adhoc

completed
2026-09-18T16:46:12.396559+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
430.7 s
total steps
332
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: put the black brick into the pot of water
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe black brick appears ahead and to the left of the right gripper in the right wrist camera; moving the right arm to hover above its estimated position to check alignment.
move_to
right_x0.4200right_y0.1500right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7956, 0.6052, -0.3817, -0.0193, -0.0288, 0.9996, -0.0216, 0.7937, 0.6029, -0.379, -0.0135, -0.02, 0.9977] state[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1797 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9977 state[joint_eff]: [-0.6359, -1.5385, 10.0444, 1.79, -0.0464, 0.1245, -0.0513, -0.3761, -1.4564, 10.2632, 1.8877, -0.1441, 0.0073, -0.2515] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.15, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick appears ahead and to the left of the right gripper in the right wrist camera; moving the right arm to hover above its estimated position to check alignment."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe brick is nearly under the right gripper, tilted about 30° with its far end to the left; descending to just above table height while yawing the jaws to close across the brick's width.
move_to
right_x0.4100right_y0.1550right_z0.0200right_yaw0.5000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3889, -0.0223, -0.0261, 0.9996, 0.4889, 1.5448, 0.9127, -0.0692, 0.379, 0.2443, 0.9977] state[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1779 left_yaw=0.0013 left_pitch=-0.0103 left_roll=0.0044 left_gripper=0.9996 right_x=0.4045 right_y=0.1452 right_z=0.1286 right_yaw=0.0389 right_pitch=-0.0746 right_roll=-0.0375 right_gripper=0.9977 state[joint_eff]: [-0.3624, -1.3197, 6.8855, 1.7705, -0.0317, -0.0708, -0.0122, 0.1846, -7.3778, 8.9915, 1.8974, 0.2125, 0.232, -0.2515] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.155, "right_z": 0.02, "right_yaw": 0.5, "right_gripper": 1.0}, "note": "The brick is nearly under the right gripper, tilted about 30\u00b0 with its far end to the left; descending to just above table height while yawing the jaws to close across the brick's width."})
tool
executing move_to over 8 steps (0.8s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe brick sits just ahead of the jaws in the wrist view; advancing ~3 cm along the tool direction, finishing the yaw alignment, and closing the gripper on it.
move_to
right_x0.4300right_y0.1550right_z0.0100right_yaw0.5500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3893, -0.0223, -0.0265, 0.9996, 0.3073, 1.8076, 0.683, 0.4057, -0.0525, -0.1024, 0.9977] state[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0133 left_roll=0.0042 left_gripper=0.9996 right_x=0.4035 right_y=0.1415 right_z=0.0113 right_yaw=0.4067 right_pitch=-0.1494 right_roll=-0.0337 right_gripper=0.9977 state[joint_eff]: [-0.1436, -1.4974, 7.3094, 1.7851, -0.0122, -0.0562, -0.0122, -0.2393, -7.9658, 4.8068, 2.0391, -0.2515, -0.0317, -0.2515] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.155, "right_z": 0.01, "right_yaw": 0.55, "right_gripper": 0.0}, "note": "The brick sits just ahead of the jaws in the wrist view; advancing ~3 cm along the tool direction, finishing the yaw alignment, and closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe close was empty (reading 0.008); the brick is still ahead and to the left of the jaws in the wrist view. Opening and shifting ~4 cm forward and 3 cm left along the tool axes.
move_to
right_x0.4400right_y0.2000right_z0.0300right_yaw0.5500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.2691, 1.8942, 0.7944, 0.3466, -0.1734, -0.215, 0.0079] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4215 right_y=0.1516 right_z=0.0044 right_yaw=0.5335 right_pitch=-0.1709 right_roll=-0.0315 right_gripper=0.0079 state[joint_eff]: [-0.0752, -1.4017, 7.1179, 1.7363, -0.0464, -0.0611, -0.0122, -0.5128, -7.5966, 7.3504, 1.5556, -0.1245, -0.0708, 0.5641] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.03, "right_yaw": 0.55, "right_gripper": 1.0}, "note": "The close was empty (reading 0.008); the brick is still ahead and to the left of the jaws in the wrist view. Opening and shifting ~4 cm forward and 3 cm left along the tool axes."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe brick now sits centred between the jaws in the wrist view; descending to table level and closing to grasp it.
move_to
right_x0.4316right_y0.1986right_z0.0000right_yaw0.5500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.3782, 1.898, 0.9379, 0.2123, -0.1226, -0.1692, 0.9947] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0016 left_pitch=-0.0148 left_roll=0.0047 left_gripper=0.9996 right_x=0.4316 right_y=0.1986 right_z=0.0289 right_yaw=0.5745 right_pitch=-0.1726 right_roll=-0.0327 right_gripper=0.9947 state[joint_eff]: [-0.3214, -1.1145, 7.0359, 1.6972, -0.0464, -0.0269, -0.0122, 0.1162, -7.1863, 8.253, 1.4579, 0.0513, 0.2369, 0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4316, "right_y": 0.1986, "right_z": 0.0, "right_yaw": 0.55, "right_gripper": 0.0}, "note": "The brick now sits centred between the jaws in the wrist view; descending to table level and closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteThe jaws closed on top of the brick (descent stopped at z≈2.6 cm): the brick's long axis is aligned with the jaw axis so the jaws could not straddle it. Opening, lifting and rotating the tool ~90° to close across its short side.
move_to
right_x0.4424right_y0.2054right_z0.0800right_yaw-1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3843, 1.9484, 0.918, 0.3592, -0.1188, -0.1532, 0.0083] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4424 right_y=0.2054 right_z=0.0257 right_yaw=0.5667 right_pitch=-0.0974 right_roll=-0.0374 right_gripper=0.0083 state[joint_eff]: [-0.335, -1.1692, 7.0769, 1.7509, -0.0269, -0.0806, -0.0122, 0.1709, -6.5983, 4.2598, 1.2283, 0.1343, 0.0073, 0.6129] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4424, "right_y": 0.2054, "right_z": 0.08, "right_yaw": -1.0, "right_gripper": 1.0}, "note": "The jaws closed on top of the brick (descent stopped at z\u22482.6 cm): the brick's long axis is aligned with the jaw axis so the jaws could not straddle it. Opening, lifting and rotating the tool ~90\u00b0 to close across its short side."})
tool
executing move_to over 10 steps (1.0s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe brick now lies lengthwise between the open jaws in the wrist view with the tool rotated; descending to table level and closing across its short side.
move_to
right_x0.4870right_y0.2485right_z0.0000right_yaw-0.7000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.4019, -0.0227, -0.0261, 0.9996, 0.7124, 2.5328, 2.0819, -0.8581, 0.8608, 1.3411, 0.9948] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1729 left_yaw=0.0016 left_pitch=-0.032 left_roll=0.0051 left_gripper=0.9996 right_x=0.4871 right_y=0.2485 right_z=0.0314 right_yaw=-0.7001 right_pitch=-0.1148 right_roll=0.0953 right_gripper=0.9948 state[joint_eff]: [-0.2803, -1.5111, 7.4188, 1.8291, -0.0415, -0.0708, -0.0122, -0.6906, -13.4632, 5.2444, -0.1294, 0.4518, 0.525, 0.0317] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.487, "right_y": 0.2485, "right_z": 0.0, "right_yaw": -0.7, "right_gripper": 0.0}, "note": "The brick now lies lengthwise between the open jaws in the wrist view with the tool rotated; descending to table level and closing across its short side."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteGripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width; lifting to verify the brick comes with the jaws.
move_to
right_x0.4500right_y0.2400right_z0.1200right_yaw-0.7000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7078, 2.5881, 2.0727, -0.878, 0.8745, 1.3483, 0.751] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0016 left_pitch=-0.0385 left_roll=0.0052 left_gripper=0.9996 right_x=0.4805 right_y=0.2376 right_z=0.0019 right_yaw=-0.7214 right_pitch=-0.1143 right_roll=0.0151 right_gripper=0.751 state[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7265, -0.0415, -0.0806, -0.0122, 0.3077, -18.2222, 5.7504, 0.9206, 0.232, -0.105, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.24, "right_z": 0.12, "right_yaw": -0.7, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width; lifting to verify the brick comes with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteLift only reached 6 cm and the overhead view is ambiguous; retracting and lifting higher so the top camera can show whether the brick came with the gripper.
move_to
right_x0.3800right_y0.2400right_z0.1500right_yaw-0.7000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7517, 2.4748, 2.133, -1.1557, 0.8051, 1.3689, 0.751] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.4442 right_y=0.2458 right_z=0.0579 right_yaw=-0.6948 right_pitch=-0.1961 right_roll=-0.0645 right_gripper=0.751 state[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.7167, -0.0659, -0.0757, -0.0122, 0.1846, -19.5214, 9.7162, 0.2271, 1.0769, 0.1587, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.24, "right_z": 0.15, "right_yaw": -0.7, "right_gripper": 0.0}, "note": "Lift only reached 6 cm and the overhead view is ambiguous; retracting and lifting higher so the top camera can show whether the brick came with the gripper."})
tool
executing move_to over 8 steps (0.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe brick stays fixed in the right wrist view while the pepper shifted, so it is held. The pot is beyond the right arm's y bound, so I'll carry the brick toward the centre line to hand it over to the left arm.
move_to
right_x0.3000right_y0.3500right_z0.1500right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.836, 2.3161, 2.0792, -1.3891, 0.7414, 1.4754, 0.7509] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=0.0016 left_pitch=-0.04 left_roll=0.0053 left_gripper=0.9996 right_x=0.3808 right_y=0.2489 right_z=0.107 right_yaw=-0.6976 right_pitch=-0.2646 right_roll=-0.1145 right_gripper=0.7509 state[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.7411, -0.0659, -0.0464, -0.0122, 0.335, -16.0342, 8.335, 0.0366, 1.0085, 0.188, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.15, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "The brick stays fixed in the right wrist view while the pepper shifted, so it is held. The pot is beyond the right arm's y bound, so I'll carry the brick toward the centre line to hand it over to the left arm."})
tool
executing move_to over 9 steps (0.9s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe right gripper with the brick is beside the pot's near-right side, at the limit of the right arm's reach toward the pot; lowering the brick to the table here so the left arm can take it.
move_to
right_x0.3000right_y0.3500right_z0.0100right_yaw-0.3000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0981, 2.2951, 2.0842, -1.3911, 0.6891, 1.3365, 0.7509] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2973 right_y=0.3426 right_z=0.111 right_yaw=-0.3519 right_pitch=-0.3263 right_roll=-0.1797 right_gripper=0.7509 state[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.707, -0.0464, -0.0708, -0.0122, 0.3897, -16.1573, 9.4838, 0.0952, 0.8425, -0.0464, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.01, "right_yaw": -0.3, "right_gripper": 0.0}, "note": "The right gripper with the brick is beside the pot's near-right side, at the limit of the right arm's reach toward the pot; lowering the brick to the table here so the left arm can take it."})
tool
executing move_to over 8 steps (0.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
Brick is down at z≈0.017 (touching). Release and retract the right arm home.
agent noteThe brick has touched down beside the pot; opening the gripper and lifting clear so the left arm can take over.
move_to
right_x0.3000right_y0.3500right_z0.1200right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3421, 1.7969, -1.0451, 0.6712, 1.2865, 0.7508] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0016 left_pitch=-0.0408 left_roll=0.0053 left_gripper=0.9996 right_x=0.295 right_y=0.3438 right_z=0.0174 right_yaw=-0.3191 right_pitch=-0.3477 right_roll=-0.1976 right_gripper=0.7508 state[joint_eff]: [-0.1026, -1.3744, 7.2684, 1.7021, -0.0415, -0.0611, -0.0122, -0.1846, -10.7966, 5.8735, 0.3053, 0.4957, -0.1245, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
Brick is down at z≈0.017 (touching). Release and retract the right arm home.
move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.12, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The brick has touched down beside the pot; opening the gripper and lifting clear so the left arm can take over."})
tool
executing move_to over 7 steps (0.7s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe gripper did not open (still reads 0.75) and lifted the brick again; lowering back to the table and re-sending the open command.
move_to
right_x0.3000right_y0.3500right_z0.0200right_yaw-0.3000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3455, 2.0892, -1.3426, 0.6083, 1.2552, 0.7502] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2917 right_y=0.357 right_z=0.0818 right_yaw=-0.3022 right_pitch=-0.4149 right_roll=-0.2157 right_gripper=0.7502 state[joint_eff]: [-0.1709, -1.3333, 7.0085, 1.707, -0.0122, -0.0806, -0.0122, -0.6222, -15.7607, 8.2667, 0.1294, 0.8962, 0.022, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.02, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The gripper did not open (still reads 0.75) and lifted the brick again; lowering back to the table and re-sending the open command."})
tool
executing move_to over 4 steps (0.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe brick is released on the table just right of the pot; parking the right arm at home so the left arm can pick the brick.
move_to
right_x0.2900right_y0.0000right_z0.1800right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 1.0809, 2.3569, 1.8851, -1.1809, 0.5995, 1.2293, 0.9966] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0016 left_pitch=-0.0419 left_roll=0.0053 left_gripper=0.9996 right_x=0.2892 right_y=0.3381 right_z=0.0256 right_yaw=-0.3288 right_pitch=-0.436 right_roll=-0.2881 right_gripper=0.9966 state[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122, -0.5128, -11.9863, 6.8308, 0.3394, 0.3736, -0.0708, -0.1636] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The brick is released on the table just right of the pot; parking the right arm at home so the left arm can pick the brick."})
tool
executing move_to over 29 steps (2.9s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteRight arm is parked; the brick lies just right of the pot with its long axis tilted ~60° from forward. Flying the left arm above it with the jaws rotated to close across its short side.
move_to
left_x0.2900left_y-0.3100left_z0.1500left_yaw1.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.1459, 1.1519, 0.9928, -0.894, 0.271, -0.0753, 0.9974] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.168 left_yaw=0.0016 left_pitch=-0.0534 left_roll=0.0056 left_gripper=0.9996 right_x=0.2863 right_y=-0.0021 right_z=0.165 right_yaw=-0.0654 right_pitch=-0.4652 right_roll=-0.297 right_gripper=0.9974 state[joint_eff]: [-0.2803, -1.7162, 7.1043, 1.7705, -0.0513, -0.0317, -0.0122, 0.0068, -4.506, 9.5111, 1.1795, 0.0024, -0.0024, -0.2808] camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.31, "left_z": 0.15, "left_yaw": 1.0, "left_gripper": 1.0}, "note": "Right arm is parked; the brick lies just right of the pot with its long axis tilted ~60\u00b0 from forward. Flying the left arm above it with the jaws rotated to close across its short side."})
tool
executing move_to over 28 steps (2.8s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteThe left arm stalled 9 cm short of the brick with the wrist near a joint limit at yaw +1.0; trying the equivalent jaw orientation at yaw −2.1 so the wrist has room to reach the brick.
move_to
left_x0.2900left_y-0.3100left_z0.1500left_yaw-2.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9436, 2.2871, 1.8858, -1.557, -0.8604, -2.0617, 0.9996, 0.144, 1.1507, 0.9878, -0.9089, 0.2539, -0.0933, 0.997] state[eef_state]: left_x=0.3297 left_y=-0.2205 left_z=0.0994 left_yaw=0.9279 left_pitch=-0.0768 left_roll=0.0156 left_gripper=0.9996 right_x=0.2821 right_y=-0.0003 right_z=0.161 right_yaw=-0.0429 right_pitch=-0.4894 right_roll=-0.2949 right_gripper=0.997 state[joint_eff]: [0.294, -10.6462, 6.8991, -0.5934, -0.4567, -0.3639, -0.0562, 0.0752, -3.0974, 6.8581, 1.2723, 0.2515, 0.1441, -0.0562] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.31, "left_z": 0.15, "left_yaw": -2.1, "left_gripper": 1.0}, "note": "The left arm stalled 9 cm short of the brick with the wrist near a joint limit at yaw +1.0; trying the equivalent jaw orientation at yaw \u22122.1 so the wrist has room to reach the brick."})
tool
executing move_to over 20 steps (2.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteThe brick is visible ahead in the left wrist camera but its long axis is roughly along the jaw axis; rotating the tool ~60° and advancing a few centimetres toward the brick so the jaws will straddle its short side.
move_to
left_x0.3200left_y-0.3500left_z0.1200left_yaw-0.8000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4828, 2.0708, 1.7298, -0.968, 0.8581, 1.2793, 0.9996, 0.144, 1.1519, 0.9836, -0.9169, 0.2523, -0.0978, 0.997] state[eef_state]: left_x=0.3342 left_y=-0.322 left_z=0.1392 left_yaw=-1.8721 left_pitch=-0.1131 left_roll=0.0508 left_gripper=0.9996 right_x=0.2797 right_y=-0.0004 right_z=0.1582 right_yaw=-0.0401 right_pitch=-0.5035 right_roll=-0.2988 right_gripper=0.997 state[joint_eff]: [-0.5949, -12.2598, 5.6684, -0.022, 0.7155, 0.2027, -0.0562, -0.1162, -3.3846, 6.8171, 1.2283, 0.0806, 0.0269, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.35, "left_z": 0.12, "left_yaw": -0.8, "left_gripper": 1.0}, "note": "The brick is visible ahead in the left wrist camera but its long axis is roughly along the jaw axis; rotating the tool ~60\u00b0 and advancing a few centimetres toward the brick so the jaws will straddle its short side."})
tool
executing move_to over 7 steps (0.7s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteThe brick now lies lengthwise between the left jaws in the wrist view, slightly ahead; descending to table level with a small radial advance before closing.
move_to
left_x0.2970left_y-0.3630left_z0.0000left_yaw-0.9000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8387, 1.7164, 1.047, -0.1844, 0.1101, 0.3695, 0.9996, 0.144, 1.1564, 0.9833, -0.9211, 0.2523, -0.1017, 0.997] state[eef_state]: left_x=0.2885 left_y=-0.3446 left_z=0.0832 left_yaw=-1.1543 left_pitch=-0.2886 left_roll=0.1783 left_gripper=0.9996 right_x=0.2789 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0388 right_pitch=-0.5131 right_roll=-0.3028 right_gripper=0.997 state[joint_eff]: [-0.1709, -10.5915, 6.5162, 1.8095, -0.1832, -0.0513, -0.0562, -0.3214, -3.7812, 6.612, 1.1355, 0.0806, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.297, "left_y": -0.363, "left_z": 0.0, "left_yaw": -0.9, "left_gripper": 1.0}, "note": "The brick now lies lengthwise between the left jaws in the wrist view, slightly ahead; descending to table level with a small radial advance before closing."})
tool
executing move_to over 6 steps (0.6s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
The brick fills the view between the jaws at table level; closing.
agent noteThe brick fills the wrist view between the open left jaws at table height; closing the gripper across its short side.
move_to
left_x0.2893left_y-0.3633left_z0.0000left_yaw-0.9600left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9344, 1.9297, 0.9787, 0.0883, -0.0746, 0.1383, 0.9996, 0.144, 1.1568, 0.9833, -0.9199, 0.2527, -0.102, 0.9969] state[eef_state]: left_x=0.2893 left_y=-0.3633 left_z=0.0077 left_yaw=-0.959 left_pitch=-0.2992 left_roll=0.1635 left_gripper=0.9996 right_x=0.2792 right_y=-0.0005 right_z=0.1565 right_yaw=-0.0389 right_pitch=-0.5124 right_roll=-0.3033 right_gripper=0.9969 state[joint_eff]: [-0.2803, -6.8581, 6.4479, 1.1258, -0.1929, 0.0317, -0.0562, -0.1026, -3.2068, 6.4752, 1.0916, 0.1245, -0.0269, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
The brick fills the view between the jaws at table level; closing.
move_to({"targets": {"left_x": 0.2893, "left_y": -0.3633, "left_z": 0.0, "left_yaw": -0.96, "left_gripper": 0.0}, "note": "The brick fills the wrist view between the open left jaws at table height; closing the gripper across its short side."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe jaws closed just short of the brick (empty, 0.018); the brick sits ahead of the fingertips. Opening and advancing ~5 cm along the tool's forward direction.
move_to
left_x0.3250left_y-0.4000left_z0.0400left_yaw-0.9000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9409, 1.953, 0.9775, 0.1246, -0.1291, 0.0963, 0.0179, 0.144, 1.1568, 0.9833, -0.9203, 0.2523, -0.1055, 0.9969] state[eef_state]: left_x=0.2965 left_y=-0.3621 left_z=0.0035 left_yaw=-0.8941 left_pitch=-0.2829 left_roll=0.1778 left_gripper=0.0179 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0365 right_pitch=-0.5134 right_roll=-0.3049 right_gripper=0.9969 state[joint_eff]: [0.0068, -8.1846, 6.0923, 1.4432, -0.0708, 0.0659, 0.7399, -0.0752, -3.3983, 6.5299, 1.1306, 0.0611, -0.0171, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.325, "left_y": -0.4, "left_z": 0.04, "left_yaw": -0.9, "left_gripper": 1.0}, "note": "The jaws closed just short of the brick (empty, 0.018); the brick sits ahead of the fingertips. Opening and advancing ~5 cm along the tool's forward direction."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteThe brick now lies lengthwise between the open left jaws reaching the bottom of the wrist view; descending to the table and closing on it.
move_to
left_x0.3350left_y-0.4000left_z0.0000left_yaw-0.9000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9409, 2.0048, 1.2133, -0.0864, -0.1295, 0.0849, 0.9943, 0.144, 1.1568, 0.9833, -0.9203, 0.2527, -0.1059, 0.997] state[eef_state]: left_x=0.3174 left_y=-0.3906 left_z=0.0308 left_yaw=-0.887 left_pitch=-0.3088 left_roll=0.1717 left_gripper=0.9943 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0367 right_pitch=-0.5134 right_roll=-0.3055 right_gripper=0.997 state[joint_eff]: [0.1846, -9.2786, 8.759, 1.5995, 0.0366, 0.1783, 0.0562, -0.0342, -3.3983, 6.6667, 1.1062, 0.105, -0.0366, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.4, "left_z": 0.0, "left_yaw": -0.9, "left_gripper": 0.0}, "note": "The brick now lies lengthwise between the open left jaws reaching the bottom of the wrist view; descending to the table and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 235
top_cam
camera top_cam step 235
left_cam
camera left_cam step 235
right_cam
camera right_cam step 235
assistant
agent noteThe left jaws closed empty again just short of the brick, which lies beyond the left arm's y bound. Backing the left arm off and bringing the right arm (which can reach it) over the brick to re-grasp and move it nearer the centre line.
move_to
left_x0.2500left_y-0.3000left_z0.1500left_yaw-0.9000left_gripper1.0000right_x0.3700right_y0.2100right_z0.1200right_yaw-0.9000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9215, 2.0895, 1.235, -0.0326, -0.123, 0.0895, 0.0133, 0.144, 1.1568, 0.9833, -0.9207, 0.2523, -0.1062, 0.997] state[eef_state]: left_x=0.3297 left_y=-0.3926 left_z=0.0058 left_yaw=-0.8757 left_pitch=-0.3187 left_roll=0.17 left_gripper=0.0133 right_x=0.279 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0361 right_pitch=-0.5139 right_roll=-0.3054 right_gripper=0.997 state[joint_eff]: [0.6359, -7.9795, 8.1573, 1.6484, 0.0171, 0.2418, 1.0085, -0.1026, -3.3983, 6.5299, 1.1306, 0.0952, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.3, "left_z": 0.15, "left_yaw": -0.9, "left_gripper": 1.0, "right_x": 0.37, "right_y": 0.21, "right_z": 0.12, "right_yaw": -0.9, "right_gripper": 1.0}, "note": "The left jaws closed empty again just short of the brick, which lies beyond the left arm's y bound. Backing the left arm off and bringing the right arm (which can reach it) over the brick to re-grasp and move it nearer the centre line."})
tool
executing move_to over 18 steps (1.8s)
step 253
top_cam
camera top_cam step 253
left_cam
camera left_cam step 253
right_cam
camera right_cam step 253
assistant
agent noteThe brick is centred on the right jaw column with empty space below it, so it's a few cm beyond the fingertips; advancing ~5 cm along the tool axis and descending to table level.
move_to
right_x0.3950right_y0.1500right_z0.0000right_yaw-0.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.923, 1.4971, 1.0412, -0.5522, -0.1364, 0.0776, 0.9968, 0.6861, 2.2486, 2.0819, -1.581, 0.4984, 1.314, 0.9974] state[eef_state]: left_x=0.2499 left_y=-0.2845 left_z=0.1141 left_yaw=-0.8556 left_pitch=-0.4376 left_roll=0.1816 left_gripper=0.9968 right_x=0.3586 right_y=0.1891 right_z=0.1147 right_yaw=-0.8298 right_pitch=-0.5317 right_roll=-0.3339 right_gripper=0.9974 state[joint_eff]: [-1.4564, -10.6462, 8.2256, 2.293, 0.0317, 0.1294, -0.0708, 0.5675, -9.1419, 7.0496, 0.1001, 0.4713, 0.3639, -0.2759] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.395, "right_y": 0.15, "right_z": 0.0, "right_yaw": -0.85, "right_gripper": 1.0}, "note": "The brick is centred on the right jaw column with empty space below it, so it's a few cm beyond the fingertips; advancing ~5 cm along the tool axis and descending to table level."})
tool
executing move_to over 8 steps (0.8s)
step 261
top_cam
camera top_cam step 261
left_cam
camera left_cam step 261
right_cam
camera right_cam step 261
assistant
agent noteThe brick fills the space between the right jaws down to the bottom of the wrist view; closing the gripper.
move_to
right_x0.3900right_y0.1500right_z0.0000right_yaw-0.8500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5059, 1.0336, -0.5888, -0.136, 0.0807, 0.998, 0.5728, 2.2963, 1.7832, -1.1984, 0.4908, 1.2072, 0.9975] state[eef_state]: left_x=0.2432 left_y=-0.2774 left_z=0.1036 left_yaw=-0.8587 left_pitch=-0.4909 left_roll=0.1869 left_gripper=0.998 right_x=0.3845 right_y=0.1532 right_z=0.0181 right_yaw=-0.8588 right_pitch=-0.5554 right_roll=-0.3482 right_gripper=0.9975 state[joint_eff]: [-0.1299, -7.241, 7.0222, 1.409, -0.0855, -0.0708, 0.1099, -0.4718, -10.2769, 4.588, 0.0366, 0.5104, 0.0073, -0.2759] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.15, "right_z": 0.0, "right_yaw": -0.85, "right_gripper": 0.0}, "note": "The brick fills the space between the right jaws down to the bottom of the wrist view; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 271
top_cam
camera top_cam step 271
left_cam
camera left_cam step 271
assistant
agent noteEmpty close again: with the wrist pitched back the brick sits further out than the camera suggests. Opening and advancing another ~5 cm along the tool axis.
move_to
right_x0.4300right_y0.1150right_z0.0300right_yaw-0.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5888, -0.1322, 0.078, 0.9981, 0.5671, 2.3005, 1.7779, -1.1454, 0.535, 1.1759, 0.0083] state[eef_state]: left_x=0.2427 left_y=-0.2779 left_z=0.1037 left_yaw=-0.8607 left_pitch=-0.4905 left_roll=0.1817 left_gripper=0.9981 right_x=0.3977 right_y=0.1508 right_z=0.0177 right_yaw=-0.8197 right_pitch=-0.5107 right_roll=-0.3236 right_gripper=0.0083 state[joint_eff]: [-0.3214, -6.5299, 6.4068, 1.16, -0.1441, -0.0171, 0.0024, -0.8274, -10.441, 3.959, -0.1099, 0.3443, 0.0171, 0.5885] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.115, "right_z": 0.03, "right_yaw": -0.85, "right_gripper": 1.0}, "note": "Empty close again: with the wrist pitched back the brick sits further out than the camera suggests. Opening and advancing another ~5 cm along the tool axis."})
tool
executing move_to over 10 steps (1.0s)
step 281
assistant
agent noteThe brick now sits at the bottom of the right wrist view between the jaws, i.e. at the fingertips; descending to table level and closing.
move_to
right_x0.4250right_y0.1120right_z0.0000right_yaw-0.8500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9981, 0.469, 2.3173, 1.8416, -1.1778, 0.5159, 1.0851, 0.995] state[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9981 right_x=0.4176 right_y=0.1179 right_z=0.0242 right_yaw=-0.8557 right_pitch=-0.5428 right_roll=-0.3523 right_gripper=0.995 state[joint_eff]: [-0.3624, -6.2838, 6.4479, 1.16, -0.1343, -0.0513, -0.0073, -0.8, -11.1521, 8.2667, 0.1832, 0.4908, 0.1197, -0.0415] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.425, "right_y": 0.112, "right_z": 0.0, "right_yaw": -0.85, "right_gripper": 0.0}, "note": "The brick now sits at the bottom of the right wrist view between the jaws, i.e. at the fingertips; descending to table level and closing."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteEmpty close: the brick appears to the right of and just under the jaws in the wrist view. Opening and shifting ~3 cm toward the tool's right to centre the jaws over it.
move_to
right_x0.4000right_y0.0950right_z0.0300right_yaw-0.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4549, 2.3398, 1.8103, -1.116, 0.5083, 1.0519, 0.008] state[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.421 right_y=0.1142 right_z=0.0062 right_yaw=-0.8449 right_pitch=-0.5544 right_roll=-0.3586 right_gripper=0.008 state[joint_eff]: [-0.0068, -6.5573, 6.4068, 1.1697, -0.0806, -0.0415, -0.0122, -0.4855, -11.3983, 5.3675, 0.3785, 0.3883, 0.0464, 0.5543] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.095, "right_z": 0.03, "right_yaw": -0.85, "right_gripper": 1.0}, "note": "Empty close: the brick appears to the right of and just under the jaws in the wrist view. Opening and shifting ~3 cm toward the tool's right to centre the jaws over it."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe brick is now under the right side of the jaw opening at the bottom of the wrist view; shifting a further 2 cm right while descending and closing.
move_to
right_x0.3800right_y0.0830right_z0.0000right_yaw-0.8500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4419, 2.244, 1.6817, -1.1187, 0.5079, 1.0286, 0.9952] state[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.3958 right_y=0.0962 right_z=0.0157 right_yaw=-0.8657 right_pitch=-0.569 right_roll=-0.4113 right_gripper=0.9952 state[joint_eff]: [-0.2393, -6.3795, 6.4068, 1.1648, -0.1197, -0.0464, -0.0171, -0.6359, -14.4889, 5.2581, 0.1734, 0.3101, 0.0855, -0.0611] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.083, "right_z": 0.0, "right_yaw": -0.85, "right_gripper": 0.0}, "note": "The brick is now under the right side of the jaw opening at the bottom of the wrist view; shifting a further 2 cm right while descending and closing."})
tool
executing move_to over 10 steps (1.0s)
step 311
assistant
agent noteStill empty; the overhead view shows the brick just right of and behind the right jaws. Opening and shifting ~4 cm back-right in the base frame to get over it.
move_to
right_x0.3500right_y0.0550right_z0.0300right_yaw-0.8500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4362, 2.1895, 1.5272, -1.0115, 0.5312, 0.9936, 0.0085] state[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3808 right_y=0.0828 right_z=0.0027 right_yaw=-0.8482 right_pitch=-0.5526 right_roll=-0.4292 right_gripper=0.0085 state[joint_eff]: [-0.1846, -6.5436, 6.3932, 1.1795, -0.1343, -0.0708, -0.0122, -0.5538, -11.6308, 5.135, 0.022, 0.1636, 0.0024, 0.3687] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 311): [image omitted: streamed camera frame] camera 'left_cam' (step 311): [image omitted: streamed camera frame] camera 'right_cam' (step 311): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.055, "right_z": 0.03, "right_yaw": -0.85, "right_gripper": 1.0}, "note": "Still empty; the overhead view shows the brick just right of and behind the right jaws. Opening and shifting ~4 cm back-right in the base frame to get over it."})
tool
executing move_to over 10 steps (1.0s)
step 321
assistant
agent noteThe brick is now directly under the jaw opening at the bottom of the right wrist view; descending and closing on it.
move_to
right_x0.3490right_y0.0580right_z0.0000right_yaw-0.8500right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9982, 0.4068, 2.0483, 1.3617, -0.9962, 0.5217, 0.9573, 0.9952] state[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9982 right_x=0.349 right_y=0.0584 right_z=0.0159 right_yaw=-0.8616 right_pitch=-0.5728 right_roll=-0.4558 right_gripper=0.9952 state[joint_eff]: [-0.1983, -6.5299, 6.4342, 1.199, -0.1197, -0.0171, -0.0073, -0.5812, -12.8752, 5.1487, 0.0952, 0.4029, 0.0171, -0.0366] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.349, "right_y": 0.058, "right_z": 0.0, "right_yaw": -0.85, "right_gripper": 0.0}, "note": "The brick is now directly under the jaw opening at the bottom of the right wrist view; descending and closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteOut of LLM-call budget. The right arm grasped the brick once and carried it toward the centre line, but the left arm could not reach it there (its y bound), and repeated right-arm re-grasps with the wrist pitched back ~0.55 rad closed empty beside the brick each time.
give_up
hindsight1) The pot sits at roughly left (0.46,-0.17) / right (0.46,0.48): only the left arm can reach over it; the black brick starts at about right (0.45,0.20) (left y≈-0.45, out of the left box) so a handoff is required. Place the handoff spot well inside the left box (left_y ≥ -0.30, e.g. right (0.28,0.38)) and remember the right arm held the brick near one end, so the brick centre lands ~5 cm forward of the release point. 2) The brick (a power bank with cable, ~15×7×2.5 cm) is nearly as long as the jaw opening: the jaws must close across its short side; at right yaw ≈ -0.7 to -0.9 that worked. When the descent stops at z≈0.025 the jaws are resting on top of it. 3) At long reach with yaw ≈ -0.85 the right wrist ends up pitched back -0.5 rad and rolled -0.4; then the wrist-camera guidance breaks: the brick appears centred but the jaws close empty beside it, and the tool 'right' direction in base frame is unreliable. Prefer poses near yaw 0 / x ≈ 0.35-0.45 where pitch stays small, or re-zero pitch/roll explicitly. 4) A gripper open command sent together with a large z change got rate-clamped and did not open; send open at the resting height and verify the reading before lifting. 5) After an empty close, advance in 4-5 cm steps, not 2-3 cm—objects consistently sat farther out than the wrist view implied.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4046, 2.0464, 1.3334, -0.9432, 0.5156, 0.9398, 0.008] state[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3511 right_y=0.0595 right_z=0.0091 right_yaw=-0.8367 right_pitch=-0.5744 right_roll=-0.4326 right_gripper=0.008 state[joint_eff]: [-0.1026, -6.5162, 6.5709, 1.199, -0.1392, -0.0611, -0.0122, 0.1162, -8.1026, 4.6974, 0.1587, 0.3248, 0.0562, 0.5836] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Out of LLM-call budget. The right arm grasped the brick once and carried it toward the centre line, but the left arm could not reach it there (its y bound), and repeated right-arm re-grasps with the wrist pitched back ~0.55 rad closed empty beside the brick each time.", "hindsight": "1) The pot sits at roughly left (0.46,-0.17) / right (0.46,0.48): only the left arm can reach over it; the black brick starts at about right (0.45,0.20) (left y\u2248-0.45, out of the left box) so a handoff is required. Place the handoff spot well inside the left box (left_y \u2265 -0.30, e.g. right (0.28,0.38)) and remember the right arm held the brick near one end, so the brick centre lands ~5 cm forward of the release point. 2) The brick (a power bank with cable, ~15\u00d77\u00d72.5 cm) is nearly as long as the jaw opening: the jaws must close across its short side; at right yaw \u2248 -0.7 to -0.9 that worked. When the descent stops at z\u22480.025 the jaws are resting on top of it. 3) At long reach with yaw \u2248 -0.85 the right wrist ends up pitched back -0.5 rad and rolled -0.4; then the wrist-camera guidance breaks: the brick appears centred but the jaws close empty beside it, and the tool 'right' direction in base frame is unreliable. Prefer poses near yaw 0 / x \u2248 0.35-0.45 where pitch stays small, or re-zero pitch/roll explicitly. 4) A gripper open command sent together with a large z change got rate-clamped and did not open; send open at the resting height and verify the reading before lifting. 5) After an empty close, advance in 4-5 cm steps, not 2-3 cm\u2014objects consistently sat farther out than the wrist view implied."})
tool
give_up: Out of LLM-call budget. The right arm grasped the brick once and carried it toward the centre line, but the left arm could not reach it there (its y bound), and repeated right-arm re-grasps with the wrist pitched back ~0.55 rad closed empty beside the brick each time.
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 · 24.69 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, 0.7956, 0.6052, -0.3817, -0.0193, -0.0288, 0.9996, -0.0216, 0.7937, 0.6029, -0.379, -0.0135, -0.02, 0.9977]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1797 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -1.5385, 10.0444, 1.79, -0.0464, 0.1245, -0.0513, -0.3761, -1.4564, 10.2632, 1.8877, -0.1441, 0.0073, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:065e8eb47786c688abc677984aaaf0099de1e32ed6714c47ca5c70cb65e8bc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace2eada00b3d44bcc00e65f8c7a875ef33d95d6b1f39f0bd0094bd7cfababc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aff5ccd7785d51a4c3ced9d0544720a8419952f563017a16c84d17cb0a14def6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 12.49 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, 0.7956, 0.6052, -0.3817, -0.0193, -0.0288, 0.9996, -0.0216, 0.7937, 0.6029, -0.379, -0.0135, -0.02, 0.9977]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1797 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -1.5385, 10.0444, 1.79, -0.0464, 0.1245, -0.0513, -0.3761, -1.4564, 10.2632, 1.8877, -0.1441, 0.0073, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:065e8eb47786c688abc677984aaaf0099de1e32ed6714c47ca5c70cb65e8bc83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ace2eada00b3d44bcc00e65f8c7a875ef33d95d6b1f39f0bd0094bd7cfababc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff5ccd7785d51a4c3ced9d0544720a8419952f563017a16c84d17cb0a14def6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UmcU7wpNJyC7SHXFDtAh5X",
      "input": {
        "note": "The black brick appears ahead and to the left of the right gripper in the right wrist camera; moving the right arm to hover above its estimated position to check alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01UmcU7wpNJyC7SHXFDtAh5X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3889, -0.0223, -0.0261, 0.9996, 0.4889, 1.5448, 0.9127, -0.0692, 0.379, 0.2443, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1779 left_yaw=0.0013 left_pitch=-0.0103 left_roll=0.0044 left_gripper=0.9996 right_x=0.4045 right_y=0.1452 right_z=0.1286 right_yaw=0.0389 right_pitch=-0.0746 right_roll=-0.0375 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.3197, 6.8855, 1.7705, -0.0317, -0.0708, -0.0122, 0.1846, -7.3778, 8.9915, 1.8974, 0.2125, 0.232, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674ed7361f4fee003fead6720c92d2b74d648a486002990d57de67da2e47e140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a011e2173112248c211138cdf9d829ae5ab3016ade964f0c9af5f14881ac8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34d5e0d44443eba7df80d2f46ac1040d4abb615d10b1d744409041313673856d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 10.42 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, 0.7956, 0.6052, -0.3817, -0.0193, -0.0288, 0.9996, -0.0216, 0.7937, 0.6029, -0.379, -0.0135, -0.02, 0.9977]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1797 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -1.5385, 10.0444, 1.79, -0.0464, 0.1245, -0.0513, -0.3761, -1.4564, 10.2632, 1.8877, -0.1441, 0.0073, -0.2515]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3889, -0.0223, -0.0261, 0.9996, 0.4889, 1.5448, 0.9127, -0.0692, 0.379, 0.2443, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1779 left_yaw=0.0013 left_pitch=-0.0103 left_roll=0.0044 left_gripper=0.9996 right_x=0.4045 right_y=0.1452 right_z=0.1286 right_yaw=0.0389 right_pitch=-0.0746 right_roll=-0.0375 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.3197, 6.8855, 1.7705, -0.0317, -0.0708, -0.0122, 0.1846, -7.3778, 8.9915, 1.8974, 0.2125, 0.232, -0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674ed7361f4fee003fead6720c92d2b74d648a486002990d57de67da2e47e140",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0a011e2173112248c211138cdf9d829ae5ab3016ade964f0c9af5f14881ac8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34d5e0d44443eba7df80d2f46ac1040d4abb615d10b1d744409041313673856d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WBsSJxi7xcc9m8kLGqSJV6",
      "input": {
        "note": "The brick is nearly under the right gripper, tilted about 30° with its far end to the left; descending to just above table height while yawing the jaws to close across the brick's width.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.41,
          "right_y": 0.155,
          "right_yaw": 0.5,
          "right_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_01WBsSJxi7xcc9m8kLGqSJV6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3893, -0.0223, -0.0265, 0.9996, 0.3073, 1.8076, 0.683, 0.4057, -0.0525, -0.1024, 0.9977]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0133 left_roll=0.0042 left_gripper=0.9996 right_x=0.4035 right_y=0.1415 right_z=0.0113 right_yaw=0.4067 right_pitch=-0.1494 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.1436, -1.4974, 7.3094, 1.7851, -0.0122, -0.0562, -0.0122, -0.2393, -7.9658, 4.8068, 2.0391, -0.2515, -0.0317, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263de1bae948de305ff4f9d6a1504589792538bfdffb6991fcbea13584c76685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5febbff2f66da6186839eb096d97c977ef60a01619bed75c3698fcee842fd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:350cee61210e93b678c47622669eb412fe0597a432dd95745153bc746de313dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.589 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, 0.7956, 0.6052, -0.3817, -0.0193, -0.0288, 0.9996, -0.0216, 0.7937, 0.6029, -0.379, -0.0135, -0.02, 0.9977]\nstate[eef_state]: left_x=0.2948 left_y=0.0011 left_z=0.1797 left_yaw=-0.0002 left_pitch=-0.0004 left_roll=0.0003 left_gripper=0.9996 right_x=0.2948 right_y=-0.0004 right_z=0.1798 right_yaw=-0.0004 right_pitch=-0.0008 right_roll=0.0 right_gripper=0.9977\nstate[joint_eff]: [-0.6359, -1.5385, 10.0444, 1.79, -0.0464, 0.1245, -0.0513, -0.3761, -1.4564, 10.2632, 1.8877, -0.1441, 0.0073, -0.2515]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3889, -0.0223, -0.0261, 0.9996, 0.4889, 1.5448, 0.9127, -0.0692, 0.379, 0.2443, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1779 left_yaw=0.0013 left_pitch=-0.0103 left_roll=0.0044 left_gripper=0.9996 right_x=0.4045 right_y=0.1452 right_z=0.1286 right_yaw=0.0389 right_pitch=-0.0746 right_roll=-0.0375 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.3197, 6.8855, 1.7705, -0.0317, -0.0708, -0.0122, 0.1846, -7.3778, 8.9915, 1.8974, 0.2125, 0.232, -0.2515]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3893, -0.0223, -0.0265, 0.9996, 0.3073, 1.8076, 0.683, 0.4057, -0.0525, -0.1024, 0.9977]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0133 left_roll=0.0042 left_gripper=0.9996 right_x=0.4035 right_y=0.1415 right_z=0.0113 right_yaw=0.4067 right_pitch=-0.1494 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.1436, -1.4974, 7.3094, 1.7851, -0.0122, -0.0562, -0.0122, -0.2393, -7.9658, 4.8068, 2.0391, -0.2515, -0.0317, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263de1bae948de305ff4f9d6a1504589792538bfdffb6991fcbea13584c76685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5febbff2f66da6186839eb096d97c977ef60a01619bed75c3698fcee842fd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:350cee61210e93b678c47622669eb412fe0597a432dd95745153bc746de313dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQsKEAgRGAI4AUIIdGhpbmtpbmcSDOKPXU6bVOGWiLMMTxoMVWXLgjDJ8r6gmj2lIjCpDS2BGWRTpzJT6maWgIFs3E8Bhvrx5qL6jTFHGxvTq2gzknKQY9KO7J40quY/8EgqogroJGmZ0BqxY58x1C+Lf7GgjRkCispGFNFUVJtzTmvA7UPbQ1FCON0ZD5DbiY2OhjC9pgRq7JXefezyFMMTyAC8i55MdrJ4wMXBrTTB5VMkurtiUP8Ky5dpLFRGl9bO5YegEyjk1nC7AfQGJBZk+xYOknlei1jXFbBVANr/os4mTz5yE8uao6N4ZTlKRmG0Y7ILWr9/m3nJsuKOk4e8kk9KZZ79xdAst7NdD74zBwThCypt0uIyCRtuJLkIouw52pE0ZBdzC8WVDXyuGt7FLS1YVu8cCm2c8YwWap92lgfK7Yrpskb92ihu4K3WY3hNGRUDXG51zHR4Rj5POLEyaYlp8pAYvQGWBKnuhGHL/wIi5M1z9+Y+WNcoRn+Uv+jRwjEe14/Tl1PhtoEC/aklmZ0evEZXbqkEjMFrFajpnJyfflsFYGF1Hcj7GPrdOld88ruwYkX5d4/gj7kOD++HWy/lwOy0wYJEP3+TLJkVJcWnlRJxH8x4phicrugbGz0GayxSzChdN8eW2eCvywdlTb8KjrHSB2azIuZ8Qr52oomb2C9gLnW0k3pAJhEBilD4k4o/DonC6cDbO/oL7js+2apjd3AsuzLZBmwkmIfvC+03Rc75ZASDn9LjxNAvMvXcFSrGiexinHF8ezS5cFBTmfUoYL3SCn+2FQ6e+EKeqbaR7OqjKN5p/CfSMxicSHRtNDE73iCjSSAyE5TYkzjrPP8F1R0elYipKxcpqh3q+btfAfZILr8Z+fcEnIlwQ26KZL+jbb9TExvLZmMfgbo9MwXqnZD3or7Y4OFatAqJGqPvFFDbK9WswjdUor3+aHtpsbnBKCD2EZog89fE/SIudZoV4IHk1k2oiNZ0DNvS+DtJNHIWj82swAGpO8Q7SBMpaxBiHJqpMXfBwjuwd045L/mSdI8AwRzdPSKjlFuW6NEVdjnx0UuoEX+kPaxTKpha0ncUtNgpW6in5BpGxgrPIMBVYIt/4ulG4KMpwJ+Eka1BSqzEnlqT4e/MEy+G7MS9YtIm4vhlOPYQYcf6rfMOcNOVSFQFAaMtzcWl8eq7DQ8y1rQ8p/h7ewxG0z/jj+tr1vqjM+/NyNMHQm8o5XTPi+ft5qES+dANBsdjw/Q++jpBKm5vaSOwvjTMC9eEY1IH1Gh0Dd6eY7dyb3kJ5muCNEN5kt0lDFs7F4MOd+xE9ixvjpkUsh4tvZ7h8qLscPCfEIh4apoNgj1JWpdZXDQewMgSfCP+aSTYtFIM65p0VVcFY+crV4ynNELOaQut53MKQ16W4skHemcdvXE1ELwAG3D+8/zqJ3+CTPUdJIrzRYk2T5ZflbYvIXe++EDNLQZ26/ZZCjKbuw0LffIOyk5TN0THTkf6ZtMGja9/SBNpjeV/WLxfaAySzaUzSgMAT+BaPqeAfLtENzOSOyOp1Q3FAjz1XqYZTqmpQ4NhGrbbDxdiqprCL5PDdikbvc+r0qJ3Uhz4LU1CHGQe5M7Ju5hWiIGnHC4l1XplU/1mwu2lh6O7RxndfG2HkZzP9BG40LXGTiNLUDcw7rrp7IMBozY9d9p8iD/wV1uZahEIvfDrisB2bLso2wjsDxgPS6gZsxXenLJNKvQL7SbPCF67OPnHWJcyWKYumpJXjV84TTf6xb14qIA5ML3YxBv1cKudd/DWzbbuLXLehigulhQD2J3IurCTuMBeOJ8anx4GEeDnUeHkOrD0UFjp7E6jcVAxIKImkn3XfVjDR2ICI1Er9nZ2OWuDBj4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKAQQo3uuWEVKuVMfCFhjF",
      "input": {
        "note": "The brick sits just ahead of the jaws in the wrist view; advancing ~3 cm along the tool direction, finishing the yaw alignment, and closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.43,
          "right_y": 0.155,
          "right_yaw": 0.55,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HKAQQo3uuWEVKuVMfCFhjF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.2691, 1.8942, 0.7944, 0.3466, -0.1734, -0.215, 0.0079]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4215 right_y=0.1516 right_z=0.0044 right_yaw=0.5335 right_pitch=-0.1709 right_roll=-0.0315 right_gripper=0.0079\nstate[joint_eff]: [-0.0752, -1.4017, 7.1179, 1.7363, -0.0464, -0.0611, -0.0122, -0.5128, -7.5966, 7.3504, 1.5556, -0.1245, -0.0708, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3929870e1ad205eb6c16ccb7593f15690f80d5e5c650f7c292ac8d8c401f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6402946d3e92da4e6f3ff9377ff42ccfa92763fef37fb737de1f7ad5fc9785d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c4ca829d9b518627f7a6c89d444f094cce2aca0f382100c64c5781cda05abff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 13.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3889, -0.0223, -0.0261, 0.9996, 0.4889, 1.5448, 0.9127, -0.0692, 0.379, 0.2443, 0.9977]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.1779 left_yaw=0.0013 left_pitch=-0.0103 left_roll=0.0044 left_gripper=0.9996 right_x=0.4045 right_y=0.1452 right_z=0.1286 right_yaw=0.0389 right_pitch=-0.0746 right_roll=-0.0375 right_gripper=0.9977\nstate[joint_eff]: [-0.3624, -1.3197, 6.8855, 1.7705, -0.0317, -0.0708, -0.0122, 0.1846, -7.3778, 8.9915, 1.8974, 0.2125, 0.232, -0.2515]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3893, -0.0223, -0.0265, 0.9996, 0.3073, 1.8076, 0.683, 0.4057, -0.0525, -0.1024, 0.9977]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0133 left_roll=0.0042 left_gripper=0.9996 right_x=0.4035 right_y=0.1415 right_z=0.0113 right_yaw=0.4067 right_pitch=-0.1494 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.1436, -1.4974, 7.3094, 1.7851, -0.0122, -0.0562, -0.0122, -0.2393, -7.9658, 4.8068, 2.0391, -0.2515, -0.0317, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.2691, 1.8942, 0.7944, 0.3466, -0.1734, -0.215, 0.0079]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4215 right_y=0.1516 right_z=0.0044 right_yaw=0.5335 right_pitch=-0.1709 right_roll=-0.0315 right_gripper=0.0079\nstate[joint_eff]: [-0.0752, -1.4017, 7.1179, 1.7363, -0.0464, -0.0611, -0.0122, -0.5128, -7.5966, 7.3504, 1.5556, -0.1245, -0.0708, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d3929870e1ad205eb6c16ccb7593f15690f80d5e5c650f7c292ac8d8c401f10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6402946d3e92da4e6f3ff9377ff42ccfa92763fef37fb737de1f7ad5fc9785d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4ca829d9b518627f7a6c89d444f094cce2aca0f382100c64c5781cda05abff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgoKEAgRGAI4AUIIdGhpbmtpbmcSDLpK6iEEzn2ShyoE3xoM1TIdtNO/jHDRdf6XIjB5r1GtjlYFD+CjG+aPjSVqJ0GmEFOiYZZ/faK/AgUwnzsRGCVCn2N+v/l8P7ox/cUq2wliJ1ERUu/l/Ucfbu+BWCwo9QXvIymvPLkSZ9wJUn5fihvxf1yaawTwk5+poar2jWIInc+VHiu2h1l9jTHkT/Uctho7f5fVQ2yURXnoRionaOHojZjbNmr4xxS2dobUTKV+nFuPXNB+14wxZIk5EFGIQsYaPmxTLSjcg1/+7qZFDXFS3zDjkPa7v+lKp+fCiQgy3zq3pS42nG+FrUFt7BxJmyv+VsUA4FAXJra1CVi2svnvbnfHsGlwQC+W5ijHTkPAF2D8Fdi/ck5EqkZ0jHbsQqN98ZDh1Eh62VtpULJLP/kFqsxHJC5GHCRqapjQy9BHT9D4Yr0VzJ7I6AmSCE6vxEJUzTUu6vtyclLFEqNdrNGKgm5MqRHkto5DbspG7QpsFvJI3T9xy3fY8q7T5g7x2wBDN+HGu7m7yzfSK97G3CIcFbJ5Uv34V6KcobMyWOUiMrIVwFtktgHvNpRdAxq74IqACkvYb+oevoSjdTiFFJcKDWxI4U3R4NtRdi61LqMa5qsV0umxKLNwXlAr5aYWVEWGPceGrIJ4fRTHCTTTJQL8cwDLxh4uYRRtwizcuKySyrZ/plI52gT7ZyJse96TWnTjPTdknL5DNXbH7LrIl/AvC4ulTqnaIxGr2l03fvWmBYKgKJ/ytbVKTHuUEsLxv1yMuQZxCg+C72R9YVXlZy6UpD2UjsHR00q1r1ChtAmDKytMvvGW8x5EK7L96D/jO88VgFB5wYSC/mTqrkuHHodoiP2e4AtdqCqov+Lk47hmneNoqx3bUPOZVqOxnwAu9eS+JRZexsjI8B8AM/GG/5/ccWGq/MmsmlwGclXoYdYvAIU9ZjyOSCmYxF/xxmCIeWkgtoAZgqBPgdZA7Z8Ht5hvdfz7YyFLORmBOWPYvrBrxYflBeG8LhpG8FVXyTh35KRve4i0g/I1UylbHqqm0mC7MZwCqbRKJi3GRQs2nG9u29UWGZ8XegSDoOaDTptF7+VHcprK5l1vDSc/gVQgmRDjP1nSfPQ1wo6bOdjoRkIihwfoaAy1N/6UUfr1ZC+0lrJSlarcludzDAHCZ5bCgf0XxDCt5qajLezOrv4i2K6p+Ske7RfbIKYVYubLtg6UOG3FSoc1KLvKi+l0iSgx+nodAhwE+xiZT2qz1YmdrkC3ahiB62Jf3KQ1IO2fbJaYNrprj+MQ67jYW1GFBm6pVh86IeS55GS/x544oZOnJTvPEqmO09Nxkqp1dGbMcapaZJY+OGq1QAJbCwKcCxk4uDklzMwPIfzL05wg2azYYp6O8JvJmBF9dsgejTr6DJ4bNvScWi+mOZCK/vfe2alPclOzteBS8QaJC2XoIQrovSNwTmcbhZttSVByVh2H9rSXXEFjZfbOK4p/YUNHpuIKmFULCDY3UABUiencAQqf6ZXb3v2+GB66UQk1hOa4YkiavkgQlBX7jONU0Ka+P26cFfQhQzORuY10jx+X9FoRy0LKcuhnU0phi3LwyTwMADtxauCBdNyBm6YGALJxrWjio+TgdXQfiPRBvBmH7Mxcrn16ZPO7VoqV4fgZKKueCboalpTD8pE1abvIBpm9A727BTODfoCUtD7wu7yJe4IgZ13UE+eRHCqdaAbq4f1MWre1B7Z70VgQzVY7chCSWyNM7EnI7Ey+I7gNHosTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjK7Sfu2UqhK11ohTcAN5b",
      "input": {
        "note": "The close was empty (reading 0.008); the brick is still ahead and to the left of the jaws in the wrist view. Opening and shifting ~4 cm forward and 3 cm left along the tool axes.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.2,
          "right_yaw": 0.55,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QjK7Sfu2UqhK11ohTcAN5b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.3782, 1.898, 0.9379, 0.2123, -0.1226, -0.1692, 0.9947]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0016 left_pitch=-0.0148 left_roll=0.0047 left_gripper=0.9996 right_x=0.4316 right_y=0.1986 right_z=0.0289 right_yaw=0.5745 right_pitch=-0.1726 right_roll=-0.0327 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.1145, 7.0359, 1.6972, -0.0464, -0.0269, -0.0122, 0.1162, -7.1863, 8.253, 1.4579, 0.0513, 0.2369, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f069ba197f31cd4ed8f49da6b6bf01d487d5a7aabb1581cf5ea3296e41d22037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296b516f498ed995f55e3792cb581c0d4509a9606516ff06653d122ae1d58493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d02f95ae10dd83f99043b638d34c58439f0ca7cf9c3158c5b60d18902a8b9c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 20.52 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6075, -0.3893, -0.0223, -0.0265, 0.9996, 0.3073, 1.8076, 0.683, 0.4057, -0.0525, -0.1024, 0.9977]\nstate[eef_state]: left_x=0.2946 left_y=0.0017 left_z=0.1771 left_yaw=0.0015 left_pitch=-0.0133 left_roll=0.0042 left_gripper=0.9996 right_x=0.4035 right_y=0.1415 right_z=0.0113 right_yaw=0.4067 right_pitch=-0.1494 right_roll=-0.0337 right_gripper=0.9977\nstate[joint_eff]: [-0.1436, -1.4974, 7.3094, 1.7851, -0.0122, -0.0562, -0.0122, -0.2393, -7.9658, 4.8068, 2.0391, -0.2515, -0.0317, -0.2515]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.2691, 1.8942, 0.7944, 0.3466, -0.1734, -0.215, 0.0079]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4215 right_y=0.1516 right_z=0.0044 right_yaw=0.5335 right_pitch=-0.1709 right_roll=-0.0315 right_gripper=0.0079\nstate[joint_eff]: [-0.0752, -1.4017, 7.1179, 1.7363, -0.0464, -0.0611, -0.0122, -0.5128, -7.5966, 7.3504, 1.5556, -0.1245, -0.0708, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.3782, 1.898, 0.9379, 0.2123, -0.1226, -0.1692, 0.9947]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0016 left_pitch=-0.0148 left_roll=0.0047 left_gripper=0.9996 right_x=0.4316 right_y=0.1986 right_z=0.0289 right_yaw=0.5745 right_pitch=-0.1726 right_roll=-0.0327 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.1145, 7.0359, 1.6972, -0.0464, -0.0269, -0.0122, 0.1162, -7.1863, 8.253, 1.4579, 0.0513, 0.2369, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f069ba197f31cd4ed8f49da6b6bf01d487d5a7aabb1581cf5ea3296e41d22037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:296b516f498ed995f55e3792cb581c0d4509a9606516ff06653d122ae1d58493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d02f95ae10dd83f99043b638d34c58439f0ca7cf9c3158c5b60d18902a8b9c3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LDqpqMe8GrCKkGqyDdVACw",
      "input": {
        "note": "The brick now sits centred between the jaws in the wrist view; descending to table level and closing to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4316,
          "right_y": 0.1986,
          "right_yaw": 0.55,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LDqpqMe8GrCKkGqyDdVACw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3843, 1.9484, 0.918, 0.3592, -0.1188, -0.1532, 0.0083]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4424 right_y=0.2054 right_z=0.0257 right_yaw=0.5667 right_pitch=-0.0974 right_roll=-0.0374 right_gripper=0.0083\nstate[joint_eff]: [-0.335, -1.1692, 7.0769, 1.7509, -0.0269, -0.0806, -0.0122, 0.1709, -6.5983, 4.2598, 1.2283, 0.1343, 0.0073, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eec6eb2a230b0d6dc0f736b744598d332dea0e4bc4bdc361aed6e99ded496f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cddf9bee7778c61b0d45ede43f94bcf17aba62e31f69f92248d6e36732da037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19c90a5816a60c89be228666116d0cfdf82159a10805bea5b97f225824785e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 9.416 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.2691, 1.8942, 0.7944, 0.3466, -0.1734, -0.215, 0.0079]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4215 right_y=0.1516 right_z=0.0044 right_yaw=0.5335 right_pitch=-0.1709 right_roll=-0.0315 right_gripper=0.0079\nstate[joint_eff]: [-0.0752, -1.4017, 7.1179, 1.7363, -0.0464, -0.0611, -0.0122, -0.5128, -7.5966, 7.3504, 1.5556, -0.1245, -0.0708, 0.5641]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.3782, 1.898, 0.9379, 0.2123, -0.1226, -0.1692, 0.9947]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0016 left_pitch=-0.0148 left_roll=0.0047 left_gripper=0.9996 right_x=0.4316 right_y=0.1986 right_z=0.0289 right_yaw=0.5745 right_pitch=-0.1726 right_roll=-0.0327 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.1145, 7.0359, 1.6972, -0.0464, -0.0269, -0.0122, 0.1162, -7.1863, 8.253, 1.4579, 0.0513, 0.2369, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3843, 1.9484, 0.918, 0.3592, -0.1188, -0.1532, 0.0083]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4424 right_y=0.2054 right_z=0.0257 right_yaw=0.5667 right_pitch=-0.0974 right_roll=-0.0374 right_gripper=0.0083\nstate[joint_eff]: [-0.335, -1.1692, 7.0769, 1.7509, -0.0269, -0.0806, -0.0122, 0.1709, -6.5983, 4.2598, 1.2283, 0.1343, 0.0073, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eec6eb2a230b0d6dc0f736b744598d332dea0e4bc4bdc361aed6e99ded496f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cddf9bee7778c61b0d45ede43f94bcf17aba62e31f69f92248d6e36732da037",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c90a5816a60c89be228666116d0cfdf82159a10805bea5b97f225824785e23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N45ydXsc2gP4kjxNBehbXX",
      "input": {
        "note": "The jaws closed on top of the brick (descent stopped at z≈2.6 cm): the brick's long axis is aligned with the jaw axis so the jaws could not straddle it. Opening, lifting and rotating the tool ~90° to close across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4424,
          "right_y": 0.2054,
          "right_yaw": -1.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N45ydXsc2gP4kjxNBehbXX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.4019, -0.0227, -0.0261, 0.9996, 0.7124, 2.5328, 2.0819, -0.8581, 0.8608, 1.3411, 0.9948]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1729 left_yaw=0.0016 left_pitch=-0.032 left_roll=0.0051 left_gripper=0.9996 right_x=0.4871 right_y=0.2485 right_z=0.0314 right_yaw=-0.7001 right_pitch=-0.1148 right_roll=0.0953 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5111, 7.4188, 1.8291, -0.0415, -0.0708, -0.0122, -0.6906, -13.4632, 5.2444, -0.1294, 0.4518, 0.525, 0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbbd59cb4c041bf78fd1c9fd4b93f7a58fa47dafe2e8243eb480dab33933bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c218801dd6d347854393ee0028170a3d7c8708c3022f5f244d2e23f6f70c035a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b79f3558e6d7f56149fb5c0baaf9ccc678623b31b4e493fb2177bd636609fb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.556 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.3782, 1.898, 0.9379, 0.2123, -0.1226, -0.1692, 0.9947]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0016 left_pitch=-0.0148 left_roll=0.0047 left_gripper=0.9996 right_x=0.4316 right_y=0.1986 right_z=0.0289 right_yaw=0.5745 right_pitch=-0.1726 right_roll=-0.0327 right_gripper=0.9947\nstate[joint_eff]: [-0.3214, -1.1145, 7.0359, 1.6972, -0.0464, -0.0269, -0.0122, 0.1162, -7.1863, 8.253, 1.4579, 0.0513, 0.2369, 0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3843, 1.9484, 0.918, 0.3592, -0.1188, -0.1532, 0.0083]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4424 right_y=0.2054 right_z=0.0257 right_yaw=0.5667 right_pitch=-0.0974 right_roll=-0.0374 right_gripper=0.0083\nstate[joint_eff]: [-0.335, -1.1692, 7.0769, 1.7509, -0.0269, -0.0806, -0.0122, 0.1709, -6.5983, 4.2598, 1.2283, 0.1343, 0.0073, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.4019, -0.0227, -0.0261, 0.9996, 0.7124, 2.5328, 2.0819, -0.8581, 0.8608, 1.3411, 0.9948]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1729 left_yaw=0.0016 left_pitch=-0.032 left_roll=0.0051 left_gripper=0.9996 right_x=0.4871 right_y=0.2485 right_z=0.0314 right_yaw=-0.7001 right_pitch=-0.1148 right_roll=0.0953 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5111, 7.4188, 1.8291, -0.0415, -0.0708, -0.0122, -0.6906, -13.4632, 5.2444, -0.1294, 0.4518, 0.525, 0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bbbd59cb4c041bf78fd1c9fd4b93f7a58fa47dafe2e8243eb480dab33933bd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c218801dd6d347854393ee0028170a3d7c8708c3022f5f244d2e23f6f70c035a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b79f3558e6d7f56149fb5c0baaf9ccc678623b31b4e493fb2177bd636609fb4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Z34MHsJvt8Xj5qrD3KnKo",
      "input": {
        "note": "The brick now lies lengthwise between the open jaws in the wrist view with the tool rotated; descending to table level and closing across its short side.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.487,
          "right_y": 0.2485,
          "right_yaw": -0.7,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014Z34MHsJvt8Xj5qrD3KnKo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7078, 2.5881, 2.0727, -0.878, 0.8745, 1.3483, 0.751]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0016 left_pitch=-0.0385 left_roll=0.0052 left_gripper=0.9996 right_x=0.4805 right_y=0.2376 right_z=0.0019 right_yaw=-0.7214 right_pitch=-0.1143 right_roll=0.0151 right_gripper=0.751\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7265, -0.0415, -0.0806, -0.0122, 0.3077, -18.2222, 5.7504, 0.9206, 0.232, -0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07317b153d4337aec263d02034d488238555c15f95a5fcc4cbe8b3345f6b2cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24a12fdab05bc49f48a9ab425e260b9286def150bb10500272a11b6511f38b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f60c2d651c5a18b847d46052a7ff1c0cc0bb3422d27c340822fb36dc3a657dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 12.39 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3893, -0.0227, -0.0261, 0.9996, 0.3843, 1.9484, 0.918, 0.3592, -0.1188, -0.1532, 0.0083]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=0.0016 left_pitch=-0.0145 left_roll=0.0047 left_gripper=0.9996 right_x=0.4424 right_y=0.2054 right_z=0.0257 right_yaw=0.5667 right_pitch=-0.0974 right_roll=-0.0374 right_gripper=0.0083\nstate[joint_eff]: [-0.335, -1.1692, 7.0769, 1.7509, -0.0269, -0.0806, -0.0122, 0.1709, -6.5983, 4.2598, 1.2283, 0.1343, 0.0073, 0.6129]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.4019, -0.0227, -0.0261, 0.9996, 0.7124, 2.5328, 2.0819, -0.8581, 0.8608, 1.3411, 0.9948]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1729 left_yaw=0.0016 left_pitch=-0.032 left_roll=0.0051 left_gripper=0.9996 right_x=0.4871 right_y=0.2485 right_z=0.0314 right_yaw=-0.7001 right_pitch=-0.1148 right_roll=0.0953 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5111, 7.4188, 1.8291, -0.0415, -0.0708, -0.0122, -0.6906, -13.4632, 5.2444, -0.1294, 0.4518, 0.525, 0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7078, 2.5881, 2.0727, -0.878, 0.8745, 1.3483, 0.751]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0016 left_pitch=-0.0385 left_roll=0.0052 left_gripper=0.9996 right_x=0.4805 right_y=0.2376 right_z=0.0019 right_yaw=-0.7214 right_pitch=-0.1143 right_roll=0.0151 right_gripper=0.751\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7265, -0.0415, -0.0806, -0.0122, 0.3077, -18.2222, 5.7504, 0.9206, 0.232, -0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07317b153d4337aec263d02034d488238555c15f95a5fcc4cbe8b3345f6b2cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24a12fdab05bc49f48a9ab425e260b9286def150bb10500272a11b6511f38b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f60c2d651c5a18b847d46052a7ff1c0cc0bb3422d27c340822fb36dc3a657dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AYKEAgRGAI4AUIIdGhpbmtpbmcSDGgTIvVZR9xFnOgORxoMO1nq0rAXEV8ZlABcIjDIQd9B0OJwJvYgPBeYKB/b7zMVlIV8PvomhuuFXZX9Ovq+MrNg1/lsOt1H4zECLa0q9QUGeAGUBkoJlsfaqxGmP4kgzwuDufOtRf6y2DWDnq9gxgIqhwrv2uQszm5I0K4fniyC2Fplc0BC/u9ph0erCWZKZW1Wxm0BFJ9vabnkkY28m013zWYmJ1zHbrKPpzv/M5TnefuzGC8T9HmsDRPUObXSHpx9BCNOt8rFNUdTsxfyvZx3d0ahuCPMbI6VC0J01my82kRmqFM38ceKa/h+hEDgLCY/WRiN6e44u3ClQiDPWh1Mx/SO8BFsb6xDeElx3FtMkxfrB7Z/XifqENU9AUSk2guOZ9E40QXCRiF45nQxnY71ap8/gmG9gpAZCa7zaawDjBBNNKZbnhCmkXDd20WIb7UG3QEz6wwYv29/r9k8JKiTfcvzLrseTEPZhZyT9DAo3wsiyscaFhiwgUdzMW36TKV5EnWLGhOlXRAfGZB5dEUKrihSXVoCyPzksPTRBy/E10ofsyj1D0fM0jzSRe/c+MftI726HOkUS2BL+cJNQKrf6iKH+Mj/VRZzuyMR914Ktefq4sjsFJToxO4ORNV74Kp7BzUPLiRA4ZTv4y2moOZixD5SnVN2fUqp6djVIHDIgixvWWx7olQODn6e1znMhe8jGEsexO1jVjvd4iHLWQrYz93Ae2hmbixZTpqPax0rrbpfwCLTUD8a5/Iy1bHbQvPbyjaNWnIhcc6AimShqFK1yTN5Xadgiq7mYzwK9ClasTnOTlgbcSUiaBHqFJv2aJXgBjDQYPXFjWdmQ2m3MBShhHr2HQI/5daAiP2Ko4lLXHsbwzncamWwZm8BvmFIQYqszjF6fXJIF3OXWfeR9lQ8qPkHJODsckI0fOaAvrCwenXVokZwNx4xmeZlSfgA3xNYIOg4vG00CrqVsZOvT6vgRGRGuUxzVbYuoP+3T5mhQQUXqcAdyR2yEuuNvwZvtX7/5yW6U3mx2s3HKECaVlNFyjvLXmPjGVLPBYdMzvG2hKBvF5xVa7HyWi5D146+xRZeAIxxlNrvpPcQoQ+4XI//4ltgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C4LTyxZ2uSiZdxrsdaDdAm",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width; lifting to verify the brick comes with the jaws.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.24,
          "right_yaw": -0.7,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01C4LTyxZ2uSiZdxrsdaDdAm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7517, 2.4748, 2.133, -1.1557, 0.8051, 1.3689, 0.751]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.4442 right_y=0.2458 right_z=0.0579 right_yaw=-0.6948 right_pitch=-0.1961 right_roll=-0.0645 right_gripper=0.751\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.7167, -0.0659, -0.0757, -0.0122, 0.1846, -19.5214, 9.7162, 0.2271, 1.0769, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06e54716275dd94ca8f83702f15043c15d7945076d29dc63be8fc85aa773439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df78f7aa0029c708559bd0068e0e094c0001974ae4b1e222586a77b3a3e7593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6ce61ce5e37862bdc3413efb5ad722f427dd07bf416c1e6e6c3aa4f27073581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 29.61 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6075, -0.4019, -0.0227, -0.0261, 0.9996, 0.7124, 2.5328, 2.0819, -0.8581, 0.8608, 1.3411, 0.9948]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1729 left_yaw=0.0016 left_pitch=-0.032 left_roll=0.0051 left_gripper=0.9996 right_x=0.4871 right_y=0.2485 right_z=0.0314 right_yaw=-0.7001 right_pitch=-0.1148 right_roll=0.0953 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5111, 7.4188, 1.8291, -0.0415, -0.0708, -0.0122, -0.6906, -13.4632, 5.2444, -0.1294, 0.4518, 0.525, 0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7078, 2.5881, 2.0727, -0.878, 0.8745, 1.3483, 0.751]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0016 left_pitch=-0.0385 left_roll=0.0052 left_gripper=0.9996 right_x=0.4805 right_y=0.2376 right_z=0.0019 right_yaw=-0.7214 right_pitch=-0.1143 right_roll=0.0151 right_gripper=0.751\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7265, -0.0415, -0.0806, -0.0122, 0.3077, -18.2222, 5.7504, 0.9206, 0.232, -0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7517, 2.4748, 2.133, -1.1557, 0.8051, 1.3689, 0.751]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.4442 right_y=0.2458 right_z=0.0579 right_yaw=-0.6948 right_pitch=-0.1961 right_roll=-0.0645 right_gripper=0.751\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.7167, -0.0659, -0.0757, -0.0122, 0.1846, -19.5214, 9.7162, 0.2271, 1.0769, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d06e54716275dd94ca8f83702f15043c15d7945076d29dc63be8fc85aa773439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5df78f7aa0029c708559bd0068e0e094c0001974ae4b1e222586a77b3a3e7593",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6ce61ce5e37862bdc3413efb5ad722f427dd07bf416c1e6e6c3aa4f27073581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DbbigamFK5VJ23Vyamaaav",
      "input": {
        "note": "Lift only reached 6 cm and the overhead view is ambiguous; retracting and lifting higher so the top camera can show whether the brick came with the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.38,
          "right_y": 0.24,
          "right_yaw": -0.7,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DbbigamFK5VJ23Vyamaaav",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.836, 2.3161, 2.0792, -1.3891, 0.7414, 1.4754, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=0.0016 left_pitch=-0.04 left_roll=0.0053 left_gripper=0.9996 right_x=0.3808 right_y=0.2489 right_z=0.107 right_yaw=-0.6976 right_pitch=-0.2646 right_roll=-0.1145 right_gripper=0.7509\nstate[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.7411, -0.0659, -0.0464, -0.0122, 0.335, -16.0342, 8.335, 0.0366, 1.0085, 0.188, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adea8c8b02205b3cf3b9a9322ec1676cf634113f5b16e6a367225c0f8916a292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df8094b6fc593c7136de0f65fd5d668af670671984482e1b40bae8b3e07bace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:563c232b0042a1e9fb4d8da2e0d3ebbc64c0e59cc2c44ff023d3c2eee7a4d6c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 12.23 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.7078, 2.5881, 2.0727, -0.878, 0.8745, 1.3483, 0.751]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1715 left_yaw=0.0016 left_pitch=-0.0385 left_roll=0.0052 left_gripper=0.9996 right_x=0.4805 right_y=0.2376 right_z=0.0019 right_yaw=-0.7214 right_pitch=-0.1143 right_roll=0.0151 right_gripper=0.751\nstate[joint_eff]: [-0.1299, -1.265, 7.0085, 1.7265, -0.0415, -0.0806, -0.0122, 0.3077, -18.2222, 5.7504, 0.9206, 0.232, -0.105, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7517, 2.4748, 2.133, -1.1557, 0.8051, 1.3689, 0.751]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.4442 right_y=0.2458 right_z=0.0579 right_yaw=-0.6948 right_pitch=-0.1961 right_roll=-0.0645 right_gripper=0.751\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.7167, -0.0659, -0.0757, -0.0122, 0.1846, -19.5214, 9.7162, 0.2271, 1.0769, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.836, 2.3161, 2.0792, -1.3891, 0.7414, 1.4754, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=0.0016 left_pitch=-0.04 left_roll=0.0053 left_gripper=0.9996 right_x=0.3808 right_y=0.2489 right_z=0.107 right_yaw=-0.6976 right_pitch=-0.2646 right_roll=-0.1145 right_gripper=0.7509\nstate[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.7411, -0.0659, -0.0464, -0.0122, 0.335, -16.0342, 8.335, 0.0366, 1.0085, 0.188, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adea8c8b02205b3cf3b9a9322ec1676cf634113f5b16e6a367225c0f8916a292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df8094b6fc593c7136de0f65fd5d668af670671984482e1b40bae8b3e07bace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:563c232b0042a1e9fb4d8da2e0d3ebbc64c0e59cc2c44ff023d3c2eee7a4d6c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019FJLZjWmiLamDXXE4rFKQt",
      "input": {
        "note": "The brick stays fixed in the right wrist view while the pepper shifted, so it is held. The pot is beyond the right arm's y bound, so I'll carry the brick toward the centre line to hand it over to the left arm.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_yaw": -0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_019FJLZjWmiLamDXXE4rFKQt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0981, 2.2951, 2.0842, -1.3911, 0.6891, 1.3365, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2973 right_y=0.3426 right_z=0.111 right_yaw=-0.3519 right_pitch=-0.3263 right_roll=-0.1797 right_gripper=0.7509\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.707, -0.0464, -0.0708, -0.0122, 0.3897, -16.1573, 9.4838, 0.0952, 0.8425, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d34e9ef0f5a96eb20c2731b01026e93acb3667b2b3b2f545c511925a34d96ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06aff95c6d9ab11acfbcecbfc3ba975ca176966e73cfd62815189d59b4f8321a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa704c86b544819092fd7d87869d1beb29696155e15fd9ac28a5feaa3ede4aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 5.268 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.7517, 2.4748, 2.133, -1.1557, 0.8051, 1.3689, 0.751]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.4442 right_y=0.2458 right_z=0.0579 right_yaw=-0.6948 right_pitch=-0.1961 right_roll=-0.0645 right_gripper=0.751\nstate[joint_eff]: [-0.0342, -1.4701, 7.0085, 1.7167, -0.0659, -0.0757, -0.0122, 0.1846, -19.5214, 9.7162, 0.2271, 1.0769, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.836, 2.3161, 2.0792, -1.3891, 0.7414, 1.4754, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=0.0016 left_pitch=-0.04 left_roll=0.0053 left_gripper=0.9996 right_x=0.3808 right_y=0.2489 right_z=0.107 right_yaw=-0.6976 right_pitch=-0.2646 right_roll=-0.1145 right_gripper=0.7509\nstate[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.7411, -0.0659, -0.0464, -0.0122, 0.335, -16.0342, 8.335, 0.0366, 1.0085, 0.188, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0981, 2.2951, 2.0842, -1.3911, 0.6891, 1.3365, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2973 right_y=0.3426 right_z=0.111 right_yaw=-0.3519 right_pitch=-0.3263 right_roll=-0.1797 right_gripper=0.7509\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.707, -0.0464, -0.0708, -0.0122, 0.3897, -16.1573, 9.4838, 0.0952, 0.8425, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d34e9ef0f5a96eb20c2731b01026e93acb3667b2b3b2f545c511925a34d96ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06aff95c6d9ab11acfbcecbfc3ba975ca176966e73cfd62815189d59b4f8321a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa704c86b544819092fd7d87869d1beb29696155e15fd9ac28a5feaa3ede4aa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013JfetCMAm5P4kNHd5fjsCF",
      "input": {
        "note": "The right gripper with the brick is beside the pot's near-right side, at the limit of the right arm's reach toward the pot; lowering the brick to the table here so the left arm can take it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_yaw": -0.3,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013JfetCMAm5P4kNHd5fjsCF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3421, 1.7969, -1.0451, 0.6712, 1.2865, 0.7508]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0016 left_pitch=-0.0408 left_roll=0.0053 left_gripper=0.9996 right_x=0.295 right_y=0.3438 right_z=0.0174 right_yaw=-0.3191 right_pitch=-0.3477 right_roll=-0.1976 right_gripper=0.7508\nstate[joint_eff]: [-0.1026, -1.3744, 7.2684, 1.7021, -0.0415, -0.0611, -0.0122, -0.1846, -10.7966, 5.8735, 0.3053, 0.4957, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cf16d84b62bafefd63607ddeeb5caf4894d463ecdeb198e99d630cc6b8265c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f746e6e86bf7ed63ab5b018125e69eed4fcb3b6d50bd96cf82eb8e994cbd291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14441fd5708c795972470d12cf53aa4a43178d2cfb84e963b3b3a0412bb91808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.046 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.836, 2.3161, 2.0792, -1.3891, 0.7414, 1.4754, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1711 left_yaw=0.0016 left_pitch=-0.04 left_roll=0.0053 left_gripper=0.9996 right_x=0.3808 right_y=0.2489 right_z=0.107 right_yaw=-0.6976 right_pitch=-0.2646 right_roll=-0.1145 right_gripper=0.7509\nstate[joint_eff]: [-0.3487, -1.3607, 7.0085, 1.7411, -0.0659, -0.0464, -0.0122, 0.335, -16.0342, 8.335, 0.0366, 1.0085, 0.188, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0981, 2.2951, 2.0842, -1.3911, 0.6891, 1.3365, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2973 right_y=0.3426 right_z=0.111 right_yaw=-0.3519 right_pitch=-0.3263 right_roll=-0.1797 right_gripper=0.7509\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.707, -0.0464, -0.0708, -0.0122, 0.3897, -16.1573, 9.4838, 0.0952, 0.8425, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3421, 1.7969, -1.0451, 0.6712, 1.2865, 0.7508]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0016 left_pitch=-0.0408 left_roll=0.0053 left_gripper=0.9996 right_x=0.295 right_y=0.3438 right_z=0.0174 right_yaw=-0.3191 right_pitch=-0.3477 right_roll=-0.1976 right_gripper=0.7508\nstate[joint_eff]: [-0.1026, -1.3744, 7.2684, 1.7021, -0.0415, -0.0611, -0.0122, -0.1846, -10.7966, 5.8735, 0.3053, 0.4957, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cf16d84b62bafefd63607ddeeb5caf4894d463ecdeb198e99d630cc6b8265c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f746e6e86bf7ed63ab5b018125e69eed4fcb3b6d50bd96cf82eb8e994cbd291",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14441fd5708c795972470d12cf53aa4a43178d2cfb84e963b3b3a0412bb91808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Brick is down at z≈0.017 (touching). Release and retract the right arm home.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UVboYQeskS2JgyU9AkbVr9",
      "input": {
        "note": "The brick has touched down beside the pot; opening the gripper and lifting clear so the left arm can take over.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_yaw": -0.3,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01UVboYQeskS2JgyU9AkbVr9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3455, 2.0892, -1.3426, 0.6083, 1.2552, 0.7502]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2917 right_y=0.357 right_z=0.0818 right_yaw=-0.3022 right_pitch=-0.4149 right_roll=-0.2157 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -1.3333, 7.0085, 1.707, -0.0122, -0.0806, -0.0122, -0.6222, -15.7607, 8.2667, 0.1294, 0.8962, 0.022, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3308b30771343521ebad36e7f018d4372a2784a6a667720d655f916a05313cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08e0837a8acc0ccd57c15508b1734182770ac9a433d63e3127af02f3fcbfad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e2b321b07fa037264b03ac07812dd597331d529015d205388ec34a8fc759104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 8.644 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0981, 2.2951, 2.0842, -1.3911, 0.6891, 1.3365, 0.7509]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2973 right_y=0.3426 right_z=0.111 right_yaw=-0.3519 right_pitch=-0.3263 right_roll=-0.1797 right_gripper=0.7509\nstate[joint_eff]: [-0.2256, -1.3333, 7.0222, 1.707, -0.0464, -0.0708, -0.0122, 0.3897, -16.1573, 9.4838, 0.0952, 0.8425, -0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3421, 1.7969, -1.0451, 0.6712, 1.2865, 0.7508]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0016 left_pitch=-0.0408 left_roll=0.0053 left_gripper=0.9996 right_x=0.295 right_y=0.3438 right_z=0.0174 right_yaw=-0.3191 right_pitch=-0.3477 right_roll=-0.1976 right_gripper=0.7508\nstate[joint_eff]: [-0.1026, -1.3744, 7.2684, 1.7021, -0.0415, -0.0611, -0.0122, -0.1846, -10.7966, 5.8735, 0.3053, 0.4957, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3455, 2.0892, -1.3426, 0.6083, 1.2552, 0.7502]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2917 right_y=0.357 right_z=0.0818 right_yaw=-0.3022 right_pitch=-0.4149 right_roll=-0.2157 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -1.3333, 7.0085, 1.707, -0.0122, -0.0806, -0.0122, -0.6222, -15.7607, 8.2667, 0.1294, 0.8962, 0.022, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3308b30771343521ebad36e7f018d4372a2784a6a667720d655f916a05313cfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c08e0837a8acc0ccd57c15508b1734182770ac9a433d63e3127af02f3fcbfad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e2b321b07fa037264b03ac07812dd597331d529015d205388ec34a8fc759104",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkQgKEAgRGAI4AUIIdGhpbmtpbmcSDP0XHUXoa99mcb2N/RoMznkAzx/K9He25rLBIjBzggLrv7UR76hYZFSWJ5t3kHMxPHB79KWOTMsKaZeofEXwcg1QTewvnwKfJ37dRlgqrgdf8+tQE7/pf3h4nsFLwW7NA1crCDOm8BLXkd1tCIGPnfReCWQT994SXSTVe6ezq+R9BrIAqy6sHLYNZPkGtXF08PEPojpEYtQnFOzaCU9puPcwwE92XY3B9DW/+xBrlrlDGlvQUk8cS/QCz8/YUIVhaxBRdj6sTvNpD72w4urXJy/u0Zfer62mILTyMbIQM/O6y1cVYdzvo2GZnGjp0Cjf86utE4WkA0qSklgz+c2bJ5pqT7mJ/AdM7CMnCthy9f3ITcYTg55zrZrAG9+wuxNSuP0oXOxezakj3gJE15OkLNYzNpD9w9hlY9JjWsW01zt+aHa5OO40AltewbgTr/mrF42wR3Us+7nE1veQAX2wg0OQ3wn4BMreBRaVeWnnmB7zRSoRCbkkiaFO6Yqw5WKaV/Lv3ouqZwYgrZ9udJ455qIGliNGgbyHdrlnekqMiVgIxNZN0XQxgzxuPbmmCdTFrDiKWVshhFKm+Qjzvp0EMrAlJiKSUPnYIP5LFb1ixk/wNOJytwc9pca66ahvun0j0DVesUgEPbD/+wdDoX0zio2/7g7H5AMEd0zycCtR36nyJjRBruPAhqrGm5M3Dtt4+bnF55+wSgymqkPGQJHT8PCvUootsuVA9EuZjZDN05Ci31Wa5GpIIPYwbKBIVbhhPq7ZWiopUX3Z2QawJo5HqM9JPum9aym9Q3NKsPRXIoIZ4UnzFsQ3kZSzNyXBquNw9rPFzEdB2OVIqi3gCFZsBrjoFTMvR+7HK8K39nA8Qui5mHfYMMBL9QOjXJTdFO6Ipk/xeIkaLHT1og8IUKisrjg1WReJTTnIT8azmcdmvDMK7813wGbGnz9RfWKPBEukVtNvV1pSpU9Jsdh2qJ7wVyWkfy3YlrHeay8YnoWXEn5i518QfqH+6PZt6M6lq/sAPDbp0N+x5aJ+c75Clw7S5kvQXvqfO+g0+iKt03irrBCk+z1pCB/gpbixaFmyafwh+B8Ae60TS1Je9xDiCTGvR/SZfrKi0ARidtu0ty1dY6SY+O4YGm3jG4fMgpKB8KJG/pksSm+Qd75SVlivoh/qJtJV9WUDon/li29MSZ1hyWG1Qwcb3T6lHh+MZr7AGcZs4tS5lEO/YVKyz+SxjYr09ZvFyF9Pmvx8nsMz/rRfyt7ewcANLbCvDmdaGjx1XBecG9Uh89rJuYkcWEw6CkU/Rblo5n0IkW/Rkjl+lIaC6UM9IBoehL/JezzS4SUg+z5bMjhPsyzO60HB7pqZz1AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6MBQWZZcwoKzLEzzMRkzs",
      "input": {
        "note": "The gripper did not open (still reads 0.75) and lifted the brick again; lowering back to the table and re-sending the open command.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_yaw": -0.3,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01K6MBQWZZcwoKzLEzzMRkzs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 1.0809, 2.3569, 1.8851, -1.1809, 0.5995, 1.2293, 0.9966]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0016 left_pitch=-0.0419 left_roll=0.0053 left_gripper=0.9996 right_x=0.2892 right_y=0.3381 right_z=0.0256 right_yaw=-0.3288 right_pitch=-0.436 right_roll=-0.2881 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122, -0.5128, -11.9863, 6.8308, 0.3394, 0.3736, -0.0708, -0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544affe710f2f8937741caf897f781220c748cf76499e50876e2a13b654fb5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afc6ea8a6ea4ea30910bbfb77bf2e3573d6d8d0f2eec195dd5d7ffcfb11c91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0c602ea44d9f273766b3041169fba3e04d0572464b04e00012186e7f2a0c4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 18.62 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3421, 1.7969, -1.0451, 0.6712, 1.2865, 0.7508]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1709 left_yaw=0.0016 left_pitch=-0.0408 left_roll=0.0053 left_gripper=0.9996 right_x=0.295 right_y=0.3438 right_z=0.0174 right_yaw=-0.3191 right_pitch=-0.3477 right_roll=-0.1976 right_gripper=0.7508\nstate[joint_eff]: [-0.1026, -1.3744, 7.2684, 1.7021, -0.0415, -0.0611, -0.0122, -0.1846, -10.7966, 5.8735, 0.3053, 0.4957, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3455, 2.0892, -1.3426, 0.6083, 1.2552, 0.7502]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2917 right_y=0.357 right_z=0.0818 right_yaw=-0.3022 right_pitch=-0.4149 right_roll=-0.2157 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -1.3333, 7.0085, 1.707, -0.0122, -0.0806, -0.0122, -0.6222, -15.7607, 8.2667, 0.1294, 0.8962, 0.022, 1.033]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 1.0809, 2.3569, 1.8851, -1.1809, 0.5995, 1.2293, 0.9966]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0016 left_pitch=-0.0419 left_roll=0.0053 left_gripper=0.9996 right_x=0.2892 right_y=0.3381 right_z=0.0256 right_yaw=-0.3288 right_pitch=-0.436 right_roll=-0.2881 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122, -0.5128, -11.9863, 6.8308, 0.3394, 0.3736, -0.0708, -0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544affe710f2f8937741caf897f781220c748cf76499e50876e2a13b654fb5ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afc6ea8a6ea4ea30910bbfb77bf2e3573d6d8d0f2eec195dd5d7ffcfb11c91c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c602ea44d9f273766b3041169fba3e04d0572464b04e00012186e7f2a0c4bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAoKEAgRGAI4AUIIdGhpbmtpbmcSDHg1a/PP2Gr8ZEEqERoMNAZJq+v6C3JPu1MFIjBaZ1mubd+rltMAJGI/g40DH3gdwzLWzDRQFhzMEDb1Sue7ZRs+LedTqgMI2QBuNT0q4QkGr2y2V5fOCS05uDoftQVpxLNeJvJHElUKyDfwm/WhNaW0vpbiso7AXqhwtZ4QwU7InMOZCKbuvRQekMuT0AfCfo7rN5aF3NDGrymRVJ1Co5OIVNdB9Of4VlcoXwMA8XXOt5Hbl9Er5TWAvvaLlb46m3wz1nNfasgJIZKkU8L2fvryA9nnzl1XT1cCPczTZFNW8IQDyw/jQYb1BV9S2jmekYA1LWMl92VJ5R9G0oGsC8/3cZHDdN1R85mGZrBUbShS1H6zkwkYUwRgqzkhzZsThv0jqn+ztPYduZWOQvIy7SDcmXoX0tEStc2m3F4rs/kjuxOD8eYsMw3AS3dE+snTgQfPsXZrTQvwwyyfWvIJzBuHOPc/fgGP0uQsYkWvOPKtzvf234uSdzj7QbbjLTCLq4JFuoEyh1Tu5XOM/JIp6nOOFplzvnnXWPnm3/2jNxNoDYhCN0vMh6Idf7u6v2XiR4P3x9A7iaQL5+wKogpkbPizRYNRqXcnT0CRkNcs84BX2yFQi9JVoLu/1QpHnj8k5ATtCC0LLOjZNlMJLNkH/RiQhnSBlQ+4Q93FueaJJ0cgjSV0PfOlV9Nl2qff1GNpt3sXknYrZELPwWrwSBJSBywKtAtdYaGZTfA1/88pTMdMfEUi1/dKRIMGrowJk6yW2E/GjF6nWbn78YaGGWfVHq4csuFBC8pToNp+2xhdeW+jRq/S1+ZI2X/3dpLodLkWzwUaySFbU04F82aK/6Wdw1FwRrRi6OS6fHhKOLWfD4o4/JWeNZn5+8EHEcz9yPv48g9tqeejnJeAjdxM5XU6+X0pFachqXeHQKh0b4LmmhqF9n3HbjMBZMPd+dJdwyw+Wb1iUOOgDMr+Wou3xCWYKWLSFinQsPTIrjxezNHbBmdt6b1B/amTugT1HYgdcccwgE61hW9Dwvs4nfH9/1UCAqQFOuXPQ68k/+Km5BS58CkmirDf2tqZxJWOgM4N1+20qh9YIf1SESuCoxljv6m0fqIfschJP3GaouWetld2yOP54JBhGYW9VuCJPfLpc/BkYaSZ30oB+JsOLhe98so2jb/vSFmObhJ2C6atzXfjI3eaw0ISU+5GDRFCf50XlWAW4VXgoGEOwdX0MDYT4ARBb+Yjkmhvis8G3qHZgOkFiKLBYo3n+7cjmEztY69/I7bp5teRDTfQaGib3TJEbzDYl0NsA74iT60WEhRx6O6BX+WiGdZGfDu87KZd6SaxPcSnt2eF46MDYuR40tNJeUlQEsqpLKlP5dRcPkVuxHTnsDnGTVkIGwo9whWjIxM1PBqP2OeOjlcrh+pCA2p8ZlcO81xqZAbLPE8JADpvFEQnQq9ulBxFhzv+TRVljVE32PQKn8En7gsUAyFr12T5JyJtf0xHg5L0uCNJliMCxMNXugAXCfTSRWSEKm35Oc0HllGO2BOXFbPjuQnT+V1pJe82xkJny+HcHA5dkcZkIXqTOEDeXqXeWaJfEj7Gvy65EE1WbcJA0Ue7HsrObPgZ9oj57nMSpJHusRXtp86VBydGbe8CzXJNdnj+VW1GHH6SsD1CDQzIZixKGKzLL28XSceolCSastMgY2G8anZ+P4viCYaPtu+NyC5AYFkg10wGQpPXIcuUelZ+HFpvyNzqJJ3JdzJUCfHowcxbtm0NYVEaCl+1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K8iafLW8CDJZnpctyzFfV4",
      "input": {
        "note": "The brick is released on the table just right of the pot; parking the right arm at home so the left arm can pick the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01K8iafLW8CDJZnpctyzFfV4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.1459, 1.1519, 0.9928, -0.894, 0.271, -0.0753, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.168 left_yaw=0.0016 left_pitch=-0.0534 left_roll=0.0056 left_gripper=0.9996 right_x=0.2863 right_y=-0.0021 right_z=0.165 right_yaw=-0.0654 right_pitch=-0.4652 right_roll=-0.297 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.7162, 7.1043, 1.7705, -0.0513, -0.0317, -0.0122, 0.0068, -4.506, 9.5111, 1.1795, 0.0024, -0.0024, -0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95336ee45fcd2857ab4d979e1c8950fa885cf8244b687a112cbf6d92e7ecd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbb9fc88f56f91ea230de29d194fae5c08a3bc683073f654594ff36524c7a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42cbc49096b80d6470c497bcc4ab7742817bcda5f31aa0f9bb2fcb4b4bed997f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 15.07 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 1.0985, 2.3455, 2.0892, -1.3426, 0.6083, 1.2552, 0.7502]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=0.0016 left_pitch=-0.0404 left_roll=0.0053 left_gripper=0.9996 right_x=0.2917 right_y=0.357 right_z=0.0818 right_yaw=-0.3022 right_pitch=-0.4149 right_roll=-0.2157 right_gripper=0.7502\nstate[joint_eff]: [-0.1709, -1.3333, 7.0085, 1.707, -0.0122, -0.0806, -0.0122, -0.6222, -15.7607, 8.2667, 0.1294, 0.8962, 0.022, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 1.0809, 2.3569, 1.8851, -1.1809, 0.5995, 1.2293, 0.9966]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0016 left_pitch=-0.0419 left_roll=0.0053 left_gripper=0.9996 right_x=0.2892 right_y=0.3381 right_z=0.0256 right_yaw=-0.3288 right_pitch=-0.436 right_roll=-0.2881 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122, -0.5128, -11.9863, 6.8308, 0.3394, 0.3736, -0.0708, -0.1636]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.1459, 1.1519, 0.9928, -0.894, 0.271, -0.0753, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.168 left_yaw=0.0016 left_pitch=-0.0534 left_roll=0.0056 left_gripper=0.9996 right_x=0.2863 right_y=-0.0021 right_z=0.165 right_yaw=-0.0654 right_pitch=-0.4652 right_roll=-0.297 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.7162, 7.1043, 1.7705, -0.0513, -0.0317, -0.0122, 0.0068, -4.506, 9.5111, 1.1795, 0.0024, -0.0024, -0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95336ee45fcd2857ab4d979e1c8950fa885cf8244b687a112cbf6d92e7ecd32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbb9fc88f56f91ea230de29d194fae5c08a3bc683073f654594ff36524c7a0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42cbc49096b80d6470c497bcc4ab7742817bcda5f31aa0f9bb2fcb4b4bed997f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MuJS2m1buLfJnfB3zt7dXE",
      "input": {
        "note": "Right arm is parked; the brick lies just right of the pot with its long axis tilted ~60° from forward. Flying the left arm above it with the jaws rotated to close across its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": -0.31,
          "left_yaw": 1.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01MuJS2m1buLfJnfB3zt7dXE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9436, 2.2871, 1.8858, -1.557, -0.8604, -2.0617, 0.9996, 0.144, 1.1507, 0.9878, -0.9089, 0.2539, -0.0933, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.2205 left_z=0.0994 left_yaw=0.9279 left_pitch=-0.0768 left_roll=0.0156 left_gripper=0.9996 right_x=0.2821 right_y=-0.0003 right_z=0.161 right_yaw=-0.0429 right_pitch=-0.4894 right_roll=-0.2949 right_gripper=0.997\nstate[joint_eff]: [0.294, -10.6462, 6.8991, -0.5934, -0.4567, -0.3639, -0.0562, 0.0752, -3.0974, 6.8581, 1.2723, 0.2515, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85f7676f108935edb3c4e869dd3280ba3de6928679eff9e149161d72ae49232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45835774e9b8e4f99db1d55cc1f9fb08948c0e9c1cfb9e67529c6645d11e2a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d84ae8197159c5cb9c509730350fd80208c982ce8706e0cbaa29da7f816aded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 19.18 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4084, -0.0227, -0.0261, 0.9996, 1.0809, 2.3569, 1.8851, -1.1809, 0.5995, 1.2293, 0.9966]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1706 left_yaw=0.0016 left_pitch=-0.0419 left_roll=0.0053 left_gripper=0.9996 right_x=0.2892 right_y=0.3381 right_z=0.0256 right_yaw=-0.3288 right_pitch=-0.436 right_roll=-0.2881 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.3744, 7.0496, 1.7558, -0.0317, -0.0708, -0.0122, -0.5128, -11.9863, 6.8308, 0.3394, 0.3736, -0.0708, -0.1636]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.1459, 1.1519, 0.9928, -0.894, 0.271, -0.0753, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.168 left_yaw=0.0016 left_pitch=-0.0534 left_roll=0.0056 left_gripper=0.9996 right_x=0.2863 right_y=-0.0021 right_z=0.165 right_yaw=-0.0654 right_pitch=-0.4652 right_roll=-0.297 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.7162, 7.1043, 1.7705, -0.0513, -0.0317, -0.0122, 0.0068, -4.506, 9.5111, 1.1795, 0.0024, -0.0024, -0.2808]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9436, 2.2871, 1.8858, -1.557, -0.8604, -2.0617, 0.9996, 0.144, 1.1507, 0.9878, -0.9089, 0.2539, -0.0933, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.2205 left_z=0.0994 left_yaw=0.9279 left_pitch=-0.0768 left_roll=0.0156 left_gripper=0.9996 right_x=0.2821 right_y=-0.0003 right_z=0.161 right_yaw=-0.0429 right_pitch=-0.4894 right_roll=-0.2949 right_gripper=0.997\nstate[joint_eff]: [0.294, -10.6462, 6.8991, -0.5934, -0.4567, -0.3639, -0.0562, 0.0752, -3.0974, 6.8581, 1.2723, 0.2515, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f85f7676f108935edb3c4e869dd3280ba3de6928679eff9e149161d72ae49232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45835774e9b8e4f99db1d55cc1f9fb08948c0e9c1cfb9e67529c6645d11e2a50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d84ae8197159c5cb9c509730350fd80208c982ce8706e0cbaa29da7f816aded",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FAFtLAnpuD95yDK6zeQgAw",
      "input": {
        "note": "The left arm stalled 9 cm short of the brick with the wrist near a joint limit at yaw +1.0; trying the equivalent jaw orientation at yaw −2.1 so the wrist has room to reach the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": -0.31,
          "left_yaw": -2.1,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01FAFtLAnpuD95yDK6zeQgAw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4828, 2.0708, 1.7298, -0.968, 0.8581, 1.2793, 0.9996, 0.144, 1.1519, 0.9836, -0.9169, 0.2523, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3342 left_y=-0.322 left_z=0.1392 left_yaw=-1.8721 left_pitch=-0.1131 left_roll=0.0508 left_gripper=0.9996 right_x=0.2797 right_y=-0.0004 right_z=0.1582 right_yaw=-0.0401 right_pitch=-0.5035 right_roll=-0.2988 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -12.2598, 5.6684, -0.022, 0.7155, 0.2027, -0.0562, -0.1162, -3.3846, 6.8171, 1.2283, 0.0806, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb4f178ea71273281cf10bb25ad698b38c7462715f81c1bd5010c3554b6b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68351ee29909f202fadcd56c62afbee846ea7c2327005d1f51773034a132b262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c661cef691e916fdf92d998beace8fba48440b03a2245e36af3c92d9cfa1b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 12.72 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4152, -0.0227, -0.0261, 0.9996, 0.1459, 1.1519, 0.9928, -0.894, 0.271, -0.0753, 0.9974]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.168 left_yaw=0.0016 left_pitch=-0.0534 left_roll=0.0056 left_gripper=0.9996 right_x=0.2863 right_y=-0.0021 right_z=0.165 right_yaw=-0.0654 right_pitch=-0.4652 right_roll=-0.297 right_gripper=0.9974\nstate[joint_eff]: [-0.2803, -1.7162, 7.1043, 1.7705, -0.0513, -0.0317, -0.0122, 0.0068, -4.506, 9.5111, 1.1795, 0.0024, -0.0024, -0.2808]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9436, 2.2871, 1.8858, -1.557, -0.8604, -2.0617, 0.9996, 0.144, 1.1507, 0.9878, -0.9089, 0.2539, -0.0933, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.2205 left_z=0.0994 left_yaw=0.9279 left_pitch=-0.0768 left_roll=0.0156 left_gripper=0.9996 right_x=0.2821 right_y=-0.0003 right_z=0.161 right_yaw=-0.0429 right_pitch=-0.4894 right_roll=-0.2949 right_gripper=0.997\nstate[joint_eff]: [0.294, -10.6462, 6.8991, -0.5934, -0.4567, -0.3639, -0.0562, 0.0752, -3.0974, 6.8581, 1.2723, 0.2515, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4828, 2.0708, 1.7298, -0.968, 0.8581, 1.2793, 0.9996, 0.144, 1.1519, 0.9836, -0.9169, 0.2523, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3342 left_y=-0.322 left_z=0.1392 left_yaw=-1.8721 left_pitch=-0.1131 left_roll=0.0508 left_gripper=0.9996 right_x=0.2797 right_y=-0.0004 right_z=0.1582 right_yaw=-0.0401 right_pitch=-0.5035 right_roll=-0.2988 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -12.2598, 5.6684, -0.022, 0.7155, 0.2027, -0.0562, -0.1162, -3.3846, 6.8171, 1.2283, 0.0806, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb4f178ea71273281cf10bb25ad698b38c7462715f81c1bd5010c3554b6b79d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68351ee29909f202fadcd56c62afbee846ea7c2327005d1f51773034a132b262",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c661cef691e916fdf92d998beace8fba48440b03a2245e36af3c92d9cfa1b02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014W3rjninDgCsiAjBRTbY28",
      "input": {
        "note": "The brick is visible ahead in the left wrist camera but its long axis is roughly along the jaw axis; rotating the tool ~60° and advancing a few centimetres toward the brick so the jaws will straddle its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": -0.35,
          "left_yaw": -0.8,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014W3rjninDgCsiAjBRTbY28",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8387, 1.7164, 1.047, -0.1844, 0.1101, 0.3695, 0.9996, 0.144, 1.1564, 0.9833, -0.9211, 0.2523, -0.1017, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=-0.3446 left_z=0.0832 left_yaw=-1.1543 left_pitch=-0.2886 left_roll=0.1783 left_gripper=0.9996 right_x=0.2789 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0388 right_pitch=-0.5131 right_roll=-0.3028 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -10.5915, 6.5162, 1.8095, -0.1832, -0.0513, -0.0562, -0.3214, -3.7812, 6.612, 1.1355, 0.0806, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b45f784313619f7da75a3e220bca2abe5cfa70e656066db7067457c1b3a4686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323f9e768f4a26c3cce50cd71a4c8f109a87f4c3f17deddf7f4344ed536707bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cbdcbf0e46f6bf1055b1107a236e3751de43489bef5966809bd59d9d0dbd3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.926 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9436, 2.2871, 1.8858, -1.557, -0.8604, -2.0617, 0.9996, 0.144, 1.1507, 0.9878, -0.9089, 0.2539, -0.0933, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.2205 left_z=0.0994 left_yaw=0.9279 left_pitch=-0.0768 left_roll=0.0156 left_gripper=0.9996 right_x=0.2821 right_y=-0.0003 right_z=0.161 right_yaw=-0.0429 right_pitch=-0.4894 right_roll=-0.2949 right_gripper=0.997\nstate[joint_eff]: [0.294, -10.6462, 6.8991, -0.5934, -0.4567, -0.3639, -0.0562, 0.0752, -3.0974, 6.8581, 1.2723, 0.2515, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4828, 2.0708, 1.7298, -0.968, 0.8581, 1.2793, 0.9996, 0.144, 1.1519, 0.9836, -0.9169, 0.2523, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3342 left_y=-0.322 left_z=0.1392 left_yaw=-1.8721 left_pitch=-0.1131 left_roll=0.0508 left_gripper=0.9996 right_x=0.2797 right_y=-0.0004 right_z=0.1582 right_yaw=-0.0401 right_pitch=-0.5035 right_roll=-0.2988 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -12.2598, 5.6684, -0.022, 0.7155, 0.2027, -0.0562, -0.1162, -3.3846, 6.8171, 1.2283, 0.0806, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8387, 1.7164, 1.047, -0.1844, 0.1101, 0.3695, 0.9996, 0.144, 1.1564, 0.9833, -0.9211, 0.2523, -0.1017, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=-0.3446 left_z=0.0832 left_yaw=-1.1543 left_pitch=-0.2886 left_roll=0.1783 left_gripper=0.9996 right_x=0.2789 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0388 right_pitch=-0.5131 right_roll=-0.3028 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -10.5915, 6.5162, 1.8095, -0.1832, -0.0513, -0.0562, -0.3214, -3.7812, 6.612, 1.1355, 0.0806, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b45f784313619f7da75a3e220bca2abe5cfa70e656066db7067457c1b3a4686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:323f9e768f4a26c3cce50cd71a4c8f109a87f4c3f17deddf7f4344ed536707bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbdcbf0e46f6bf1055b1107a236e3751de43489bef5966809bd59d9d0dbd3f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011hGvSMwJbyAiVNpgmFCUVN",
      "input": {
        "note": "The brick now lies lengthwise between the left jaws in the wrist view, slightly ahead; descending to table level with a small radial advance before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.297,
          "left_y": -0.363,
          "left_yaw": -0.9,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011hGvSMwJbyAiVNpgmFCUVN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9344, 1.9297, 0.9787, 0.0883, -0.0746, 0.1383, 0.9996, 0.144, 1.1568, 0.9833, -0.9199, 0.2527, -0.102, 0.9969]\nstate[eef_state]: left_x=0.2893 left_y=-0.3633 left_z=0.0077 left_yaw=-0.959 left_pitch=-0.2992 left_roll=0.1635 left_gripper=0.9996 right_x=0.2792 right_y=-0.0005 right_z=0.1565 right_yaw=-0.0389 right_pitch=-0.5124 right_roll=-0.3033 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8581, 6.4479, 1.1258, -0.1929, 0.0317, -0.0562, -0.1026, -3.2068, 6.4752, 1.0916, 0.1245, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da155826baf9ac8528a669564ab82694d16b820f074eb8a76b594c5d1c3ee3d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f7e23c956d48c35434bec55f1b4a28e42f82b88e68a45a57ba4f248e0f5584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4cc8ae1d2340e33395cf0a37a9eaee4b5a813123a7c99cdbd709a70b2fe86b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 9.344 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4828, 2.0708, 1.7298, -0.968, 0.8581, 1.2793, 0.9996, 0.144, 1.1519, 0.9836, -0.9169, 0.2523, -0.0978, 0.997]\nstate[eef_state]: left_x=0.3342 left_y=-0.322 left_z=0.1392 left_yaw=-1.8721 left_pitch=-0.1131 left_roll=0.0508 left_gripper=0.9996 right_x=0.2797 right_y=-0.0004 right_z=0.1582 right_yaw=-0.0401 right_pitch=-0.5035 right_roll=-0.2988 right_gripper=0.997\nstate[joint_eff]: [-0.5949, -12.2598, 5.6684, -0.022, 0.7155, 0.2027, -0.0562, -0.1162, -3.3846, 6.8171, 1.2283, 0.0806, 0.0269, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8387, 1.7164, 1.047, -0.1844, 0.1101, 0.3695, 0.9996, 0.144, 1.1564, 0.9833, -0.9211, 0.2523, -0.1017, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=-0.3446 left_z=0.0832 left_yaw=-1.1543 left_pitch=-0.2886 left_roll=0.1783 left_gripper=0.9996 right_x=0.2789 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0388 right_pitch=-0.5131 right_roll=-0.3028 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -10.5915, 6.5162, 1.8095, -0.1832, -0.0513, -0.0562, -0.3214, -3.7812, 6.612, 1.1355, 0.0806, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9344, 1.9297, 0.9787, 0.0883, -0.0746, 0.1383, 0.9996, 0.144, 1.1568, 0.9833, -0.9199, 0.2527, -0.102, 0.9969]\nstate[eef_state]: left_x=0.2893 left_y=-0.3633 left_z=0.0077 left_yaw=-0.959 left_pitch=-0.2992 left_roll=0.1635 left_gripper=0.9996 right_x=0.2792 right_y=-0.0005 right_z=0.1565 right_yaw=-0.0389 right_pitch=-0.5124 right_roll=-0.3033 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8581, 6.4479, 1.1258, -0.1929, 0.0317, -0.0562, -0.1026, -3.2068, 6.4752, 1.0916, 0.1245, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da155826baf9ac8528a669564ab82694d16b820f074eb8a76b594c5d1c3ee3d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f7e23c956d48c35434bec55f1b4a28e42f82b88e68a45a57ba4f248e0f5584",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cc8ae1d2340e33395cf0a37a9eaee4b5a813123a7c99cdbd709a70b2fe86b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The brick fills the view between the jaws at table level; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RmYDAJayzhX4oGQA8kxviV",
      "input": {
        "note": "The brick fills the wrist view between the open left jaws at table height; closing the gripper across its short side.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.2893,
          "left_y": -0.3633,
          "left_yaw": -0.96,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RmYDAJayzhX4oGQA8kxviV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 1.953, 0.9775, 0.1246, -0.1291, 0.0963, 0.0179, 0.144, 1.1568, 0.9833, -0.9203, 0.2523, -0.1055, 0.9969]\nstate[eef_state]: left_x=0.2965 left_y=-0.3621 left_z=0.0035 left_yaw=-0.8941 left_pitch=-0.2829 left_roll=0.1778 left_gripper=0.0179 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0365 right_pitch=-0.5134 right_roll=-0.3049 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.1846, 6.0923, 1.4432, -0.0708, 0.0659, 0.7399, -0.0752, -3.3983, 6.5299, 1.1306, 0.0611, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24b98793afa3f0ffaccd5a70005ba61066132fea3ebee43dd4babba1ffe2295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9429306731faab290c757e5eb3da24f79617c87b44c888f0914cdde6937aeaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f8f15bf4b2d37645102c5c2b45afb5957baabc45fd207aceb7604d2ed76c6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 7.49 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8387, 1.7164, 1.047, -0.1844, 0.1101, 0.3695, 0.9996, 0.144, 1.1564, 0.9833, -0.9211, 0.2523, -0.1017, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=-0.3446 left_z=0.0832 left_yaw=-1.1543 left_pitch=-0.2886 left_roll=0.1783 left_gripper=0.9996 right_x=0.2789 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0388 right_pitch=-0.5131 right_roll=-0.3028 right_gripper=0.997\nstate[joint_eff]: [-0.1709, -10.5915, 6.5162, 1.8095, -0.1832, -0.0513, -0.0562, -0.3214, -3.7812, 6.612, 1.1355, 0.0806, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9344, 1.9297, 0.9787, 0.0883, -0.0746, 0.1383, 0.9996, 0.144, 1.1568, 0.9833, -0.9199, 0.2527, -0.102, 0.9969]\nstate[eef_state]: left_x=0.2893 left_y=-0.3633 left_z=0.0077 left_yaw=-0.959 left_pitch=-0.2992 left_roll=0.1635 left_gripper=0.9996 right_x=0.2792 right_y=-0.0005 right_z=0.1565 right_yaw=-0.0389 right_pitch=-0.5124 right_roll=-0.3033 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8581, 6.4479, 1.1258, -0.1929, 0.0317, -0.0562, -0.1026, -3.2068, 6.4752, 1.0916, 0.1245, -0.0269, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 1.953, 0.9775, 0.1246, -0.1291, 0.0963, 0.0179, 0.144, 1.1568, 0.9833, -0.9203, 0.2523, -0.1055, 0.9969]\nstate[eef_state]: left_x=0.2965 left_y=-0.3621 left_z=0.0035 left_yaw=-0.8941 left_pitch=-0.2829 left_roll=0.1778 left_gripper=0.0179 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0365 right_pitch=-0.5134 right_roll=-0.3049 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.1846, 6.0923, 1.4432, -0.0708, 0.0659, 0.7399, -0.0752, -3.3983, 6.5299, 1.1306, 0.0611, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f24b98793afa3f0ffaccd5a70005ba61066132fea3ebee43dd4babba1ffe2295",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9429306731faab290c757e5eb3da24f79617c87b44c888f0914cdde6937aeaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8f15bf4b2d37645102c5c2b45afb5957baabc45fd207aceb7604d2ed76c6fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DKxRq2YAWeV7p1JzZvD6PQ",
      "input": {
        "note": "The jaws closed just short of the brick (empty, 0.018); the brick sits ahead of the fingertips. Opening and advancing ~5 cm along the tool's forward direction.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.325,
          "left_y": -0.4,
          "left_yaw": -0.9,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DKxRq2YAWeV7p1JzZvD6PQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 2.0048, 1.2133, -0.0864, -0.1295, 0.0849, 0.9943, 0.144, 1.1568, 0.9833, -0.9203, 0.2527, -0.1059, 0.997]\nstate[eef_state]: left_x=0.3174 left_y=-0.3906 left_z=0.0308 left_yaw=-0.887 left_pitch=-0.3088 left_roll=0.1717 left_gripper=0.9943 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0367 right_pitch=-0.5134 right_roll=-0.3055 right_gripper=0.997\nstate[joint_eff]: [0.1846, -9.2786, 8.759, 1.5995, 0.0366, 0.1783, 0.0562, -0.0342, -3.3983, 6.6667, 1.1062, 0.105, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18eb1870dccbf2a7ca880dd2957835453399e39e37a654cb307290a2c4a73264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f004981ce4bfe8359d991b5036d49b3e3971d883a74f810d3dc3683de3560be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d21e2d58819deb677b02609656db2789525998d31669dfc29c64c5e55d9ac553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 29.61 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9344, 1.9297, 0.9787, 0.0883, -0.0746, 0.1383, 0.9996, 0.144, 1.1568, 0.9833, -0.9199, 0.2527, -0.102, 0.9969]\nstate[eef_state]: left_x=0.2893 left_y=-0.3633 left_z=0.0077 left_yaw=-0.959 left_pitch=-0.2992 left_roll=0.1635 left_gripper=0.9996 right_x=0.2792 right_y=-0.0005 right_z=0.1565 right_yaw=-0.0389 right_pitch=-0.5124 right_roll=-0.3033 right_gripper=0.9969\nstate[joint_eff]: [-0.2803, -6.8581, 6.4479, 1.1258, -0.1929, 0.0317, -0.0562, -0.1026, -3.2068, 6.4752, 1.0916, 0.1245, -0.0269, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 1.953, 0.9775, 0.1246, -0.1291, 0.0963, 0.0179, 0.144, 1.1568, 0.9833, -0.9203, 0.2523, -0.1055, 0.9969]\nstate[eef_state]: left_x=0.2965 left_y=-0.3621 left_z=0.0035 left_yaw=-0.8941 left_pitch=-0.2829 left_roll=0.1778 left_gripper=0.0179 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0365 right_pitch=-0.5134 right_roll=-0.3049 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.1846, 6.0923, 1.4432, -0.0708, 0.0659, 0.7399, -0.0752, -3.3983, 6.5299, 1.1306, 0.0611, -0.0171, -0.0073]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 2.0048, 1.2133, -0.0864, -0.1295, 0.0849, 0.9943, 0.144, 1.1568, 0.9833, -0.9203, 0.2527, -0.1059, 0.997]\nstate[eef_state]: left_x=0.3174 left_y=-0.3906 left_z=0.0308 left_yaw=-0.887 left_pitch=-0.3088 left_roll=0.1717 left_gripper=0.9943 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0367 right_pitch=-0.5134 right_roll=-0.3055 right_gripper=0.997\nstate[joint_eff]: [0.1846, -9.2786, 8.759, 1.5995, 0.0366, 0.1783, 0.0562, -0.0342, -3.3983, 6.6667, 1.1062, 0.105, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18eb1870dccbf2a7ca880dd2957835453399e39e37a654cb307290a2c4a73264",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f004981ce4bfe8359d991b5036d49b3e3971d883a74f810d3dc3683de3560be2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21e2d58819deb677b02609656db2789525998d31669dfc29c64c5e55d9ac553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAkKEAgRGAI4AUIIdGhpbmtpbmcSDLYE4yprMWIsvfGL/BoMnosw7qSuZ1wWJq2gIjCgzEZZophBuFfiLZw8+VUQb8VAeGGlDc1vKNiVbv9izZG66iIO8hycBb2jFopOja8qrQj2Lgm1pYQd+ISdCb2G1+XWwoL6kF0EoBUX8hO3s6NpE9cPgkyid/iM9pwLAWmVWEjlZHRH47SZFTS23I1vJih/mFjAXLY3orRJiTnY/iHpE4PK4UzhMPhOnt7WOSGRqzK0waU++HAn15LT7SHckBBzGAZqsdVO2cCsfWbrJLWtL5q0hoNCs7XHc8ugMvEj5VLITjW5V5XVXrBegrTcQAia5n2gl+AK1OxNjaL3CrzCmlYKfMkZ74H6fm7iwPoUugM1EqVf1UTFbsZX25YqRHU9nLR9IbVuFx+7pHxOKF9SsByVBrDwja5GdYStTRzC8p2MjTwzBthLZmrkAoVVdIJHPp4rnf2Ri+0IONJJ+DQt2KuEwMZokx5CuZb/5BnRELEFqDHLsWo2DHOj5gK9c9tISAZPI73RzxvPjJ4PmnVOrIbhQvJzlWihDdBlv3C0eCWKgmxogiE8vhHRgLwT7iq+bPRY/yP5sPp0ZDPDjaPlbiH6GuooRMlkRIbs7c0qaS1Mk6I7TqnzhEY2B7uwgdlY2omctba/yFGW0wGZhGo3La+49JaXWmHivmZYcMj2KZZWDYEBMlZ+WHZyMFY0SFHVH3JH7hhUBTI3ssiVWY13DIXrNlQLr+EF8rgfqo1qV8PfbV0A8DhMJ7DMhnJPGTfkFRktL+PBctC611PZFqyXArc5AIACLLy10ilXGrzaFisoOlk92Q69E650lri5cwLvST7L/M3OS1GWBL1fQsbGkYbiWeULHUMepMeLLmAScEVuEXkmt53k4qIIG5th0IC7SRuJZ/zCPFsGX6OtEjTt8MWUDvK6i/ZgQuk46xsUOAQjZ632vok9svQRg9l0KlBqqlyl+drxMWqhqxadeb4wGxF2XODc0c3jxUVGi03e/DuzVHTGjK7c1vZY4vUp8zyE78ZBPs4K8fdxVOQHZbM82VV04oz391QrMuE4Y0DeCW0E8ClY8QEy6CWBX4tcYSGqp/m5Gi61+jlQj/oKomU+NJuWyuzfJQR2Vdb51ZVbjqQodVY1UiLx97ZDJzhjEq48yRdjutFMy3vPC3IGs4Ttt4a+lmBGiH4Dk74l4y5RCcTsDocwtF2uxzXHOo5qNE4z4V6rmlBBMiu7LJblH1HNa4ru7BG8F205jWlUhArXi3JbDvwlzkiu/+VNR70lL6gtJoeRE2EDh+J5eDC6ju6wEoMBkGvXtPKPlaL0KRAp+bI7LXV3UIAZoEeslO6dplfLC6u5sgyn45fLkJLlcdGy+DJXhEwJdACGuaAe8m0nj3AXwA3Rf69AU+pm7pwiJ65xHYQP8Xx97Y6gsuRrMyJpa2kVyVq2pM09cYl8lH+XrdPirtScnC93L/sAB4s+M3zyK1xeOgWXL3HH+BKXGiyvittm36woQFWh9NTaxzqejkiU7I7wgR3zwhozkPzuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MsYjcTpewKGivV3zcrCHVp",
      "input": {
        "note": "The brick now lies lengthwise between the open left jaws reaching the bottom of the wrist view; descending to the table and closing on it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.335,
          "left_y": -0.4,
          "left_yaw": -0.9,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MsYjcTpewKGivV3zcrCHVp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9215, 2.0895, 1.235, -0.0326, -0.123, 0.0895, 0.0133, 0.144, 1.1568, 0.9833, -0.9207, 0.2523, -0.1062, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.3926 left_z=0.0058 left_yaw=-0.8757 left_pitch=-0.3187 left_roll=0.17 left_gripper=0.0133 right_x=0.279 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0361 right_pitch=-0.5139 right_roll=-0.3054 right_gripper=0.997\nstate[joint_eff]: [0.6359, -7.9795, 8.1573, 1.6484, 0.0171, 0.2418, 1.0085, -0.1026, -3.3983, 6.5299, 1.1306, 0.0952, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1b1ee7e270b87f994106abfa6bdd3b60c8f5fd6f227d964b7ae1c2fb7f80d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce8f553520821cdd0229805eeb1e7779cc909296120f5d0f528547eed5a66f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:532ac2d142fbc3f07ba80afcf7450d519def9e84a4a9e6c2537103a25f06dd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 8.933 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 1.953, 0.9775, 0.1246, -0.1291, 0.0963, 0.0179, 0.144, 1.1568, 0.9833, -0.9203, 0.2523, -0.1055, 0.9969]\nstate[eef_state]: left_x=0.2965 left_y=-0.3621 left_z=0.0035 left_yaw=-0.8941 left_pitch=-0.2829 left_roll=0.1778 left_gripper=0.0179 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0365 right_pitch=-0.5134 right_roll=-0.3049 right_gripper=0.9969\nstate[joint_eff]: [0.0068, -8.1846, 6.0923, 1.4432, -0.0708, 0.0659, 0.7399, -0.0752, -3.3983, 6.5299, 1.1306, 0.0611, -0.0171, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 2.0048, 1.2133, -0.0864, -0.1295, 0.0849, 0.9943, 0.144, 1.1568, 0.9833, -0.9203, 0.2527, -0.1059, 0.997]\nstate[eef_state]: left_x=0.3174 left_y=-0.3906 left_z=0.0308 left_yaw=-0.887 left_pitch=-0.3088 left_roll=0.1717 left_gripper=0.9943 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0367 right_pitch=-0.5134 right_roll=-0.3055 right_gripper=0.997\nstate[joint_eff]: [0.1846, -9.2786, 8.759, 1.5995, 0.0366, 0.1783, 0.0562, -0.0342, -3.3983, 6.6667, 1.1062, 0.105, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9215, 2.0895, 1.235, -0.0326, -0.123, 0.0895, 0.0133, 0.144, 1.1568, 0.9833, -0.9207, 0.2523, -0.1062, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.3926 left_z=0.0058 left_yaw=-0.8757 left_pitch=-0.3187 left_roll=0.17 left_gripper=0.0133 right_x=0.279 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0361 right_pitch=-0.5139 right_roll=-0.3054 right_gripper=0.997\nstate[joint_eff]: [0.6359, -7.9795, 8.1573, 1.6484, 0.0171, 0.2418, 1.0085, -0.1026, -3.3983, 6.5299, 1.1306, 0.0952, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1b1ee7e270b87f994106abfa6bdd3b60c8f5fd6f227d964b7ae1c2fb7f80d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce8f553520821cdd0229805eeb1e7779cc909296120f5d0f528547eed5a66f04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:532ac2d142fbc3f07ba80afcf7450d519def9e84a4a9e6c2537103a25f06dd70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NxLUy6fMb6U27jFuvZD2c7",
      "input": {
        "note": "The left jaws closed empty again just short of the brick, which lies beyond the left arm's y bound. Backing the left arm off and bringing the right arm (which can reach it) over the brick to re-grasp and move it nearer the centre line.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.25,
          "left_y": -0.3,
          "left_yaw": -0.9,
          "left_z": 0.15,
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.21,
          "right_yaw": -0.9,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01NxLUy6fMb6U27jFuvZD2c7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.923, 1.4971, 1.0412, -0.5522, -0.1364, 0.0776, 0.9968, 0.6861, 2.2486, 2.0819, -1.581, 0.4984, 1.314, 0.9974]\nstate[eef_state]: left_x=0.2499 left_y=-0.2845 left_z=0.1141 left_yaw=-0.8556 left_pitch=-0.4376 left_roll=0.1816 left_gripper=0.9968 right_x=0.3586 right_y=0.1891 right_z=0.1147 right_yaw=-0.8298 right_pitch=-0.5317 right_roll=-0.3339 right_gripper=0.9974\nstate[joint_eff]: [-1.4564, -10.6462, 8.2256, 2.293, 0.0317, 0.1294, -0.0708, 0.5675, -9.1419, 7.0496, 0.1001, 0.4713, 0.3639, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0eff45393dac9412e74ce71ac0c27969394ac5181180385be9c6c086aa24bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42b9f92a9cad3c1d76964c8190848fb2348e1f1029eca8e97d850ed3481b4d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9225bfbb8827b23e6a2594e9481c3afec03f678c899b24de6ec60b41fa5b2899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.153 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9409, 2.0048, 1.2133, -0.0864, -0.1295, 0.0849, 0.9943, 0.144, 1.1568, 0.9833, -0.9203, 0.2527, -0.1059, 0.997]\nstate[eef_state]: left_x=0.3174 left_y=-0.3906 left_z=0.0308 left_yaw=-0.887 left_pitch=-0.3088 left_roll=0.1717 left_gripper=0.9943 right_x=0.2791 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0367 right_pitch=-0.5134 right_roll=-0.3055 right_gripper=0.997\nstate[joint_eff]: [0.1846, -9.2786, 8.759, 1.5995, 0.0366, 0.1783, 0.0562, -0.0342, -3.3983, 6.6667, 1.1062, 0.105, -0.0366, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9215, 2.0895, 1.235, -0.0326, -0.123, 0.0895, 0.0133, 0.144, 1.1568, 0.9833, -0.9207, 0.2523, -0.1062, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.3926 left_z=0.0058 left_yaw=-0.8757 left_pitch=-0.3187 left_roll=0.17 left_gripper=0.0133 right_x=0.279 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0361 right_pitch=-0.5139 right_roll=-0.3054 right_gripper=0.997\nstate[joint_eff]: [0.6359, -7.9795, 8.1573, 1.6484, 0.0171, 0.2418, 1.0085, -0.1026, -3.3983, 6.5299, 1.1306, 0.0952, -0.0366, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.923, 1.4971, 1.0412, -0.5522, -0.1364, 0.0776, 0.9968, 0.6861, 2.2486, 2.0819, -1.581, 0.4984, 1.314, 0.9974]\nstate[eef_state]: left_x=0.2499 left_y=-0.2845 left_z=0.1141 left_yaw=-0.8556 left_pitch=-0.4376 left_roll=0.1816 left_gripper=0.9968 right_x=0.3586 right_y=0.1891 right_z=0.1147 right_yaw=-0.8298 right_pitch=-0.5317 right_roll=-0.3339 right_gripper=0.9974\nstate[joint_eff]: [-1.4564, -10.6462, 8.2256, 2.293, 0.0317, 0.1294, -0.0708, 0.5675, -9.1419, 7.0496, 0.1001, 0.4713, 0.3639, -0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0eff45393dac9412e74ce71ac0c27969394ac5181180385be9c6c086aa24bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42b9f92a9cad3c1d76964c8190848fb2348e1f1029eca8e97d850ed3481b4d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9225bfbb8827b23e6a2594e9481c3afec03f678c899b24de6ec60b41fa5b2899",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAkKEAgRGAI4AUIIdGhpbmtpbmcSDMa948om5QFYnbW5GBoMMKoJxLPDElckfpoLIjB2bFAiZRtKzwPRM4HOHDCMWw5zDIGHPh+6u59ROqj20N631xBjkzLzhDUwPpGpaq4qwQgKBDePNuH45SHhORmeLuzi0WO8kyzYTPR0xgQZlAOO48hDLFKfajFEZ4j40wIxv+ePgyHEQFnEUTdWNcwLtSS6yqaxLQ3eBZfitdQty8zQZhM4tqUXtR/+60LHl5lAzPzzGuYa/7kwgxZggdAeL9sDqyn7UKKdGK0zsgcd5S/g8Q0A7G4+Hl2LuTd2OsEQBT2S2PW+5emvkXNloDuiHuvFkHm29SI0CbYRDZjyD+rTw0FA7EzkrZ9Rg/whwkDxL21fsBjv6euCPFdjRskDYncRlIls4FzuPSxh7O5tz6ZkeGLIHQ7jTvMGKdcrV1VWFlkyTK4zp/WskC/C9ub2nX/UZboVB04CsRR5WF+wYWeZLGS9tr6sw29tfyi7vEv89ztylwNwq3SqDXif7rXi+lHoMU7g8uoHdCkXMXZ5bx6kyuqApcp808Q5U1vqOdzer6Bo6VyhxSZUAEhYkwoWEP2OvmiPRTO+vYkGnU6jhOVg4qAeMehtwUU6LwWivdKnzLZN5jIePQmauqh7a/V3RPCRkdiCiR6QkVvOLUndLx7nNGCVdirAocRRSsQjIG+a20aM6yM/VWLbrNdVCZNFxoclpUrbkxVpctXHITtGfsZeU3QMxMHfOsQaVI++kFlMkUx74hlh6RlelnN20uRqa3r0moL+jwEkKFNMNWoN37OoH4h5h+CmUD2ATnX1V6aBuwAQyTRWt9mat6esmPaHtIlpGNkrjf9EqKdpZFuNagecad81A+J7daH7/foQYbleZVTpdGpoY4IUyc1MtYmK7+1VPBQEEc2dRporp3QAd9Ocvov4ZuKF6kPWLcOY5W3IWyYMM3YfVLQ2+egUzEt3O3m90qmu32ioRFWXQoNPLdtn9KmswnYzby+c0V36yRg5C96S0LJ40Oy4gnAcpB6GgbLDpoyaYSNqkHx4onhLQJggMEU7Nx043e1wC5oXpURuO+Sd0Yat6bOdP5Jg+Y/VP23aTxZnXBK4qe9hqVBg/oGJW/KMRIipVaSNmuFvDs/sU/TWQCMyhHjVBqhTgSujFFYxoCoXcjzW0FFj6thx1TcIJM9Y0Qb1c0yZfoO4+qhoZzXM6l3ztHOQqKurPT0KGI0hY0ZsxJQIJZCTxV1BDQ5i+gPNiZJzaMNwHWBgeO3cPDKPkc+D+5SwlgzPwR5QJRGyVByK3K+upahKHqlH4VD7YddhdtqZGxyJRdCVqj2UNmK39FQlO70jGhYsKPFiYR5wLvIE+ru5c0CGN1pgu3u6LAGUXr5CtR30B9FE52iUuo8RIK2jgOSAUp4WSdjVGiyAXzDh+Q2MZ8nLKikw+DTWTkm3HwehiKXTOXbXKzjaGU1idU+9V5IMrNqNrOOh7Bpab6LPnWxLNuXXmrkQwPvicDxXrleNJBoVo5E9rev5SmYJEGbwxP73GoZR6xSNsrmbmlLlz0SRJHT5MoDdHMfI3GMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VihWUHaT8L4CPfTwonc229",
      "input": {
        "note": "The brick is centred on the right jaw column with empty space below it, so it's a few cm beyond the fingertips; advancing ~5 cm along the tool axis and descending to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.15,
          "right_yaw": -0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VihWUHaT8L4CPfTwonc229",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5059, 1.0336, -0.5888, -0.136, 0.0807, 0.998, 0.5728, 2.2963, 1.7832, -1.1984, 0.4908, 1.2072, 0.9975]\nstate[eef_state]: left_x=0.2432 left_y=-0.2774 left_z=0.1036 left_yaw=-0.8587 left_pitch=-0.4909 left_roll=0.1869 left_gripper=0.998 right_x=0.3845 right_y=0.1532 right_z=0.0181 right_yaw=-0.8588 right_pitch=-0.5554 right_roll=-0.3482 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -7.241, 7.0222, 1.409, -0.0855, -0.0708, 0.1099, -0.4718, -10.2769, 4.588, 0.0366, 0.5104, 0.0073, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9116d496795bbfde11d7196def18cd1bdb512ed4f2e9454779381051e5c223b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89558b18365cff801ca9a7582518a59289d6dc881ae47d5f8686096db04a6076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed686f4a76732af3249ae8871aef114c1f7d3e31fcea460f94e17d104b67e668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 11.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9215, 2.0895, 1.235, -0.0326, -0.123, 0.0895, 0.0133, 0.144, 1.1568, 0.9833, -0.9207, 0.2523, -0.1062, 0.997]\nstate[eef_state]: left_x=0.3297 left_y=-0.3926 left_z=0.0058 left_yaw=-0.8757 left_pitch=-0.3187 left_roll=0.17 left_gripper=0.0133 right_x=0.279 right_y=-0.0005 right_z=0.1564 right_yaw=-0.0361 right_pitch=-0.5139 right_roll=-0.3054 right_gripper=0.997\nstate[joint_eff]: [0.6359, -7.9795, 8.1573, 1.6484, 0.0171, 0.2418, 1.0085, -0.1026, -3.3983, 6.5299, 1.1306, 0.0952, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.923, 1.4971, 1.0412, -0.5522, -0.1364, 0.0776, 0.9968, 0.6861, 2.2486, 2.0819, -1.581, 0.4984, 1.314, 0.9974]\nstate[eef_state]: left_x=0.2499 left_y=-0.2845 left_z=0.1141 left_yaw=-0.8556 left_pitch=-0.4376 left_roll=0.1816 left_gripper=0.9968 right_x=0.3586 right_y=0.1891 right_z=0.1147 right_yaw=-0.8298 right_pitch=-0.5317 right_roll=-0.3339 right_gripper=0.9974\nstate[joint_eff]: [-1.4564, -10.6462, 8.2256, 2.293, 0.0317, 0.1294, -0.0708, 0.5675, -9.1419, 7.0496, 0.1001, 0.4713, 0.3639, -0.2759]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5059, 1.0336, -0.5888, -0.136, 0.0807, 0.998, 0.5728, 2.2963, 1.7832, -1.1984, 0.4908, 1.2072, 0.9975]\nstate[eef_state]: left_x=0.2432 left_y=-0.2774 left_z=0.1036 left_yaw=-0.8587 left_pitch=-0.4909 left_roll=0.1869 left_gripper=0.998 right_x=0.3845 right_y=0.1532 right_z=0.0181 right_yaw=-0.8588 right_pitch=-0.5554 right_roll=-0.3482 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -7.241, 7.0222, 1.409, -0.0855, -0.0708, 0.1099, -0.4718, -10.2769, 4.588, 0.0366, 0.5104, 0.0073, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9116d496795bbfde11d7196def18cd1bdb512ed4f2e9454779381051e5c223b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89558b18365cff801ca9a7582518a59289d6dc881ae47d5f8686096db04a6076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed686f4a76732af3249ae8871aef114c1f7d3e31fcea460f94e17d104b67e668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8gcKEAgRGAI4AUIIdGhpbmtpbmcSDDm+BJa/LdxMsqllDBoMIoMpOC7Wsc/+vNJ6IjDJngoMSSphc8V76nEx7CikCvQuVLpZ+99ErFYkQC7OzxqKg1N20p52CX6f7SksRvUqjwcCQoyV8G/TjfJNWsQI34yzMs++RtELI0B9WsJ6JXW5aBcqnjVA6+dNFWGw8BazBp/7+SwXi2LhyYMTagSrarrq9xQ3VSswPAgFgGn4K9c18jRQXiA0kmBbC4XFQV4YhS1UuluUgVG9HR/3I4KJ+Q6p17L9+YBljA9ds3AJGahbPqrdX3oFjrVbpyK6i4IHU3fNKp/YkEZjA3N++LbTntXF5wCVFqmhSvhtD0IWNqS39Ksf2/F6yTG5SpNR8hFDO90nVuoYl9Y+YVdOxgcbyWw46kXay1D/XZZmj9Ny9Eo2XldiDfrxwYKs7w9EvUNfw5Zs180bwXEWrIhWjyHDmOf2FZESja1DTlUM2HbJbpIiH8c7cE3nQrFHATpRuVy+QUa6FQJE2jT6Xb/9fWMZus3SWp53K74gZkCO7os5Uprt7s4DGeCpQjGl4u1JxecsMr/zQff+Y+fU4Hvmrzyua4/i/zsNqpAfJi8lADPF0ObpKVSREWma8we7+ez/X3zPRVtX9rXpGKwg1t3eDpdtO0ovzqyuHIqHXY7y5s15Zqjm72DiCqYvSH8lP9zKx/yD2UaG8qWTJY7Tb+SPHzy7Acsb+heMs2xbSFQSjDwQe/Cy9O4W8WmkbvuAOySMTPdhNmkxjDeIX9X/e21XKIg1jHcGqYGGKn3z1/XSZTjocEjfbLCr7yik/sftlz/FUsw2Iqb7wN0wDuiCclfzvdsSpTV1sF5Ej59/y5Uz/AfbesM3UY4sAnZM1MtN7KZUWVkDTSjNhDi5tRIdicjV3dBCuLipi34io+BzQC5WLgRJyTLuA3vpR/TXu3z3Zu4KkntMqr8sB+DtC8DIR+YhuYdbAno195DQJUhaSeOeJO1JyTKZ6uwR6qgX1Imv7xNNJVRMmvIgKf+SQoGpiVXLXwrcfcgtUUFHJBumP2qgStHkJp1Hy5YgcyMa0CpTQiCGsmRRh7b/RRorqNc5/9ZgiB00MrfCYMMNjBknCOW0kUrp5J/cPDtOZP0/NGXRr/iz74jPsaPLhs724WlZyNBTfYOlvRU6kJknn3/5jlKZq+E/ZKVVMzUwBFELcZQdGW+XaGsi9TOOvZ8dGwNFTPhviOcCv7O+PZywAZT0qrXQ+TNla8HJLXd3M9MWfPT5cD3hWc0v/WvWPmz/jVtZGoeRmxnb4iWhUKfV8dxmCOF6/z6Ltoa5yGStcyiXFnEuWhE6peaSGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R2iTL3mZRW6tcmMBaDsCxn",
      "input": {
        "note": "The brick fills the space between the right jaws down to the bottom of the wrist view; closing the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.39,
          "right_y": 0.15,
          "right_yaw": -0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R2iTL3mZRW6tcmMBaDsCxn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5888, -0.1322, 0.078, 0.9981, 0.5671, 2.3005, 1.7779, -1.1454, 0.535, 1.1759, 0.0083]\nstate[eef_state]: left_x=0.2427 left_y=-0.2779 left_z=0.1037 left_yaw=-0.8607 left_pitch=-0.4905 left_roll=0.1817 left_gripper=0.9981 right_x=0.3977 right_y=0.1508 right_z=0.0177 right_yaw=-0.8197 right_pitch=-0.5107 right_roll=-0.3236 right_gripper=0.0083\nstate[joint_eff]: [-0.3214, -6.5299, 6.4068, 1.16, -0.1441, -0.0171, 0.0024, -0.8274, -10.441, 3.959, -0.1099, 0.3443, 0.0171, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30279bc7025dbd7dc83cd26700742880303125dec941f0ac671e63d4d5291317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061e2b7464375197e3148ab3a745441b9b1ba2fe3ef14e8d209d13fc777e0183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:41cb0b71e686d9691875541ed72656f10a2e08a1f85377051591d47c80b5f968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.284 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.923, 1.4971, 1.0412, -0.5522, -0.1364, 0.0776, 0.9968, 0.6861, 2.2486, 2.0819, -1.581, 0.4984, 1.314, 0.9974]\nstate[eef_state]: left_x=0.2499 left_y=-0.2845 left_z=0.1141 left_yaw=-0.8556 left_pitch=-0.4376 left_roll=0.1816 left_gripper=0.9968 right_x=0.3586 right_y=0.1891 right_z=0.1147 right_yaw=-0.8298 right_pitch=-0.5317 right_roll=-0.3339 right_gripper=0.9974\nstate[joint_eff]: [-1.4564, -10.6462, 8.2256, 2.293, 0.0317, 0.1294, -0.0708, 0.5675, -9.1419, 7.0496, 0.1001, 0.4713, 0.3639, -0.2759]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5059, 1.0336, -0.5888, -0.136, 0.0807, 0.998, 0.5728, 2.2963, 1.7832, -1.1984, 0.4908, 1.2072, 0.9975]\nstate[eef_state]: left_x=0.2432 left_y=-0.2774 left_z=0.1036 left_yaw=-0.8587 left_pitch=-0.4909 left_roll=0.1869 left_gripper=0.998 right_x=0.3845 right_y=0.1532 right_z=0.0181 right_yaw=-0.8588 right_pitch=-0.5554 right_roll=-0.3482 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -7.241, 7.0222, 1.409, -0.0855, -0.0708, 0.1099, -0.4718, -10.2769, 4.588, 0.0366, 0.5104, 0.0073, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5888, -0.1322, 0.078, 0.9981, 0.5671, 2.3005, 1.7779, -1.1454, 0.535, 1.1759, 0.0083]\nstate[eef_state]: left_x=0.2427 left_y=-0.2779 left_z=0.1037 left_yaw=-0.8607 left_pitch=-0.4905 left_roll=0.1817 left_gripper=0.9981 right_x=0.3977 right_y=0.1508 right_z=0.0177 right_yaw=-0.8197 right_pitch=-0.5107 right_roll=-0.3236 right_gripper=0.0083\nstate[joint_eff]: [-0.3214, -6.5299, 6.4068, 1.16, -0.1441, -0.0171, 0.0024, -0.8274, -10.441, 3.959, -0.1099, 0.3443, 0.0171, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30279bc7025dbd7dc83cd26700742880303125dec941f0ac671e63d4d5291317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:061e2b7464375197e3148ab3a745441b9b1ba2fe3ef14e8d209d13fc777e0183",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41cb0b71e686d9691875541ed72656f10a2e08a1f85377051591d47c80b5f968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HaFzKxJVr5mcN5m6krjYHC",
      "input": {
        "note": "Empty close again: with the wrist pitched back the brick sits further out than the camera suggests. Opening and advancing another ~5 cm along the tool axis.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.115,
          "right_yaw": -0.85,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HaFzKxJVr5mcN5m6krjYHC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9981, 0.469, 2.3173, 1.8416, -1.1778, 0.5159, 1.0851, 0.995]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9981 right_x=0.4176 right_y=0.1179 right_z=0.0242 right_yaw=-0.8557 right_pitch=-0.5428 right_roll=-0.3523 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -6.2838, 6.4479, 1.16, -0.1343, -0.0513, -0.0073, -0.8, -11.1521, 8.2667, 0.1832, 0.4908, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:627cd646ad17f23f0f3964d36ee481ccc8e0fa4190c430cc700933f287806963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1a2499543498ed5437ca0655853e0eb0c2367d2373c53956fac42754e49901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3eaf428e7a69fa98fbce8814418ff20b2431a4c3442d23f55ae021e509588c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 19.91 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5059, 1.0336, -0.5888, -0.136, 0.0807, 0.998, 0.5728, 2.2963, 1.7832, -1.1984, 0.4908, 1.2072, 0.9975]\nstate[eef_state]: left_x=0.2432 left_y=-0.2774 left_z=0.1036 left_yaw=-0.8587 left_pitch=-0.4909 left_roll=0.1869 left_gripper=0.998 right_x=0.3845 right_y=0.1532 right_z=0.0181 right_yaw=-0.8588 right_pitch=-0.5554 right_roll=-0.3482 right_gripper=0.9975\nstate[joint_eff]: [-0.1299, -7.241, 7.0222, 1.409, -0.0855, -0.0708, 0.1099, -0.4718, -10.2769, 4.588, 0.0366, 0.5104, 0.0073, -0.2759]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5888, -0.1322, 0.078, 0.9981, 0.5671, 2.3005, 1.7779, -1.1454, 0.535, 1.1759, 0.0083]\nstate[eef_state]: left_x=0.2427 left_y=-0.2779 left_z=0.1037 left_yaw=-0.8607 left_pitch=-0.4905 left_roll=0.1817 left_gripper=0.9981 right_x=0.3977 right_y=0.1508 right_z=0.0177 right_yaw=-0.8197 right_pitch=-0.5107 right_roll=-0.3236 right_gripper=0.0083\nstate[joint_eff]: [-0.3214, -6.5299, 6.4068, 1.16, -0.1441, -0.0171, 0.0024, -0.8274, -10.441, 3.959, -0.1099, 0.3443, 0.0171, 0.5885]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9981, 0.469, 2.3173, 1.8416, -1.1778, 0.5159, 1.0851, 0.995]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9981 right_x=0.4176 right_y=0.1179 right_z=0.0242 right_yaw=-0.8557 right_pitch=-0.5428 right_roll=-0.3523 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -6.2838, 6.4479, 1.16, -0.1343, -0.0513, -0.0073, -0.8, -11.1521, 8.2667, 0.1832, 0.4908, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:627cd646ad17f23f0f3964d36ee481ccc8e0fa4190c430cc700933f287806963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c1a2499543498ed5437ca0655853e0eb0c2367d2373c53956fac42754e49901",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3eaf428e7a69fa98fbce8814418ff20b2431a4c3442d23f55ae021e509588c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gYKEAgRGAI4AUIIdGhpbmtpbmcSDIGMOxibdZEIYoDlChoMG5hkiG0v3tcuqwQtIjBfq3qriE0txIPxhK0ApypmPPrKipcFbU8z6zsWGgbf6LzzOpEF7QFBKHqoBQAV3vUqiwZCAB5mrEZtBQEBZR5Y7uZuiPV3fQ/zLwJaHHYZyUxzc6USN/QmcAwAB3n1TmdFuwRvow/5WSq6wcesr2Mr0oZNuxEQ/kOa3iF5IqTIWMEBkmhFQ9Uk3aeMsRkwjTdMjpOHOUzsuBZ8pax63HdwZqjIlpM2PRGf9B2/tw+qmIfHiAuZ/ylDMb7+tR6yo1VTads6Ju0Z5J8YqrNZ1SaDqJlUAxwz5pvRLZ8vi2PxYNOtL5OPUcEFe6vimx0RIdETHdmfAyQaxjAoR1D43jWTETs7NU4VltQOCGLrHcPe+PGyAOqlfBquNoD26iijcuRCcITw+Ha+n3gefj9tRPwTB3pYL6XMlXI49U8ZOO0BQEtBaQP0tHs9TbMAimntuxIxpBZoKBxJbkU8XW/jAJZR5mbi7qu+PT9aXViRWM4fMBqW50CKRqhqMgkYllwvb8tp48WMWr4A1W936JE9RXJ7lc7XAf8rhhGLEBgCBHRrkB4LC3LcGg72ktbHZAqb6ylfWC/+HaJS7QOApG6Sv6MGMgvEKvDn0mo63qoFWWXT++ZJuE4BRtMp+RDCu2Xp35jXrWsHTZOjT3VRI91yZw6yajYtODdp+vQD7xF4CnHFts7Yx2hDte7MhgMTCPz7gwrluDxI2W/14t8X9Egl4xPjMHBMT5PDQe/zDgP5Nu/sgcc8F+sYxoUWiQEmXSNBXv810ZAOBYJOkOT4CwluAyR/izRcG87U5hhcFXGGujq1u9JXvfFPQOi4qwtGQAGzXedpBUCCmVY9MZ1VFfjsVaJrihGfSbuYWtXZFf6sgJ9H8VZG0JYnqQsztX6bhXp6+sh2jAYBepSZbXhVmpG4Im3l8oRfRqYPG3w9FBPVjvXdCHJhFar1rouUFrzhvd8bTqkDD+SejpxvnUbf3ufo6zLoAQSFLOU/pMvPkS/urk+JPmPflWp4dqBXhjQ3YtFvGpWKTW38mcKlNNwYJTvh5mzRt9QnD1lbagkmPS69F4xPeMxR6Nz9HaoObClIcg0JFgGiyVczR8jDQBptfVQSDhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GYygiYzcjNaaJWchGxYyaM",
      "input": {
        "note": "The brick now sits at the bottom of the right wrist view between the jaws, i.e. at the fingertips; descending to table level and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.425,
          "right_y": 0.112,
          "right_yaw": -0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GYygiYzcjNaaJWchGxYyaM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4549, 2.3398, 1.8103, -1.116, 0.5083, 1.0519, 0.008]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.421 right_y=0.1142 right_z=0.0062 right_yaw=-0.8449 right_pitch=-0.5544 right_roll=-0.3586 right_gripper=0.008\nstate[joint_eff]: [-0.0068, -6.5573, 6.4068, 1.1697, -0.0806, -0.0415, -0.0122, -0.4855, -11.3983, 5.3675, 0.3785, 0.3883, 0.0464, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9edf18816562a172ebe557a087dab38b0107caf29f127cf1d8b510e25f8c4f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9be39bcf8586081ff1bb04e9a9032b6cd1f1607bdef59caa870602c0c4737e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:646b2ae21d20da7cf3e1593672aeccf37d0d8c9d3bc246ef70409fb8e6b94eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 7.624 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5888, -0.1322, 0.078, 0.9981, 0.5671, 2.3005, 1.7779, -1.1454, 0.535, 1.1759, 0.0083]\nstate[eef_state]: left_x=0.2427 left_y=-0.2779 left_z=0.1037 left_yaw=-0.8607 left_pitch=-0.4905 left_roll=0.1817 left_gripper=0.9981 right_x=0.3977 right_y=0.1508 right_z=0.0177 right_yaw=-0.8197 right_pitch=-0.5107 right_roll=-0.3236 right_gripper=0.0083\nstate[joint_eff]: [-0.3214, -6.5299, 6.4068, 1.16, -0.1441, -0.0171, 0.0024, -0.8274, -10.441, 3.959, -0.1099, 0.3443, 0.0171, 0.5885]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9981, 0.469, 2.3173, 1.8416, -1.1778, 0.5159, 1.0851, 0.995]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9981 right_x=0.4176 right_y=0.1179 right_z=0.0242 right_yaw=-0.8557 right_pitch=-0.5428 right_roll=-0.3523 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -6.2838, 6.4479, 1.16, -0.1343, -0.0513, -0.0073, -0.8, -11.1521, 8.2667, 0.1832, 0.4908, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4549, 2.3398, 1.8103, -1.116, 0.5083, 1.0519, 0.008]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.421 right_y=0.1142 right_z=0.0062 right_yaw=-0.8449 right_pitch=-0.5544 right_roll=-0.3586 right_gripper=0.008\nstate[joint_eff]: [-0.0068, -6.5573, 6.4068, 1.1697, -0.0806, -0.0415, -0.0122, -0.4855, -11.3983, 5.3675, 0.3785, 0.3883, 0.0464, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9edf18816562a172ebe557a087dab38b0107caf29f127cf1d8b510e25f8c4f7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9be39bcf8586081ff1bb04e9a9032b6cd1f1607bdef59caa870602c0c4737e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:646b2ae21d20da7cf3e1593672aeccf37d0d8c9d3bc246ef70409fb8e6b94eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+xgKEAgRGAI4AUIIdGhpbmtpbmcSDFI1FLcpd+TcfZtc0hoMmrYUbz1DzJtIXVgeIjASc8K/DKNxYag31LCb9wWGRH7M2AIE4DXu+LnYBgOjlXF6ekjZoOnH34xMk4IHksYqmBh7of1LD+W5Mk2kkA8mTlqAb2DtLnsxQv+fDd0KYHWShAtZhTZ0NK//yVdXytfR6sWt5M148Wg7WPETgmhzgTBWcN8kbVXnXAmWYPvuw3m7ChmL7/dTwqrn8e6T+b8nIrhj0li1Q68erqmbQV19eN5D0e820Dsvrf9U5RQ+O6ffO/xovNXCHKAnhYTzFW0o12I5mEXrbVfGGBuhvsoHem1umVMOeFBqcwTM5KoN+8Uv+TpQ5TMWvuks3d5gcci5qmpphbXd5v7Vju+Ytj+WpqT0ea2vwXxUeIAsg/CSdp2fjOqQDiLYHNyoNNCC8jj3+IzeJZJP7Crihpy25I9soS7N0DLD2z2YBkmfGwPQgFSdDSVgEXP/bgNtSrZ2zJu8d15TNZJlwNOZIoO0FRw4ISfSrgtKQERGyyzP4al+q/AuWNq1gWFmOLroKCVzEWga46oOwce7HhEovtbnBvHsS4PDTbEBz5ntk86ys7cf2bsGcOuBaJFXxMNY8CE6KQE4R06MG6DNxaoJjAPJHSGtRxENONEYpQgomgeFbJbyxRDRhGJ8MVAfKepmiAg7vAWPGo3rPi0D4FhiTciz5VQtCej8guusxrWx42wUVJYSBN7E4V+5xXwkiqImuTyulPm41OILI0nalTB2svw6vfPF5UKqOJ2zEmGUDPh+DVEh46fRX8d2yAnyq1+AxRbrwB9hXl8RyC0sndOcZ7Dkpan/JdeikCQEBV6588rLvxSQs6cbBSvw2HgLqYoCLE9F07j1D0uuH73wyIXBBuD2ZcUii065W7b5mDaJCHE+M3ELYDWfBwyZON3cEuIzZXSDqJ6CchYLJ6BsWWCKJFTmARB7YG5KrSqbL30gYyenilHnY6PlYVdaUBYFjSI4CttntSQD5HS6y8ZvvXs3LeY8ZJe0IpNh5AZ4/itLMAIeSz97bNqZFyMJk/M4QYQCyiM+M3jNYo82K03WNF/jXZVWVzBCgv8txubQgp4NldndAcviOcf5AzZZ5HKtIi2oFGINUeLmQP+gV74G211KSFjb4BaT+xOqPeDoL1IpvoY/CR4Q9VZw4KSZnXHK5ZJ9s1EWlKiv/o9ZdFVi4KXla411OndH/Jn0gZncwYWyL8GKZp9lL5yPCXC5Uq6fyZP+Z09PjspD556Q7rxs1TgJaZznKWwlCxV3+u9quQKcLTZ8VKGPRnC78r4blkTXfKGlXaqrYsBv6kD7i6hJp3SGxKhr0CNgY7rSme579LuqCWZb2Wbul7j3is7uGAnQff6iiqtLeFHmuuMsquiURpCiv+1jos3bexGdStQYfBFAbSiPu9LaX/FSXQpdvlc4eTz47gk5nV4Qarm5J4kS7vscpYL1UCXHaJV8CGJud8HhNfB8uZjG4WN+Fz515AsqwS15FuNWKw22LrjeZ19NR6uq6xCsHhGZJJRvE1ib6pcuofoxX9hdgJXz++d/PfmdAoILqNPuheEtUm5FXCo1vXpmsXy9kCuANQvBWi84a6QGiF3Hgi00/9AGHsN9LCAw8ok21kbzTtUJ+hhAq+pt8y2edA0macgE632lmSOHveEM4LLfYRJAWWDg6bRc2HDj3fVJ5Dxzp+1+UQ1ekRAzwpm6jdcTZZ7ckJb7BdM152N7/Gpoc01Ffp6PSHo72hSZNJhvwEICKpU6HDDjGrrg9quFCe9vqcYhHGb2aPHIKOuKvT2evQ+BwfoN7bOiGNpMfPsxPB8a62x4lxnaokeUfh6x+41FHRXvjNPrdEbH/+wrc7uLP55PBF1IpKwKQOSG5grz3FlES9OGzhrehBYj34Yt9l8s8p84qS9xrOxg58y+3pTswO+Yo5MZbiR+RpRU83djeo1LgIXMkECGKn412v45kBnR7KXYaikiEabdGoqahPVBSvSzLDoPFw6Jq02HQAcdpl3qHH7XAz+pmsF+RfI7Gltlgo+8CVgnFa39WntQpvNb8qj/Dhw7a/4+ojmBwsqdZsf4MQAJnsq+6YKemJHYR1Pp9826cTSKcRtlJmAsGz9QdMzJXFkjydkFRZ8JBYNPUuCYS6GVgjs7HdF5zATLAwuFT7CfTD4U1drw4b4MdCtFOskX55wUeZdyjskgbTTE1xJDLLk1jLLil3B45WeqjO2SAXCCJgrGb9ATBXDOHPZpqw4ba9/YmzuuyxaISh3dJiY7A0isnpZmgNBeHz2fQbandRfQt+oHB8P7PgKo1ljCGVTE8ixQkvdHW8xAiEYzJYFgs1JQ73YkWJJg30aRuJgPb93WS3lKJlq8BsQGJ0p4DCkKjlhH07FiA+RMj3xXz3CRW7qXJwYnTPr7uHb4nYtePbdgraG/o27S8Owesb/fhesXi32UB5cbLd5U+qylMkHA8lzkGXlXCIX0uNQhkfd2qIt45g69RFuAo0hBEziozuNkHcXR0u41jkbKXOlyc4MTxvDHTS3LZ4HJxdc7GLwDIjcLv3tceZ8hLdjHmfwh/T3K4+hF1vAP5VAaQ/WVFMdZqkpXqsI4kXM13gzUXodOvZouiGSP5dKxmn0S/Nz8GtvXGAnvNtFsBViljHu8odXOicBMb0alWaWTo0pSd99b9kcqryTVD7fQ6rg28q1Xj7PX9/0/Lx+T2Trffj+F+1B8t4HBQ/kGfaDB5++YSwKvlqneOofFLeUQunlpQdeczh0kV/UKXSP/Z4URkrHosGhTm+ZMuG5UVHtPRqTJ4BbwHdS+5D1tE99DsPAZyq6P3JIBW/w4zNKDBj7hOe1mdXKi1MLCYSYv/qf846GgbHHpPkluj/VsmOESMnDPyAoy06Bt1Q3NBv2I4uQ8+FO2xJem+XMLHrdBa3n4zWuWa4Pi0553KsaKftS8NdjxVi8kfpPwjsryig5pn9HQE2lqEEnIX3NknymL6eMIUc/7Gz2JncoZYTjBqjTHz4B8g+leVWoL5RlQE+xvFAIw9q/CoIEHK6YpSL1MPhYhJUci3jk547enkPwpSxtiIyYuLoUmfcDkbSecPj64m3oRgdKfVQeGqULWMBBZMR2NU6knOGyrH+CPif4j/mgmEIY5vpeLGY/QYzENbicI/dAHMbBI1dBatRAgYOH8DGek6j1e9jrQ7ex40jr5Uqbne0S5YNQZmOqeCJcm10+4WloyFk1qei8O4YmKXELpC+n5jX83CH6WByX+8di5+Q1Vn5rH0MUGX6u0lMUlOLUH30tz3pw1ma7ldtqBOTm0KK5imJ13wAgUbT2TkrhU3anpWw4Y9/X5/5FZP+FACUgEqS7uXZ6i4NMvrlUnhs/2CRQihR4msrPvyRJj89b0kTNUtfVu16Qi1qvLNkfXo0y2L78kQiLQKu3SeScyJGGkBx/m3iCeUNDckpz4ghJ+xp4y95VK7KGaSiOzNzh4WZUCal1hjtOoxQjphpEYXAybGwhgavgXKWlXYoPBEY5+5iWPF3baEjZqIUmWY/Bl5/bGuAu2eXcNQ45SOwh3Xipbirj+sm/0rqtQtSBB6J64+od9tM0E9GLPuUX0qEts0CqkES4bzFaqN+79KSGKdHKzkDAIj0UnlKaG4kVW7H1fdwRzVqIYgaSLS5AECAmYnyIrVrgdfvllGskZ9GWe3dBYVv6dU0ulGtbWrEa0TgaKGZR2iB+NcLiqrFcaIVkeNkZaYtzIsh/4xE/x0b8sXqHBfbAxo0hOcggWmuD8YEf1Il4EbaYU8TTQ3sZtA3w7F6cp3HOVOmPkW1ex9Ho4p6bOnJh2guhDqArp/yJ66Wc9IL0tM53hyAypM69OnDDvgaZv+fUX0fSvoFoET/BB8XpRMP/R/FNYvWx8jxPKjutze4h9G44SkAsVyUY6qLwvtEXNQND6t8p/NQvE4AP8ENS/BDFog29pqAKi5MMGMMgQrbYpJhmcwYlTX4SBPna3TVM0vyXpA+8YD+vvyM/B3CXLxgFxY8Up9MotNCLmL9sf3XmGT9X46RO3xA1L0gSeoBEbLmpUPwpevWiIbD/hFp7cQhp5HlAZzWEcOvoWgZWYu6DCorTWfSPgmfMveV96IzKLlAl9tBcihUTLN1ae8IuofosJX0joFu63xFDK/94qU3DiXwYwo3tqUFoKSn4PTp7F00fkP69xLikN+nZXhlQo0UsMheFStmsrAanKXrYaGJBtNIcBDloYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JLPU3Dj7rJnvVAPtJv2mwf",
      "input": {
        "note": "Empty close: the brick appears to the right of and just under the jaws in the wrist view. Opening and shifting ~3 cm toward the tool's right to centre the jaws over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.095,
          "right_yaw": -0.85,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JLPU3Dj7rJnvVAPtJv2mwf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4419, 2.244, 1.6817, -1.1187, 0.5079, 1.0286, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.3958 right_y=0.0962 right_z=0.0157 right_yaw=-0.8657 right_pitch=-0.569 right_roll=-0.4113 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -6.3795, 6.4068, 1.1648, -0.1197, -0.0464, -0.0171, -0.6359, -14.4889, 5.2581, 0.1734, 0.3101, 0.0855, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b39674503c7fda8e0f00d6a33cd07c45324b8f3b573adf90b56ff89c80b2150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05a04d4b3c7596a8813385bd67d5210809a8c95f3795f8992cad9b2bc978b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76dcee354ae707f2d0a2328abf33c95240444f6aef5a6e6adf1d322f4add4a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 13.02 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9981, 0.469, 2.3173, 1.8416, -1.1778, 0.5159, 1.0851, 0.995]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9981 right_x=0.4176 right_y=0.1179 right_z=0.0242 right_yaw=-0.8557 right_pitch=-0.5428 right_roll=-0.3523 right_gripper=0.995\nstate[joint_eff]: [-0.3624, -6.2838, 6.4479, 1.16, -0.1343, -0.0513, -0.0073, -0.8, -11.1521, 8.2667, 0.1832, 0.4908, 0.1197, -0.0415]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4549, 2.3398, 1.8103, -1.116, 0.5083, 1.0519, 0.008]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.421 right_y=0.1142 right_z=0.0062 right_yaw=-0.8449 right_pitch=-0.5544 right_roll=-0.3586 right_gripper=0.008\nstate[joint_eff]: [-0.0068, -6.5573, 6.4068, 1.1697, -0.0806, -0.0415, -0.0122, -0.4855, -11.3983, 5.3675, 0.3785, 0.3883, 0.0464, 0.5543]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4419, 2.244, 1.6817, -1.1187, 0.5079, 1.0286, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.3958 right_y=0.0962 right_z=0.0157 right_yaw=-0.8657 right_pitch=-0.569 right_roll=-0.4113 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -6.3795, 6.4068, 1.1648, -0.1197, -0.0464, -0.0171, -0.6359, -14.4889, 5.2581, 0.1734, 0.3101, 0.0855, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b39674503c7fda8e0f00d6a33cd07c45324b8f3b573adf90b56ff89c80b2150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05a04d4b3c7596a8813385bd67d5210809a8c95f3795f8992cad9b2bc978b18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76dcee354ae707f2d0a2328abf33c95240444f6aef5a6e6adf1d322f4add4a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgkKEAgRGAI4AUIIdGhpbmtpbmcSDCzv0AZYu/6J2hETcBoMSScXCA32oHPbsiTKIjAlIGEO6UvIx+Gy8RQ4ADoclmNS4XD+12RXJ3AZ2PVJcGLFAGV5uRyRO1ZdHNhWDLoqswjHb+T008RGnbc5EDFiHq19sVotl2dx9MaIwzICo31MSP+p2xm3moXOfsH2WNZXbsSIhp1IJVzOzKPhQkszW7Bx6EVxAfcpXMmvgZ04qh/WFplPdJa0CEnYMoAWRhw5nwcawNPw/Wd7TQiP5WG1U7+DHzu6/vIZHdWKliATUo6MLRKhkXP2ZODZdCbnim5jgRCiV62zJ/DJiKzajwSyYDflKGQ5vOMUMS0J99lpDY/yX38K0I2HsnCqtFRA1j0yIYpmw4XYrKx02FJLpC7oniU7BX/kcf98aVuQFiZyhTivHCXZaVWksHXicrlQiKxtEuT6KMMpjsbHw0m9JWfqZ8aCyhaMpZ920sQd18UwF4H3nDZyrVvhxUfaqMkYDoMahqp3pzW1NoHbXCwt/snd3rJRvgrHhsrH0LK5dl7CyDltvH6uxr1y7ciJwkcqWejF8g/Cup1veS0YErnATHBe24H2jsIijWjd2434VOlAtSKWI8f7SHXd3NihuHGw72UA/ShNl3k3paLNiExj82R4WfHEkkL/SqG1Q9NtjMeTXdxKYBhcazl4HddYEkYxcltx2I8osMmaU6zklnO+37QjG3P3U5V7UiiMql2eCNKzT9JpCQOA8W6DGUHTBH5G/k0SuN41/RuSg2Fu1LqVOzYhbJU7Iqi50yPiKKitaYQRIAoDpP/7N2gRNgVWDMoA5ux7gW+3p/REmRMZQ5WqJBEKeS1+/CtiyF7sf1g7ymOzrWx2/U19uA/FEIZIyTfIXvEhsJXO/PSZoaVxgx1nyjcPHHdNi9TdD0ju9O5t/CnOaH3aKs6lxBJDi3GuTUEfLXDnJbVRrhYaE1i7ydOGMuVJeAv0Lyewctm2HpQ8MxZnbwGLfQj9WikxbRQHWo3L+UN0QU+HQzVD0UpeSiFivx/hlSP/9xWZvRCb96aQOUIEk1sQ9IBYXciYQH1et1os53UZHl5qZDy1dJ/W3GTtWqkb6GHaQnRhGmXZTUmN5uaqZM4laUYYVbWQMrC1ksRDf1eboSe+TFrxS87wXYLeVcSADkXa65aaUlZuMgPBSz3nr3iz0yPZLOERalDTsL02CCqqXLcsg6SjtePNHI7TpQUTC5a6p2wxcw4NKOGmgvRozBqrsHqBesP4Nqks5JMf4znIloAT8p6k3UqoBOWpqsxApxUDunCVc8N0im4I9apw9g3rQ6A9HD1Tiz+pmRR2DXo778LSkbHQKhztTyOadhYOdoDe5P5N5p0nuK4p+G7KfoZ2g2AKgNya5NoW2hSpZrkDWPk9F+mo+8VXlWzxuiUOD2u2kOKNxvefIkdfOxcAghLjaJO189tFOtqBXdr9uGbI3QBNKxY43sAjxa7T5YXcLyw+1kYgQqliC0g2qYyul1JoCtvF9Gw0V//c6IOrc/z9bSBQ56Eu2vKRV7+f4Q7TWWzL1/lvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014LdCv2KGcTZGnU74tBzv3b",
      "input": {
        "note": "The brick is now under the right side of the jaw opening at the bottom of the wrist view; shifting a further 2 cm right while descending and closing.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.38,
          "right_y": 0.083,
          "right_yaw": -0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014LdCv2KGcTZGnU74tBzv3b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4362, 2.1895, 1.5272, -1.0115, 0.5312, 0.9936, 0.0085]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3808 right_y=0.0828 right_z=0.0027 right_yaw=-0.8482 right_pitch=-0.5526 right_roll=-0.4292 right_gripper=0.0085\nstate[joint_eff]: [-0.1846, -6.5436, 6.3932, 1.1795, -0.1343, -0.0708, -0.0122, -0.5538, -11.6308, 5.135, 0.022, 0.1636, 0.0024, 0.3687]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c7e0ca2cc019953b31e9f504580dcbac7af060fca23a33d400cf7729075e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efeba922e4d9d37e4d10bd3eeb470e40446f384e633e2e60e86590ae636b0cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4052c8e31e2c4797fbc3455c34b53919026813b24249684cb7a109ce3c2aeff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 5.581 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4549, 2.3398, 1.8103, -1.116, 0.5083, 1.0519, 0.008]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.421 right_y=0.1142 right_z=0.0062 right_yaw=-0.8449 right_pitch=-0.5544 right_roll=-0.3586 right_gripper=0.008\nstate[joint_eff]: [-0.0068, -6.5573, 6.4068, 1.1697, -0.0806, -0.0415, -0.0122, -0.4855, -11.3983, 5.3675, 0.3785, 0.3883, 0.0464, 0.5543]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4419, 2.244, 1.6817, -1.1187, 0.5079, 1.0286, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.3958 right_y=0.0962 right_z=0.0157 right_yaw=-0.8657 right_pitch=-0.569 right_roll=-0.4113 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -6.3795, 6.4068, 1.1648, -0.1197, -0.0464, -0.0171, -0.6359, -14.4889, 5.2581, 0.1734, 0.3101, 0.0855, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4362, 2.1895, 1.5272, -1.0115, 0.5312, 0.9936, 0.0085]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3808 right_y=0.0828 right_z=0.0027 right_yaw=-0.8482 right_pitch=-0.5526 right_roll=-0.4292 right_gripper=0.0085\nstate[joint_eff]: [-0.1846, -6.5436, 6.3932, 1.1795, -0.1343, -0.0708, -0.0122, -0.5538, -11.6308, 5.135, 0.022, 0.1636, 0.0024, 0.3687]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c7e0ca2cc019953b31e9f504580dcbac7af060fca23a33d400cf7729075e95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efeba922e4d9d37e4d10bd3eeb470e40446f384e633e2e60e86590ae636b0cb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 311):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4052c8e31e2c4797fbc3455c34b53919026813b24249684cb7a109ce3c2aeff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEuHuaZroH1XVsJk3PN5bX",
      "input": {
        "note": "Still empty; the overhead view shows the brick just right of and behind the right jaws. Opening and shifting ~4 cm back-right in the base frame to get over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.055,
          "right_yaw": -0.85,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YEuHuaZroH1XVsJk3PN5bX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9982, 0.4068, 2.0483, 1.3617, -0.9962, 0.5217, 0.9573, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9982 right_x=0.349 right_y=0.0584 right_z=0.0159 right_yaw=-0.8616 right_pitch=-0.5728 right_roll=-0.4558 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -6.5299, 6.4342, 1.199, -0.1197, -0.0171, -0.0073, -0.5812, -12.8752, 5.1487, 0.0952, 0.4029, 0.0171, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a0682ad331109da14a9cdce4fcdaa1d30f0178be7a9e585215362471e0eabc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a63c2d9319cf0e8f8f73f36a5287fd7e796754c148638c1b58b431ad8c683689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db4e83ba1fa0d588a492126063453a2293029e1d7a299561e6d253f37d9a08eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 15.28 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5907, -0.1322, 0.078, 0.9982, 0.4419, 2.244, 1.6817, -1.1187, 0.5079, 1.0286, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2775 left_z=0.1034 left_yaw=-0.8606 left_pitch=-0.4924 left_roll=0.1818 left_gripper=0.9982 right_x=0.3958 right_y=0.0962 right_z=0.0157 right_yaw=-0.8657 right_pitch=-0.569 right_roll=-0.4113 right_gripper=0.9952\nstate[joint_eff]: [-0.2393, -6.3795, 6.4068, 1.1648, -0.1197, -0.0464, -0.0171, -0.6359, -14.4889, 5.2581, 0.1734, 0.3101, 0.0855, -0.0611]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4362, 2.1895, 1.5272, -1.0115, 0.5312, 0.9936, 0.0085]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3808 right_y=0.0828 right_z=0.0027 right_yaw=-0.8482 right_pitch=-0.5526 right_roll=-0.4292 right_gripper=0.0085\nstate[joint_eff]: [-0.1846, -6.5436, 6.3932, 1.1795, -0.1343, -0.0708, -0.0122, -0.5538, -11.6308, 5.135, 0.022, 0.1636, 0.0024, 0.3687]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9982, 0.4068, 2.0483, 1.3617, -0.9962, 0.5217, 0.9573, 0.9952]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9982 right_x=0.349 right_y=0.0584 right_z=0.0159 right_yaw=-0.8616 right_pitch=-0.5728 right_roll=-0.4558 right_gripper=0.9952\nstate[joint_eff]: [-0.1983, -6.5299, 6.4342, 1.199, -0.1197, -0.0171, -0.0073, -0.5812, -12.8752, 5.1487, 0.0952, 0.4029, 0.0171, -0.0366]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a0682ad331109da14a9cdce4fcdaa1d30f0178be7a9e585215362471e0eabc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a63c2d9319cf0e8f8f73f36a5287fd7e796754c148638c1b58b431ad8c683689",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4e83ba1fa0d588a492126063453a2293029e1d7a299561e6d253f37d9a08eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStwcKEAgRGAI4AUIIdGhpbmtpbmcSDLTCkGaFFfD5jFUI+xoMW3V0ObThWaxwoRyQIjAvOVDY9NTBRYgSUb5xcMaTdM9HA2FoR5xRlIHGVWxXFlcUwF623n8AvAWUcrDD9Loq1AYlx0l8iDu8WYFHp9RCQjJYdiinH75a71pfsD8ZW7/Gxzz0OW02ZCuWgKu6SiboeHmpQZsq5/+whcqEYTzD/VSGKkU7ViDx5CcYDMtjJRasF88thQewz7pj5iWCSaDV5cRRqfARvWa5jtfZi1qs33t4j76PKwT5oacIFAeyXVlPDaXDVgaGstG9+e8gr2rfC2cVMz05l4rNuK8o9i8LhrmzbVKeNGRPsUEEIcVB22hCyNxiSgLw1sXQ8mdRWueFEjCf8pDSAQrrLCOi5S9EgxTCpbix8i8+J+IwDW1sNCQjvohKGfbgkr4+aVkKHTGdO4km915JcM5lqlMRImtKs3tnPVP/j6RruM/Rt7vcj+wIO8Nfl46aYbd1xtj0/BF7boL4m6fk79a9ZyyevGluByexHbbQfkfClxcQiA+x/yG1OQIS3h2wo1L9wyINZM54aY7LOG/SiZ6xpNTDTRkw1dwBJmfQwbsZWs6Yf6QaqzdFOxO7Rk0b407oYZ3OqgrG4sGb3wgq+D9+UUoUuI2q2ve/sZz54xOgBxbs5kMWfHQjbAbQtFObnGwRKcgWucH4PlN+ZrpuHJjJnPKHzln7Dz50VWzsQGAhT1rtFYsYHwWlH83tgNZObuvAc0PQcAPEFj12K+ABGQqj5usJaRpU88wXgA+/DVFowPldFtGjYYLW0C+RiGvLZRCgn8HMRBpmsUIs2RpLYeo81VKIdGBWejIAhOFhGMteUuj+8h2+G950gt5g2/Lcbln6p7LK9o/7/FcrNWA9H6JxzLtp2bg954PJCwHjarRkFZQwFXT+09s+oqkZ0gqf96isrOUT90+ZsZY4tDzSPPFfpK8S/wSsTJLwGUqKtdPiONkv1GTp9Sn+NKm3f/OSKWOSJ1zQGj/8h49aqOjVnmVNk+MJ5dZyvR0z+SYDk5ls1tHw4sukEYDub69XQBxr32gP0vw4Wlh9IGZ9Svu3orXyuvfxmqhFw+2MSiZqKtnHRE6MLZXLf+BAB87XmeE6cCnD9GZ8RJPYus6B/G5Ee/wodtAY1nyJht9s/oPQTL46Bmp0nc9BGHeShrahhqk3nwQanSXZL4ocycMytIHUKXY+TBKldhqvPrjzwvApsaY9RNiH7yF/qHX1kxBqOKMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NoAXmrWu7DbBQECQx5CbPu",
      "input": {
        "note": "The brick is now directly under the jaw opening at the bottom of the right wrist view; descending and closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.349,
          "right_y": 0.058,
          "right_yaw": -0.85,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NoAXmrWu7DbBQECQx5CbPu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9257, 1.5055, 1.0336, -0.5903, -0.1322, 0.078, 0.9981, 0.4046, 2.0464, 1.3334, -0.9432, 0.5156, 0.9398, 0.008]\nstate[eef_state]: left_x=0.2425 left_y=-0.2776 left_z=0.1035 left_yaw=-0.8606 left_pitch=-0.492 left_roll=0.1818 left_gripper=0.9981 right_x=0.3511 right_y=0.0595 right_z=0.0091 right_yaw=-0.8367 right_pitch=-0.5744 right_roll=-0.4326 right_gripper=0.008\nstate[joint_eff]: [-0.1026, -6.5162, 6.5709, 1.199, -0.1392, -0.0611, -0.0122, 0.1162, -8.1026, 4.6974, 0.1587, 0.3248, 0.0562, 0.5836]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffa24112ee1dcf3a4bc1fc6d6179139e1a9acb3e3dc233e9b57a5db6ea6cf635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8419fa80a5a4dcb4c754609f531665b737c6e656d835a998d6b993522f7b85b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:80053cf2c805e78e9f1a267e0dda62239d6eb84769d234ff57f0866ee6b3af18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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