9c69cd4f2a427e0abe6c5a2dfc7fafab4cf261e887243839df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CA3XTed9aEz4UuMM8vc582",
      "input": {
        "note": "The arm froze again at x≈0.50 without dragging the brick; it is reach-limited there. Retracting the left arm up and back to a safe pose before concluding.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01CA3XTed9aEz4UuMM8vc582",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7929, 1.1717, 0.7414, -0.2455, -0.651, -0.5068, 0.9934, -0.0219, 0.8494, 0.5941, -0.5014, -0.0166, -0.0311, 0.9986]\nstate[eef_state]: left_x=0.3101 left_y=-0.1571 left_z=0.176 left_yaw=-0.0111 left_pitch=0.0453 left_roll=-0.0243 left_gripper=0.9934 right_x=0.2774 right_y=0.0004 right_z=0.1372 right_yaw=-0.0011 right_pitch=-0.1857 right_roll=0.0061 right_gripper=0.9986\nstate[joint_eff]: [-0.4855, -4.5197, 9.3607, 1.6093, -0.3053, -0.0806, -0.6325, -0.1436, -1.7026, 6.8991, 1.6435, -0.0562, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6df8bdc5233cdcc2c52d2201c06bbbb839c18eb8067321fa157460cb051866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670c8a94d2637cad84ff79bfec171af0c1ec10e60fc4501bf1278b4cfea81f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bff3d8c1004b7795c0de1d2d6a4ab29544219bca65fa66d1d1370ec8761019b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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