adhoc

completed
2026-09-18T05:59:41.505207+00:00 inspect-robots 0.58.0git unknown
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
147.8 s
total steps
124
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows the black brick just right of the pot, roughly 24 cm left of the right arm and slightly forward. Flying the right arm above the brick with the gripper open to check alignment in the wrist camera.
move_to
right_x0.3300right_y0.2400right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7952, 0.6048, -0.3786, -0.0223, -0.041, 0.9955, -0.0212, 0.7925, 0.6018, -0.3771, -0.0113, -0.0193, 0.9971] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9955 right_x=0.2948 right_y=-0.0007 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971 state[joint_eff]: [-0.6906, -1.6205, 10.1128, 1.7949, -0.0122, 0.2271, -0.4811, -0.4855, -1.3607, 10.2359, 1.9023, -0.1294, 0.105, -0.3199] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.24, "right_z": 0.15, "right_gripper": 1.0}, "note": "Top view shows the black brick just right of the pot, roughly 24 cm left of the right arm and slightly forward. Flying the right arm above the brick with the gripper open to check alignment in the wrist camera."})
tool
executing move_to over 21 steps (2.1s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteWrist camera shows the black brick centred on the jaw column and running under the fingertips, so alignment looks good. Descending to table level to grasp it across its width.
move_to
right_x0.3300right_y0.2400right_z0.0100right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3859, -0.0223, -0.0422, 0.9952, 0.907, 1.5349, 0.9424, -0.2565, 0.6968, 0.569, 0.9971] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1786 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9952 right_x=0.3225 right_y=0.2341 right_z=0.1347 right_yaw=0.0387 right_pitch=-0.0465 right_roll=-0.0396 right_gripper=0.9971 state[joint_eff]: [-0.1709, -1.6615, 6.9538, 1.7705, -0.022, -0.0464, -0.0415, 0.212, -6.8991, 8.9231, 1.4432, 0.5885, 0.1245, -0.3199] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.24, "right_z": 0.01, "right_gripper": 1.0}, "note": "Wrist camera shows the black brick centred on the jaw column and running under the fingertips, so alignment looks good. Descending to table level to grasp it across its width."})
tool
executing move_to over 9 steps (0.9s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteGripper is at table level with the brick filling the wrist view between the jaws. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.387, -0.0227, -0.0422, 0.9952, 0.9012, 1.8641, 0.7414, 0.2169, 0.6907, 0.5644, 0.9971] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0114 left_roll=-0.0005 left_gripper=0.9952 right_x=0.3237 right_y=0.2334 right_z=0.0078 right_yaw=0.0366 right_pitch=-0.087 right_roll=-0.0837 right_gripper=0.9971 state[joint_eff]: [-0.0205, -1.0735, 7.0222, 1.746, -0.0464, -0.0317, -0.022, -0.1709, -8.1162, 4.2462, 1.4823, 0.2515, -0.0562, -0.315] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Gripper is at table level with the brick filling the wrist view between the jaws. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteGripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 22 cm to clear the pot rim and confirm the brick came along.
move_to
right_z0.2200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0422, 0.9952, 0.902, 1.882, 0.7361, 0.2394, 0.6907, 0.5579, 0.7473] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9952 right_x=0.3234 right_y=0.2335 right_z=0.0026 right_yaw=0.0408 right_pitch=-0.0879 right_roll=-0.0894 right_gripper=0.7473 state[joint_eff]: [-0.2256, -1.5795, 7.241, 1.7167, -0.0513, -0.0659, -0.0171, -0.253, -9.6205, 5.0393, 1.0818, 0.2271, 0.0317, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 22 cm to clear the pot rim and confirm the brick came along."})
tool
executing move_to over 15 steps (1.5s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe brick is held at one end and sticks out ahead of the fingertips in the wrist view, so the grasp succeeded. Carrying it high over toward the pot, which sits about 18 cm left and 15 cm forward of the pick spot.
move_to
right_x0.4200right_y0.4000right_z0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9951, 0.902, 1.5589, 1.2266, -0.6861, 0.6388, 0.5491, 0.7472] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0172 left_roll=-0.0004 left_gripper=0.9951 right_x=0.3149 right_y=0.2344 right_z=0.1725 right_yaw=0.0674 right_pitch=-0.1944 right_roll=-0.1523 right_gripper=0.7472 state[joint_eff]: [-0.3761, -1.3197, 7.1726, 1.707, -0.0611, -0.0366, -0.0171, -0.2256, -10.6872, 10.7282, 1.6972, 0.7253, 0.0366, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.4, "right_z": 0.3, "right_gripper": 0.0}, "note": "The brick is held at one end and sticks out ahead of the fingertips in the wrist view, so the grasp succeeded. Carrying it high over toward the pot, which sits about 18 cm left and 15 cm forward of the pick spot."})
tool
executing move_to over 14 steps (1.4s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe gripper is now above the pot's right side with the brick pointing forward over the pot; the pot rim is visible at the top-left of the wrist view. Nudging a few cm further left and forward so the whole brick is over the pot opening before releasing.
move_to
right_x0.4300right_y0.4000right_z0.2200right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3939, -0.0227, -0.0456, 0.9951, 0.934, 2.5404, 2.8437, -1.5227, 0.5873, 0.5613, 0.7472] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1743 left_yaw=0.0032 left_pitch=-0.0274 left_roll=-0.003 left_gripper=0.9951 right_x=0.3899 right_y=0.3687 right_z=0.188 right_yaw=0.0811 right_pitch=-0.3614 right_roll=-0.2678 right_gripper=0.7472 state[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7314, -0.0855, -0.0073, -0.0073, -0.4444, -19.9179, 9.4427, 1.3602, 0.9646, 0.1001, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.4, "right_z": 0.22, "right_gripper": 0.0}, "note": "The gripper is now above the pot's right side with the brick pointing forward over the pot; the pot rim is visible at the top-left of the wrist view. Nudging a few cm further left and forward so the whole brick is over the pot opening before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteThe arm is at its stretch limit with the grasp point over the pot but the brick pointing forward toward the far rim. Raising slightly and yawing the wrist counterclockwise so the brick swings over the pot's centre.
move_to
right_yaw0.8000right_z0.2000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.049, 0.9951, 0.9066, 2.635, 2.891, -1.565, 0.5331, 0.5125, 0.7472] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0278 left_roll=-0.0059 left_gripper=0.9951 right_x=0.3946 right_y=0.3642 right_z=0.1457 right_yaw=0.0832 right_pitch=-0.4679 right_roll=-0.333 right_gripper=0.7472 state[joint_eff]: [-0.0342, -1.347, 7.3641, 1.6874, -0.0708, -0.0464, -0.0122, -0.9778, -19.6444, 6.3385, 1.2479, 0.6422, 0.0659, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.8, "right_z": 0.2, "right_gripper": 0.0}, "note": "The arm is at its stretch limit with the grasp point over the pot but the brick pointing forward toward the far rim. Raising slightly and yawing the wrist counterclockwise so the brick swings over the pot's centre."})
tool
executing move_to over 8 steps (0.8s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe wrist view now shows the brick entirely over the white interior of the pot and the top view has the gripper above the pot centre. Opening the gripper to drop the brick into the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9951, 0.8085, 2.6873, 3.1062, -1.597, 0.2306, -0.178, 0.7472] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.005 left_pitch=-0.0392 left_roll=-0.0056 left_gripper=0.9951 right_x=0.4059 right_y=0.3718 right_z=0.1588 right_yaw=0.6874 right_pitch=-0.6141 right_roll=-0.3327 right_gripper=0.7472 state[joint_eff]: [-0.0615, -1.2239, 6.9949, 1.7949, -0.0366, -0.0122, -0.0122, -0.335, -20.3556, 7.8154, 1.4432, 0.1685, -0.0122, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view now shows the brick entirely over the white interior of the pot and the top view has the gripper above the pot centre. Opening the gripper to drop the brick into the water."})
tool
executing move_to over 3 steps (0.3s)
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 gripper reading is still 0.75, so the open command was clamped before it took effect; the brick is still held over the pot. Re-sending the open command to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0494, 0.9951, 0.8051, 2.6881, 3.0741, -1.6012, 0.202, -0.2188, 0.7472] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0052 left_pitch=-0.0412 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4015 right_y=0.3717 right_z=0.1477 right_yaw=0.7373 right_pitch=-0.6608 right_roll=-0.3232 right_gripper=0.7472 state[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7607, -0.0366, -0.0562, -0.0122, 0.2393, -15.1043, 6.4889, 1.199, 0.4127, 0.1245, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). 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": {"right_gripper": 1.0}, "note": "The gripper reading is still 0.75, so the open command was clamped before it took effect; the brick is still held over the pot. Re-sending the open command to release it."})
tool
executing move_to over 3 steps (0.3s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe gripper still reads 0.75 and is not opening, possibly because the arm is strained at its reach limit. Pulling back slightly and raising while commanding the gripper open again.
move_to
right_x0.3800right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8047, 2.7201, 3.0856, -1.6001, 0.1986, -0.2134, 0.7472] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0052 left_pitch=-0.0415 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4028 right_y=0.3735 right_z=0.1341 right_yaw=0.7361 right_pitch=-0.6795 right_roll=-0.3184 right_gripper=0.7472 state[joint_eff]: [-0.1299, -1.2786, 6.9949, 1.6728, -0.0611, -0.0513, -0.0122, -0.0479, -14.7897, 8.6222, 1.1893, 0.1392, 0.0171, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.2, "right_gripper": 1.0}, "note": "The gripper still reads 0.75 and is not opening, possibly because the arm is strained at its reach limit. Pulling back slightly and raising while commanding the gripper open again."})
tool
executing move_to over 5 steps (0.5s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
The gripper has opened (reading 0.996) and the wrist camera shows the black brick lying inside the pot, floating on the water. Let me retract the arm so the top view confirms the result.
agent noteThe gripper opened and the wrist camera shows the black brick lying inside the pot on the water surface. Retracting the right arm toward home to clear the overhead view.
move_to
right_x0.3000right_y0.0500right_z0.2000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8379, 2.5839, 2.9143, -1.5833, 0.2039, -0.1982, 0.9959] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0052 left_pitch=-0.0431 left_roll=-0.0058 left_gripper=0.9951 right_x=0.3799 right_y=0.374 right_z=0.1572 right_yaw=0.7522 right_pitch=-0.6947 right_roll=-0.3202 right_gripper=0.9959 state[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.6923, -0.0317, -0.0757, -0.0122, 0.3897, -17.7436, 5.7915, 1.0476, 0.2613, 0.1636, -0.1929] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
The gripper has opened (reading 0.996) and the wrist camera shows the black brick lying inside the pot, floating on the water. Let me retract the arm so the top view confirms the result.
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The gripper opened and the wrist camera shows the black brick lying inside the pot on the water surface. Retracting the right arm toward home to clear the overhead view."})
tool
executing move_to over 27 steps (2.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
The overhead and left wrist cameras both show the black brick sitting inside the pot of water.
agent noteGrasped the black brick with the right arm across its width at (x≈0.32, y≈0.23), lifted it, carried it to the pot at about (x≈0.40, y≈0.37) in the right frame, yawed the wrist so the protruding brick was over the pot's centre, and released. Top and left wrist cameras confirm the brick is inside the pot.
done
hindsightA long object grasped at one end protrudes forward past the fingertips and IS visible in its own wrist camera, so don't take visibility as an empty grasp; the gripper reading (~0.75 for the ~7 cm brick) is the reliable check. Near y≈0.37 with x≈0.4 the right arm is at a strained pose: z sags to ~0.14-0.16 and pitch drifts to -0.6; gripper open commands got delta-clamped and did not take effect there until combined with a small retract move — if the gripper reading doesn't change after an open command, re-send it together with a modest position change. The pot in this layout was at roughly right (0.42, 0.40) / left (0.42, -0.25), rim height ~15 cm; the brick pick spot at right (0.32, 0.23) matched the top-cam estimate well using ~2.6 px/cm.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4084, -0.0227, -0.0494, 0.9951, 0.3416, 1.4105, 1.3548, -1.1824, 0.2985, 0.0265, 0.9969] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0052 left_pitch=-0.0438 left_roll=-0.0058 left_gripper=0.9951 right_x=0.3024 right_y=0.0562 right_z=0.1932 right_yaw=0.0157 right_pitch=-0.6217 right_roll=-0.3263 right_gripper=0.9969 state[joint_eff]: [-0.1026, -1.3744, 7.2, 1.7265, -0.0757, -0.0513, -0.0122, -0.2256, -6.8308, 6.2701, 0.8425, 0.1538, -0.0073, -0.3394] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
The overhead and left wrist cameras both show the black brick sitting inside the pot of water.
done({"summary": "Grasped the black brick with the right arm across its width at (x\u22480.32, y\u22480.23), lifted it, carried it to the pot at about (x\u22480.40, y\u22480.37) in the right frame, yawed the wrist so the protruding brick was over the pot's centre, and released. Top and left wrist cameras confirm the brick is inside the pot.", "hindsight": "A long object grasped at one end protrudes forward past the fingertips and IS visible in its own wrist camera, so don't take visibility as an empty grasp; the gripper reading (~0.75 for the ~7 cm brick) is the reliable check. Near y\u22480.37 with x\u22480.4 the right arm is at a strained pose: z sags to ~0.14-0.16 and pitch drifts to -0.6; gripper open commands got delta-clamped and did not take effect there until combined with a small retract move \u2014 if the gripper reading doesn't change after an open command, re-send it together with a modest position change. The pot in this layout was at roughly right (0.42, 0.40) / left (0.42, -0.25), rim height ~15 cm; the brick pick spot at right (0.32, 0.23) matched the top-cam estimate well using ~2.6 px/cm."})
tool
done: Grasped the black brick with the right arm across its width at (x≈0.32, y≈0.23), lifted it, carried it to the pot at about (x≈0.40, y≈0.37) in the right frame, yawed the wrist so the protruding brick was over the pot's centre, and released. Top and left wrist cameras confirm the brick is inside the pot.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 20.13 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, 0.7952, 0.6048, -0.3786, -0.0223, -0.041, 0.9955, -0.0212, 0.7925, 0.6018, -0.3771, -0.0113, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9955 right_x=0.2948 right_y=-0.0007 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6906, -1.6205, 10.1128, 1.7949, -0.0122, 0.2271, -0.4811, -0.4855, -1.3607, 10.2359, 1.9023, -0.1294, 0.105, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5a19a578431c0d166d504ade7749152ee4147fcd12973bc15e9e7ad8b201d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bcca46e3abfb53c6488253e6ca8049a7ca54ef2fdea6be84361b1fb654e8d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36bc12143a4d7c13c59bfecc3f7bdee657f57800ef6303c5363af8204be4108d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dc5a19a57843
wire blob e1bcca46e3ab
wire blob 36bc12143a4d
call 1 attempt 0 · /messages · status 200 · 7.842 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, 0.7952, 0.6048, -0.3786, -0.0223, -0.041, 0.9955, -0.0212, 0.7925, 0.6018, -0.3771, -0.0113, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9955 right_x=0.2948 right_y=-0.0007 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6906, -1.6205, 10.1128, 1.7949, -0.0122, 0.2271, -0.4811, -0.4855, -1.3607, 10.2359, 1.9023, -0.1294, 0.105, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc5a19a578431c0d166d504ade7749152ee4147fcd12973bc15e9e7ad8b201d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bcca46e3abfb53c6488253e6ca8049a7ca54ef2fdea6be84361b1fb654e8d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bc12143a4d7c13c59bfecc3f7bdee657f57800ef6303c5363af8204be4108d",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
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[blob e1bcca46e3ab]
[blob 36bc12143a4d]
{
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RpgySTvHRtvR8keVYqa9iG",
      "input": {
        "note": "Top view shows the black brick just right of the pot, roughly 24 cm left of the right arm and slightly forward. Flying the right arm above the brick with the gripper open to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.24,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01RpgySTvHRtvR8keVYqa9iG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3859, -0.0223, -0.0422, 0.9952, 0.907, 1.5349, 0.9424, -0.2565, 0.6968, 0.569, 0.9971]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1786 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9952 right_x=0.3225 right_y=0.2341 right_z=0.1347 right_yaw=0.0387 right_pitch=-0.0465 right_roll=-0.0396 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6615, 6.9538, 1.7705, -0.022, -0.0464, -0.0415, 0.212, -6.8991, 8.9231, 1.4432, 0.5885, 0.1245, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65dbe229dcb9a6f7a5250a469e18f9048ed09972d3709c6d38888fb430078c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1423d54ebfb2398225d11590d97a7fe648d27dead2e51fb98f7eec0ed7e030b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3409f7ba27c63614e8d15a81cfc382b23350c6a1c0459f97eb23a5d40e982c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 65dbe229dcb9
wire blob c1423d54ebfb
wire blob 3409f7ba27c6
call 2 attempt 0 · /messages · status 200 · 4.259 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, 0.7952, 0.6048, -0.3786, -0.0223, -0.041, 0.9955, -0.0212, 0.7925, 0.6018, -0.3771, -0.0113, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9955 right_x=0.2948 right_y=-0.0007 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6906, -1.6205, 10.1128, 1.7949, -0.0122, 0.2271, -0.4811, -0.4855, -1.3607, 10.2359, 1.9023, -0.1294, 0.105, -0.3199]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3859, -0.0223, -0.0422, 0.9952, 0.907, 1.5349, 0.9424, -0.2565, 0.6968, 0.569, 0.9971]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1786 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9952 right_x=0.3225 right_y=0.2341 right_z=0.1347 right_yaw=0.0387 right_pitch=-0.0465 right_roll=-0.0396 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6615, 6.9538, 1.7705, -0.022, -0.0464, -0.0415, 0.212, -6.8991, 8.9231, 1.4432, 0.5885, 0.1245, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65dbe229dcb9a6f7a5250a469e18f9048ed09972d3709c6d38888fb430078c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1423d54ebfb2398225d11590d97a7fe648d27dead2e51fb98f7eec0ed7e030b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3409f7ba27c63614e8d15a81cfc382b23350c6a1c0459f97eb23a5d40e982c7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 65dbe229dcb9]
[blob c1423d54ebfb]
[blob 3409f7ba27c6]
{
  "content": [
    {
      "signature": "CAQSkQkKEAgRGAI4AUIIdGhpbmtpbmcSDEub5zoYt4CovEWnnxoM0TB0jJlHQUF1/S+5IjBKWNO2pvszhKE4TgCBbpItfgk2DnFYUKwfT4LrjPs7RJ5iUG/SS4/KmATTc2A+aQIqrggrUcj2CCI8DJoGH9Xrjx5BvuBd3WabHV6BcdS93g3AEHOqmo7BWBcpWN1XAmTFUk7M3QD3ay5PWD7rPWc519cwGg16hQ3kssXTmlU2F08r0nUpaiw6vaufTGkg3lcsX3EX8BZIVSBcMn9UfDJBU50biwIRbQreiBaR4fgfoZP9APrcNy18OQfOcQ2TAdw+NaIr3GRY2/kZpyfTWfSmez8YURjwnjeg623mXokf2wBrDkJlCNotUzYBtkwwYLwq2MiKXbJPIOwU3zzey0wqKXwv007+ZbNELRcI3jKiJGX0uYDalOcJOQsAqxa/Uj936xNjGAXfzbgu8ppg/ajwmX5QN4BSGqmMd/P/eoj1nSLp8Y23cFmuEjnIW+K/xXR8M2cec8NMjEfJELXP5ecilyd1FE1HqXxdtm/wiHZz4vHX7f1SM318A968BnkI+D4d3XScVNmK9CXeQrokbqgWDhDhKkMWceM+FELKznZqxT8gI1X1Q1dh3xYIBPmIB8nuL6FBzxoPeKtDLMR7Rlu8LIq8nUeE1+/v84L/PQW1W46njW4CmVJRyvZVSrhMTnUj0ggmUDKrXwDm+tjRM28DFhGen9T4sV2H5EblgQWKvm8eSVwNlR7h6T8JhxKW2jHCc0dqzlxl5BdpawRPXYcIJqkAUm1gZu68BfVbtszDykJnTaOTmmgSvTzXJv6UzqOoKkhhItHsXPvVCZJdMbePT6n9jOD2n2HudkEkW93p5bTjDnr0X2zGjhPh8MJjqgr21BcAuNxkSulPe2FhTvX+UdRZECt8+K+8HatuWoqc99/Jhl7sSdcIo5SiCoUTIL3SlaNVcglTBBnyKd+6+rOCmEJHkZqHwsRQY+8+ZyOBvSX698w4h20Y8BFjWCJFQZeWI34sCV+gIOY9LLUe8wItoxKxCiya/RbwDB4DQwe0jhqr8ZpDqFLskePKB4vCZpkiQhO7PWKMYLH7ttKIlSmer3Ktf1NIHQqb+Nt23C9BEqXnPva9crXMkaF/oURXtErtvQe1yGH6/O8ZgldounTSqdg2yVjAIMSkRz6t6iUvya2ZOrlh8a66Q6yyArNfVQmi2cefiBnJXwJbMBEZQwDuJ6ROaDrffdOjkyYVgKdj0H2UsSraeXpzON/UJwAC9ho45bo0/VBSXTI5apZJ7wqCI9CgRksV2IXy7dHJXKtjcSXcHvNGgJeqm/qpqsKJm8B3+UoJ6YiHA513/ivuEPXEt8mahruFL+dY7m1a4nEzzbTze/nLaXTCTzZg2gFriwOhPXmkvXO91Gtp9dLEj0xuVCCM18Dy9ds8gLIF1twUSne88uIEPftpGP0+FQOXkWd0jQHu0XhCpMjreWyWL3aV1lp8oKKv8gKhKgTYso//npFlVnCa2Ya8d+AeMNh6GsIT/t2f2kZ1Gl/02moZkgqcPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JXFCAg72L7LH8c9HY1vp97",
      "input": {
        "note": "Wrist camera shows the black brick centred on the jaw column and running under the fingertips, so alignment looks good. Descending to table level to grasp it across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.24,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JXFCAg72L7LH8c9HY1vp97",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.387, -0.0227, -0.0422, 0.9952, 0.9012, 1.8641, 0.7414, 0.2169, 0.6907, 0.5644, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0114 left_roll=-0.0005 left_gripper=0.9952 right_x=0.3237 right_y=0.2334 right_z=0.0078 right_yaw=0.0366 right_pitch=-0.087 right_roll=-0.0837 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -1.0735, 7.0222, 1.746, -0.0464, -0.0317, -0.022, -0.1709, -8.1162, 4.2462, 1.4823, 0.2515, -0.0562, -0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f83b50ddbd700eb1a57897081c47f74db256986faefeea252cf709d6abcd542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab90f87f06a6d4e063f7faa2dfce65be9ff44d0048729f7e850ff2d0902dcd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10324fbc40c355200343b4a3c57ed04bf2d2581da0276a130ec91c02f9bb04e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 2f83b50ddbd7
wire blob 8ab90f87f06a
wire blob 10324fbc40c3
call 3 attempt 0 · /messages · status 200 · 5.491 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, 0.7952, 0.6048, -0.3786, -0.0223, -0.041, 0.9955, -0.0212, 0.7925, 0.6018, -0.3771, -0.0113, -0.0193, 0.9971]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1803 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9955 right_x=0.2948 right_y=-0.0007 right_z=0.1799 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9971\nstate[joint_eff]: [-0.6906, -1.6205, 10.1128, 1.7949, -0.0122, 0.2271, -0.4811, -0.4855, -1.3607, 10.2359, 1.9023, -0.1294, 0.105, -0.3199]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3859, -0.0223, -0.0422, 0.9952, 0.907, 1.5349, 0.9424, -0.2565, 0.6968, 0.569, 0.9971]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1786 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9952 right_x=0.3225 right_y=0.2341 right_z=0.1347 right_yaw=0.0387 right_pitch=-0.0465 right_roll=-0.0396 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6615, 6.9538, 1.7705, -0.022, -0.0464, -0.0415, 0.212, -6.8991, 8.9231, 1.4432, 0.5885, 0.1245, -0.3199]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.387, -0.0227, -0.0422, 0.9952, 0.9012, 1.8641, 0.7414, 0.2169, 0.6907, 0.5644, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0114 left_roll=-0.0005 left_gripper=0.9952 right_x=0.3237 right_y=0.2334 right_z=0.0078 right_yaw=0.0366 right_pitch=-0.087 right_roll=-0.0837 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -1.0735, 7.0222, 1.746, -0.0464, -0.0317, -0.022, -0.1709, -8.1162, 4.2462, 1.4823, 0.2515, -0.0562, -0.315]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f83b50ddbd700eb1a57897081c47f74db256986faefeea252cf709d6abcd542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab90f87f06a6d4e063f7faa2dfce65be9ff44d0048729f7e850ff2d0902dcd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10324fbc40c355200343b4a3c57ed04bf2d2581da0276a130ec91c02f9bb04e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 2f83b50ddbd7]
[blob 8ab90f87f06a]
[blob 10324fbc40c3]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011swu3kJE5hq3LTaz1MJaUe",
      "input": {
        "note": "Gripper is at table level with the brick filling the wrist view between the jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011swu3kJE5hq3LTaz1MJaUe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0422, 0.9952, 0.902, 1.882, 0.7361, 0.2394, 0.6907, 0.5579, 0.7473]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9952 right_x=0.3234 right_y=0.2335 right_z=0.0026 right_yaw=0.0408 right_pitch=-0.0879 right_roll=-0.0894 right_gripper=0.7473\nstate[joint_eff]: [-0.2256, -1.5795, 7.241, 1.7167, -0.0513, -0.0659, -0.0171, -0.253, -9.6205, 5.0393, 1.0818, 0.2271, 0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6318c5dedb2db4e523b5677356c9975d2d06778b70a7f40a62c8ff73d1eab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293404a3fa7bcc1b29925ab8baca3ba436aa798c2c66892eb0f8495f8c6402a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb77a39f8bb570b047b70b6c4b3668c5d59a132e9d096a5b06fdf5a6ee6acf1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7d6318c5dedb
wire blob 293404a3fa7b
wire blob fb77a39f8bb5
call 4 attempt 0 · /messages · status 200 · 25.46 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3859, -0.0223, -0.0422, 0.9952, 0.907, 1.5349, 0.9424, -0.2565, 0.6968, 0.569, 0.9971]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1786 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9952 right_x=0.3225 right_y=0.2341 right_z=0.1347 right_yaw=0.0387 right_pitch=-0.0465 right_roll=-0.0396 right_gripper=0.9971\nstate[joint_eff]: [-0.1709, -1.6615, 6.9538, 1.7705, -0.022, -0.0464, -0.0415, 0.212, -6.8991, 8.9231, 1.4432, 0.5885, 0.1245, -0.3199]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.387, -0.0227, -0.0422, 0.9952, 0.9012, 1.8641, 0.7414, 0.2169, 0.6907, 0.5644, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0114 left_roll=-0.0005 left_gripper=0.9952 right_x=0.3237 right_y=0.2334 right_z=0.0078 right_yaw=0.0366 right_pitch=-0.087 right_roll=-0.0837 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -1.0735, 7.0222, 1.746, -0.0464, -0.0317, -0.022, -0.1709, -8.1162, 4.2462, 1.4823, 0.2515, -0.0562, -0.315]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0422, 0.9952, 0.902, 1.882, 0.7361, 0.2394, 0.6907, 0.5579, 0.7473]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9952 right_x=0.3234 right_y=0.2335 right_z=0.0026 right_yaw=0.0408 right_pitch=-0.0879 right_roll=-0.0894 right_gripper=0.7473\nstate[joint_eff]: [-0.2256, -1.5795, 7.241, 1.7167, -0.0513, -0.0659, -0.0171, -0.253, -9.6205, 5.0393, 1.0818, 0.2271, 0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6318c5dedb2db4e523b5677356c9975d2d06778b70a7f40a62c8ff73d1eab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293404a3fa7bcc1b29925ab8baca3ba436aa798c2c66892eb0f8495f8c6402a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb77a39f8bb570b047b70b6c4b3668c5d59a132e9d096a5b06fdf5a6ee6acf1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7d6318c5dedb]
[blob 293404a3fa7b]
[blob fb77a39f8bb5]
{
  "content": [
    {
      "signature": "CAQSpwYKEAgRGAI4AUIIdGhpbmtpbmcSDJGjLMiM/TFkZyK/CBoM5NOSr4f1A3pE8dWxIjAhqg37t2ADDGZBCl1UJqZcjYbWUfnFZ0Soia+rxB+xLFKgmFvId0j6D7Lt6RZXaT8qxAWuIbBQi4bh+kek2B0lLQVfqgBx/pTNHx2KUhyE3SRMNuca2wZJMqjO5T6Vc6rLiPdXgVOTx5WcZoxQa0oezktFOwj2yn6H5XXcmxtK2wP4oOYtzhE+v6R04emGyHQTy/U4diam/VAETA4Mexi0HOisrnLj9o80x+okLFqoE7kDDtsV/yIsEHR3P1ogRlEQJQBu8vJAahix2BAWvoM51/Wcc2RdWqKY/iPe1vsvgoECdEbEitBZHs+cOap/HvUDcMVU/MImUPA3AsbKBWYH+9sy88Jjvfk/o7qLs1D0p9B59bfe/NSBetejesQE+82E8JomFHK5/YGRIQIVKQxNxZ/xBWe6p12S7M/SUwLJoUnBepNfo+bmALoKK0B3AXnAf7/ZelIUBh7RRWEzZUy+Bl2yyGjk3OfUzRXNFAU9dsnZh7SHDVc0GsQYqLbJb4sNKXo0WO4GuIRfGLgFdxxhC2xJ0xHoalcYNAwVvkFh2V/BMOMN+vKlJlpNcxGxB4MmOB9EiekffrF0n0Soj3KAa1Y2qf34AKRCYi6ZiAE0KgNJXdiA04J0fZlqvbWqz/mJ9FAwbklVSpSos6lljp9Nxw5WR/VdV1hj+1KPvbnjnyNAsUxBxksNe+/MBAj1rFDUEbcelyve9hObL0dhs9DoYpA+90j2scFWoyBn3PgU7TyMEVvXe6L3GrVcZWYOkV4flMeFeF/frGuYYOh4cZIES7zwKCo/Z0kC7S0ZgeuvSeLWTfbKKT22HI6Btj/tb7pY7OH4v6nnKOVlArVAoRnmPt3wNtr4JOqt+V40IAkt4Pe3HTy27TuBCsKnFmvZPKkl+dQUpmFa8p2geKziUmo975Ovup2/3ACzpa9+N16LZrkTS+nn0sZC8hoJb3RGldGagaUL/tfC/12qUMnfPz2r/pti7vVTDN1kSJNIPIlaEeSZmzkq6OkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MHu1wjsx4FNXFopxbALx58",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with holding the brick across its width. Lifting to 22 cm to clear the pot rim and confirm the brick came along.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01MHu1wjsx4FNXFopxbALx58",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9951, 0.902, 1.5589, 1.2266, -0.6861, 0.6388, 0.5491, 0.7472]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0172 left_roll=-0.0004 left_gripper=0.9951 right_x=0.3149 right_y=0.2344 right_z=0.1725 right_yaw=0.0674 right_pitch=-0.1944 right_roll=-0.1523 right_gripper=0.7472\nstate[joint_eff]: [-0.3761, -1.3197, 7.1726, 1.707, -0.0611, -0.0366, -0.0171, -0.2256, -10.6872, 10.7282, 1.6972, 0.7253, 0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1add10d0e51a97e587ebadd44b6a93eed4557ba1f833986d0ed6dd3a64546f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fcd78a9760325848b8b85c75234daf03da70139979df90197449b888c69bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28e0f84217f3d151d66aa1d4bfeb4176c7a52be88d3f66ae39eac486fd0bf3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1add10d0e51a
wire blob 94fcd78a9760
wire blob 28e0f84217f3
call 5 attempt 0 · /messages · status 200 · 9.559 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.387, -0.0227, -0.0422, 0.9952, 0.9012, 1.8641, 0.7414, 0.2169, 0.6907, 0.5644, 0.9971]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0114 left_roll=-0.0005 left_gripper=0.9952 right_x=0.3237 right_y=0.2334 right_z=0.0078 right_yaw=0.0366 right_pitch=-0.087 right_roll=-0.0837 right_gripper=0.9971\nstate[joint_eff]: [-0.0205, -1.0735, 7.0222, 1.746, -0.0464, -0.0317, -0.022, -0.1709, -8.1162, 4.2462, 1.4823, 0.2515, -0.0562, -0.315]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0422, 0.9952, 0.902, 1.882, 0.7361, 0.2394, 0.6907, 0.5579, 0.7473]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9952 right_x=0.3234 right_y=0.2335 right_z=0.0026 right_yaw=0.0408 right_pitch=-0.0879 right_roll=-0.0894 right_gripper=0.7473\nstate[joint_eff]: [-0.2256, -1.5795, 7.241, 1.7167, -0.0513, -0.0659, -0.0171, -0.253, -9.6205, 5.0393, 1.0818, 0.2271, 0.0317, 1.0281]\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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9951, 0.902, 1.5589, 1.2266, -0.6861, 0.6388, 0.5491, 0.7472]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0172 left_roll=-0.0004 left_gripper=0.9951 right_x=0.3149 right_y=0.2344 right_z=0.1725 right_yaw=0.0674 right_pitch=-0.1944 right_roll=-0.1523 right_gripper=0.7472\nstate[joint_eff]: [-0.3761, -1.3197, 7.1726, 1.707, -0.0611, -0.0366, -0.0171, -0.2256, -10.6872, 10.7282, 1.6972, 0.7253, 0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1add10d0e51a97e587ebadd44b6a93eed4557ba1f833986d0ed6dd3a64546f40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fcd78a9760325848b8b85c75234daf03da70139979df90197449b888c69bc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e0f84217f3d151d66aa1d4bfeb4176c7a52be88d3f66ae39eac486fd0bf3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1add10d0e51a]
[blob 94fcd78a9760]
[blob 28e0f84217f3]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WAVi8FVSeaFHQX9EUBvMJ",
      "input": {
        "note": "The brick is held at one end and sticks out ahead of the fingertips in the wrist view, so the grasp succeeded. Carrying it high over toward the pot, which sits about 18 cm left and 15 cm forward of the pick spot.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.4,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015WAVi8FVSeaFHQX9EUBvMJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3939, -0.0227, -0.0456, 0.9951, 0.934, 2.5404, 2.8437, -1.5227, 0.5873, 0.5613, 0.7472]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1743 left_yaw=0.0032 left_pitch=-0.0274 left_roll=-0.003 left_gripper=0.9951 right_x=0.3899 right_y=0.3687 right_z=0.188 right_yaw=0.0811 right_pitch=-0.3614 right_roll=-0.2678 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7314, -0.0855, -0.0073, -0.0073, -0.4444, -19.9179, 9.4427, 1.3602, 0.9646, 0.1001, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024150e8cd462ccc1bdf386dffa139bf5bf68fe4faf77ac9d80760f0895b3eb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20a08f58f67f77266d0347bdd47c0c2f330f1e7619b0eed2b6e314b12c528518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd016d3e7b0c04f312c9d0c9aa1ead5733c57ce47e3a63009f79a49cc0c0f33f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 024150e8cd46
wire blob 20a08f58f67f
wire blob dd016d3e7b0c
call 6 attempt 0 · /messages · status 200 · 20.68 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3889, -0.0227, -0.0422, 0.9952, 0.902, 1.882, 0.7361, 0.2394, 0.6907, 0.5579, 0.7473]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1769 left_yaw=0.0013 left_pitch=-0.0168 left_roll=-0.0004 left_gripper=0.9952 right_x=0.3234 right_y=0.2335 right_z=0.0026 right_yaw=0.0408 right_pitch=-0.0879 right_roll=-0.0894 right_gripper=0.7473\nstate[joint_eff]: [-0.2256, -1.5795, 7.241, 1.7167, -0.0513, -0.0659, -0.0171, -0.253, -9.6205, 5.0393, 1.0818, 0.2271, 0.0317, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9951, 0.902, 1.5589, 1.2266, -0.6861, 0.6388, 0.5491, 0.7472]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0172 left_roll=-0.0004 left_gripper=0.9951 right_x=0.3149 right_y=0.2344 right_z=0.1725 right_yaw=0.0674 right_pitch=-0.1944 right_roll=-0.1523 right_gripper=0.7472\nstate[joint_eff]: [-0.3761, -1.3197, 7.1726, 1.707, -0.0611, -0.0366, -0.0171, -0.2256, -10.6872, 10.7282, 1.6972, 0.7253, 0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3939, -0.0227, -0.0456, 0.9951, 0.934, 2.5404, 2.8437, -1.5227, 0.5873, 0.5613, 0.7472]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1743 left_yaw=0.0032 left_pitch=-0.0274 left_roll=-0.003 left_gripper=0.9951 right_x=0.3899 right_y=0.3687 right_z=0.188 right_yaw=0.0811 right_pitch=-0.3614 right_roll=-0.2678 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7314, -0.0855, -0.0073, -0.0073, -0.4444, -19.9179, 9.4427, 1.3602, 0.9646, 0.1001, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:024150e8cd462ccc1bdf386dffa139bf5bf68fe4faf77ac9d80760f0895b3eb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20a08f58f67f77266d0347bdd47c0c2f330f1e7619b0eed2b6e314b12c528518",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd016d3e7b0c04f312c9d0c9aa1ead5733c57ce47e3a63009f79a49cc0c0f33f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 024150e8cd46]
[blob 20a08f58f67f]
[blob dd016d3e7b0c]
{
  "content": [
    {
      "signature": "CAQS7gkKEAgRGAI4AUIIdGhpbmtpbmcSDOem7E/nd6RlF9/akhoM4mJVAJiJ/9PHOHTSIjAeY7SrpgDA+qwcIvJMKZn4wjUIBt0RQocDaW+tuVuVhsiJXL76XP3BlIe1nMQuKhIqiwk5QOZANhWibJ9FYZCRrhyv+5u4ZagLAvxuM8tiNElfFaTBoYl+8XenpfEQRe92df0nbl5WPbHg7i/H287smsYLnvXpma9midbpGkG8mabiRuXyh1vx3O9QcnvhfGsgKgpEd/xbAP0F6cDohXxdwJuq/Mp84wzHdZrWEpGwHYfZfJS+99JlfbRA1CgN5fkzYV6e83SIpKNNotNSm9VVuaaRE5QH/aqB/lAmx9MH+XjFIcbYlRjarjt0XT4rSnjxewVzED+nBH+yB710PCeFYV2WPY2cJ7xTzxiR9tIGKlpNZwxvkhotAj4nLBc7EAmJhHIJ0l+ZehbZ4DYfcJm7pvBl+Rhy7ey3ZtL4w56Fkl3ebdd4bcar+UJhPXBFfurIriGel4ixU1B454ZujZBS/KngOsis7+NPvZXdp5IYP905crrSwBA0Agbmz5ElBRT9NZDbBCGhV8q5v2IIqV0hEmWTYlIoq4rf+s59jpSisi5t2XZ2wxA2xCY78mLB5a4PEBw4OW1uC4WJ6xPngfHk0ALyDMqWlihGwzcYD5E35/UQY+9F0LlhvaRIxMowJsK58fMITRZMRus+tzD7TEmlgZ/g8yAj9lJ35UYUKYfUYGDrOdXR9lzhAuXYgPdEQ30Dh5FvhEaOo1N76HoT3mmoXat8VCopb3qUgEg6gds9gEne/LPB8PiyY2WKuhEhPrt4uJ7tMjGGS/2g6FsxxQX+iEXD8xB91rl67vVtaZBqT2Yyq88a84ymEu6XGaJrPm1Gy0/ZgopMTFfeeT1/cIVuUUPX05UzzNgxu/tbaqozABTAYPbuzFeBi71fyEmvRciIoKunJ/2sK9v2MNOhIETuMh3FYe+bkFIgsYgv4JOqvcGxXl8/7eCE4uzgc76O002KLK5To0A9e6Zt4+XmzvOmomzm66wYClZipy9zDfNrXng0EV6/7mcI2HjTa6d2j/g1HfEjVIdFBvQR0JBZzinxhciA/hm2dTN4REXNzXijiC4vHPezQBh/73khoTx8xJ2ORiZCCN7X2wGmjZc1lrhNNs9peIqciHqXCQ1MNYOzqAO/+yQ8GsVomawr7CKhgDckQjyPufFVx3VtBaYwAVbgSnW/uVLbmC4OvKTeZsOY1aRwS3ekV9rTqnsNySekYPL/hLB/EXKpUSHqAiDLxbhkgSn6s16gZj2TQWVabcjPQfUhIJAL/WM/VuFqzkY8n7i+lGJ5nZFPh/IVPKK0624Lk+RMOfeaTW+nMu0hjYvcLYO6mhhp2yAeKPJhWicLDFiWOXhZn0mavexSm3eECpAFxPN+EoAWmCzJlYuD7Am/tsMxufoSZ9JP9/ZG3ndTlfb0NfUaW1SC9JZ5dR9Hb0UjJYQbHtDGh0IlHbj9t2M1itrzeKtLbvptYEbrrkXZjlQOuyzvVjzA1Aht50gAIwGxBJoWO1PI3bUC4EpRP/HVjPJTkKJfFMH8/EkBDsFMz/EiZGIjLCA6ALkTj0mWumP8w627dI63LjI1Zu3oyNpKvW/zExNF9FmatY0gYKZPXC0YgjDSWD5KX/mq1dz0VRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VKcCEHNTxZ1YMUT6hUbpfJ",
      "input": {
        "note": "The gripper is now above the pot's right side with the brick pointing forward over the pot; the pot rim is visible at the top-left of the wrist view. Nudging a few cm further left and forward so the whole brick is over the pot opening before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.43,
          "right_y": 0.4,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VKcCEHNTxZ1YMUT6hUbpfJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.049, 0.9951, 0.9066, 2.635, 2.891, -1.565, 0.5331, 0.5125, 0.7472]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0278 left_roll=-0.0059 left_gripper=0.9951 right_x=0.3946 right_y=0.3642 right_z=0.1457 right_yaw=0.0832 right_pitch=-0.4679 right_roll=-0.333 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.347, 7.3641, 1.6874, -0.0708, -0.0464, -0.0122, -0.9778, -19.6444, 6.3385, 1.2479, 0.6422, 0.0659, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b831597b8a5a60a51378e863d37270737477ffaadfb1a252eaef2c878fa5dbb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4395ca065e634e053e86f308fc266a6ef99ddacd281a6908bf07bd294f447222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fce2b9f2fe1e6dbbd18aa385969bb5c35d2bb617937d1e045636c58a7a5394b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b831597b8a5a
wire blob 4395ca065e63
wire blob 7fce2b9f2fe1
call 7 attempt 0 · /messages · status 200 · 5.847 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0422, 0.9951, 0.902, 1.5589, 1.2266, -0.6861, 0.6388, 0.5491, 0.7472]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0013 left_pitch=-0.0172 left_roll=-0.0004 left_gripper=0.9951 right_x=0.3149 right_y=0.2344 right_z=0.1725 right_yaw=0.0674 right_pitch=-0.1944 right_roll=-0.1523 right_gripper=0.7472\nstate[joint_eff]: [-0.3761, -1.3197, 7.1726, 1.707, -0.0611, -0.0366, -0.0171, -0.2256, -10.6872, 10.7282, 1.6972, 0.7253, 0.0366, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3939, -0.0227, -0.0456, 0.9951, 0.934, 2.5404, 2.8437, -1.5227, 0.5873, 0.5613, 0.7472]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1743 left_yaw=0.0032 left_pitch=-0.0274 left_roll=-0.003 left_gripper=0.9951 right_x=0.3899 right_y=0.3687 right_z=0.188 right_yaw=0.0811 right_pitch=-0.3614 right_roll=-0.2678 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7314, -0.0855, -0.0073, -0.0073, -0.4444, -19.9179, 9.4427, 1.3602, 0.9646, 0.1001, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.049, 0.9951, 0.9066, 2.635, 2.891, -1.565, 0.5331, 0.5125, 0.7472]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0278 left_roll=-0.0059 left_gripper=0.9951 right_x=0.3946 right_y=0.3642 right_z=0.1457 right_yaw=0.0832 right_pitch=-0.4679 right_roll=-0.333 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.347, 7.3641, 1.6874, -0.0708, -0.0464, -0.0122, -0.9778, -19.6444, 6.3385, 1.2479, 0.6422, 0.0659, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b831597b8a5a60a51378e863d37270737477ffaadfb1a252eaef2c878fa5dbb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4395ca065e634e053e86f308fc266a6ef99ddacd281a6908bf07bd294f447222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fce2b9f2fe1e6dbbd18aa385969bb5c35d2bb617937d1e045636c58a7a5394b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob b831597b8a5a]
[blob 4395ca065e63]
[blob 7fce2b9f2fe1]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvTb2opSMvKqzXBZjp6YaL",
      "input": {
        "note": "The arm is at its stretch limit with the grasp point over the pot but the brick pointing forward toward the far rim. Raising slightly and yawing the wrist counterclockwise so the brick swings over the pot's centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_yaw": 0.8,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RvTb2opSMvKqzXBZjp6YaL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9951, 0.8085, 2.6873, 3.1062, -1.597, 0.2306, -0.178, 0.7472]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.005 left_pitch=-0.0392 left_roll=-0.0056 left_gripper=0.9951 right_x=0.4059 right_y=0.3718 right_z=0.1588 right_yaw=0.6874 right_pitch=-0.6141 right_roll=-0.3327 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.2239, 6.9949, 1.7949, -0.0366, -0.0122, -0.0122, -0.335, -20.3556, 7.8154, 1.4432, 0.1685, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba96a5c6861d864adca39d9c6d00683e05ab5d3f8f1f4713fdf3c2ef29d8814a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a11ec43bc804e617f1e587ff541a1ac25f66957dc8f98f3419544ad6ab781b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b1d3782766264c5e1fb3ecf3de046256b165cf7316d1d293e4aa164ee96434f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob ba96a5c6861d
wire blob 0a11ec43bc80
wire blob 9b1d37827662
call 8 attempt 0 · /messages · status 200 · 4.789 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3939, -0.0227, -0.0456, 0.9951, 0.934, 2.5404, 2.8437, -1.5227, 0.5873, 0.5613, 0.7472]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1743 left_yaw=0.0032 left_pitch=-0.0274 left_roll=-0.003 left_gripper=0.9951 right_x=0.3899 right_y=0.3687 right_z=0.188 right_yaw=0.0811 right_pitch=-0.3614 right_roll=-0.2678 right_gripper=0.7472\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7314, -0.0855, -0.0073, -0.0073, -0.4444, -19.9179, 9.4427, 1.3602, 0.9646, 0.1001, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.049, 0.9951, 0.9066, 2.635, 2.891, -1.565, 0.5331, 0.5125, 0.7472]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0278 left_roll=-0.0059 left_gripper=0.9951 right_x=0.3946 right_y=0.3642 right_z=0.1457 right_yaw=0.0832 right_pitch=-0.4679 right_roll=-0.333 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.347, 7.3641, 1.6874, -0.0708, -0.0464, -0.0122, -0.9778, -19.6444, 6.3385, 1.2479, 0.6422, 0.0659, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9951, 0.8085, 2.6873, 3.1062, -1.597, 0.2306, -0.178, 0.7472]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.005 left_pitch=-0.0392 left_roll=-0.0056 left_gripper=0.9951 right_x=0.4059 right_y=0.3718 right_z=0.1588 right_yaw=0.6874 right_pitch=-0.6141 right_roll=-0.3327 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.2239, 6.9949, 1.7949, -0.0366, -0.0122, -0.0122, -0.335, -20.3556, 7.8154, 1.4432, 0.1685, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba96a5c6861d864adca39d9c6d00683e05ab5d3f8f1f4713fdf3c2ef29d8814a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a11ec43bc804e617f1e587ff541a1ac25f66957dc8f98f3419544ad6ab781b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b1d3782766264c5e1fb3ecf3de046256b165cf7316d1d293e4aa164ee96434f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob ba96a5c6861d]
[blob 0a11ec43bc80]
[blob 9b1d37827662]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgRGAI4AUIIdGhpbmtpbmcSDK4HUx5orclgjhrbUhoMoL2MVz2Ikna7Ld5oIjDt1M4zM1uRVu1OJfiKMzveAC3EM4fceo/owqb6dENiY79z7f6wsCAr+gz2tTKMdq8q4gYLGMZ1irdoiW1xs8312+cVYWXV0ZP3TPlvA3td4feFnpcOVAyh6Kve+dpnWxgtAARmgxWYv7QmM7rrpuDDM/Orkdww6wkqQvo6u7lDR5k8UeDittkwtq0SZarEq88mNLnCBKIV7dhsTAGxlVDlOze83RDCX7zMvBD1yr57lmdAtoUkta+bN+krSMpSLm0hs/pidiqM2J8mIEt2J0jWVnwSN0SoVzYN1++T4EZr6A/VaDQUNnCFO1WyJxQ1542niKROK9IbaoAnzejutLrnE8FCmeWr1sJnxVOtHoxUJe9mqG0AutuMdNzSHBzUCDM7gy1U2y7k2rpGhGQaSt8y/1VqCi570W7Ry0EWh9CDTzGBJyK+NYVcRfckSEbJOg2X6pApfafo671Hw8uEu5+vMMyIROrN1XfkAGXMHv6GHHpmDlCe6vgNXBUJ2dU0uKJCfueixjGPOCvuROre6vb4UOzKUJqGhFYWlHhl1Gv4Lkdd4sF/uuPf6jQJClL/TTuFqhLtAn5UZZ4lT30K20w/3wKvgn2Px/6SWX/6p8j6hg0I5EUNFC1xk3XyqWEqyKZXCTSORh21cDFfctraPB40890ffbWv56TYJa9BVMpkKFdFKVninaGUny/aAeRxRzcrjVleg2NMlMeXajGVnqqJDVryKInMTYgQDGKGAnOvXcdoUaXEHrHqLn3vRfwISeoD6CkDk0dkTbsqWzGFf+0vR4Q1rd9RzDwNGhdYzXc2o/rEl5MZkO1PBBmgglqIB+k3lDrdYrVaM7dzl01m+5O29ZP7iPCnIExySFX188rH0Yat0uUEMJfRkMQ5drtUqs77QvqcOrvNlH2HAoCqM0tUN/Rt3avNlABVp8dIQttoFt0Db9esV0Y0e0dDfzd6dBxS8aQ76/2xRla5yQu1c489CpGMAkKpyxTVIMRxTavblFCX+yRIMpUO7a4CzXfy/FlJ1gwRIA9qL5KTPMF6rS9iigfjxcsXxzRyFpN2BmJ5vN0vPePF7j7duVROOsMGuX9LaA+vAcPvNBaHsWlkomlnFtrcwBGnH1FtdcJvxmN7cpEzgluvyDaMuibpcjwzPgRGJlYOE+tlWdSJWwd+w2kVYHgJFl6flXtrh8s1XSm4DY7NLK3/2OwwaVj7ppN1CwZ+2vje1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015TxfEN3BGzfbAKmE3qRov7",
      "input": {
        "note": "The wrist view now shows the brick entirely over the white interior of the pot and the top view has the gripper above the pot centre. Opening the gripper to drop the brick into the water.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015TxfEN3BGzfbAKmE3qRov7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0494, 0.9951, 0.8051, 2.6881, 3.0741, -1.6012, 0.202, -0.2188, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0052 left_pitch=-0.0412 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4015 right_y=0.3717 right_z=0.1477 right_yaw=0.7373 right_pitch=-0.6608 right_roll=-0.3232 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7607, -0.0366, -0.0562, -0.0122, 0.2393, -15.1043, 6.4889, 1.199, 0.4127, 0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca8e11db85adc285299470cdd7ab6f87884a6393329e7ca7763a57d8a6d2c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c7830382d46a45ceca190934425628e6c25db03656bdc92b339139a230e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2789b3e5d5e78e67df6921216b691bdde816bd3153704e6a784e0389b3f7c19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 1ca8e11db85a
wire blob 57c7830382d4
wire blob 2789b3e5d5e7
call 9 attempt 0 · /messages · status 200 · 8.736 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.3943, -0.0227, -0.049, 0.9951, 0.9066, 2.635, 2.891, -1.565, 0.5331, 0.5125, 0.7472]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0278 left_roll=-0.0059 left_gripper=0.9951 right_x=0.3946 right_y=0.3642 right_z=0.1457 right_yaw=0.0832 right_pitch=-0.4679 right_roll=-0.333 right_gripper=0.7472\nstate[joint_eff]: [-0.0342, -1.347, 7.3641, 1.6874, -0.0708, -0.0464, -0.0122, -0.9778, -19.6444, 6.3385, 1.2479, 0.6422, 0.0659, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9951, 0.8085, 2.6873, 3.1062, -1.597, 0.2306, -0.178, 0.7472]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.005 left_pitch=-0.0392 left_roll=-0.0056 left_gripper=0.9951 right_x=0.4059 right_y=0.3718 right_z=0.1588 right_yaw=0.6874 right_pitch=-0.6141 right_roll=-0.3327 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.2239, 6.9949, 1.7949, -0.0366, -0.0122, -0.0122, -0.335, -20.3556, 7.8154, 1.4432, 0.1685, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0494, 0.9951, 0.8051, 2.6881, 3.0741, -1.6012, 0.202, -0.2188, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0052 left_pitch=-0.0412 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4015 right_y=0.3717 right_z=0.1477 right_yaw=0.7373 right_pitch=-0.6608 right_roll=-0.3232 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7607, -0.0366, -0.0562, -0.0122, 0.2393, -15.1043, 6.4889, 1.199, 0.4127, 0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ca8e11db85adc285299470cdd7ab6f87884a6393329e7ca7763a57d8a6d2c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57c7830382d46a45ceca190934425628e6c25db03656bdc92b339139a230e3de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2789b3e5d5e78e67df6921216b691bdde816bd3153704e6a784e0389b3f7c19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 1ca8e11db85a]
[blob 57c7830382d4]
[blob 2789b3e5d5e7]
{
  "content": [
    {
      "signature": "CAQSvQYKEAgRGAI4AUIIdGhpbmtpbmcSDLGMzR2CkDAfFL4SrBoMbwmdK0XJzxQ8ELioIjA6ZzcyTFtEssGr4OZqRioWRCw0Ef2gzQRNcXf47g2loJYoC8EXLZkbre53WFmoA5sq2gWB4NYVsDErS3uw1RAH4zkY++05sGzBwGIRovN5D+ILv4Ww8+9Eu/r6lUSQG3oWNoNqnjK7R/yfQfI4JpLgwl9lQgh+nl5vfUFwK7kPRxUzov5uihUCMYOeVlptTe5zWNoEVZRvkrOxGdP2N7s4bqq4x57rdHuq/lgSaPdE6Tu3HGg5UpaR0hrfJL9PJiUpGfoYgV25X5HoLbGQJAdvOVzqqQdAWuy9sgxcyK5dC1Knd5SmUOf0vxGFWqHgquPERlfzwCfsfdRvUBBpKO5WxPoRANrkdo9q+QVeCFC0jMISxDsdMEIBgULum3fZ/7SEXIOkQgN4wsMqn+HeCwmPJHBBju9MZaKy8xsgk7JpQF/Ofyj3i8Ix4hQZugh7P038J0CEvqdw6lkDmmhWFFVO/ES7F2ctyHEiu8u9j5GEXT/HzMXUHjXflBkhtviqaUFYjW8uvQkvg3w4GqyrtTy8pDbZWAYwYcHFBc8U/Cg5zVyp5aIZETvOxdSJLMzqebrRpzizwhvpYb3iOcwoQLW2W9MoEpc+UianrYekeJeyMMF6h/+N0+7j+NgIpwOX45OH+AWaW/w4v8C/qaGu1V7bZC/GoeHpfM96rtiQ3z5HMApUJN+4IRmj3z3PtlcUZd3jo9lnNV5erCbW7gxICtjHXcbOnesS03oyGwEvTbuCQhq+w7H4etyuVH/4z7hH2rP5k1vBtXBPscGYnASdmP3H90I9zQKT/oXiu9uceOM/dTr4vwoWDFf6wog9WeHCcU2SoNNpBy0MS7iXhlNteyIzXe80wEsEMtjN6AM9tcF3HPs807rcF8P5C5UiZ8I6sSR5VQvE/iwn1BUuKExj6UACbX6LSCfWsmMkxD/Hc9Qr7MXENUi4UqCASL+WhwyYxr1HcbD7pe/KTiiqIZv91zLDKIituS/f6FyDkbWEkYQ+98w3V9WuZJlBI7F8/+Rj7jBDTGDOexu09qlE2B5bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AwBFuRDRF8WGqYfkJmNmff",
      "input": {
        "note": "The gripper reading is still 0.75, so the open command was clamped before it took effect; the brick is still held over the pot. Re-sending the open command to release it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01AwBFuRDRF8WGqYfkJmNmff",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8047, 2.7201, 3.0856, -1.6001, 0.1986, -0.2134, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0052 left_pitch=-0.0415 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4028 right_y=0.3735 right_z=0.1341 right_yaw=0.7361 right_pitch=-0.6795 right_roll=-0.3184 right_gripper=0.7472\nstate[joint_eff]: [-0.1299, -1.2786, 6.9949, 1.6728, -0.0611, -0.0513, -0.0122, -0.0479, -14.7897, 8.6222, 1.1893, 0.1392, 0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04b635606fd41b641ec6580fb1f25813eef408e08c7456ba293ea2b1d7f6e35e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a2947c7ecdaf379ccc1cc44ea11208518bc6149b07283a9980d70270bf03a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca79332a75388199bf452f101aa6a53ea700a77856e1083573735afe3bff4e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 04b635606fd4
wire blob 40a2947c7ecd
wire blob ca79332a7538
call 10 attempt 0 · /messages · status 200 · 5.37 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4057, -0.0227, -0.049, 0.9951, 0.8085, 2.6873, 3.1062, -1.597, 0.2306, -0.178, 0.7472]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1719 left_yaw=0.005 left_pitch=-0.0392 left_roll=-0.0056 left_gripper=0.9951 right_x=0.4059 right_y=0.3718 right_z=0.1588 right_yaw=0.6874 right_pitch=-0.6141 right_roll=-0.3327 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.2239, 6.9949, 1.7949, -0.0366, -0.0122, -0.0122, -0.335, -20.3556, 7.8154, 1.4432, 0.1685, -0.0122, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0494, 0.9951, 0.8051, 2.6881, 3.0741, -1.6012, 0.202, -0.2188, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0052 left_pitch=-0.0412 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4015 right_y=0.3717 right_z=0.1477 right_yaw=0.7373 right_pitch=-0.6608 right_roll=-0.3232 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7607, -0.0366, -0.0562, -0.0122, 0.2393, -15.1043, 6.4889, 1.199, 0.4127, 0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8047, 2.7201, 3.0856, -1.6001, 0.1986, -0.2134, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0052 left_pitch=-0.0415 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4028 right_y=0.3735 right_z=0.1341 right_yaw=0.7361 right_pitch=-0.6795 right_roll=-0.3184 right_gripper=0.7472\nstate[joint_eff]: [-0.1299, -1.2786, 6.9949, 1.6728, -0.0611, -0.0513, -0.0122, -0.0479, -14.7897, 8.6222, 1.1893, 0.1392, 0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04b635606fd41b641ec6580fb1f25813eef408e08c7456ba293ea2b1d7f6e35e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40a2947c7ecdaf379ccc1cc44ea11208518bc6149b07283a9980d70270bf03a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca79332a75388199bf452f101aa6a53ea700a77856e1083573735afe3bff4e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 04b635606fd4]
[blob 40a2947c7ecd]
[blob ca79332a7538]
{
  "content": [
    {
      "signature": "CAQS8QkKEAgRGAI4AUIIdGhpbmtpbmcSDPO7JqQQ2I9I5dXlKxoMsv9IRB1+NM5HlCr0IjCb/OEm5t2SayAiVru9XEHenDLDVlCBFv0e5EZ/O5NZRa2PQL5iUvsS/LPnBFD/OZEqjgnk7gLyp9VhA4EhekDwmBEkF+OrQKpIuqBoQOaSVUGK9aP2E0s7q6LI3fWqe40iYm3j+Ts9AhM9mM3baMmqEX4WJcMCnWs8nGS1fAI2tg3DbJyUiUUZc79QSXGTN4OEAZwMYn9jUEqiC9n+Di6ItJ4uhtSLBfY3M8rNHPlu+Gv0lZtSKZoPvAf/E5d59xIVIjKOukMpsdcvv27/tfo0IKPr83jGW8nhPpExDpLrivgNiTdFzpECy10aNXhHG3M/AkVeoVDUMJ1JsEiw99jSdWF6QE3lq72WXssA2/Z/rhF0LZ9wToot0nt2MJEFqByf8MiedEf7Ah9JywkrkgyECZoWUymdVQaZYAjJsGdr3VeI5EYexKmH1XiTmZxwJuox7rbtb/Ra9+78eOf/f+tPvHESpI9Sp6JqN7Rct7n+7mcIHYHvCX/oY8PabDxc02QsmLvNziryj/xnRKWYJo7jRXYie4KtZQd4jqs1CjPVSGIZZRHGuAOYO6ccX91AyJXY+tCTXWuXh0dBpitU60CbhAit0OiiQ1679CHXr18HcMeqDXx7dO1JGqGXVaHRgwPWlavEblpmJBK+U2g4zwSD3b2JBw/f2tysEV4NKevPIkH90nTAC/b6k7x5kFOWiVxbbC6SmdC9SMF6HG9M7BxohlkAU33OjecNYL/jm7Hq6fcmkanhaYlwDQ9+2UJBlE1IJWJ8Yvabmwhq6kD0mlVESP1U1GoFBa2d3qDPJvEjrfX+CREqlemvAHqrvMnUTSXgwQUErUTwd70KfThQdjByok5CNMhroc/M1InZ551ns7U8Md70OVFkgnfU+ds08CgV61rih591+841+rxc5DoqKSJMIsn8L5YcOakssSd/VnVm7mWmchyv8fS7Zn8GkEdX8IjVO2ZS1u/uJaVMP8ZHDq/oV6Zoj9WyGRvdMphrVCJNC520Ytlr5MpKyzYU51EPraZeH7+KlDXZW4lNkCY+9IxCfzDewXD8MuQuUGOwNq7PEK3LpdiO0EFbgOVm3XyVGykDfhmHzKYD8ue6zhi3rTxUfvgdGVOJ0OKtoMFEElT5FQnXXqc4/WegLYQNYd8OK5sKfGnG+F/VVFv1E1kO0TVg63mJBqKC61O10ujgl2i+xp7GEZ2bv92sPlfjKf5VSFPXlDcGE+H6Tqz4YCvdN/mXgKXK0vrPfssCZwbNP/UxTOhymih046BpIqASIqTuxJoh9FwoLEHTP76DMhY8RQ58m2FkoG8Y/7W1qzTsvEAXG2LrOPXkqmdUcjpu+ZF59Fze3dZ2lPD67UuIEdDXOy8x7CWIqnj6LBwvlFSTz0eSDlhteY/k5DOhogJw3F60bCFDFJhUYin6365L1BF3BjC5DmaAf/ZfQg6/Gg/PgPIOQrjDomvpqnUA+eLFwIZlySug2AbzwKPYuYnY7rSsBITpS10modznn9sy8wvELZPHMyxm+mJbwcaA2nB2rrHrKeBs7kY9hUYA7gmSt1mYwlx933bxcpf2FuwKSpu0wKqtPg7nMNSYlNBv15aBRwmdVlB8bL39hUY/hO1GAF399RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hk38L2f5mG6btNJxU1HmuE",
      "input": {
        "note": "The gripper still reads 0.75 and is not opening, possibly because the arm is strained at its reach limit. Pulling back slightly and raising while commanding the gripper open again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Hk38L2f5mG6btNJxU1HmuE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8379, 2.5839, 2.9143, -1.5833, 0.2039, -0.1982, 0.9959]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0052 left_pitch=-0.0431 left_roll=-0.0058 left_gripper=0.9951 right_x=0.3799 right_y=0.374 right_z=0.1572 right_yaw=0.7522 right_pitch=-0.6947 right_roll=-0.3202 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.6923, -0.0317, -0.0757, -0.0122, 0.3897, -17.7436, 5.7915, 1.0476, 0.2613, 0.1636, -0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fdc263c8daa297ae7f46ae562b76caaf558a345eefc0a9568d3b97c1fe086a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ca80a3369413c7bc0f5f3b4ed05e0ae1d927d80e08863ad878975b2f192bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c671bae63e0596ce7f062e3cd2a358de0b00e6df4deaf930b62f94c9870aa8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 95fdc263c8da
wire blob 44ca80a33694
wire blob c671bae63e05
call 11 attempt 0 · /messages · status 200 · 10.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0494, 0.9951, 0.8051, 2.6881, 3.0741, -1.6012, 0.202, -0.2188, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0052 left_pitch=-0.0412 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4015 right_y=0.3717 right_z=0.1477 right_yaw=0.7373 right_pitch=-0.6608 right_roll=-0.3232 right_gripper=0.7472\nstate[joint_eff]: [-0.0615, -1.1692, 6.9949, 1.7607, -0.0366, -0.0562, -0.0122, 0.2393, -15.1043, 6.4889, 1.199, 0.4127, 0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8047, 2.7201, 3.0856, -1.6001, 0.1986, -0.2134, 0.7472]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0052 left_pitch=-0.0415 left_roll=-0.0058 left_gripper=0.9951 right_x=0.4028 right_y=0.3735 right_z=0.1341 right_yaw=0.7361 right_pitch=-0.6795 right_roll=-0.3184 right_gripper=0.7472\nstate[joint_eff]: [-0.1299, -1.2786, 6.9949, 1.6728, -0.0611, -0.0513, -0.0122, -0.0479, -14.7897, 8.6222, 1.1893, 0.1392, 0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0494, 0.9951, 0.8379, 2.5839, 2.9143, -1.5833, 0.2039, -0.1982, 0.9959]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0052 left_pitch=-0.0431 left_roll=-0.0058 left_gripper=0.9951 right_x=0.3799 right_y=0.374 right_z=0.1572 right_yaw=0.7522 right_pitch=-0.6947 right_roll=-0.3202 right_gripper=0.9959\nstate[joint_eff]: [-0.0889, -1.2786, 6.9949, 1.6923, -0.0317, -0.0757, -0.0122, 0.3897, -17.7436, 5.7915, 1.0476, 0.2613, 0.1636, -0.1929]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95fdc263c8daa297ae7f46ae562b76caaf558a345eefc0a9568d3b97c1fe086a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44ca80a3369413c7bc0f5f3b4ed05e0ae1d927d80e08863ad878975b2f192bbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c671bae63e0596ce7f062e3cd2a358de0b00e6df4deaf930b62f94c9870aa8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 95fdc263c8da]
[blob 44ca80a33694]
[blob c671bae63e05]
{
  "content": [
    {
      "text": "The gripper has opened (reading 0.996) and the wrist camera shows the black brick lying inside the pot, floating on the water. Let me retract the arm so the top view confirms the result.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015gxN5bbnWdatWEE8yFq9D9",
      "input": {
        "note": "The gripper opened and the wrist camera shows the black brick lying inside the pot on the water surface. Retracting the right arm toward home to clear the overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_015gxN5bbnWdatWEE8yFq9D9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.4084, -0.0227, -0.0494, 0.9951, 0.3416, 1.4105, 1.3548, -1.1824, 0.2985, 0.0265, 0.9969]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1708 left_yaw=0.0052 left_pitch=-0.0438 left_roll=-0.0058 left_gripper=0.9951 right_x=0.3024 right_y=0.0562 right_z=0.1932 right_yaw=0.0157 right_pitch=-0.6217 right_roll=-0.3263 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.3744, 7.2, 1.7265, -0.0757, -0.0513, -0.0122, -0.2256, -6.8308, 6.2701, 0.8425, 0.1538, -0.0073, -0.3394]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:167887124e619a97db89b72d327957cfe7d2f710b64827b3735f2948cf8fc7aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:370cfae10b22c672d47093f1f39b99cc88b4aa3c861dcb82829ea8573b6f0951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d2ab2a0035ddb69ba7082119e908aaa6c3dcab3ee90fbbc95eec868b10fe647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 167887124e61
wire blob 370cfae10b22
wire blob 4d2ab2a0035d