adhoc

completed
2026-09-18T06:12:41.809650+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
166.3 s
total steps
119
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick sits on the table to the right and ahead of the left gripper, with the pot further right near the centre line. Flying the left arm over the estimated brick position to check alignment in the wrist camera.
move_to
left_x0.3800left_y-0.1500left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3801, -0.0227, -0.041, 0.9934, -0.0219, 0.7933, 0.6022, -0.3752, -0.0147, -0.0196, 0.9966] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2951 right_y=-0.0003 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9966 state[joint_eff]: [-0.4034, -1.5795, 10.1675, 1.7705, -0.0513, 0.2857, -0.5397, -0.5265, -1.4427, 10.2222, 1.8486, -0.1245, 0.0757, -0.3687] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.15, "left_z": 0.15, "left_gripper": 1.0}, "note": "The black brick sits on the table to the right and ahead of the left gripper, with the pot further right near the centre line. Flying the left arm over the estimated brick position to check alignment in the wrist camera."})
tool
executing move_to over 14 steps (1.4s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteWrist camera shows the brick centred on the jaw column with its long axis along the arm's forward direction; the near end is at the fingertips. Advancing ~4 cm to straddle the brick's middle and descending to grasp height.
move_to
left_x0.4100left_y-0.1450left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5823, 1.4178, 0.8074, -0.1097, -0.466, -0.366, 0.9933, -0.0219, 0.7975, 0.6003, -0.3878, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.3683 left_y=-0.1432 left_z=0.1315 left_yaw=-0.0191 left_pitch=-0.0601 left_roll=0.0286 left_gripper=0.9933 right_x=0.2935 right_y=0.0001 right_z=0.1757 right_yaw=0.0023 right_pitch=-0.019 right_roll=0.001 right_gripper=0.9963 state[joint_eff]: [-0.3214, -6.2974, 8.9915, 1.7509, -0.2076, -0.1001, -0.442, -0.1026, -1.2923, 7.2, 1.8388, -0.0464, -0.0757, -0.0366] camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.145, "left_z": 0.02, "left_gripper": 1.0}, "note": "Wrist camera shows the brick centred on the jaw column with its long axis along the arm's forward direction; the near end is at the fingertips. Advancing ~4 cm to straddle the brick's middle and descending to grasp height."})
tool
executing move_to over 8 steps (0.8s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
The brick fills the wrist view between the jaws. Closing the gripper.
agent noteThe brick is between the jaws at table level in the wrist view. Closing the gripper to grasp it across its width.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5163, 1.8286, 0.7158, 0.342, -0.4232, -0.3367, 0.9934, -0.0219, 0.7986, 0.6003, -0.3912, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3988 left_y=-0.1388 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.1193 left_roll=0.0531 left_gripper=0.9934 right_x=0.2931 right_y=0.0 right_z=0.1747 right_yaw=0.0018 right_pitch=-0.0236 right_roll=0.0013 right_gripper=0.9963 state[joint_eff]: [0.2667, -8.3077, 5.1761, 1.7656, -0.1538, 0.1832, -0.4615, -0.1846, -1.3333, 7.0359, 1.7705, -0.0317, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
The brick fills the wrist view between the jaws. Closing the gripper.
move_to({"targets": {"left_gripper": 0.0}, "note": "The brick is between the jaws at table level in the wrist view. Closing the gripper to grasp it across its width."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteGripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to carry height to confirm the brick comes along.
move_to
left_z0.1700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5163, 1.8473, 0.7151, 0.3588, -0.4286, -0.3378, 0.7444, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.3994 left_y=-0.1382 left_z=0.0086 left_yaw=0.0047 left_pitch=-0.1198 left_roll=0.0568 left_gripper=0.7444 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0021 right_pitch=-0.0255 right_roll=0.0015 right_gripper=0.9963 state[joint_eff]: [-0.0752, -9.4154, 4.9436, 1.3065, -0.1441, -0.0659, 1.0281, -0.1299, -1.2923, 7.1863, 1.7558, -0.0562, -0.0513, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to carry height to confirm the brick comes along."})
tool
executing move_to over 11 steps (1.1s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe brick lifted with the gripper (the top view no longer shows it on the table and the wrist camera sees its far end protruding past the jaws). Carrying it up and toward the pot, keeping high to clear the pot rim.
move_to
left_x0.4300left_y-0.3000left_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5163, 1.5604, 1.0176, -0.3653, -0.3969, -0.3412, 0.75, -0.0216, 0.8024, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.3846 left_y=-0.1357 left_z=0.1173 left_yaw=-0.006 left_pitch=-0.2484 left_roll=0.1009 left_gripper=0.75 right_x=0.293 right_y=0.0001 right_z=0.1731 right_yaw=0.0024 right_pitch=-0.0297 right_roll=0.0011 right_gripper=0.9963 state[joint_eff]: [-0.212, -11.2889, 10.865, 2.0098, -0.5641, -0.0317, 1.0281, -0.0889, -1.6068, 7.0085, 1.7411, -0.0366, -0.0611, -0.0171] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.3, "left_z": 0.28}, "note": "The brick lifted with the gripper (the top view no longer shows it on the table and the wrist camera sees its far end protruding past the jaws). Carrying it up and toward the pot, keeping high to clear the pot rim."})
tool
executing move_to over 15 steps (1.5s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteWrist camera shows the pot to the right of the held brick, so the grasp point is still short of the pot centre. Shifting further right (toward the fence-side bound) and slightly forward to get over the pot.
move_to
left_x0.4400left_y-0.3800left_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7864, 2.3013, 2.5862, -1.3731, -0.4973, -0.5961, 0.7538, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.4288 left_y=-0.3053 left_z=0.2356 left_yaw=-0.0264 left_pitch=-0.3278 left_roll=0.1093 left_gripper=0.7538 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0018 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9963 state[joint_eff]: [-0.5265, -12.9299, 7.5829, 1.1306, -0.9744, -0.022, 0.6667, -0.1026, -1.388, 7.0496, 1.6972, -0.0366, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.38, "left_z": 0.28}, "note": "Wrist camera shows the pot to the right of the held brick, so the grasp point is still short of the pot centre. Shifting further right (toward the fence-side bound) and slightly forward to get over the pot."})
tool
executing move_to over 7 steps (0.7s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe arm fell short of the target (reach limit at this far, high pose) and the pot still appears to the right in the wrist view. Pulling x in slightly to regain reach while shifting further right over the pot.
move_to
left_x0.3800left_y-0.3700left_z0.2400
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.857, 2.4783, 2.8555, -1.5776, -0.4732, -0.6563, 0.7547, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.4013 left_y=-0.3349 left_z=0.2088 left_yaw=-0.0472 left_pitch=-0.4183 left_roll=0.1397 left_gripper=0.7547 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0316 right_roll=0.0014 right_gripper=0.9963 state[joint_eff]: [-0.6769, -13.7231, 8.8684, 1.2723, -0.8816, -0.1734, 0.8523, -0.0889, -1.2786, 7.1453, 1.707, -0.0708, -0.0757, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.37, "left_z": 0.24}, "note": "The arm fell short of the target (reach limit at this far, high pose) and the pot still appears to the right in the wrist view. Pulling x in slightly to regain reach while shifting further right over the pot."})
tool
executing move_to over 4 steps (0.4s)
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 noteGrasp point is over the left part of the pot but the arm keeps stopping ~3 cm short in y. Lowering slightly and pulling x in to ease the reach while pushing further right toward the pot centre.
move_to
left_x0.3600left_y-0.3800left_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9146, 2.4687, 2.7426, -1.5848, -0.477, -0.7048, 0.7543, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963] state[eef_state]: left_x=0.3748 left_y=-0.3479 left_z=0.1813 left_yaw=-0.0337 left_pitch=-0.4843 left_roll=0.206 left_gripper=0.7543 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9963 state[joint_eff]: [-0.5675, -19.0291, 5.2444, 0.8523, -0.5006, -0.1783, 0.823, -0.0889, -1.2513, 7.0769, 1.707, -0.0757, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.36, "left_y": -0.38, "left_z": 0.2}, "note": "Grasp point is over the left part of the pot but the arm keeps stopping ~3 cm short in y. Lowering slightly and pulling x in to ease the reach while pushing further right toward the pot centre."})
tool
executing move_to over 3 steps (0.3s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteThe arm is not converging in y and the tool has tilted back (pitch -0.49). Explicitly commanding the tool upright with pitch/roll 0 while pushing right, so the brick hangs vertically over the pot.
move_to
left_x0.3700left_y-0.3900left_z0.2000left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.936, 2.4683, 2.7361, -1.5822, -0.4725, -0.7235, 0.7564, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.3667 left_y=-0.3563 left_z=0.1795 left_yaw=-0.0451 left_pitch=-0.4878 left_roll=0.1953 left_gripper=0.7564 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0312 right_roll=0.0017 right_gripper=0.9963 state[joint_eff]: [0.0479, -18.8923, 5.641, 0.8278, -0.5543, -0.149, 0.7839, -0.0615, -1.3197, 7.0496, 1.7411, -0.0757, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.39, "left_z": 0.2, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm is not converging in y and the tool has tilted back (pitch -0.49). Explicitly commanding the tool upright with pitch/roll 0 while pushing right, so the brick hangs vertically over the pot."})
tool
executing move_to over 17 steps (1.7s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe brick now hangs over the pot interior with water visible beneath its far end, but the grasp point sits near the pot's near rim and z stopped short. Moving forward a few cm and up so the whole brick is inside the rim before releasing.
move_to
left_x0.4100left_y-0.3900left_z0.2200left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-1.0477, 2.1468, 1.858, -0.7639, -0.7219, -0.7555, 0.7568, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.362 left_y=-0.387 left_z=0.1452 left_yaw=-0.067 left_pitch=-0.1441 left_roll=0.0984 left_gripper=0.7568 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0022 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9963 state[joint_eff]: [-0.9641, -17.812, 7.5966, 1.5116, -0.9499, 0.0659, 0.735, -0.0615, -1.4701, 7.0632, 1.7363, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.39, "left_z": 0.22, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The brick now hangs over the pot interior with water visible beneath its far end, but the grasp point sits near the pot's near rim and z stopped short. Moving forward a few cm and up so the whole brick is inside the rim before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteThe brick now hangs fully over the pot interior in the wrist view, with the pot wall visible around it. Opening the gripper to drop it into the water.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9821, 2.1544, 1.9621, -0.7799, -0.6804, -0.6903, 0.7565, -0.0216, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963] state[eef_state]: left_x=0.3921 left_y=-0.3807 left_z=0.1732 left_yaw=-0.0707 left_pitch=-0.1288 left_roll=0.0618 left_gripper=0.7565 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0024 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9963 state[joint_eff]: [-0.1162, -12.3966, 11.494, 1.8681, -0.7839, 0.2857, 0.8132, -0.1162, -1.3744, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The brick now hangs fully over the pot interior in the wrist view, with the pot wall visible around it. Opening the gripper to drop it into the water."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
The brick is now inside the pot, visible in the wrist view lying in the pot interior. I'll retract the arm to clear the view and confirm.
agent noteThe wrist camera shows the brick lying inside the pot. Retracting the left arm up and away so the overhead camera can confirm the placement.
move_to
left_x0.3000left_y-0.1500left_z0.2500left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9752, 2.1544, 1.9984, -0.7387, -0.7094, -0.6697, 0.9925, -0.0219, 0.8093, 0.5999, -0.3935, -0.0166, -0.02, 0.9963] state[eef_state]: left_x=0.4037 left_y=-0.3843 left_z=0.1944 left_yaw=-0.0623 left_pitch=-0.0636 left_roll=0.0309 left_gripper=0.9925 right_x=0.2934 right_y=0.0001 right_z=0.1711 right_yaw=0.0022 right_pitch=-0.037 right_roll=0.0018 right_gripper=0.9963 state[joint_eff]: [-0.3624, -12.8889, 9.9624, 1.6581, -0.5104, 0.2564, -0.6911, -0.2393, -1.0188, 7.0085, 1.7118, -0.0513, -0.0464, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
The brick is now inside the pot, visible in the wrist view lying in the pot interior. I'll retract the arm to clear the view and confirm.
move_to({"targets": {"left_x": 0.3, "left_y": -0.15, "left_z": 0.25, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The wrist camera shows the brick lying inside the pot. Retracting the left arm up and away so the overhead camera can confirm the placement."})
tool
executing move_to over 21 steps (2.1s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
The overhead view shows the black brick sitting inside the pot of water, and the arm is clear.
agent noteGrasped the black brick with the left arm (gripper settled ~0.75), carried it over to the pot near the left arm's fence-side y bound, and released it inside; the overhead camera confirms the brick is in the pot.
done
hindsightThe pot near the table centre at top_cam (160,72) is at left_x≈0.39, left_y≈-0.38, right at the left arm's y bound; the brick at top_cam (95,95) was at left_x≈0.40, left_y≈-0.14. When carrying a load to a far high pose the IK let pitch drift to -0.5 and stalled ~3 cm short in y; explicitly commanding left_pitch=0 and left_roll=0 in the same move fixed the convergence. A long held object protruding past the fingertips IS visible in its own wrist camera, so seeing it there does not mean the grasp failed. The pot rim is ~12 cm high; grasp-point z≈0.17–0.20 was enough to clear it with the brick hanging.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7776, 1.1515, 1.0481, -0.6159, -0.5968, -0.4938, 0.9922, -0.0219, 0.8154, 0.5957, -0.3935, -0.0166, -0.0204, 0.9963] state[eef_state]: left_x=0.3039 left_y=-0.1548 left_z=0.2452 left_yaw=-0.0446 left_pitch=-0.006 left_roll=-0.0084 left_gripper=0.9922 right_x=0.2932 right_y=0.0001 right_z=0.1675 right_yaw=0.0024 right_pitch=-0.0473 right_roll=0.0017 right_gripper=0.9963 state[joint_eff]: [0.253, -4.1504, 7.1863, 1.6288, -0.149, 0.1538, -0.0415, -0.0205, -1.6889, 7.4598, 1.7265, -0.0464, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
The overhead view shows the black brick sitting inside the pot of water, and the arm is clear.
done({"summary": "Grasped the black brick with the left arm (gripper settled ~0.75), carried it over to the pot near the left arm's fence-side y bound, and released it inside; the overhead camera confirms the brick is in the pot.", "hindsight": "The pot near the table centre at top_cam (160,72) is at left_x\u22480.39, left_y\u2248-0.38, right at the left arm's y bound; the brick at top_cam (95,95) was at left_x\u22480.40, left_y\u2248-0.14. When carrying a load to a far high pose the IK let pitch drift to -0.5 and stalled ~3 cm short in y; explicitly commanding left_pitch=0 and left_roll=0 in the same move fixed the convergence. A long held object protruding past the fingertips IS visible in its own wrist camera, so seeing it there does not mean the grasp failed. The pot rim is ~12 cm high; grasp-point z\u22480.17\u20130.20 was enough to clear it with the brick hanging."})
tool
done: Grasped the black brick with the left arm (gripper settled ~0.75), carried it over to the pot near the left arm's fence-side y bound, and released it inside; the overhead camera confirms the brick is in 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 · 26.91 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, 0.7948, 0.6044, -0.3801, -0.0227, -0.041, 0.9934, -0.0219, 0.7933, 0.6022, -0.3752, -0.0147, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2951 right_y=-0.0003 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.4034, -1.5795, 10.1675, 1.7705, -0.0513, 0.2857, -0.5397, -0.5265, -1.4427, 10.2222, 1.8486, -0.1245, 0.0757, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21457190e0d0b5c934584f17201b40b4927f8196ba918455963062ec8257f357",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:011cf9fed3faf78fa13f4df19cfcb9b693b61d524d034a8edd797411e8043af5",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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        "type": "ephemeral"
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        "data": "$blob:ae4ac40c3acf0b3b8e2c6f377009c7f028196c0f1904f0d9060c93322cb8a3cb",
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wire blob 011cf9fed3fa
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call 1 attempt 0 · /messages · status 200 · 13.94 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, 0.7948, 0.6044, -0.3801, -0.0227, -0.041, 0.9934, -0.0219, 0.7933, 0.6022, -0.3752, -0.0147, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2951 right_y=-0.0003 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.4034, -1.5795, 10.1675, 1.7705, -0.0513, 0.2857, -0.5397, -0.5265, -1.4427, 10.2222, 1.8486, -0.1245, 0.0757, -0.3687]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21457190e0d0b5c934584f17201b40b4927f8196ba918455963062ec8257f357",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:011cf9fed3faf78fa13f4df19cfcb9b693b61d524d034a8edd797411e8043af5",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae4ac40c3acf0b3b8e2c6f377009c7f028196c0f1904f0d9060c93322cb8a3cb",
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  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013ms4unaZcAvhLFf3v8AfHQ",
      "input": {
        "note": "The black brick sits on the table to the right and ahead of the left gripper, with the pot further right near the centre line. Flying the left arm over the estimated brick position to check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.15,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013ms4unaZcAvhLFf3v8AfHQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5823, 1.4178, 0.8074, -0.1097, -0.466, -0.366, 0.9933, -0.0219, 0.7975, 0.6003, -0.3878, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3683 left_y=-0.1432 left_z=0.1315 left_yaw=-0.0191 left_pitch=-0.0601 left_roll=0.0286 left_gripper=0.9933 right_x=0.2935 right_y=0.0001 right_z=0.1757 right_yaw=0.0023 right_pitch=-0.019 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -6.2974, 8.9915, 1.7509, -0.2076, -0.1001, -0.442, -0.1026, -1.2923, 7.2, 1.8388, -0.0464, -0.0757, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c354750b719cc84d88f1a132f8ad2a4bf68a128a93a057e15e59432e34d02c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f01c272021d8c1745fd225f86df8bacdf6b53025ea981e292e546e47155375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:993b96081b89b89d7387815dbe37279566d2f5c5da3af4e6f5808ce17c294055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4c354750b719
wire blob 19f01c272021
wire blob 993b96081b89
call 2 attempt 0 · /messages · status 200 · 4.48 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, 0.7948, 0.6044, -0.3801, -0.0227, -0.041, 0.9934, -0.0219, 0.7933, 0.6022, -0.3752, -0.0147, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2951 right_y=-0.0003 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.4034, -1.5795, 10.1675, 1.7705, -0.0513, 0.2857, -0.5397, -0.5265, -1.4427, 10.2222, 1.8486, -0.1245, 0.0757, -0.3687]",
      "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]: [-0.5823, 1.4178, 0.8074, -0.1097, -0.466, -0.366, 0.9933, -0.0219, 0.7975, 0.6003, -0.3878, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3683 left_y=-0.1432 left_z=0.1315 left_yaw=-0.0191 left_pitch=-0.0601 left_roll=0.0286 left_gripper=0.9933 right_x=0.2935 right_y=0.0001 right_z=0.1757 right_yaw=0.0023 right_pitch=-0.019 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -6.2974, 8.9915, 1.7509, -0.2076, -0.1001, -0.442, -0.1026, -1.2923, 7.2, 1.8388, -0.0464, -0.0757, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c354750b719cc84d88f1a132f8ad2a4bf68a128a93a057e15e59432e34d02c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f01c272021d8c1745fd225f86df8bacdf6b53025ea981e292e546e47155375",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:993b96081b89b89d7387815dbe37279566d2f5c5da3af4e6f5808ce17c294055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4c354750b719]
[blob 19f01c272021]
[blob 993b96081b89]
{
  "content": [
    {
      "signature": "CAQS+woKEAgRGAI4AUIIdGhpbmtpbmcSDHbEC5h1iYPX5OOOtRoM94g7xKVma3oZeUhJIjBglYesp/DgzdsiIqMhnLFcKil2+EYAp4USj4a/HUQNZgyGCYpxJJl51dsOolMulbUqmAqw2Igl1lo8rHMTB/aPNa/Rn9w6h5OdAQyezyFoI/hbEF3IIH+hYwn6E8Dn9urfSWms/Hb9VEQ0DyLH3f2u6uhfJ6foMiXUFBaRvn13IZMvN1+OL27581QviPoj8mOvoWiLbenJS/jQ09HXcUK2uWQNdviwpfXpQAZPG6++aLTnCK/zbWOR1ONKnAGnLR+o3knrl2fCqNeXN0YNJf3hNv9MXYenewAaT++eZHJic0ldWswm+URVeKXwZOc6Xj5uF0nRSMd4Vk7GfaisZIWjR9rBXypeWGUTKpZlr1rgLSv6tnzkoaxPgL9i95LxlDfJ6Ya27o+ndc1maKOLYX2Wye2hzjpKbK7bb1hSpAJDmMvTFMXB7JTRtZdqMX6cTI85uu3Ogappwjou8qm8xBEMDy6Nb3uyG8zBVnTbE7EzhSd8kN2rCVABq5n4AbDivvwjiL/4WNzWRNoFPi0le/eVmwMkOfPim++fDPHzqd0v262kgvkEGGILZ9c44AKouPXbQmSCJd7hfF/gsN9cF7Dt1ibjKuTQZ/84hVxOZjqPoAos58zoxivNmCh0OCAwbVuS/nFkYP4jAvU972pyWxWbEsuRGHa5iJhPD14kWUu7QELvSHOCxwnZsX4ZSivdz6OPg87Z2U2qP0dfSHq5vE3+rPa8HryV8oRFVFTrg7Gl3PY1zh89Za9hr6h8M2+CAuyb8n2htQ56swU9H6Ru+zRuslCV49oTSTv9aC9d9mg2gsWY30f8kMu6X1Exttc+rLn5Sz3iNh+rS1n6B0fjQMzb5iqdBx2X/geYT7bNsKQIEieeM4qrIqhOemaXz8QomdlCWX49lXJVaL51pG/AqrxeVsLWvL4szE8u+71Mk69u8I+PlyfYUc/5ZneKyatIdzTBRxSHhaIDEh0gPNmdwcyuy9lzMwV3W5lb4bczK2XF/AGkfyivjbGe+jEVmJZLfCYQGxJnlAFXDTMBlkoRA5DcUHPNVmPG+YbOo5dS5bFHp/1MwZTB/eETPjnkXvdiq2PldvmbPAzBQKC2gdwX28rM4xDcS9u2lXdtBMvE2UFq/LTekuQ2lx1xpyiHFpxAiM76LHUkYcLDQqSifvN/q/Y0nTHEQpMQwUopgkUAFjsEGJmReyYmqA2nvksmND0+UkzamvLAUYD67hC787sEBMql0N7TmRoTxr0kgpnsRFp3k+Z4G6ax6xUEO8nf6VWEp0wbyOmpJyVR3lZe6woq70OlfqMpKdssmJgt+y1IFRiA95GIE9YQt8dlKFP/D57dWvumn71jbsUk7AavsscssA6hLVK447A19GmdE21VeGJdcfiJBjbyxhy1Ev1Ngs5wat3JrJDsNf+Em6/Ulq5QLJBkHnFQv+ikmP5qjzsX7J5c0IBxqNFOxG5f2h/baISKwUZuIXZE9Q17AONvzQnksn2EZ/wl5ZEL1RmQTNUOywQ83ppZuuEHSQckliLXbOxUAmqD9NkIzipe/4rjb4ZMiRcFHGBZN6EzjpJlaoJAYGp08Vgk2lKmw3MHH6XLx7CYT74lj4zuzH3D9ELd92Go1CpIcGRQFMUTZ+kpPmcVgi7hTcQ6tQ/SnhAYAWW5gfAkQnaZWxC2EnFoMM4gewkzpyCBEkizFu95CDCGh7L536GYzt1fcr2pmQvHOOv/OhdqY/XH6N58N86/B9BtA7qpcl/Kgjykon+YzWvXEpjMcqeIlEV0dXmh9p6vVTo24LeUtcceuDN+OtlhlgRyIRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01STnWvfZmTNjo16gxRKps7R",
      "input": {
        "note": "Wrist camera shows the brick centred on the jaw column with its long axis along the arm's forward direction; the near end is at the fingertips. Advancing ~4 cm to straddle the brick's middle and descending to grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.145,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01STnWvfZmTNjo16gxRKps7R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8286, 0.7158, 0.342, -0.4232, -0.3367, 0.9934, -0.0219, 0.7986, 0.6003, -0.3912, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.1388 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.1193 left_roll=0.0531 left_gripper=0.9934 right_x=0.2931 right_y=0.0 right_z=0.1747 right_yaw=0.0018 right_pitch=-0.0236 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -8.3077, 5.1761, 1.7656, -0.1538, 0.1832, -0.4615, -0.1846, -1.3333, 7.0359, 1.7705, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e6842fd5d264f8eb24d9f5d5b5432b13789b22cd3222c8f10ac42c8b17c30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4040e2cb8f9783b73512907dad6ad29c5812a8a54e26d04a3fda34a368ca7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c0b1bf6490b322e8ec134704b1582afbec36d5be0e9ef594238ad9f2e1ab259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 4e6842fd5d26
wire blob f4040e2cb8f9
wire blob 9c0b1bf6490b
call 3 attempt 0 · /messages · status 200 · 6.485 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, 0.7948, 0.6044, -0.3801, -0.0227, -0.041, 0.9934, -0.0219, 0.7933, 0.6022, -0.3752, -0.0147, -0.0196, 0.9966]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.1799 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9934 right_x=0.2951 right_y=-0.0003 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9966\nstate[joint_eff]: [-0.4034, -1.5795, 10.1675, 1.7705, -0.0513, 0.2857, -0.5397, -0.5265, -1.4427, 10.2222, 1.8486, -0.1245, 0.0757, -0.3687]",
      "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]: [-0.5823, 1.4178, 0.8074, -0.1097, -0.466, -0.366, 0.9933, -0.0219, 0.7975, 0.6003, -0.3878, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3683 left_y=-0.1432 left_z=0.1315 left_yaw=-0.0191 left_pitch=-0.0601 left_roll=0.0286 left_gripper=0.9933 right_x=0.2935 right_y=0.0001 right_z=0.1757 right_yaw=0.0023 right_pitch=-0.019 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -6.2974, 8.9915, 1.7509, -0.2076, -0.1001, -0.442, -0.1026, -1.2923, 7.2, 1.8388, -0.0464, -0.0757, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8286, 0.7158, 0.342, -0.4232, -0.3367, 0.9934, -0.0219, 0.7986, 0.6003, -0.3912, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.1388 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.1193 left_roll=0.0531 left_gripper=0.9934 right_x=0.2931 right_y=0.0 right_z=0.1747 right_yaw=0.0018 right_pitch=-0.0236 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -8.3077, 5.1761, 1.7656, -0.1538, 0.1832, -0.4615, -0.1846, -1.3333, 7.0359, 1.7705, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e6842fd5d264f8eb24d9f5d5b5432b13789b22cd3222c8f10ac42c8b17c30ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4040e2cb8f9783b73512907dad6ad29c5812a8a54e26d04a3fda34a368ca7b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0b1bf6490b322e8ec134704b1582afbec36d5be0e9ef594238ad9f2e1ab259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 4e6842fd5d26]
[blob f4040e2cb8f9]
[blob 9c0b1bf6490b]
{
  "content": [
    {
      "text": "The brick fills the wrist view between the jaws. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CtBgSMcVPYHeXTBu3jjJpP",
      "input": {
        "note": "The brick is between the jaws at table level in the wrist view. Closing the gripper to grasp it across its width.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CtBgSMcVPYHeXTBu3jjJpP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8473, 0.7151, 0.3588, -0.4286, -0.3378, 0.7444, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3994 left_y=-0.1382 left_z=0.0086 left_yaw=0.0047 left_pitch=-0.1198 left_roll=0.0568 left_gripper=0.7444 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0021 right_pitch=-0.0255 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.4154, 4.9436, 1.3065, -0.1441, -0.0659, 1.0281, -0.1299, -1.2923, 7.1863, 1.7558, -0.0562, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6185cdbced619fccdd256a916bbaed7ad7e145e333f4943d89bc5576aa0a07ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd8f78757454ab8071633c4387d4738c9ef415ff514483214930c162f61fb77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd0bfeaf7191707ffc3556c02d212a0c9b82da7d1cab77135ae40817a73edd59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6185cdbced61
wire blob 0bd8f7875745
wire blob bd0bfeaf7191
call 4 attempt 0 · /messages · status 200 · 16.54 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]: [-0.5823, 1.4178, 0.8074, -0.1097, -0.466, -0.366, 0.9933, -0.0219, 0.7975, 0.6003, -0.3878, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3683 left_y=-0.1432 left_z=0.1315 left_yaw=-0.0191 left_pitch=-0.0601 left_roll=0.0286 left_gripper=0.9933 right_x=0.2935 right_y=0.0001 right_z=0.1757 right_yaw=0.0023 right_pitch=-0.019 right_roll=0.001 right_gripper=0.9963\nstate[joint_eff]: [-0.3214, -6.2974, 8.9915, 1.7509, -0.2076, -0.1001, -0.442, -0.1026, -1.2923, 7.2, 1.8388, -0.0464, -0.0757, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8286, 0.7158, 0.342, -0.4232, -0.3367, 0.9934, -0.0219, 0.7986, 0.6003, -0.3912, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.1388 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.1193 left_roll=0.0531 left_gripper=0.9934 right_x=0.2931 right_y=0.0 right_z=0.1747 right_yaw=0.0018 right_pitch=-0.0236 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -8.3077, 5.1761, 1.7656, -0.1538, 0.1832, -0.4615, -0.1846, -1.3333, 7.0359, 1.7705, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8473, 0.7151, 0.3588, -0.4286, -0.3378, 0.7444, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3994 left_y=-0.1382 left_z=0.0086 left_yaw=0.0047 left_pitch=-0.1198 left_roll=0.0568 left_gripper=0.7444 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0021 right_pitch=-0.0255 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.4154, 4.9436, 1.3065, -0.1441, -0.0659, 1.0281, -0.1299, -1.2923, 7.1863, 1.7558, -0.0562, -0.0513, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6185cdbced619fccdd256a916bbaed7ad7e145e333f4943d89bc5576aa0a07ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd8f78757454ab8071633c4387d4738c9ef415ff514483214930c162f61fb77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd0bfeaf7191707ffc3556c02d212a0c9b82da7d1cab77135ae40817a73edd59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6185cdbced61]
[blob 0bd8f7875745]
[blob bd0bfeaf7191]
{
  "content": [
    {
      "signature": "CAQSkwcKEAgRGAI4AUIIdGhpbmtpbmcSDAIKRj9CbhG1103WTBoMAowd9SS1Nsz8D9JrIjAztwk2L+DKAjg+hFk105n/oNwZ8S/BdnBB3WUziuzbrb0QS0vSGOJ+5sXUxcW7hgUqsAYX0Vw4IhIoE3Ib/Xn2IDOUggePx1M1QZgF+ZuIp3DsySf4eCjhEFmPoXnNNWo2gwPOH5hMf+3IXxIAb6FVOeB0Hgs7LSy9/StvKoVX5+ntPqejvPCdpeYzyhGZt+hZDM+rRfL5MQPMXyrxJE8GI6u8lBf4qRtqlyyVuY2XBJfz6I+KVDHfCcHEjzIiGu7Z8ckRg9H+bqVQ6okz+HFph8KHgo1lnEO63Nbx40pHCEukJPVpzWB3zMx11dPeuQMQU7smRcnNc2iviJrfcR4BsIhFiZSi+3LpDn6c2OjRDBmWTz4FYv09jCtWEVCUK2/6ikV3iGuJLAaP4HwUWRSsMCOUvODnApJbiOZuCKT2FNd6CBEMI7WfnPTYeDuQvLfAYh7G1FRdKrG34KYToWALvBwR+X+itcp/Rk99SJqecISGjBsS0N7vvAIgQfij5GaF/80rti2AGOEHTxkcYKjEv0Z7yPnsspBaWLdl3ufIiwCqH5ulcJ4S5eFnMW8NPkwhRQjtnMIr1zEIFXmkDLnLc8kvzvDobk3+93BjsxjwGD8Rm0gNg0TiH1PlFjo3cmsJXoYylC98udcuLHdzvzhozURYncqFEybOb+w2MkI4/Ah+msTo3RzZHWJbbGDgg44UcpUUQokSEsr4RBmJADuRgTTKgVQTf0L73+DBdr3dmSB1m9L84w7lRd94JtcFXJiziocMFHseqJDWwYDErCH76Ddb/WDt0KM182OtLlf8EMqkUIR3EeHHtWZP4XcGuLiPPW4e0c/P4yWanJVtkhD/HRErs1nsgdRL8wjsA3g9Ab4rZ1cJaw+H1tiSE4zn+5cDPu3eV9Px5ry0nQwzYMubwoDFMC4Iw85WelO4O1Zi59OtGkz0xwc+tDoRSj882P1fDOIHK/7egUxvRkDWaN8rlN9dgwLldGY4DMpjMLYNaMNNe9KXcNsJzF40q2IflgUFp6WiYZcsD/13QC0/QmWY3U3FBPASoZ7dhKvU3nG5T2rRp+r464fa32AfW+OiSTReJTyQ60jCvrmkmktiZixKwqO8RKRb/nuCRZRbWDIF7AFYVtd9gpXHwkDajlKokwVfFw0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CV86C1JTQQFUe7vcpb9N1Z",
      "input": {
        "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to carry height to confirm the brick comes along.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CV86C1JTQQFUe7vcpb9N1Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.5604, 1.0176, -0.3653, -0.3969, -0.3412, 0.75, -0.0216, 0.8024, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3846 left_y=-0.1357 left_z=0.1173 left_yaw=-0.006 left_pitch=-0.2484 left_roll=0.1009 left_gripper=0.75 right_x=0.293 right_y=0.0001 right_z=0.1731 right_yaw=0.0024 right_pitch=-0.0297 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -11.2889, 10.865, 2.0098, -0.5641, -0.0317, 1.0281, -0.0889, -1.6068, 7.0085, 1.7411, -0.0366, -0.0611, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7329cb02641965c710a3fcdcf462eec8a1e12500e59eefe023f014f1be3e7734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19aa3a70a454ebc691b0b041306fcc96acad425d9abd14faaaf5f89af022e708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f938a29c5e7a040d284b65ae0c2ad7bfcb470bf0353fbc56975220a6eb20637a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 7329cb026419
wire blob 19aa3a70a454
wire blob f938a29c5e7a
call 5 attempt 0 · /messages · status 200 · 8.713 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]: [-0.5163, 1.8286, 0.7158, 0.342, -0.4232, -0.3367, 0.9934, -0.0219, 0.7986, 0.6003, -0.3912, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3988 left_y=-0.1388 left_z=0.0132 left_yaw=-0.0003 left_pitch=-0.1193 left_roll=0.0531 left_gripper=0.9934 right_x=0.2931 right_y=0.0 right_z=0.1747 right_yaw=0.0018 right_pitch=-0.0236 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [0.2667, -8.3077, 5.1761, 1.7656, -0.1538, 0.1832, -0.4615, -0.1846, -1.3333, 7.0359, 1.7705, -0.0317, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8473, 0.7151, 0.3588, -0.4286, -0.3378, 0.7444, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3994 left_y=-0.1382 left_z=0.0086 left_yaw=0.0047 left_pitch=-0.1198 left_roll=0.0568 left_gripper=0.7444 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0021 right_pitch=-0.0255 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.4154, 4.9436, 1.3065, -0.1441, -0.0659, 1.0281, -0.1299, -1.2923, 7.1863, 1.7558, -0.0562, -0.0513, -0.0171]\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]: [-0.5163, 1.5604, 1.0176, -0.3653, -0.3969, -0.3412, 0.75, -0.0216, 0.8024, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3846 left_y=-0.1357 left_z=0.1173 left_yaw=-0.006 left_pitch=-0.2484 left_roll=0.1009 left_gripper=0.75 right_x=0.293 right_y=0.0001 right_z=0.1731 right_yaw=0.0024 right_pitch=-0.0297 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -11.2889, 10.865, 2.0098, -0.5641, -0.0317, 1.0281, -0.0889, -1.6068, 7.0085, 1.7411, -0.0366, -0.0611, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7329cb02641965c710a3fcdcf462eec8a1e12500e59eefe023f014f1be3e7734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19aa3a70a454ebc691b0b041306fcc96acad425d9abd14faaaf5f89af022e708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f938a29c5e7a040d284b65ae0c2ad7bfcb470bf0353fbc56975220a6eb20637a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 7329cb026419]
[blob 19aa3a70a454]
[blob f938a29c5e7a]
{
  "content": [
    {
      "signature": "CAQSthYKEAgRGAI4AUIIdGhpbmtpbmcSDGRMJp5cEz1pjkgOCxoMLBiIeQqAuNx/A3bHIjA952Y6nTnwxvnXQElAnASC3be5pamGmovZ60cGV2l/DvmlK+qu/2LPstYTfNJH09cq0xVniopUgnNqrJnnfH3kV/uYadfDTbkGGz2nosJ0xj4lkUu43KBzjBEica1jSc8NChQgO6L24mmN6Rka7inj17Lhc1s1SThYHmlQJrDMzZW94/G2Hhbt7Dw6+4RnmjmJU0rFOZMRSqjkSB2QknUSwoTxPhKlfV68PCY8qcjOykRkqUiSHpH2i0FDKzY2DwWBBkm8fJYeT05kVUe7PpOY7RtH8uGB+3RTEffqvbASf/HF401KKpXwx9HN0zftbBWTUdZ3WnVHXrj+/hp7Ytmz35ZwcI0QdioSHpS/3wfknlbDERBgZWoCQt79YTBbcrFr5Cf7RHSGN92KMk7pkh13zghK8u85TmJDrDg3/PRwRAfFDNXEfHVfS/1uE7VAo3BRlZ4XTmbDfDkQhjoRYq/ueWqve1S19dZU+kpX+j83k50aIqd4T6IIayJJb2gEzVaNoZob6i9KzKu3WiinD5xrNYQNoI3EK+sDyWoTSsh4Fyt1FiTDnD+rGQ/SW64WSTIkJcIMnE31HeW7zUC9z93gkfpyMpAT1avPmUHegyeSeawdvqTlXeoG4dPa1BYvCfyfBsMrkZnaZVnzVkJiJxzxHrcwiDr10SBUxQGH33yNJ3scqCXZiuAF22O4IU1wUliQqp2Nt+moCa4Yrh8XRB6hkq5LEZoqJRQkVN/VmW3xEe7nh7q/l5gMwnGKq5q3LSF6+Ys1d1RpJyKGU7f8uEhLVHM9NCiQOcqh46bO42RR10iwyR27Op1esz16Z4DuvkmGHHe/HDQiXUV2t9azrcshFec3p6jxClZ9G2QZrY8oJ+vmNko5VeK7S0fZeOtmowC+URW9W3xnVWEDZIr0W7gAVomUuWIPbH3SkY6lx0YZB9Duu2f/j5Xf7L3pQMG3fcsE0jb8Zqeo1oeRQxvmysCQ1o3ARpP6anR6AI6i4P+VtVKN5HCZtNNR0vlc+neMKzqqQb3brqIOVZD+9M6+jXUtn8CZpikbLhVZrJoZVsvpIrS5l/3nlKUWDnwxM/h6YfX3vbnEfkNpCeuxIURgZ+qSbVJ6vGYSJEfdUWqddFHg45vEh4o4U/b3qvM9I8y1wKhSe83Di7tQhdioWO1gSio2y6orAJXuaY9ydPpn0MiOXj3RQd/Jvkqfi+6IYJLvMV4ktY8LJvjxmAMubCiGUMHaiK7r9MnlBaSQohBdmuH26hRNfElHZ0fkGJQr7C8rmjJTMudIj7Q6x36aDm0/WF79a50iRQV+9kICb6IEYmLgYicpMu0tczjb7t/xFHHFmXNaSbDMYQnIGpWdVeyDo32X/dX3D+kFNduXsLQB/i7C97/LMtGWIGgm0JI/gKm+Hv2M17VT564aHYGOEdaGehYYMYnUnB1CfLJTE3cobR0/JxMdhfOP3IDLE7Bd232WXLknIs/AmW44mDXBhI9iIHQaIye3A1VBB+SzfTjSqjmhgd9TcZkyo8PHFMN1eB3QtPQ+HUO+J8x1Fa2VDcQ6H8LLzVtvmlsBGWOJ0Iw140E3guz4m8LwQoWTN23cx5HfU05O9UtiGpuwKrzRj0/th3klTqeQETZDW+ceKoD3rGZqjAQgGbGLUu9l8K24M5goRcTu+7WHY+Klit+zNlDIHZKAi++BCZY8kRSd0eAye7gvrGfz4MHUnajbj2tLTcM/fOqLhykzOxWqhaXWkapkIlVshJX44ZnQhpPaJZUnM1IM6yjPV1vFaSU+8IPl8Qj5EPe0b9RiIh8lpeEmBDwhzYxhAiZWBF3UcSz3vRif/3vppCupZxFcyAuAG9KzIuA7fMoCDAOdBllfQS4McQTLe1Eev/ZJ5V0r6TxOflg9XMElop6z2J2d/mXvNYoWBZBcpmruNls/6HC6a+vL3mkPGoqXYFt//n6mz79OqSHd6K+veZDtPAz9zhI+itgo2nQPTJknxnG18Ow2rWMwuOHZR6SxEsYUAPxcEjNlDooCOEiMtemUQ5z1W2xHKOtzI/JbuCPjxONJQ9ofhNAfk9iQMu7T2245IpJ2EJmGiQNR3DTANvHpm/vHxjTyAg3eMeMBqxRkGgwNGAfhcykw+whQxLhGWsJMFKZ34/yBwYbeeebtPm0/fobctWpP5x3QT4a0PDhW8glIWsEEIKlWI6UopTk6l5YCuokyz8Hg6L6IJwWO/UlkE+yLVOCC7PxR3IBYSWLe/4YLZVXNtNcNXJV6Tq0VJcqkrHQ2GUcGawUWJrxVi9OFNFcXZRbXajQYwGYKXPgCOhMxZg0RAOCt0iCUhsEB3NwcIwfi0AvoplcpePR2oC3AMmozkZoxfsLCYDYe6EpgMq4u9QgWbtR7JFzSNsqtJ5BQJL29/e4Re1OyiOEUqj9mtzVMGf46o4MMX1NWfmY8pXwXTjYkIgDNpBBm7Xm9kPcneFlv+kxINZIYcctFm1YrW5qJRfDWaEHJUh2lqTE9QMrChxOF4ZAxyqANkv/YLc/k5xbgt0LII1HcmM1nzZ8dKqm5vK1fK0aeTzTA/P3fqLQu3EMg6GwmbrV7OddgSLtFsN1K8O7pceY2gfF3j88IIIIMf2j0aMXzfqp0SxnjYFCAxPB40IGREORAQ0wKj4bqnW+S/DegdHHUDoqgZPm5OwqYUoDkeNNaKgM8IdPedW1Z36T1M2uLSDH/IxCMQBQYa6HwZ4XPmu4LH73inw+TPVSJCeC0O4PIEg9fFZ6mtzokhWy05UdJrCsU11+tM+I49EGmy2BEpaREZ3mfmzSeUM+tvH2Gju0DOvpIPLHjJq1fIYkrRUrhRCUX14fYPa2HPyMLzjyddQ62kB3j33Xo0UAcz/9ETYp/PwJLPmuWbn6bVAN3HwGsdnXUj/rsCyw2RxNWh/AXgOf0IQHTM4dEypIA1e0hil5IpxbhZ4bKUz6zGm2rAD5S/5Tnq9NjMwN8kcsoz3QFv1UM284+Kueulxt/DWTnO6HA3Jaq2o8aHZ5I8AsFHx8chzWryeJPC23ppFEH1m1nLwiLZvJ5n7L4gcJTIPgoJ+HqzF3QUDnuXP6iGEAzh3DKL/57UsSGxfHRjy43v1kHYWnjtnlqcF6AdPyMSHp+IV52dQjUTviFE+pjSO5fcC3nwF4o0VFSn7A8aNz0P34k+HIF9+6ojVWoF++GQvtHUblg/WFozrK6e2C1lGsSuA7YFAmSA+4laebx+VAeTLWMJ+uo//AphEb//wBxMul67igwmkStMyanXB9+mYcdHiyKlh1GJgKz4jgxeNI/a/TnRVvY+GYMtRxt4pUCfSoZTEDIlV2Ta3t+UtVRU9JYawHYwl/i5m9Re8+82z/5JW/H//Sm1RJfGYnMq5DYsGGkBg+5pBdduiYuOJz/HL0AiwENAS7WBtPGWhAmoXoXlThTS/uR+kTkTkPzxvYBYppeQW41iN+2QP/G/1+o48hVatCGgeL89nD5Fsp54dijXPEE2FK6mpwjOM3J8dkdNYIilMEKluE6Xswvf7ctCs2Jhm1y6GFOyCq6g0pd+pgAldNSEOt3cervdThVtwwJOg8ncsDiq2PU+OZY2/i4ROdMGj5HMCu0uHA9X/5ttJQpx8vpM9pZXbafiGu7uE47iHxbs+byhATpG5Pm7ldNNxkh1tO7C9DrLYRH0KZgW1qMW7ZRu8woLGg9G5aNepHmDMwkkf2jdLvA1kRKL5YO9IoRYi1VGaYjUOlwSGFKlSp1BGqzQHiPhBMFl+zdh6+RGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KJX5K2qghneiSRUUmGekjB",
      "input": {
        "note": "The brick lifted with the gripper (the top view no longer shows it on the table and the wrist camera sees its far end protruding past the jaws). Carrying it up and toward the pot, keeping high to clear the pot rim.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.3,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01KJX5K2qghneiSRUUmGekjB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7864, 2.3013, 2.5862, -1.3731, -0.4973, -0.5961, 0.7538, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4288 left_y=-0.3053 left_z=0.2356 left_yaw=-0.0264 left_pitch=-0.3278 left_roll=0.1093 left_gripper=0.7538 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0018 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -12.9299, 7.5829, 1.1306, -0.9744, -0.022, 0.6667, -0.1026, -1.388, 7.0496, 1.6972, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ee8eda38c9c0830505a6bfbcca42543ead5ec6d1d41aca1060e28ada050f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6601c7d0a9617d2452e1aa2377bd0c0845a8f343da003281ee0fe03656648d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d462c20c29196eb8af70b28e098a79f24bf39a97854a02077bef880d1e54379e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob d9ee8eda38c9
wire blob e6601c7d0a96
wire blob d462c20c2919
call 6 attempt 0 · /messages · status 200 · 12.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5163, 1.8473, 0.7151, 0.3588, -0.4286, -0.3378, 0.7444, -0.0219, 0.7986, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3994 left_y=-0.1382 left_z=0.0086 left_yaw=0.0047 left_pitch=-0.1198 left_roll=0.0568 left_gripper=0.7444 right_x=0.2928 right_y=0.0001 right_z=0.1742 right_yaw=0.0021 right_pitch=-0.0255 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -9.4154, 4.9436, 1.3065, -0.1441, -0.0659, 1.0281, -0.1299, -1.2923, 7.1863, 1.7558, -0.0562, -0.0513, -0.0171]\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]: [-0.5163, 1.5604, 1.0176, -0.3653, -0.3969, -0.3412, 0.75, -0.0216, 0.8024, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3846 left_y=-0.1357 left_z=0.1173 left_yaw=-0.006 left_pitch=-0.2484 left_roll=0.1009 left_gripper=0.75 right_x=0.293 right_y=0.0001 right_z=0.1731 right_yaw=0.0024 right_pitch=-0.0297 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -11.2889, 10.865, 2.0098, -0.5641, -0.0317, 1.0281, -0.0889, -1.6068, 7.0085, 1.7411, -0.0366, -0.0611, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7864, 2.3013, 2.5862, -1.3731, -0.4973, -0.5961, 0.7538, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4288 left_y=-0.3053 left_z=0.2356 left_yaw=-0.0264 left_pitch=-0.3278 left_roll=0.1093 left_gripper=0.7538 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0018 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -12.9299, 7.5829, 1.1306, -0.9744, -0.022, 0.6667, -0.1026, -1.388, 7.0496, 1.6972, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9ee8eda38c9c0830505a6bfbcca42543ead5ec6d1d41aca1060e28ada050f0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6601c7d0a9617d2452e1aa2377bd0c0845a8f343da003281ee0fe03656648d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d462c20c29196eb8af70b28e098a79f24bf39a97854a02077bef880d1e54379e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob d9ee8eda38c9]
[blob e6601c7d0a96]
[blob d462c20c2919]
{
  "content": [
    {
      "signature": "CAQS/gkKEAgRGAI4AUIIdGhpbmtpbmcSDHIZXmwQqAgMHIopkxoMOmwFHjbHgZZ2Y9WvIjDI7OLAXirvLfYv7yK2v8lEPN2hsM9NPRWqeuTNrjsDtNHOFYLCjCPHVJ9W4iss/KAqmwkFugRa8p153R24puRIrvYcifZ3U1nl/AuGzJE6ovsrKf3PyxDXCRSrsUBhVvsNX6oMTZPKAWdx31GPGkTLC1T3gBBPAQRu9wmMtZvHtcDaUhD9sfeR9I+ko9viYe4IKw/e7Vt2FjEA7QL5V/VRKQWFVG45WLuhrZU2zjSF2pLeiDYZZO45oKnSfoO5mvsKWLehVQ2Yt+HKC4bxL8i1+xHcham8mSGhXqniSwBFAt1q9JI/+OpV1Nj2NBJFFW6+ztEP7LyrKvcva6CYuf0gkf4FapPo1ALs6s9XR/sEtS3aLXXk+D/jrX4Cq6NORvKBVmZ+8CeY19CW6z7BzFRB2uI/AfTYQS599cRc311peMYaJW91inrOhhTd/Uz23X+vSM3RQ2OamCTG/KDdwFiC8VysMQC1sELTh96wNTPBtPYxe+vQ2zc9meCGLl0M3YBayvI67Ppm8gley/yMDOj4NatrXEflt9suAk9lOk8zAgAvvRL7DtST5wk3koBFMmJhM1wXEsqYYCm1AIw4gN8eu0bvlqjyOJG3wwq5kw+GclTkKNUuPVXs/ONJAo/0nWjxOq25f0FQFwEQg5gY8tTMDc8xyQI7E6+ALIF9Bet0i2oDtSw7RnwbAbg5j1s9eypvxpfQd0qG53lZ6j8NzTU8/3aniAeqoLvbcMGycz1C/mPTVESyGnwNxODlXsnlypV7fORlQoMJjVUIWMDiZRDeFdJzAAp+gzLgJugsampgRANvgoXqGxxFHyl6pQgz10/leUxqJFjPndiYX4fRq/zOxAVxV5IGWLsPpSy+A0Id0mS6omEIa4Q5R1ShuiyZw5KcgncpChwndrAnQZW77MOC+oLAyFvof7HsHtRWHccRsXDqHT4D6idMbWSScH+f0K0kxWdAAiERrPzN+GdBI0EEQGdnFC4e/3YOqc60jAsPYxpk2KH6fJcqPgG6LLzN6cGP6JCQFNZXoxLwnYHcb978/F436C7InK1d6clB6X273jO1ov4Ug4kVBC9eytSobLuzMrdasio/LE+NpQLgvuvgP1OQfAqLDkF5jqkdnWYGZhmyhVc9upvIUu4zS5IiwXCOz1bgk2DMmrX+a8Xogat6R3vRbvNwz2WvzTkPGayCOfI3JSUcXcWAhg2ZaR2NQhh2N01M93tXtmsISMyNTP+TKbkH7n37MRhu6g4XcpJu66US4dVrq5l3+HYbUeQUbdct83QAhnTmxBJEFHPEBByVQwwpUtWuCFJmsooVmbh4gxnBUei4p7IO+AAKCwInef+m2jimP+YGtPpGO55zCAXH7yCfD4FMWdTYFKMgW+ICIXfUlhXQINCdXBVslCmC9PQNl+nH9J1dGGShuSpv+4YfFzlO1iKhwHAZ1L/3XBQbPehQrUiCQ64xMov2b2CQtm17wlCXo/Fmv3Zd1SrI0cONAfoc9DOH1ee+HSp8Orq1dcm/RPh6EtfwASGiyi9nf9iaKasP1h0WsoP30vzYTllVyPWMC326AsmyyrSvcJDVTodMeUn8OpJF0zxsQ7WTAo7d5Efh7F+xvVpgF5pTCIoUF4SbZidvrMNvCZ7MBNUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018M9Y3uUJZJRpgNqc2jcbYH",
      "input": {
        "note": "Wrist camera shows the pot to the right of the held brick, so the grasp point is still short of the pot centre. Shifting further right (toward the fence-side bound) and slightly forward to get over the pot.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.38,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018M9Y3uUJZJRpgNqc2jcbYH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.857, 2.4783, 2.8555, -1.5776, -0.4732, -0.6563, 0.7547, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4013 left_y=-0.3349 left_z=0.2088 left_yaw=-0.0472 left_pitch=-0.4183 left_roll=0.1397 left_gripper=0.7547 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0316 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -13.7231, 8.8684, 1.2723, -0.8816, -0.1734, 0.8523, -0.0889, -1.2786, 7.1453, 1.707, -0.0708, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20db23bd89b356af34433ceb07df50da45898e7dfce7636e76aed4f2cbc5c02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2670fb13b26cfb7cbdb2547ef7311f9145eec4a3f189749651746ad1274f2ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b2d84181434a0acfe275543aa19334b15d718611b3e502045f7ac9cad58693f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 20db23bd89b3
wire blob 2670fb13b26c
wire blob 2b2d84181434
call 7 attempt 0 · /messages · status 200 · 11.83 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]: [-0.5163, 1.5604, 1.0176, -0.3653, -0.3969, -0.3412, 0.75, -0.0216, 0.8024, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3846 left_y=-0.1357 left_z=0.1173 left_yaw=-0.006 left_pitch=-0.2484 left_roll=0.1009 left_gripper=0.75 right_x=0.293 right_y=0.0001 right_z=0.1731 right_yaw=0.0024 right_pitch=-0.0297 right_roll=0.0011 right_gripper=0.9963\nstate[joint_eff]: [-0.212, -11.2889, 10.865, 2.0098, -0.5641, -0.0317, 1.0281, -0.0889, -1.6068, 7.0085, 1.7411, -0.0366, -0.0611, -0.0171]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.7864, 2.3013, 2.5862, -1.3731, -0.4973, -0.5961, 0.7538, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4288 left_y=-0.3053 left_z=0.2356 left_yaw=-0.0264 left_pitch=-0.3278 left_roll=0.1093 left_gripper=0.7538 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0018 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -12.9299, 7.5829, 1.1306, -0.9744, -0.022, 0.6667, -0.1026, -1.388, 7.0496, 1.6972, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.857, 2.4783, 2.8555, -1.5776, -0.4732, -0.6563, 0.7547, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4013 left_y=-0.3349 left_z=0.2088 left_yaw=-0.0472 left_pitch=-0.4183 left_roll=0.1397 left_gripper=0.7547 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0316 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -13.7231, 8.8684, 1.2723, -0.8816, -0.1734, 0.8523, -0.0889, -1.2786, 7.1453, 1.707, -0.0708, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20db23bd89b356af34433ceb07df50da45898e7dfce7636e76aed4f2cbc5c02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2670fb13b26cfb7cbdb2547ef7311f9145eec4a3f189749651746ad1274f2ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b2d84181434a0acfe275543aa19334b15d718611b3e502045f7ac9cad58693f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 20db23bd89b3]
[blob 2670fb13b26c]
[blob 2b2d84181434]
{
  "content": [
    {
      "signature": "CAQS1Q0KEAgRGAI4AUIIdGhpbmtpbmcSDGKwkw502XBh/OB4NxoM4ZIEd/X01p8kMcPtIjAivdX78O0jxkmNXU2mLNadkkNbxdnfuiRGA5rWxCcSGScnhg4SSdXN37Wt5+TfJ4Aq8gw6bZNhM0wSkoVGSaxCD+OGcvaD5+XoJeUrkfdn0BkqLkfHwvwoEMi3LfWbqN11UC6yZD3hlLJGX5SIv/QSVXZNli3vREdowzGf0qrpr9XDUoCIuNppe4iF0o2GAWO+Ahm2t8aHjkp7xQmBrCuqHtF7VmZG4t9lQCea1bTLJoRPleodq6cAbF1SENynKTNw+YWKqrGbzRyMS4SwlYHwysr8z2CQEzuoBmErqLHKG87RVaCs91Y/QS9rE0zUBF8PVtXQg44wsAP9CcMRnvhr/wUXMxE9YSBPdnQR7MAiDLe9xUr9J1i2zCpKBrvc/dUl9/RpSOI6rrUnV536UoV+U8T0D/2ufw7VJS8oPZlHk+dqmdoQP/d6UbnDSKsAWFdQdjQD5tYo4Wr3EbGtAUVPdjxgu/xfHmESPkUjUTnylLCUdnp8lq76X9DjrNvv1gtWL2Wvj5IyMLBUYv6UM6Dq5EaYirrRysMxMPC1GZ9+bANtEoDmLEvzpT+ltjD9pykw8Q1sa/yJIVq6bcJYQ3FHBQohC7EiYybAa5TrqlspCwozeVB2Ltcwvy2sQFePpAMNiw3YM1hY5skfHtEcCVDBRHBJc9kmM6P37kOFenDu58G9YSWDWaMgmXAqbh70OkhMoHtBz/Vev9uY9bMMOE0H+1QGGilHpsqzwNhTKIgfYs6616+5JOtobMpfOcBFHeAuunPza1S6mXMQ60+RzSjE0N9d5CwSjyTCZxBFmbVrqLBjTdhZaX6a4Um6IxAEh+AOPtJCZkOE+KHpBrHCqK+B2Uwb89X2aV8Nipozhe5vz06dPHwJF6VoJjfv+mhi1bIFdxQxZOWE1xiCvjnZoWbRT6KE30jYLLNkkMcV8pbW08xuwKDHwRz5O9sc3CT7UVF072tL407zNwUa3DHwbrjIBWimw3kvQ7bsyfgTYlwtUE7QIKXTAed0GhBn2AyWJ5G7ym6VwgFO03B61jheu4YBd8emOGu+UYsfPdRPxbFgZX556IV9pxQPscU2DOrFnOXplw5V6kyua6jh27Dde3xdTmUwthMiAnevAKu8wiJDRyp3luqalNYd4y1qny/grqTbh0OAA7E8nS3P5wdVKJzeICJOcgIHnrXjrUrWIiOrX9Wdc/iqT++HR4NbR2j5kpbAwTCNsUrjYJHmw8gvog8hpNp/senlPMQXPgC9d6MmwChfdCDuEKKbNODLpJ+tiuK5x29mayiJtys9MVB9AZ/uRSxWEpCm8T/62rTG9r4r1YcGUbUNP1w0scJHcQ7ZIGNqGPQpfsTj5bHIlCvjKqSbDYxfPDqjnGRQlTUpQ2pYMoY2zIjusvQAPEWX1gcyIrD9G0uiPuoAsG051z2jZcJwS+ct7x2fcHxOKlPNwXnH6eMa8hEGn04fLuSpu6fmRqF9plQ9jKMdDD8L4FnPBx9M0MLFB+64slTb/h9iuYy5DsBKrHI/O1Ox/kxSg8jJNN1zhNK77I2lHPpD+1SJNBQxC3K/EJYOaZHCRtR/VdLfF6viMPynGKATkAxh8Vf+P0RGibEcbbz6wxuOhGrPwaEw45F9BSzhXEnCwHsY8pSVCdvBhTqfs5fkgVGidfGZwbS1Mze35x5fY65FKU21QMwN5FoyQDTyJqtAIXCD9O5xsRhqV2OPLrhcWMmvOmYmEPNXVUNTaihE17fTAd9AZ5CtYy2DTsxYEQ27+2A4Am0MWpOrQMTt3jBvuUp60tFkBOnh5xHheLtB+0wABCCpATEBxhtr5ZdhOaG1pEybPEGbawFwbD4Wk68KF4IHE9S5eBhYpkH2C5SwbVSS25JxtOZaM+YvARq8Yb+bNCcnxNKyZYHuJnjuPEH6bIwiFKK0/DXfxNIgcWU+zSI2MkZivWULWgwTr+mPFj48W/HYtUBdiijltijd/PkqQxatfY53Flnqn++lRzxk+DGwn78pK0iQnii/tY+pt2v7/yZ57vOcIBN2H1TMGosGoHEuq0uWkY6NOPWk3o65lq5bm/gSq70z6tHxBE97SezMiZ1yH+Mh3wrasS7LcbwgGCuWefB1LeGfST3YuyBUyp7268O0F9OmSjguzB//3LT6ios7YFCp9H4Ml0kpUPr5ld2/b0bamWI7NIdjbRKxnw5aakbycrM8x3jeIbW7Hb98RiYNfC6vNxgIDmmm44mgOXuKIYj+xwwYuSVayu+IBwkdnQvyv63rX87xRdsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HyQJornR55HWVKpeACGiF",
      "input": {
        "note": "The arm fell short of the target (reach limit at this far, high pose) and the pot still appears to the right in the wrist view. Pulling x in slightly to regain reach while shifting further right over the pot.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.37,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014HyQJornR55HWVKpeACGiF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9146, 2.4687, 2.7426, -1.5848, -0.477, -0.7048, 0.7543, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3748 left_y=-0.3479 left_z=0.1813 left_yaw=-0.0337 left_pitch=-0.4843 left_roll=0.206 left_gripper=0.7543 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -19.0291, 5.2444, 0.8523, -0.5006, -0.1783, 0.823, -0.0889, -1.2513, 7.0769, 1.707, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200e09ec92669d2699276ce0ab1515b82c4236c39ebf131497bae202b7942dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb6712b333247ebf0cbb2d2c01a8ea75a5012e957a34f7b4702fd1dfa1296b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e6dd065c92554927e14e69dd9e31a12133761b0b35802ac0b9af4897112f5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 200e09ec9266
wire blob cbb6712b3332
wire blob 6e6dd065c925
call 8 attempt 0 · /messages · status 200 · 14.59 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]: [-0.7864, 2.3013, 2.5862, -1.3731, -0.4973, -0.5961, 0.7538, -0.0219, 0.8043, 0.5999, -0.3935, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4288 left_y=-0.3053 left_z=0.2356 left_yaw=-0.0264 left_pitch=-0.3278 left_roll=0.1093 left_gripper=0.7538 right_x=0.2931 right_y=0.0 right_z=0.1725 right_yaw=0.0018 right_pitch=-0.032 right_roll=0.0015 right_gripper=0.9963\nstate[joint_eff]: [-0.5265, -12.9299, 7.5829, 1.1306, -0.9744, -0.022, 0.6667, -0.1026, -1.388, 7.0496, 1.6972, -0.0366, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.857, 2.4783, 2.8555, -1.5776, -0.4732, -0.6563, 0.7547, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4013 left_y=-0.3349 left_z=0.2088 left_yaw=-0.0472 left_pitch=-0.4183 left_roll=0.1397 left_gripper=0.7547 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0316 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -13.7231, 8.8684, 1.2723, -0.8816, -0.1734, 0.8523, -0.0889, -1.2786, 7.1453, 1.707, -0.0708, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9146, 2.4687, 2.7426, -1.5848, -0.477, -0.7048, 0.7543, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3748 left_y=-0.3479 left_z=0.1813 left_yaw=-0.0337 left_pitch=-0.4843 left_roll=0.206 left_gripper=0.7543 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -19.0291, 5.2444, 0.8523, -0.5006, -0.1783, 0.823, -0.0889, -1.2513, 7.0769, 1.707, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:200e09ec92669d2699276ce0ab1515b82c4236c39ebf131497bae202b7942dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb6712b333247ebf0cbb2d2c01a8ea75a5012e957a34f7b4702fd1dfa1296b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6dd065c92554927e14e69dd9e31a12133761b0b35802ac0b9af4897112f5f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 200e09ec9266]
[blob cbb6712b3332]
[blob 6e6dd065c925]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R5NEyreXxRfcBTCsPkNoUP",
      "input": {
        "note": "Grasp point is over the left part of the pot but the arm keeps stopping ~3 cm short in y. Lowering slightly and pulling x in to ease the reach while pushing further right toward the pot centre.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.38,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R5NEyreXxRfcBTCsPkNoUP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.936, 2.4683, 2.7361, -1.5822, -0.4725, -0.7235, 0.7564, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3667 left_y=-0.3563 left_z=0.1795 left_yaw=-0.0451 left_pitch=-0.4878 left_roll=0.1953 left_gripper=0.7564 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0312 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -18.8923, 5.641, 0.8278, -0.5543, -0.149, 0.7839, -0.0615, -1.3197, 7.0496, 1.7411, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ad2c7b121a3a6ed4f20afb8455dc7f1f592b51111f2eabab6cc47fe6ed0c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:925e84aca8571ce6acb0f30ca11c7310b1773b66ba597c2c4ecda202b3d67964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2ef24939c40933e72a7f773771fb8a2525c1c253b2ed8799e3150dfa24c63fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 19ad2c7b121a
wire blob 925e84aca857
wire blob c2ef24939c40
call 9 attempt 0 · /messages · status 200 · 10.27 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]: [-0.857, 2.4783, 2.8555, -1.5776, -0.4732, -0.6563, 0.7547, -0.0219, 0.8043, 0.5999, -0.3931, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.4013 left_y=-0.3349 left_z=0.2088 left_yaw=-0.0472 left_pitch=-0.4183 left_roll=0.1397 left_gripper=0.7547 right_x=0.2931 right_y=0.0001 right_z=0.1725 right_yaw=0.0024 right_pitch=-0.0316 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.6769, -13.7231, 8.8684, 1.2723, -0.8816, -0.1734, 0.8523, -0.0889, -1.2786, 7.1453, 1.707, -0.0708, -0.0757, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9146, 2.4687, 2.7426, -1.5848, -0.477, -0.7048, 0.7543, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3748 left_y=-0.3479 left_z=0.1813 left_yaw=-0.0337 left_pitch=-0.4843 left_roll=0.206 left_gripper=0.7543 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -19.0291, 5.2444, 0.8523, -0.5006, -0.1783, 0.823, -0.0889, -1.2513, 7.0769, 1.707, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.936, 2.4683, 2.7361, -1.5822, -0.4725, -0.7235, 0.7564, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3667 left_y=-0.3563 left_z=0.1795 left_yaw=-0.0451 left_pitch=-0.4878 left_roll=0.1953 left_gripper=0.7564 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0312 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -18.8923, 5.641, 0.8278, -0.5543, -0.149, 0.7839, -0.0615, -1.3197, 7.0496, 1.7411, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ad2c7b121a3a6ed4f20afb8455dc7f1f592b51111f2eabab6cc47fe6ed0c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:925e84aca8571ce6acb0f30ca11c7310b1773b66ba597c2c4ecda202b3d67964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2ef24939c40933e72a7f773771fb8a2525c1c253b2ed8799e3150dfa24c63fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 19ad2c7b121a]
[blob 925e84aca857]
[blob c2ef24939c40]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PA2ZWXmZQnenaHcUsiWRWK",
      "input": {
        "note": "The arm is not converging in y and the tool has tilted back (pitch -0.49). Explicitly commanding the tool upright with pitch/roll 0 while pushing right, so the brick hangs vertically over the pot.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.39,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01PA2ZWXmZQnenaHcUsiWRWK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0477, 2.1468, 1.858, -0.7639, -0.7219, -0.7555, 0.7568, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.362 left_y=-0.387 left_z=0.1452 left_yaw=-0.067 left_pitch=-0.1441 left_roll=0.0984 left_gripper=0.7568 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0022 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.9641, -17.812, 7.5966, 1.5116, -0.9499, 0.0659, 0.735, -0.0615, -1.4701, 7.0632, 1.7363, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ea86282a10b089e985d6ec8988cca4648bb6c945a58bb4bb7c96bdea3ce0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df6d5c28f3f69c3ca09e1e5e67ab19980f6679dabe61416d1b2cc6db96b95fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:510baafc3a7e4115013bb105f0292072c3c8f8ad687caa31114314c258a503c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 64ea86282a10
wire blob 5df6d5c28f3f
wire blob 510baafc3a7e
call 10 attempt 0 · /messages · status 200 · 5.947 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]: [-0.9146, 2.4687, 2.7426, -1.5848, -0.477, -0.7048, 0.7543, -0.0216, 0.8043, 0.5999, -0.3927, -0.0162, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3748 left_y=-0.3479 left_z=0.1813 left_yaw=-0.0337 left_pitch=-0.4843 left_roll=0.206 left_gripper=0.7543 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0022 right_pitch=-0.0313 right_roll=0.0014 right_gripper=0.9963\nstate[joint_eff]: [-0.5675, -19.0291, 5.2444, 0.8523, -0.5006, -0.1783, 0.823, -0.0889, -1.2513, 7.0769, 1.707, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.936, 2.4683, 2.7361, -1.5822, -0.4725, -0.7235, 0.7564, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3667 left_y=-0.3563 left_z=0.1795 left_yaw=-0.0451 left_pitch=-0.4878 left_roll=0.1953 left_gripper=0.7564 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0312 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -18.8923, 5.641, 0.8278, -0.5543, -0.149, 0.7839, -0.0615, -1.3197, 7.0496, 1.7411, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0477, 2.1468, 1.858, -0.7639, -0.7219, -0.7555, 0.7568, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.362 left_y=-0.387 left_z=0.1452 left_yaw=-0.067 left_pitch=-0.1441 left_roll=0.0984 left_gripper=0.7568 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0022 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.9641, -17.812, 7.5966, 1.5116, -0.9499, 0.0659, 0.735, -0.0615, -1.4701, 7.0632, 1.7363, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64ea86282a10b089e985d6ec8988cca4648bb6c945a58bb4bb7c96bdea3ce0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df6d5c28f3f69c3ca09e1e5e67ab19980f6679dabe61416d1b2cc6db96b95fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:510baafc3a7e4115013bb105f0292072c3c8f8ad687caa31114314c258a503c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 64ea86282a10]
[blob 5df6d5c28f3f]
[blob 510baafc3a7e]
{
  "content": [
    {
      "signature": "CAQS2AwKEAgRGAI4AUIIdGhpbmtpbmcSDNhq0f+Pg3fF53ZQwBoM5HJ5urMfOoFUrALIIjB1N4U7nBHuPXmTHw+OHNiBZTKBgEPHf1A3lw8hTo0uCR9r6oyF84/sohbX9iwPT80q9Qu3fpcjgDUaMMulsl1lMhKkWkyt+dU0hD8wLdAT2izgwZjKUXoo8nfpKidZlhd728fQ9W4TVDJV6KJr1VhcDjsVirKucTN7FeClHtSgof8A8EmUJel3v7o0YGJElY4NSr2QkOShS+CtC1V1WFcRkp9WhcG9BbX5EX2Fvgtfqdy7/DSjqHC9RfTfpzlKOCM3vlGxErgZsfqDtdajib+KjctmZJKwcmOhlj15ZzA+E5VbiqH8C7ipEfu6TAYxthAT7gaLhkUPNtbkpYfvMoKne9U9HBIE2o6h9BGgLICg+tfeGaWRIE4340yfaIgQh+88zecDJUa5fWdoNe6fs4DVCW+9z/yyNhmgvZ1y2yYPs8DF6pmiN+kg/Qgpb5+riIA5SYpVosRYdKMOJL08/saeMUmaMk61UWpJk2TRKM826zqAd3/2rhGJVhAE54vtiEYIiew0IA35wn6UADhsrdPPN2hmyDQ0qjspfpao9nua8J5L2E/wjTaMZkq4wQKiOjhT7xYG1+oJ2Yv/47hPY3UXk+t8p9MA+HnUfZd201gDv4+fYl1xgSA/kI/7rQmcWHXuvpAlRnYVWbyUepj1IAVg15AQYSQREgcrolNfDh39OIHKVW0SrB8mM0DrY1ULnL+XyZ/hguF8uh4gcqx7M8EWYREijGJyB0N+nRt0UKjlr5EE+y9JsnAiEIa05B/9zpedItQOqSchTqFzNLW/CrdxJMWcg4ci4KXAZVJpN8Kg7kNHztIj189abySybu03baMyCLZuJVf9b9p9UDuHaF3Sm8VzMohGJ+KzjEuErvhGTP25DiyUmO+gSnEHU2LmG4KPnPU/Mfl4ehMiCqHEVSTP5M5oU6L8FA7xgV8PTTEYW6p0X30c8BBQY0XeToPje2BjkwlZz/cx9kB6+IR8FLU1c1KfpwsHVGEQbWVa1iNSYBF+Z2fhgO9A6r9jNSBvWPQ5jYStlrIh+xLLjbQ/E1zOnVHgCYJCQ/lGZsPxmQ3sioZ4zn6QqfW/4V3JYYnM4m5e84Ksu1255fPLwPEL6/6I9km7MHyrOe91o2+iwdZ1vJcbsEA9J1Da9vPAE1tiZKmLZtpHphtRuNhr3b803vyDvGf+D+cdYpEJC2qbXpj8t93o4h4qhMJCLmswuPeemGztyUdB2rH3/9GCfvEQ9M8qei6B4RgcQzVDBvGbfTeVP6pSCF66IQCJQr6W2sbLORtPIdVXSUa/ZyGdr5AEnjR5AdBvjSOxu6mygLDPOmlkfuPm39Zo0+zlSfVPADQcjhAtdkdqPUUxsIds5L6QYQ4nwUKIXXvdiNWjrJv6hnisaIdjmBcow7Om1D25KrUf7pvNE/5m1FVyB2XevjeVMIuQhILBaPFBuC0IuDAjP6biMQXv0O5c3CJfz4KUYP2kMpfpxDiAstNa1ZHlinv2IwC0AOOcaWL+3xMKH80D6OD/L9oiMhbV1jurKDVnjeGOIbWDkzOO4flSCf91M0MQMkCbGBYra2sFbcot14iG3eqCMVmlmdw/v3+Wxw/xR8zIcm3/qpE1x4/NgnHYdNffeW5t6yoVyAkRA03454rt8b2cU/xYhZ81a/VMQyGNpFrtz9uF9N2TpZpvMK+Yy5Yzs/p3zaFHmrVAD9CzCwoCrguqvh5l8e7JYm15wggEcpO/0OEcEA+uETPhREh53ne3pQghgyi7AHrRz8tVv76hCQdoS8AkJoIuvdTOZMNsWEEZMwRV0H6cltKjI4fVuwmlYxdqyJrvXH/MchxFRpitHtUYSg6qn/3ulKhA6Zikj130a4U2h1hrgUlMpFq0TzMv1bC1jrxlfQSOrAMHSmrPKWPmCYRarArVgNx/KtD5ztU8aNyOdrEu48gkjMRBY8NYCsGrwfmhHs0FbwJhT8V+s3lWdLrouvkQsSoPfiPqOs9Rs9Znd0SNZ1R3YGPD5DGdjiSFGOAr6mPrDcjAsAc4xdN2+1+G5snam2P8GvVvKD59zb005jcEr62EZwo8ar/hmLwz8yMnQnHZCN9zWrO5RDDwVzfMtlA5ipVwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014znfAk46gzCtEre7icRgtL",
      "input": {
        "note": "The brick now hangs over the pot interior with water visible beneath its far end, but the grasp point sits near the pot's near rim and z stopped short. Moving forward a few cm and up so the whole brick is inside the rim before releasing.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.41,
          "left_y": -0.39,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014znfAk46gzCtEre7icRgtL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9821, 2.1544, 1.9621, -0.7799, -0.6804, -0.6903, 0.7565, -0.0216, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3921 left_y=-0.3807 left_z=0.1732 left_yaw=-0.0707 left_pitch=-0.1288 left_roll=0.0618 left_gripper=0.7565 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0024 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -12.3966, 11.494, 1.8681, -0.7839, 0.2857, 0.8132, -0.1162, -1.3744, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2149f67439f690db4b5566357de81efcc2e22e2b825feb5dbbd54d797e0aa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d7f47261c57f1b2f5c00c21eb5ad0d8995c35c3120e200dbdc76b480dd0332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cafaeec08bbd435c9b646f85eecffc9838721f348f696554df8478c1dfa8146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob dd2149f67439
wire blob 16d7f47261c5
wire blob 2cafaeec08bb
call 11 attempt 0 · /messages · status 200 · 5.315 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]: [-0.936, 2.4683, 2.7361, -1.5822, -0.4725, -0.7235, 0.7564, -0.0219, 0.8043, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.3667 left_y=-0.3563 left_z=0.1795 left_yaw=-0.0451 left_pitch=-0.4878 left_roll=0.1953 left_gripper=0.7564 right_x=0.2932 right_y=0.0001 right_z=0.1726 right_yaw=0.0021 right_pitch=-0.0312 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [0.0479, -18.8923, 5.641, 0.8278, -0.5543, -0.149, 0.7839, -0.0615, -1.3197, 7.0496, 1.7411, -0.0757, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0477, 2.1468, 1.858, -0.7639, -0.7219, -0.7555, 0.7568, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.362 left_y=-0.387 left_z=0.1452 left_yaw=-0.067 left_pitch=-0.1441 left_roll=0.0984 left_gripper=0.7568 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0022 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.9641, -17.812, 7.5966, 1.5116, -0.9499, 0.0659, 0.735, -0.0615, -1.4701, 7.0632, 1.7363, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9821, 2.1544, 1.9621, -0.7799, -0.6804, -0.6903, 0.7565, -0.0216, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3921 left_y=-0.3807 left_z=0.1732 left_yaw=-0.0707 left_pitch=-0.1288 left_roll=0.0618 left_gripper=0.7565 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0024 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -12.3966, 11.494, 1.8681, -0.7839, 0.2857, 0.8132, -0.1162, -1.3744, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd2149f67439f690db4b5566357de81efcc2e22e2b825feb5dbbd54d797e0aa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d7f47261c57f1b2f5c00c21eb5ad0d8995c35c3120e200dbdc76b480dd0332",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cafaeec08bbd435c9b646f85eecffc9838721f348f696554df8478c1dfa8146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob dd2149f67439]
[blob 16d7f47261c5]
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{
  "content": [
    {
      "signature": "CAQSxQgKEAgRGAI4AUIIdGhpbmtpbmcSDGfLgDUmUXMRpHzhaxoM/5w7Eix7WBZcRj+RIjBE7Sf0gfqNgZWx5kf6GFzgRC2znrS+cMV3fK5oouwFSJ+U8K+u2XhxH418eYJzkU8q4gd/baqd6RKm1A0VtrvAx8KBgIEYdKNpktU1dQduT506CZDDpzgH/2GFsRbZBjphSPnOCr07xlayLBXvipcWhuq4Pn7uChqnx21hHaWTcgj7xADQJ3/gW/ZsdOdhA4isuZhTnJ5tLEitGsNhoSSJETYN1/09944RBKKr9m7eEvuljoyWkbo7Qbc1GK7MaK05jzDCuNcO/7Ovf2ft8vFQGkzFn1tKeMGVytTLZX4Y98Aa/YYBeVxgzXIspQpCBVhcgs+BC3nsRI1ptA2N7exACE8Pu0NtkLm6PEOhBZrPIdluNOTAywygF1jXHZLj3/t1KXlJTZd+b0YD5xqle+pScbUcKvBLPtJmisPvvT0ByJ/45wpRnlziJq4nKgiUF1iZf+5Xuf0qXkpPTbvPKuUkvjPL34tTlJmhPy2QMshQODbXmMWREKkpGYpaeAEGpkvi9SxCdndY51gZPiD5hG0QqrIsNJgrCFanopf5qZs7+Vl6gJxfd6wUZbvMnYxbRMBy77ewSoUNPU1iJdu/BzIOtHmt7+ec2L7fJVgKB+mPL/zwM12WBROAz5uHatfzgCNNqEVw/mYfi8+TV39dv8AcQiG8OCZf4yyAKOQoeSdyn3lu8RCGeVC2YmeMdpnW3qNMH6mJ16HGAMX2PVMEUplYmGiHI1etc6SJyg+dclVAhZCXJO1jHmCJNXKcMMFO6nK+UWwuZYQUbyOnGtG9zf+CrvLWcMxupQbA4g1/htt1gyelK+ePpRIki94p813IlgCiygboknNBeQZxDQ0VkChS1hmDlLjtTI4bc6VZ25w+UTzCFHTm00Q4hFUvWlmroV0blJxUykfpkamtIU4WDBIkEQWlbPJyJ41mOsdnKAbd78dp+O1hvyHX58OmpzXrQXeS5u40xlx8T+Y6MryyKg4fw0tvfwIRUye2u6JomHPOkp+HNtBikXY16oNQsoUKklZkacIWjmZK7AohAbh2Gkg/W4BFMXIclL4+MkWlxptKo0lIPNMN6rIkfPYyDI6UmRhwgHD7rAjr7gTkn+flSx+p+Nu6jXC2DKbtuhE8v4FILEwg7IIGvKIGezE9L76JSCnOYBiygZfKhA0+nsOAjXff5ghgKPVQHIVc4azMrj/kYK5TZaipYcpRhPftDrbG6nqN/v53Bv5AqrhKRaQmgYyBDY4kD2q/iri+dwk77QyUzPjxC6s5NR9XNyIMvV7Q/R0NI/+8kMzERUUo9koHJAgIKlNXiEnBLrnKTJQYFoxXuHYBcaa4RoQzZfQRDKVEky08JWpoOyQlNkWZ1TP1+8ABlQwJzi9SZEMN4+gF2/xRr8UJhLJsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RvExCXF37TSoB7hzQPx9Nj",
      "input": {
        "note": "The brick now hangs fully over the pot interior in the wrist view, with the pot wall visible around it. Opening the gripper to drop it into the water.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RvExCXF37TSoB7hzQPx9Nj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9752, 2.1544, 1.9984, -0.7387, -0.7094, -0.6697, 0.9925, -0.0219, 0.8093, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4037 left_y=-0.3843 left_z=0.1944 left_yaw=-0.0623 left_pitch=-0.0636 left_roll=0.0309 left_gripper=0.9925 right_x=0.2934 right_y=0.0001 right_z=0.1711 right_yaw=0.0022 right_pitch=-0.037 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -12.8889, 9.9624, 1.6581, -0.5104, 0.2564, -0.6911, -0.2393, -1.0188, 7.0085, 1.7118, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172e26c4692a0f11e25b81ca3f5ceb00fa8149563ede9fe01c54ca8718037537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ebf62b3fe09c3f741d00e99c82e0c8f51b29373b234147b0e83c4ba2ea859e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b24374412b787d3f7c166e928917c11c419e60885d63816603867260bed90cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 172e26c4692a
wire blob 05ebf62b3fe0
wire blob b24374412b78
call 12 attempt 0 · /messages · status 200 · 9.632 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0477, 2.1468, 1.858, -0.7639, -0.7219, -0.7555, 0.7568, -0.0219, 0.8082, 0.5999, -0.3927, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.362 left_y=-0.387 left_z=0.1452 left_yaw=-0.067 left_pitch=-0.1441 left_roll=0.0984 left_gripper=0.7568 right_x=0.2934 right_y=0.0001 right_z=0.1716 right_yaw=0.0022 right_pitch=-0.0351 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.9641, -17.812, 7.5966, 1.5116, -0.9499, 0.0659, 0.735, -0.0615, -1.4701, 7.0632, 1.7363, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9821, 2.1544, 1.9621, -0.7799, -0.6804, -0.6903, 0.7565, -0.0216, 0.8101, 0.5999, -0.3931, -0.0162, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3921 left_y=-0.3807 left_z=0.1732 left_yaw=-0.0707 left_pitch=-0.1288 left_roll=0.0618 left_gripper=0.7565 right_x=0.2935 right_y=0.0001 right_z=0.171 right_yaw=0.0024 right_pitch=-0.0374 right_roll=0.0013 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -12.3966, 11.494, 1.8681, -0.7839, 0.2857, 0.8132, -0.1162, -1.3744, 7.0359, 1.6972, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9752, 2.1544, 1.9984, -0.7387, -0.7094, -0.6697, 0.9925, -0.0219, 0.8093, 0.5999, -0.3935, -0.0166, -0.02, 0.9963]\nstate[eef_state]: left_x=0.4037 left_y=-0.3843 left_z=0.1944 left_yaw=-0.0623 left_pitch=-0.0636 left_roll=0.0309 left_gripper=0.9925 right_x=0.2934 right_y=0.0001 right_z=0.1711 right_yaw=0.0022 right_pitch=-0.037 right_roll=0.0018 right_gripper=0.9963\nstate[joint_eff]: [-0.3624, -12.8889, 9.9624, 1.6581, -0.5104, 0.2564, -0.6911, -0.2393, -1.0188, 7.0085, 1.7118, -0.0513, -0.0464, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:172e26c4692a0f11e25b81ca3f5ceb00fa8149563ede9fe01c54ca8718037537",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05ebf62b3fe09c3f741d00e99c82e0c8f51b29373b234147b0e83c4ba2ea859e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24374412b787d3f7c166e928917c11c419e60885d63816603867260bed90cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 172e26c4692a]
[blob 05ebf62b3fe0]
[blob b24374412b78]
{
  "content": [
    {
      "text": "The brick is now inside the pot, visible in the wrist view lying in the pot interior. I'll retract the arm to clear the view and confirm.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0178gnRpzswQFc3UfmNPSZ3n",
      "input": {
        "note": "The wrist camera shows the brick lying inside the pot. Retracting the left arm up and away so the overhead camera can confirm the placement.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.15,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_0178gnRpzswQFc3UfmNPSZ3n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7776, 1.1515, 1.0481, -0.6159, -0.5968, -0.4938, 0.9922, -0.0219, 0.8154, 0.5957, -0.3935, -0.0166, -0.0204, 0.9963]\nstate[eef_state]: left_x=0.3039 left_y=-0.1548 left_z=0.2452 left_yaw=-0.0446 left_pitch=-0.006 left_roll=-0.0084 left_gripper=0.9922 right_x=0.2932 right_y=0.0001 right_z=0.1675 right_yaw=0.0024 right_pitch=-0.0473 right_roll=0.0017 right_gripper=0.9963\nstate[joint_eff]: [0.253, -4.1504, 7.1863, 1.6288, -0.149, 0.1538, -0.0415, -0.0205, -1.6889, 7.4598, 1.7265, -0.0464, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6ce187c9dacbe74cfd8f8821c233f546f647b96438170852304cd1d720dee6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3237bb60d860f12b47ebfd809bf5813e57fe9bdb845f99f4666dcdf10c001a0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a73b1ee3ae54c0ba09a867c3abfa0cf92e404409a187438ae53c15bb87bccce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob b6ce187c9dac
wire blob 3237bb60d860
[blob elided: media budget]