adhoc

completed
2026-09-18T05:27:31.086089+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (80 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
411 s
total steps
285
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-left of the right gripper in the right wrist camera, roughly 15 cm left and 12 cm forward. Flying the right arm above the estimated brick position to check alignment in the wrist view.
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, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3752, -0.0154, -0.0292, 0.9965] state[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=-0.0 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965 state[joint_eff]: [-0.5402, -1.6342, 10.1265, 1.7851, -0.0317, 0.3004, -0.0806, -0.2256, -1.5111, 10.2496, 1.8193, -0.0611, 0.1441, -0.3785] 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-left of the right gripper in the right wrist camera, roughly 15 cm left and 12 cm forward. Flying the right arm above the estimated brick position to check alignment in the wrist view."})
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 right below the gripper, slightly to the left of the jaw column in the wrist view. Shifting ~3 cm left and descending to grasp height around the brick's middle.
move_to
right_x0.4150right_y0.1750right_z0.0300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3889, -0.0227, -0.0422, 0.9993, 0.49, 1.5467, 0.9108, -0.0639, 0.3794, 0.2344, 0.9965] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4046 right_y=0.1457 right_z=0.128 right_yaw=0.0389 right_pitch=-0.0761 right_roll=-0.0387 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.6068, 6.7897, 1.7705, -0.0708, -0.0073, -0.0171, 0.1026, -7.5145, 9.0188, 1.8584, 0.188, 0.149, -0.3736] 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": 0.415, "right_y": 0.175, "right_z": 0.03, "right_gripper": 1.0}, "note": "The brick is right below the gripper, slightly to the left of the jaw column in the wrist view. Shifting ~3 cm left and descending to grasp height around the brick's middle."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe brick sits centered between the jaws in the right wrist view at grasp height. Closing the gripper on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3893, -0.0227, -0.0425, 0.9993, 0.5495, 1.842, 0.8192, 0.2558, 0.4049, 0.2665, 0.9965] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4072 right_y=0.172 right_z=0.0273 right_yaw=0.0574 right_pitch=-0.1273 right_roll=-0.0594 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.3333, 7.1863, 1.7021, -0.0659, -0.0659, -0.0122, 0.2256, -7.7607, 5.2308, 1.1306, 0.1001, -0.0855, -0.3736] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick sits centered between the jaws in the right wrist view at grasp height. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe close was empty (reading 0.008) and the brick is still visible ahead of the closed jaws, so the fingertips were short of it. Opening, advancing 3 cm forward and lowering to table level for a retry.
move_to
right_x0.4400right_y0.1750right_z0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5499, 1.8572, 0.8188, 0.2802, 0.4034, 0.2619, 0.0082] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1777 left_yaw=0.0015 left_pitch=-0.0107 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4091 right_y=0.1737 right_z=0.0249 right_yaw=0.062 right_pitch=-0.1202 right_roll=-0.0578 right_gripper=0.0082 state[joint_eff]: [-0.0615, -1.0872, 7.0222, 1.7265, -0.0562, -0.0659, -0.0122, -0.1983, -9.853, 5.2991, 1.3358, 0.188, 0.022, 0.6422] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.175, "right_z": 0.0, "right_gripper": 1.0}, "note": "The close was empty (reading 0.008) and the brick is still visible ahead of the closed jaws, so the fingertips were short of it. Opening, advancing 3 cm forward and lowering to table level for a retry."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe brick now lies squarely between the open jaws in the wrist view, extending to the bottom edge. Closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5117, 1.9728, 0.9043, 0.4065, 0.3809, 0.2394, 0.9951] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4477 right_y=0.1802 right_z=0.0254 right_yaw=0.0577 right_pitch=-0.0417 right_roll=-0.019 right_gripper=0.9951 state[joint_eff]: [-0.0752, -1.2786, 7.0359, 1.7021, -0.0562, -0.0024, -0.0122, -0.6632, -6.4752, 5.9966, 1.0818, 0.1148, -0.0904, -0.0464] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The brick now lies squarely between the open jaws in the wrist view, extending to the bottom edge. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteSecond close was empty too; the readback shows the gripper stalled at z=0.025 (shoulder effort still negative, so not table contact) — the jaws likely never got low enough around the brick. Opening and commanding the box floor z=-0.02 to force the descent.
move_to
right_x0.4450right_y0.1800right_z-0.0200right_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, -0.3897, -0.0227, -0.0425, 0.9993, 0.511, 1.9759, 0.9051, 0.416, 0.3775, 0.2348, 0.0082] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4489 right_y=0.1811 right_z=0.0259 right_yaw=0.0623 right_pitch=-0.0361 right_roll=-0.0177 right_gripper=0.0082 state[joint_eff]: [-0.0889, -1.347, 7.1726, 1.6923, -0.0708, -0.0269, -0.0122, 0.1162, -9.894, 5.2444, 1.5556, 0.1978, 0.0366, 0.6422] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.18, "right_z": -0.02, "right_gripper": 1.0}, "note": "Second close was empty too; the readback shows the gripper stalled at z=0.025 (shoulder effort still negative, so not table contact) \u2014 the jaws likely never got low enough around the brick. Opening and commanding the box floor z=-0.02 to force the descent."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThe arm pitched slightly forward at its reach and the brick now sits between the jaw tips in the wrist view, spanning the jaw-convergence row. Closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5129, 2.0796, 0.8841, 0.6598, 0.3759, 0.244, 0.9953] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4622 right_y=0.19 right_z=0.0171 right_yaw=0.0596 right_pitch=0.0706 right_roll=0.0427 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.3197, 7.2, 1.6923, -0.0659, -0.0611, -0.0122, -0.1573, -7.3504, 3.1385, 0.8669, 0.1001, -0.2857, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The arm pitched slightly forward at its reach and the brick now sits between the jaw tips in the wrist view, spanning the jaw-convergence row. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteGripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to 10 cm to confirm the brick comes along.
move_to
right_z0.1000
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, -0.0429, 0.9993, 0.5148, 2.0892, 0.8818, 0.6632, 0.3691, 0.2398, 0.7359] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0017 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4605 right_y=0.1914 right_z=0.0122 right_yaw=0.0697 right_pitch=0.0616 right_roll=0.0386 right_gripper=0.7359 state[joint_eff]: [-0.1026, -1.265, 7.1316, 1.707, -0.0708, -0.0708, -0.0122, -0.335, -10.8239, 4.9299, 1.6777, 0.1636, 0.0171, 1.0281] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to 10 cm to confirm the brick comes along."})
tool
executing move_to over 6 steps (0.6s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe lift was only partially executed (z=0.04) but the brick still sits between the jaws in the wrist view. Continuing the lift to 17 cm while pulling back slightly from the reach limit.
move_to
right_z0.1700right_x0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0456, 0.9993, 0.5152, 1.9049, 0.9142, 0.2974, 0.3527, 0.2352, 0.7357] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0032 left_pitch=-0.0148 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4395 right_y=0.1828 right_z=0.0388 right_yaw=0.0855 right_pitch=-0.0776 right_roll=-0.0198 right_gripper=0.7357 state[joint_eff]: [-0.0615, -1.0735, 7.241, 1.7558, -0.0659, 0.0122, -0.0122, -0.0889, -13.8598, 10.0034, 2.4396, 0.2466, 0.0171, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17, "right_x": 0.4}, "note": "The lift was only partially executed (z=0.04) but the brick still sits between the jaws in the wrist view. Continuing the lift to 17 cm while pulling back slightly from the reach limit."})
tool
executing move_to over 9 steps (0.9s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe brick is held in the right jaws (visible hanging with its cable, table below it). The pot is to the left near the right arm's y bound; raising high to clear the pot rim and moving partway toward it.
move_to
right_x0.4200right_y0.3200right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0467, 0.9993, 0.5751, 1.6001, 1.0195, -0.2447, 0.3603, 0.2592, 0.7357] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0038 left_pitch=-0.016 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3888 right_y=0.182 right_z=0.1189 right_yaw=0.1185 right_pitch=-0.194 right_roll=-0.0631 right_gripper=0.7357 state[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.6874, -0.0855, -0.0659, -0.0122, 0.2667, -11.3709, 11.1795, 2.0, 0.5348, 0.1538, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.32, "right_z": 0.3}, "note": "The brick is held in the right jaws (visible hanging with its cable, table below it). The pot is to the left near the right arm's y bound; raising high to clear the pot rim and moving partway toward it."})
tool
executing move_to over 12 steps (1.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteThe pot appears forward-left of the held brick in the right wrist camera. Moving to the right arm's leftmost y bound and slightly forward, staying high above the rim.
move_to
right_x0.4400right_y0.4000right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.8051, 2.2158, 2.4496, -1.2255, 0.4671, 0.4221, 0.7391] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1725 left_yaw=0.0053 left_pitch=-0.0328 left_roll=-0.006 left_gripper=0.9993 right_x=0.4206 right_y=0.3279 right_z=0.2476 right_yaw=0.1538 right_pitch=-0.2833 right_roll=-0.1106 right_gripper=0.7391 state[joint_eff]: [-0.294, -1.5521, 7.0222, 1.8193, -0.0464, -0.0171, -0.0122, 0.0342, -10.7419, 6.2154, 0.7253, 0.569, 0.1832, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.4, "right_z": 0.3}, "note": "The pot appears forward-left of the held brick in the right wrist camera. Moving to the right arm's leftmost y bound and slightly forward, staying high above the rim."})
tool
executing move_to over 7 steps (0.7s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe right arm has hit its reach limit (stalled at y=0.36, z=0.22) and the pot centre is still forward-left, beyond it. Plan: set the brick down near the table centre line where the left arm can pick it up and drop it in the pot. Moving back toward that hand-off spot.
move_to
right_x0.3300right_y0.3000right_z0.1200
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4076, -0.0227, -0.0498, 0.9993, 0.865, 2.4783, 2.867, -1.4933, 0.4576, 0.4431, 0.7392] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1705 left_yaw=0.0055 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4035 right_y=0.3587 right_z=0.2189 right_yaw=0.1851 right_pitch=-0.3757 right_roll=-0.1635 right_gripper=0.7392 state[joint_eff]: [-0.0752, -1.4974, 6.9949, 1.7363, -0.0757, -0.0757, -0.0122, 0.0752, -15.9658, 8.1709, 1.4286, 0.6276, 0.1685, 1.033] approver: 1 step(s) modified (delta_clamped). 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
move_to({"targets": {"right_x": 0.33, "right_y": 0.3, "right_z": 0.12}, "note": "The right arm has hit its reach limit (stalled at y=0.36, z=0.22) and the pot centre is still forward-left, beyond it. Plan: set the brick down near the table centre line where the left arm can pick it up and drop it in the pot. Moving back toward that hand-off spot."})
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 arm unfolded upward to z=0.31 and now the wrist camera shows the pot opening almost directly below the held brick, slightly forward-left. Trying to position over the pot centre at a height that keeps the brick above the rim before deciding to drop.
move_to
right_x0.3700right_y0.3900right_z0.2500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.9115, 1.8259, 1.9873, -0.9012, 0.453, 0.4679, 0.7418] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0055 left_pitch=-0.0453 left_roll=-0.006 left_gripper=0.9993 right_x=0.3572 right_y=0.3405 right_z=0.3119 right_yaw=0.2745 right_pitch=-0.0876 right_roll=0.0858 right_gripper=0.7418 state[joint_eff]: [-0.0068, -1.1692, 7.2137, 1.7216, -0.0513, -0.0806, -0.0122, 0.0479, -5.3812, 5.6137, 2.1416, 0.3932, 0.0757, 0.823] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.37, "right_y": 0.39, "right_z": 0.25}, "note": "The arm unfolded upward to z=0.31 and now the wrist camera shows the pot opening almost directly below the held brick, slightly forward-left. Trying to position over the pot centre at a height that keeps the brick above the rim before deciding to drop."})
tool
executing move_to over 5 steps (0.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe arm sagged badly to z=0.145 near its reach limit and the brick now hangs beside the pot below rim height; it cannot reach over the pot. Retreating toward the base (right-back) to set the brick down for a hand-off to the left arm.
move_to
right_x0.3000right_y0.2800right_z0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9222, 1.9812, 1.7172, -0.791, 0.3847, 0.5056, 0.7436] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0055 left_pitch=-0.0457 left_roll=-0.006 left_gripper=0.9993 right_x=0.3477 right_y=0.3549 right_z=0.1448 right_yaw=0.2727 right_pitch=-0.3728 right_roll=-0.0366 right_gripper=0.7436 state[joint_eff]: [-0.1573, -1.347, 7.2, 1.7216, -0.0562, -0.0708, -0.0122, -0.0342, -15.3231, 12.0957, 1.9463, 0.4615, 0.1685, 0.7839] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.28, "right_z": 0.2}, "note": "The arm sagged badly to z=0.145 near its reach limit and the brick now hangs beside the pot below rim height; it cannot reach over the pot. Retreating toward the base (right-back) to set the brick down for a hand-off to the left arm."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteThe retreat stalled; the arm did not move and the brick is right against the pot's outer wall in the wrist view. Raising straight up first to free the arm before moving sideways.
move_to
right_z0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9264, 1.9808, 1.7489, -0.7807, 0.384, 0.5056, 0.7451] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1691 left_yaw=0.0055 left_pitch=-0.0469 left_roll=-0.006 left_gripper=0.9993 right_x=0.3512 right_y=0.3632 right_z=0.158 right_yaw=0.2869 right_pitch=-0.3393 right_roll=-0.0089 right_gripper=0.7451 state[joint_eff]: [-0.0479, -1.4564, 7.159, 1.6923, -0.0855, -0.0317, -0.0122, -0.4444, -15.3094, 10.3316, 1.8242, 0.4225, 0.149, 0.4762] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.3}, "note": "The retreat stalled; the arm did not move and the brick is right against the pot's outer wall in the wrist view. Raising straight up first to free the arm before moving sideways."})
tool
executing move_to over 10 steps (1.0s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteFrom above, the brick now hovers over the pot's right rim with the pot centre about 7 cm further left. Nudging to the arm's leftmost y bound at height to get the brick footprint inside the rim.
move_to
right_x0.3700right_y0.4000right_z0.2700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9257, 2.3325, 2.7537, -1.5097, 0.3546, 0.4973, 0.7479] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3532 right_y=0.3732 right_z=0.2492 right_yaw=0.2959 right_pitch=-0.4157 right_roll=-0.0405 right_gripper=0.7479 state[joint_eff]: [-0.1026, -1.4154, 7.1453, 1.6825, -0.0415, -0.0562, -0.0122, -0.3077, -16.7726, 10.0034, 1.2576, 0.4567, -0.0122, 0.6227] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.4, "right_z": 0.27}, "note": "From above, the brick now hovers over the pot's right rim with the pot centre about 7 cm further left. Nudging to the arm's leftmost y bound at height to get the brick footprint inside the rim."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe arm is at its reach limit and cannot move further left, but the brick protrudes forward from the jaws by several cm. Yawing the tool counterclockwise so the brick swings to point left over the pot opening (first half of the rotation).
move_to
right_yaw0.9000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9249, 2.4142, 2.8666, -1.5997, 0.3489, 0.4969, 0.7493] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3513 right_y=0.3717 right_z=0.2335 right_yaw=0.2834 right_pitch=-0.466 right_roll=-0.0747 right_gripper=0.7493 state[joint_eff]: [-0.335, -1.0872, 7.3641, 1.707, -0.0806, -0.0757, -0.0122, 0.1026, -14.2017, 7.0769, 1.3944, 0.2613, -0.0513, 0.6422] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 0.9}, "note": "The arm is at its reach limit and cannot move further left, but the brick protrudes forward from the jaws by several cm. Yawing the tool counterclockwise so the brick swings to point left over the pot opening (first half of the rotation)."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteYaw reached 0.69 and the brick now sits over the pot's right rim in the overhead view, but the arm sagged to z=0.19. Completing the rotation to ~90° while commanding extra height so the brick's far end swings inward over the pot.
move_to
right_yaw1.5000right_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8215, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.8188, 2.1677, 2.3001, -1.346, 0.0929, 0.0288, 0.7524] state[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1682 left_yaw=0.0055 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3435 right_y=0.3486 right_z=0.1919 right_yaw=0.6927 right_pitch=-0.6413 right_roll=-0.085 right_gripper=0.7524 state[joint_eff]: [-0.1026, -1.388, 7.0906, 1.6777, -0.022, -0.0513, -0.0122, -0.0615, -15.9932, 7.1726, 1.8193, 0.0562, -0.0464, 0.3101] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_yaw": 1.5, "right_z": 0.28}, "note": "Yaw reached 0.69 and the brick now sits over the pot's right rim in the overhead view, but the arm sagged to z=0.19. Completing the rotation to ~90\u00b0 while commanding extra height so the brick's far end swings inward over the pot."})
tool
executing move_to over 6 steps (0.6s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteThe brick slipped out during the rotation and now lies on the table just right of the pot, visible in the right wrist camera. Retracting the right arm back and un-yawing so the overhead camera can show where the brick landed.
move_to
right_x0.3000right_y0.2200right_z0.2500right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7021, 2.2124, 2.5332, -1.5452, -0.1719, -0.6643, 0.7516] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3404 right_y=0.3322 right_z=0.2282 right_yaw=1.312 right_pitch=-0.6251 right_roll=-0.091 right_gripper=0.7516 state[joint_eff]: [-0.0752, -1.306, 7.0085, 1.7509, -0.0269, -0.0513, -0.0122, 0.3761, -13.7231, 4.588, 1.1697, -0.398, -0.0562, -0.0855] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.22, "right_z": 0.25, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The brick slipped out during the rotation and now lies on the table just right of the pot, visible in the right wrist camera. Retracting the right arm back and un-yawing so the overhead camera can show where the brick landed."})
tool
executing move_to over 10 steps (1.0s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe retreat stalled again in this awkward wrist pose. Raising and pulling the grasp point toward the base first, keeping yaw, to unstick the arm before rotating back.
move_to
right_x0.2500right_z0.3500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7002, 2.2032, 2.5111, -1.5681, -0.2268, -0.8314, 0.9961] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3279 right_y=0.3329 right_z=0.2259 right_yaw=1.4835 right_pitch=-0.6278 right_roll=-0.0898 right_gripper=0.9961 state[joint_eff]: [-0.0068, -1.306, 7.3094, 1.6923, -0.0317, -0.0464, -0.0122, 0.1436, -13.9556, 5.4769, 0.8523, -0.4518, -0.0366, -0.398] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_z": 0.35}, "note": "The retreat stalled again in this awkward wrist pose. Raising and pulling the grasp point toward the base first, keeping yaw, to unstick the arm before rotating back."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe brick lies on the table right beside the pot (cable trailing from it in the overhead view). The right arm can't reach the pot, so I'm parking it back to the right and un-yawing, then will use the left arm to pick the brick and drop it in.
move_to
right_x0.2500right_y0.1000right_z0.2500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8284, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.8455, 1.9297, 2.2604, -1.5715, -0.1844, -0.6945, 0.9957] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.165 left_yaw=0.0055 left_pitch=-0.0637 left_roll=-0.0056 left_gripper=0.9993 right_x=0.241 right_y=0.3261 right_z=0.2651 right_yaw=1.4935 right_pitch=-0.6329 right_roll=-0.0809 right_gripper=0.9957 state[joint_eff]: [-0.0615, -1.6205, 7.0222, 1.7118, -0.0464, -0.0806, -0.0122, 0.2256, -12.465, 5.8051, 0.9841, -0.2662, 0.1441, -0.0562] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.1, "right_z": 0.25, "right_yaw": 0.0}, "note": "The brick lies on the table right beside the pot (cable trailing from it in the overhead view). The right arm can't reach the pot, so I'm parking it back to the right and un-yawing, then will use the left arm to pick the brick and drop it in."})
tool
executing move_to over 19 steps (1.9s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteOverhead view is clear now: the brick lies just right of the pot at roughly right (0.41, 0.24), too far for the left arm's reach. Flying the right gripper above it to re-grasp.
move_to
right_x0.4100right_y0.2400right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8307, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.5343, 1.3613, 1.5505, -1.4437, 0.2058, 0.334, 0.9956] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1643 left_yaw=0.0055 left_pitch=-0.0663 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2489 right_y=0.1095 right_z=0.2444 right_yaw=0.083 right_pitch=-0.6349 right_roll=-0.0903 right_gripper=0.9956 state[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.6923, -0.0464, -0.0806, -0.0171, -0.1709, -5.4906, 5.8872, 0.9548, 0.2955, 0.1343, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.24, "right_z": 0.12, "right_gripper": 1.0}, "note": "Overhead view is clear now: the brick lies just right of the pot at roughly right (0.41, 0.24), too far for the left arm's reach. Flying the right gripper above it to re-grasp."})
tool
executing move_to over 13 steps (1.3s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe brick shows ahead-left of the jaws in the wrist camera, but the wrist is still pitched back at -0.66 which skews the view. Commanding pitch back to 0 while shifting ~3 cm forward and left to line up over the brick.
move_to
right_x0.4400right_y0.2700right_z0.1000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4164, -0.0227, -0.0498, 0.9993, 0.609, 2.0323, 1.7782, -1.0489, 0.2287, 0.3752, 0.9963] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1634 left_yaw=0.0055 left_pitch=-0.0698 left_roll=-0.0054 left_gripper=0.9993 right_x=0.393 right_y=0.2297 right_z=0.1115 right_yaw=0.0917 right_pitch=-0.6651 right_roll=-0.125 right_gripper=0.9963 state[joint_eff]: [-0.1846, -1.6752, 7.1043, 1.6825, -0.0366, -0.0366, -0.0122, 0.3624, -11.1795, 8.5675, 0.7204, 0.3443, 0.2125, -0.4029] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.27, "right_z": 0.1, "right_pitch": 0.0}, "note": "The brick shows ahead-left of the jaws in the wrist camera, but the wrist is still pitched back at -0.66 which skews the view. Commanding pitch back to 0 while shifting ~3 cm forward and left to line up over the brick."})
tool
executing move_to over 23 steps (2.3s)
step 220
top_cam
camera top_cam step 220
left_cam
camera left_cam step 220
right_cam
camera right_cam step 220
assistant
agent noteThe brick now lies between the jaws in the wrist view, slightly left of the jaw column, with the pot wall just beyond it. Descending to table level with a small leftward correction before closing.
move_to
right_x0.4300right_y0.2800right_z-0.0100
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4267, -0.0227, -0.0498, 0.9993, 0.7326, 1.9434, 1.2327, -0.0677, 0.5598, 0.2829, 0.9957] state[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1602 left_yaw=0.0055 left_pitch=-0.0846 left_roll=-0.005 left_gripper=0.9993 right_x=0.4302 right_y=0.2657 right_z=0.0894 right_yaw=0.1106 right_pitch=-0.0788 right_roll=-0.1447 right_gripper=0.9957 state[joint_eff]: [-0.0752, -1.7436, 6.9812, 1.7363, -0.0855, -0.0513, -0.0122, 0.4718, -9.0462, 6.5709, 1.8242, 0.3883, -0.0122, -0.0659] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.28, "right_z": -0.01}, "note": "The brick now lies between the jaws in the wrist view, slightly left of the jaw column, with the pot wall just beyond it. Descending to table level with a small leftward correction before closing."})
tool
executing move_to over 7 steps (0.7s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteAt z≈0 the brick fills the space between the jaws in the wrist view. Closing the gripper to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.4335, -0.0227, -0.0498, 0.9993, 0.7528, 2.1609, 1.1656, 0.2184, 0.5705, 0.2993, 0.9956] state[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1587 left_yaw=0.0056 left_pitch=-0.0919 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4325 right_y=0.2794 right_z=0.0053 right_yaw=0.1141 right_pitch=-0.0719 right_roll=-0.1367 right_gripper=0.9956 state[joint_eff]: [-0.0068, -1.4838, 7.0085, 1.7314, -0.0366, -0.0659, -0.0122, 0.5675, -8.3897, 5.2855, 0.9695, 0.2466, -0.0855, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "At z\u22480 the brick fills the space between the jaws in the wrist view. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 237
top_cam
camera top_cam step 237
left_cam
camera left_cam step 237
right_cam
camera right_cam step 237
assistant
agent noteGrasp confirmed (gripper 0.75, brick between the jaws). Lifting high and pulling back to a comfortable pose before rotating the brick to point left over the pot.
move_to
right_x0.3300right_y0.2500right_z0.2700
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.4343, -0.0227, -0.0498, 0.9993, 0.7525, 2.1708, 1.1648, 0.2481, 0.5678, 0.2947, 0.7459] state[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1586 left_yaw=0.0056 left_pitch=-0.0926 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4348 right_y=0.2819 right_z=0.0047 right_yaw=0.1189 right_pitch=-0.058 right_roll=-0.1275 right_gripper=0.7459 state[joint_eff]: [-0.0752, -1.4838, 6.9812, 1.6337, -0.0464, -0.0611, -0.0122, 0.0479, -12.1504, 5.4906, 1.2088, 0.2173, -0.0024, 1.0281] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.25, "right_z": 0.27}, "note": "Grasp confirmed (gripper 0.75, brick between the jaws). Lifting high and pulling back to a comfortable pose before rotating the brick to point left over the pot."})
tool
executing move_to over 18 steps (1.8s)
step 255
top_cam
camera top_cam step 255
left_cam
camera left_cam step 255
assistant
agent noteBrick is securely held, protruding forward from the jaws with the pot to its left. Raising higher and starting the counterclockwise yaw so the brick will point over the pot.
move_to
right_z0.3200right_yaw0.8000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4347, -0.0227, -0.0498, 0.9993, 0.9047, 1.6096, 1.4273, -0.7712, 0.6197, 0.4057, 0.7507] state[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1581 left_yaw=0.0056 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3287 right_y=0.2579 right_z=0.2161 right_yaw=0.1595 right_pitch=-0.1744 right_roll=-0.1964 right_gripper=0.7507 state[joint_eff]: [-0.0615, -1.6479, 7.159, 1.6484, -0.0317, -0.0708, -0.0122, 0.4171, -12.3556, 10.9607, 1.7314, 0.7497, 0.232, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32, "right_yaw": 0.8}, "note": "Brick is securely held, protruding forward from the jaws with the pot to its left. Raising higher and starting the counterclockwise yaw so the brick will point over the pot."})
tool
executing move_to over 7 steps (0.7s)
step 262
assistant
agent noteYaw is at 0.67 and the brick is still held, now angled toward the pot. Completing the rotation to ~90° so the brick points left over the pot opening.
move_to
right_z0.3200right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4412, -0.0227, -0.0498, 0.9993, 0.6743, 1.5486, 1.6371, -0.9485, 0.1032, -0.1749, 0.7536] state[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1568 left_yaw=0.0056 left_pitch=-0.101 left_roll=-0.0046 left_gripper=0.9993 right_x=0.332 right_y=0.2466 right_z=0.2712 right_yaw=0.6731 right_pitch=-0.3024 right_roll=-0.1867 right_gripper=0.7536 state[joint_eff]: [-0.1846, -1.5111, 7.1316, 1.7021, -0.0806, -0.0317, -0.0122, -0.212, -9.4564, 10.4957, 1.7314, -0.1197, -0.0122, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.32, "right_yaw": 1.5}, "note": "Yaw is at 0.67 and the brick is still held, now angled toward the pot. Completing the rotation to ~90\u00b0 so the brick points left over the pot opening."})
tool
executing move_to over 6 steps (0.6s)
step 268
assistant
agent noteThe brick is held pointing left toward the pot (pot visible straight ahead of it in the wrist camera). Moving the arm to its leftmost reach so the brick extends over the pot opening.
move_to
right_x0.3600right_y0.3800right_z0.3000right_yaw1.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.844, 0.6075, -0.4446, -0.0227, -0.0498, 0.9993, 0.4118, 1.8595, 2.1689, -1.393, -0.4122, -0.9051, 0.7536] state[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.155 left_yaw=0.0056 left_pitch=-0.1087 left_roll=-0.0044 left_gripper=0.9993 right_x=0.354 right_y=0.2358 right_z=0.292 right_yaw=1.3036 right_pitch=-0.3878 right_roll=-0.1489 right_gripper=0.7536 state[joint_eff]: [-0.0615, -1.6889, 7.1726, 1.746, -0.0366, -0.0611, -0.0122, -0.3214, -9.812, 7.9111, 0.9499, -0.4811, -0.0611, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.38, "right_z": 0.3, "right_yaw": 1.5}, "note": "The brick is held pointing left toward the pot (pot visible straight ahead of it in the wrist camera). Moving the arm to its leftmost reach so the brick extends over the pot opening."})
tool
executing move_to over 13 steps (1.3s)
step 281
assistant
agent noteOverhead view shows the gripper over the pot's right rim with the held brick extending further left over the pot's interior. Opening the gripper to drop the brick into the pot.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8474, 0.6075, -0.4534, -0.0227, -0.0498, 0.9993, 0.6765, 2.3257, 2.7884, -1.5993, -0.3523, -0.8436, 0.7536] state[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1524 left_yaw=0.0056 left_pitch=-0.1209 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3436 right_y=0.3587 right_z=0.2535 right_yaw=1.5083 right_pitch=-0.4586 right_roll=-0.1059 right_gripper=0.7536 state[joint_eff]: [0.0068, -1.812, 7.2274, 1.746, -0.0317, -0.0562, -0.0122, 0.3897, -12.8068, 8.9778, 1.2723, -0.4762, 0.149, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_gripper": 1.0}, "note": "Overhead view shows the gripper over the pot's right rim with the held brick extending further left over the pot's interior. Opening the gripper to drop the brick into the pot."})
tool
executing move_to over 3 steps (0.3s)
step 284
assistant
agent noteThe brick was dropped twice but both times landed on the table beside the pot. The pot centre sits at roughly right_y ≈ 0.42–0.45, beyond the right arm's practical reach (it stalls at y ≈ 0.36–0.37 and sags heavily there), while the brick itself is beyond the left arm's table-contact reach. Out of LLM budget.
give_up
hindsightScene: pot on the left half (~20–22 cm diameter, rim ~15 cm high), power-bank "brick" (~4×10×2 cm, cable attached) at right (0.44, 0.18). The pot centre is at about right (0.44, 0.44) / left (0.4, -0.2): the right arm cannot get its grasp point past y≈0.37 at x≈0.35 (it stalls and sags 8–10 cm, pitch drifts to -0.6 and gets stuck there; command pitch 0 explicitly to recover). Do the task with the LEFT arm from the start: the initial brick position right (0.44,0.18) ≈ left (0.44,-0.47) is out of left bounds, so first use the right arm to pick the brick and set it down near right y≈0.30, x≈0.30 (left y≈-0.35), then let the left arm pick it and carry it over the pot at left (0.4,-0.2). Do not try to swing a protruding grasped object over the rim by yawing at the reach limit: it slipped once and the second time fell just outside the rim. Grasping the brick: first close at the visual centre was short — advance ~3 cm radially; the arm cannot descend below z≈0.025 at x≈0.45 (reach limit), so grasp at x≤0.43. Gripper reads ≈0.74 when holding the brick across its width. The top camera shows elevated objects displaced upward (further from base); compare objects at the same height only.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8478, 0.6075, -0.4538, -0.0227, -0.0498, 0.9993, 0.6792, 2.3268, 2.7331, -1.589, -0.3492, -0.8463, 0.9953] state[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1523 left_yaw=0.0056 left_pitch=-0.1216 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3424 right_y=0.3587 right_z=0.2376 right_yaw=1.5281 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.0598, 6.9675, 1.6239, -0.0415, -0.022, -0.0122, -0.4855, -14.2838, 5.4496, 1.1306, -0.2271, 0.0611, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The brick was dropped twice but both times landed on the table beside the pot. The pot centre sits at roughly right_y \u2248 0.42\u20130.45, beyond the right arm's practical reach (it stalls at y \u2248 0.36\u20130.37 and sags heavily there), while the brick itself is beyond the left arm's table-contact reach. Out of LLM budget.", "hindsight": "Scene: pot on the left half (~20\u201322 cm diameter, rim ~15 cm high), power-bank \"brick\" (~4\u00d710\u00d72 cm, cable attached) at right (0.44, 0.18). The pot centre is at about right (0.44, 0.44) / left (0.4, -0.2): the right arm cannot get its grasp point past y\u22480.37 at x\u22480.35 (it stalls and sags 8\u201310 cm, pitch drifts to -0.6 and gets stuck there; command pitch 0 explicitly to recover). Do the task with the LEFT arm from the start: the initial brick position right (0.44,0.18) \u2248 left (0.44,-0.47) is out of left bounds, so first use the right arm to pick the brick and set it down near right y\u22480.30, x\u22480.30 (left y\u2248-0.35), then let the left arm pick it and carry it over the pot at left (0.4,-0.2). Do not try to swing a protruding grasped object over the rim by yawing at the reach limit: it slipped once and the second time fell just outside the rim. Grasping the brick: first close at the visual centre was short \u2014 advance ~3 cm radially; the arm cannot descend below z\u22480.025 at x\u22480.45 (reach limit), so grasp at x\u22640.43. Gripper reads \u22480.74 when holding the brick across its width. The top camera shows elevated objects displaced upward (further from base); compare objects at the same height only."})
tool
give_up: The brick was dropped twice but both times landed on the table beside the pot. The pot centre sits at roughly right_y ≈ 0.42–0.45, beyond the right arm's practical reach (it stalls at y ≈ 0.36–0.37 and sags heavily there), while the brick itself is beyond the left arm's table-contact reach. Out of LLM budget.
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 · 23.99 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3752, -0.0154, -0.0292, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=-0.0 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.6342, 10.1265, 1.7851, -0.0317, 0.3004, -0.0806, -0.2256, -1.5111, 10.2496, 1.8193, -0.0611, 0.1441, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560261b560ba88b626df89593c533934b6a08382bf6f0bb89d5e99a289da6ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:488b1846596977be8cefce032bd58138b8974894cb99b60b773ff4255eb38d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7dbad7cdf07b089c60512bdc664d12849e6d4f9976da78a85d9fd5c52cb8f364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 12.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3752, -0.0154, -0.0292, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=-0.0 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.6342, 10.1265, 1.7851, -0.0317, 0.3004, -0.0806, -0.2256, -1.5111, 10.2496, 1.8193, -0.0611, 0.1441, -0.3785]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:560261b560ba88b626df89593c533934b6a08382bf6f0bb89d5e99a289da6ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:488b1846596977be8cefce032bd58138b8974894cb99b60b773ff4255eb38d6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dbad7cdf07b089c60512bdc664d12849e6d4f9976da78a85d9fd5c52cb8f364",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": 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X71Ot9g2KjV46OZMTcOPmU7j+gELgzVp5TZJ+rBJQDGPSvAIDZoY02YBjcw93+rIpw1BsLYlylWeeKz52vvlNyUyKIb9QmeTbF5Jn0d5CJmwc2WkzPV7igx/CZbj/p3B538cswX2NqujaRDq5iy77qUnGP87z6Fz3w0uvlLP5NVVpdIojq4IkAvp2izH+QUEHH7frnDVufwGft7fvC8Nc8e1xYqsgycFH2sPTd2juQ9aJDeGqMmPtMFvjYBshRhD93/YYBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WGXPgBF1keKkyFbM2K4NkY",
      "input": {
        "note": "The black brick appears ahead-left of the right gripper in the right wrist camera, roughly 15 cm left and 12 cm forward. Flying the right arm above the estimated brick position to check alignment in the wrist view.",
        "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_01WGXPgBF1keKkyFbM2K4NkY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7998, 0.6075, -0.3889, -0.0227, -0.0422, 0.9993, 0.49, 1.5467, 0.9108, -0.0639, 0.3794, 0.2344, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4046 right_y=0.1457 right_z=0.128 right_yaw=0.0389 right_pitch=-0.0761 right_roll=-0.0387 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.6068, 6.7897, 1.7705, -0.0708, -0.0073, -0.0171, 0.1026, -7.5145, 9.0188, 1.8584, 0.188, 0.149, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3711c464b13b98c09751ccc3d0ae4eca292d313674e5f4ffad027f195b869339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fc2b7039e245fc886d4c9752cdfb6778d9eb6c000dec1cd659c7411f301e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:beb05e35de532ae4f86cd12b9b080dd9cc9ff020ea042f6357161cf03923b9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.496 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3752, -0.0154, -0.0292, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=-0.0 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.6342, 10.1265, 1.7851, -0.0317, 0.3004, -0.0806, -0.2256, -1.5111, 10.2496, 1.8193, -0.0611, 0.1441, -0.3785]",
      "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, 0.7998, 0.6075, -0.3889, -0.0227, -0.0422, 0.9993, 0.49, 1.5467, 0.9108, -0.0639, 0.3794, 0.2344, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4046 right_y=0.1457 right_z=0.128 right_yaw=0.0389 right_pitch=-0.0761 right_roll=-0.0387 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.6068, 6.7897, 1.7705, -0.0708, -0.0073, -0.0171, 0.1026, -7.5145, 9.0188, 1.8584, 0.188, 0.149, -0.3736]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3711c464b13b98c09751ccc3d0ae4eca292d313674e5f4ffad027f195b869339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fc2b7039e245fc886d4c9752cdfb6778d9eb6c000dec1cd659c7411f301e25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beb05e35de532ae4f86cd12b9b080dd9cc9ff020ea042f6357161cf03923b9f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQoKEAgRGAI4AUIIdGhpbmtpbmcSDJZh0Qqhpr7Ct0WlkhoMeDoHdwAAk60j/GJ/IjDbNRAL6pz7KQwD3WmU+bPJRY4QB+q8612gCCxWhQz5wEELPtlTUeKiyGLh5UILK0cqsgnKLX6j93e02qHtsEbaiJrkHEl9bRyXRyeb4cRI4iShT40VaX22jRjPhbPH024PF+zpHF+ELvqg6gs++oPKu8XfnzxfFTEVcgQtdQOPHE4bJU7mgDGlPiO4VhM/AoW3IRCUWeqOBD7CM0vw3XyOlgOvJgUy3kTYt2aXe6GgkeWQJoK1Dl5nEI4o5R2fmCXcVspoMoXJJ6VlMstYK9+Own4iWArndMPdLxfnXHFwoG8nxmL2EZ4IjCOTSYeQBU5OD7wlneJVpvMSto/9NQzitdZWzwgD9G3Wkv6LfuN4yPewThMz/ygCgcrO19hhG/r0L81zJG77d1YOYbSba63Lx1vi1MClrquVpvIMKWCFJ2CLAliYLzlGOGw96aqwJ0/ZkLp4TnNUJNk/pFNPsH5MQJNE30F//oTyZUCx3Nv7rPpRZPqL4Qn06chTxUtZhKHpxx5tahGL0vn0eyjmDxnX8QMCIr2FQT3J4fsg3vlRZqJGvqdQ4haG1h9tKBHLj0kMFljflVdO4AmXCPUIv8+zakYRSRiANixJrDBgx+s6wyYWd9H+hNZqmJtGka0Pqd/j9/zVTGCUUVsKJdMVwfhJWoar+m/HtNhUzJCg0GDAD5kUedsxrrwhU28Smy8yEk1VobE9DnG6SFqjj+TlBH6roqGpKwEwP8b9xq8ZU1MXEqyeaoEaPefWT6nA8Bn/Q2Ttq8Z5VIfhgfBemV9f2hxp7DHQzbnEF1RiEz5IhK16W/NAmFhIiMwoVSPGJmjZdDVVSqDAG4PUg+kR+YrQg87ZFaRrbKH4bYyZ74ujoviT0tKnJXjwNhGpVZ5tfzKgDdkajvVNLksm1ASWGu2REweSaAAAo6SiS/qbEeh+kJe+OQsjlMrJPfNAkbitZwcavKXSkdodvfzSVD7p2uKeuAuqw1goNo7FvazNvY03lLiGcN6GICPeZFTa3PnME6iKtWKd3l+LTMPYwC1u42AXnXZrA+Us3aFfqygMYOxlFq9A1ABl+gFnbmR+cYGo1bV+3OUctzXYswwBespAbfUx2ZLgEOJSqzO7fPWh+woEIDyx8nrJ7gP4uE7V3vlXXUXPTRXLgRFnMIZGm8gD2q/LRW9fdzHVuDxMyN8xU6GXLdPUQVjBmXb0alTKPNSEHz9+Lod5vDgPK5GnDS5FTDjImPASOUth4BAa1DkpNI4gVpBVW/oJ83MEJ5sE4rDDR0exmHoswlKwE4zIcfANM5jWz87s6wlyaUG9vha2XWAhTae3RwSx97pYaqV8n9vuh2e2i8BKfPuiBGCM/7vPH63W/77eyKC3w4u5u6PRmMmEAGrtdCIZqy7Oi8ebWpDTApEfJvwOUAgfD1R6j5xAlbLotxTm7I3u7GyDly6HvgXhiVEg6715YTkD1M53GXTcsWy4dwubl/c8jGH/2oB+Xl/S2m+Z+KaBR/NQZTkOgp14p9rNmjuA/V5okgoBYJ35cDoK6mi+WTs1r49ibGmJdH5ozzEd5m8Bj67NxrQdGzJI7BJppsQH14+WhYFKoMc+6Phlc+xitbCreJDsAgBLQMCr4leieCK9C9oANt+JJutwxVW7gKA1gghRTGFaTr7WGbVek4WgvVzxYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CFjiUkEJL84NPYpYvHVQDk",
      "input": {
        "note": "The brick is right below the gripper, slightly to the left of the jaw column in the wrist view. Shifting ~3 cm left and descending to grasp height around the brick's middle.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.415,
          "right_y": 0.175,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01CFjiUkEJL84NPYpYvHVQDk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3893, -0.0227, -0.0425, 0.9993, 0.5495, 1.842, 0.8192, 0.2558, 0.4049, 0.2665, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4072 right_y=0.172 right_z=0.0273 right_yaw=0.0574 right_pitch=-0.1273 right_roll=-0.0594 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3333, 7.1863, 1.7021, -0.0659, -0.0659, -0.0122, 0.2256, -7.7607, 5.2308, 1.1306, 0.1001, -0.0855, -0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d21acd723f709120e5b0381fc08ce62d2c27a7b0f51a02c4b3477e05838d3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7d983e6b6c911f5283618ac781aa97e18930b34b950777ef4da7df3ca65aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69cf6e56df471567ec3b538c9b2168e6bb3631ab2cea4b3a5e1ae422b9f07a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.458 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7952, 0.6044, -0.3817, -0.0223, -0.041, 0.9993, -0.0216, 0.794, 0.6029, -0.3752, -0.0154, -0.0292, 0.9965]\nstate[eef_state]: left_x=0.2947 left_y=0.0016 left_z=0.1795 left_yaw=-0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2953 right_y=-0.0 right_z=0.1805 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9965\nstate[joint_eff]: [-0.5402, -1.6342, 10.1265, 1.7851, -0.0317, 0.3004, -0.0806, -0.2256, -1.5111, 10.2496, 1.8193, -0.0611, 0.1441, -0.3785]",
      "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, 0.7998, 0.6075, -0.3889, -0.0227, -0.0422, 0.9993, 0.49, 1.5467, 0.9108, -0.0639, 0.3794, 0.2344, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4046 right_y=0.1457 right_z=0.128 right_yaw=0.0389 right_pitch=-0.0761 right_roll=-0.0387 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.6068, 6.7897, 1.7705, -0.0708, -0.0073, -0.0171, 0.1026, -7.5145, 9.0188, 1.8584, 0.188, 0.149, -0.3736]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3893, -0.0227, -0.0425, 0.9993, 0.5495, 1.842, 0.8192, 0.2558, 0.4049, 0.2665, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4072 right_y=0.172 right_z=0.0273 right_yaw=0.0574 right_pitch=-0.1273 right_roll=-0.0594 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3333, 7.1863, 1.7021, -0.0659, -0.0659, -0.0122, 0.2256, -7.7607, 5.2308, 1.1306, 0.1001, -0.0855, -0.3736]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d21acd723f709120e5b0381fc08ce62d2c27a7b0f51a02c4b3477e05838d3e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7d983e6b6c911f5283618ac781aa97e18930b34b950777ef4da7df3ca65aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69cf6e56df471567ec3b538c9b2168e6bb3631ab2cea4b3a5e1ae422b9f07a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSggYKEAgRGAI4AUIIdGhpbmtpbmcSDLtmDt0layo+gbqXchoMIBdLzqui4gOgwE2UIjDqsPMXlbxVY5RarrxfEkrhj5fySGGDSLoLh/zYM55nfbVgtLQcUacwZTrJBrb+Ig8qnwWa+P7Fu2zlnak5eDdIMWxEEiRrg7rUpkthx3ZganDnHRqnU1DVpW+s2wzXWZ6CCilbDWyGWzcy9SqgN+LeRdNMerU+nki87W7EdYuQj0VVMNNLice7wMk7zvaCkaRsEWvW9RhEPear65OGZagT4ImxrU0u/K5dTA1S4FRyKUKZ5ap2Eij2JuROtzIRauS3+ssISUuuppdt6QBDNYQYooyV1F55LAQxCgF3L952l0lBPpCoJa02v1D+GJFnbJWAoJYwwJX3rO0k+eC/zcz/1r0VhODxS7UaNlp34zs/2AMdm1IkHAPxTaXT9tqh94NPr1G+7JorF2HpMsO7ertehnPbtLH8eawMg4nx1pI4mmdeAyTJrbGNcG6JmjW/MetonpMaTNMMPLNV6ybJEC6hIC/1yqwwi4xBMrCmd65khprOGtYcwissPykB6DooXtmcB5X2BZ2VHdkuWUnZwz3CjH3D9aQIfXIGkyYwRBGHxC+YHWrEdEJK8HWw+bOJZ6H7orL2NCNUtu3j2tKKzRZQejquW1uW4Dd18Ya8hsR7kXFYmBn4yfJJ0rj/piAaAbn5uF3pLTCoEEXWcbYnItmRBL+rhzKBkjoojFsCUA9MnDO+zDKUp8zLUKTx6+XuJOgUZ007EhArtjYdoeLJApgfaI6GZgwAvKAXCcojX7veWihIfmn9jWd32t48WOb2ys3urzDa0F7QKkweHFWzQClGePjekRLq6TjI8yf4xiyfRzodtE7z0G2r0OWQ/o/XwXWCgZK1EbluTeasLtaL1R/32v68ZnJPZmWHnYGkCl9aJ1tPq2JcZH3YcWDZwLgMvRhH9+2dQZP+b3TMBZVmyalU1QeKJC80XzCCaLlrso1frhS/cen8Dp1ylSTzEremi2hglxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D3S922TAHa5XD57vZpiDqh",
      "input": {
        "note": "The brick sits centered between the jaws in the right wrist view at grasp height. Closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01D3S922TAHa5XD57vZpiDqh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5499, 1.8572, 0.8188, 0.2802, 0.4034, 0.2619, 0.0082]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1777 left_yaw=0.0015 left_pitch=-0.0107 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4091 right_y=0.1737 right_z=0.0249 right_yaw=0.062 right_pitch=-0.1202 right_roll=-0.0578 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.0872, 7.0222, 1.7265, -0.0562, -0.0659, -0.0122, -0.1983, -9.853, 5.2991, 1.3358, 0.188, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb0860ec4328071392323bbae0455166cb70dc9b7bcd7c8b9317acb84b8cb63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82286a811fcecdbbf7c1c16c65050c8855020c8cbb3692a246948c501583ba35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c48eb40f703f31ac950b0c12e4f5b0baac891b1eaf761fa817cebffe57ee5180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 6.858 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, 0.7998, 0.6075, -0.3889, -0.0227, -0.0422, 0.9993, 0.49, 1.5467, 0.9108, -0.0639, 0.3794, 0.2344, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1782 left_yaw=0.0013 left_pitch=-0.0088 left_roll=-0.0006 left_gripper=0.9993 right_x=0.4046 right_y=0.1457 right_z=0.128 right_yaw=0.0389 right_pitch=-0.0761 right_roll=-0.0387 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.6068, 6.7897, 1.7705, -0.0708, -0.0073, -0.0171, 0.1026, -7.5145, 9.0188, 1.8584, 0.188, 0.149, -0.3736]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3893, -0.0227, -0.0425, 0.9993, 0.5495, 1.842, 0.8192, 0.2558, 0.4049, 0.2665, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4072 right_y=0.172 right_z=0.0273 right_yaw=0.0574 right_pitch=-0.1273 right_roll=-0.0594 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3333, 7.1863, 1.7021, -0.0659, -0.0659, -0.0122, 0.2256, -7.7607, 5.2308, 1.1306, 0.1001, -0.0855, -0.3736]\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, 0.8009, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5499, 1.8572, 0.8188, 0.2802, 0.4034, 0.2619, 0.0082]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1777 left_yaw=0.0015 left_pitch=-0.0107 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4091 right_y=0.1737 right_z=0.0249 right_yaw=0.062 right_pitch=-0.1202 right_roll=-0.0578 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.0872, 7.0222, 1.7265, -0.0562, -0.0659, -0.0122, -0.1983, -9.853, 5.2991, 1.3358, 0.188, 0.022, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb0860ec4328071392323bbae0455166cb70dc9b7bcd7c8b9317acb84b8cb63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82286a811fcecdbbf7c1c16c65050c8855020c8cbb3692a246948c501583ba35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c48eb40f703f31ac950b0c12e4f5b0baac891b1eaf761fa817cebffe57ee5180",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QoKEAgRGAI4AUIIdGhpbmtpbmcSDNnpsLj5ls2PoVHJJhoMIbYfSa1uJmO0qg7cIjBJMunh+zVv/STo6cLTAtKS2lBOh7yzz0nFqHpamYnSYmPl1G6B3UvfDAJC3BL+ZGkqkgquwYamPDBW01eFtvVvwiaZS7maSrir7H9cL3cCzWhBoe3GgPCrq8xp48YNXDwH8kBZ/iYTphh+P9TPdpyM8Vd9tO7BvFam920/8PioRnNjpYRk1xysJwdfkGesHsrWIJbzjufLY6dkgwiPjBQ0MUyGdXsFpwY06z/Kg+Fb308PAgA2NPsN56Eb3PFpGu0ni3siH5ZyBRTEWluhlAVhS43ikwOEAxCoWQcrGVM5kVnCe2/pqjKqWePv+QEEoj62S9/u8CgMxPi1WL+xflh5ZOcJBZhGG+PlpIS7M6CnS9kq5HHNFpziyM50nskUNwvXrOMub2LROVEukhCaYBAl55EEOHk98VaiLx2q+jiRmU4ESF/4MUcrrfvm1fFnGrZcTT3pzDHkzGicpRTBLO1g/jG+rni5fvwDnw/ysYoB8NNrt78EbhBEQUOcuCkVWEvHyywLuZ6gggpN8WGfS03DhI6QgTw6RsfIZSmt8WfQh8G4/7qxFx7+DOkWMrgDhbhqJEJyeyW9eTWI7BkFNssXMcVd9AFq9/djqjaqromFf/+81c+cnwZVEpWuOCJqsbvYJX6x7DfiErNFsrFkkxyPa7SkFLGkuiEmFDjmBwxjlpBX212N/xHkDcVlwha8Z8ALspzHXZpAupwU5rrw3VnLkFxHcaw0q+pRDh1rBwwCyNXPlYvqqnuNb+u61qzK7QZLWKF9wLdVHsQiH+dTBUz82fF2MKkUR1HQhYLxTUb7gf4FaZkdV79DtHzlBApw0c996hLIwtOlVWTElWlvPHIyymQvwMePx6z65P7Eribj8/kEWp3sNVkZmkLmCo3P8VTXCZIX2e9Sh7jVtg2iJf9j8e4/uCvxloXXGhcedXdoVqw7cVr2xdjj4dL2DLswv4MNphe3gxojbHc11U5zBqyY4J7xMaXY51XSoDcrppomDt7aozoD/QefdQNmBm77sMFRlyYVtWkhijug143W42rCL0OPjkyOqdAv6IRaIrvHWuUv/Go1jzJROtwqVyyiD8HKpJnJpB3a+1H4Mm6mZIfoFLrAQXqJ7sO+jx1VicRtt0FoZcJ13bQG+seE2kEpGNmDQMeWKScECi32zu5F4aHyfz4f+ZcZI378Jy61YNH+zRvN4zi2NLynvlON5+MbRvhwYRHFjEd4Y7Wg0nfpIVfmm0kJclwoYQQ0TQb9ozuul5js6ANdKDi70/vqJlIRVpKd4tcFAGkYbj7eUqX1gNj2xX4qpx8C8+feYSb1suauRzZgP4G64hhEt4rvy9TH9dSc4Vl0FgPQJ+PHYey82fenDDvzuN0APWAWb80qh9AOoKc7+1+77/x6bCsD/02QU4NM7HjxOPwj9NnmniZjGRbkBJd/kum7HLVsbxLeMsIWGtUvvMba0t2hMIpVlKU74AjzLuzzIjg7QoqLiLJeUzoh28/8pVnBFvmijCJrBGabY6izgODvzHMDyrEEiISmegV4tzkHbz5t/qiHsNMirXsl8oYjIOYHsdbiWbX+ayzgpSJ8rjEFk3NqiJDIvRh54ARDFe1/3nhwEcRzkEOAKlLAfdeHmhFLzSs7kAmtbFwiKqXI016/BLbfuEvBgxf1wM0F6AtyxTXM7FVa7gyfgoGxQZWUBYptxunkh9zkNZ3sXUa4X+Kyylf44eFVutHGb7V7z61mWE0o0m23h2DczWcx3nCpAPMNearUmp7skUyheNSyL0m5pG5A6MiCZXGBS7tX4ihQfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NPvVi6LovWvL7K4rBsUisD",
      "input": {
        "note": "The close was empty (reading 0.008) and the brick is still visible ahead of the closed jaws, so the fingertips were short of it. Opening, advancing 3 cm forward and lowering to table level for a retry.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.175,
          "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_01NPvVi6LovWvL7K4rBsUisD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5117, 1.9728, 0.9043, 0.4065, 0.3809, 0.2394, 0.9951]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4477 right_y=0.1802 right_z=0.0254 right_yaw=0.0577 right_pitch=-0.0417 right_roll=-0.019 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.2786, 7.0359, 1.7021, -0.0562, -0.0024, -0.0122, -0.6632, -6.4752, 5.9966, 1.0818, 0.1148, -0.0904, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b57425934605d792733b58fbb05c939b74ef7dbf4db93dc6ac64e989f359ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bf186d05b3d88ee4b5e2bea7dc55de13985114a7724f6dbfade6a72a714113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa0fd48b850c9aaf1a12643f03e3254d1218ff55af9178992572aef1180bf707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 18.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8009, 0.6075, -0.3893, -0.0227, -0.0425, 0.9993, 0.5495, 1.842, 0.8192, 0.2558, 0.4049, 0.2665, 0.9965]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1778 left_yaw=0.0015 left_pitch=-0.0103 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4072 right_y=0.172 right_z=0.0273 right_yaw=0.0574 right_pitch=-0.1273 right_roll=-0.0594 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3333, 7.1863, 1.7021, -0.0659, -0.0659, -0.0122, 0.2256, -7.7607, 5.2308, 1.1306, 0.1001, -0.0855, -0.3736]\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, 0.8009, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5499, 1.8572, 0.8188, 0.2802, 0.4034, 0.2619, 0.0082]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1777 left_yaw=0.0015 left_pitch=-0.0107 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4091 right_y=0.1737 right_z=0.0249 right_yaw=0.062 right_pitch=-0.1202 right_roll=-0.0578 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.0872, 7.0222, 1.7265, -0.0562, -0.0659, -0.0122, -0.1983, -9.853, 5.2991, 1.3358, 0.188, 0.022, 0.6422]\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, 0.8036, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5117, 1.9728, 0.9043, 0.4065, 0.3809, 0.2394, 0.9951]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4477 right_y=0.1802 right_z=0.0254 right_yaw=0.0577 right_pitch=-0.0417 right_roll=-0.019 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.2786, 7.0359, 1.7021, -0.0562, -0.0024, -0.0122, -0.6632, -6.4752, 5.9966, 1.0818, 0.1148, -0.0904, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b57425934605d792733b58fbb05c939b74ef7dbf4db93dc6ac64e989f359ad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2bf186d05b3d88ee4b5e2bea7dc55de13985114a7724f6dbfade6a72a714113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa0fd48b850c9aaf1a12643f03e3254d1218ff55af9178992572aef1180bf707",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSrgkKEAgRGAI4AUIIdGhpbmtpbmcSDBMcjgug+r6ruZlwbRoMYKpYmH9R3/0FrUjaIjDln7jXzqS/QUaEX3Wv+hIpFsF8IU/+I0iyj/DdBSClOQVaXmsAZ3dnnsoj47HNkvgqywhkMtfaYlt5exVpdC06r4hhFu5ifhR3J/EKX3htSaU2mRd2ly1BM0p0trgwMm/mOydHIsgKPBnbNhfMHGovs1yCmLRMyPBIzu/gNXxKHblQWLV7206xqBOgMgVyWK93e4vdz7P/6V1riT2mzUnY4ocnOZ4ZRxJan1av1+Q8hulF0m2PlqmLDV1WbwmvGp99SU+vG4JtLmmQy13VdHmz2N+OLvw1NnS8pmyF9kz3GzeCowugGV6Bck7jQP3FYFHQunhD6hl1Jeymfw7YTvuyMyAMRTM8Z/neBlOs9QPjr0zWWHWuKK1XlgrR3Nn8OfXLhDZbKYiTC+ZaChEgWBg2+jCOkf4MoMlxsbVtSzPvCZDKy7XmtpDV5q4vDobcZpE93naY7L63yRC0hgxEEnww+B36Fu0/X8ec9ZFg5Lv5izVc8aLtBlm8oZOyFH7kn0eLq6E7yoQoXmKf5c+EnjaHM1h/XM3aIhJ9oEqQAxn8VMJjwSyT+pPUk0ePz67XMKcLa/Uxk7r7MAU6rn0GZ9PHd219By9Vw5a6C6b6zt/FAJ+43XtvIPOkOUzmryokwNrLOPn0VmN26e7oj8uXtO3KL71LZ/2aiz4MseQiRxBcoUGOyZxGgnTzO3vpNl7rrMbZK4RQ7h05mj1hGWucBTKYDXt5BB98aV8bUy6Bnn9NwnMjq4oqUAyxxJ3Jhc2t/84Mm1g50wo3YwGW/REK5gHE1II5jCjI1Trhwz5sopLhlsl0TlnPdSoRWaFTFj0nPLogYAXiPRjXuPZtUecLr178+mC2zYJfszSDKSoOgnweshi1tjppqAWLv6G4gX73hBDaFqzUg3hN1CNI+QJtDPnjuvXZyU+w46qbHU1Me99yYJTWxDrPWj4pctwCOROMUqyVtivTHZyqUfzdmBZMvFFi1GQ/p0btyLGQWPJ+CvbtBqnJ8F9XsYSjZ+QT3nAkEnxrBZ318H/cKTcC41pN+K5DGfBEbRCXS9L24BD+j2gKdmU6Sxho0EKBB3yviLcp76vMUAytqdodG8cJYhiAG2y3rywNEm5OALwi+5T967SxZ5zKP7tO/EfclaCbrV2HNWvQC75wOskEgE9nfKRTZ5tbPaFJYV1ZxFF3Rb81/xWw6uDuvlFBaYo7UKFbS1Pd6n9NWEuusJVdRiqHryV9j98di8A7UdJxXTRK2DaT2tmmQJhNRrG5T63UQTuHLkWxKAGTs5eJtfHYVrLeWjq6yRfqPJLEpkoyntKwVtohCHBImp5URqV6c2yHypyieEoNRJ41TifytMEzlacFw+KsOpexKNb9abTB6w+xestm0WK4S30HSMijwzRFxjedetpNbda0MYQ8VXET34dEpE8EUiepVGwsEPM30dzaIWyWnIxDWCT80sNACUPdO3qfFXuKNywQdWk6vLPidKcVLuV6glO/Z9NgpArSuChatoye97wassQg+DTdQpuU67WEGsh2GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3F4NrKAwCgZA5iXaNiGK4",
      "input": {
        "note": "The brick now lies squarely between the open jaws in the wrist view, extending to the bottom edge. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Q3F4NrKAwCgZA5iXaNiGK4",
      "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, -0.0425, 0.9993, 0.511, 1.9759, 0.9051, 0.416, 0.3775, 0.2348, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4489 right_y=0.1811 right_z=0.0259 right_yaw=0.0623 right_pitch=-0.0361 right_roll=-0.0177 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.347, 7.1726, 1.6923, -0.0708, -0.0269, -0.0122, 0.1162, -9.894, 5.2444, 1.5556, 0.1978, 0.0366, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2629b86459a251ac2e52fd7a07a4c662e3e5a103a5d9a9b5fd632e916a01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580677bc426856c536d0cae954fe5595f70b6f44f32a7ba3e6ea5ecc4af2e26f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92cf6666caba0c2aa6ae24a8dd9a89af9d2b92a0294b3d7bea5f701758edf178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 8.435 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, 0.8009, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5499, 1.8572, 0.8188, 0.2802, 0.4034, 0.2619, 0.0082]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1777 left_yaw=0.0015 left_pitch=-0.0107 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4091 right_y=0.1737 right_z=0.0249 right_yaw=0.062 right_pitch=-0.1202 right_roll=-0.0578 right_gripper=0.0082\nstate[joint_eff]: [-0.0615, -1.0872, 7.0222, 1.7265, -0.0562, -0.0659, -0.0122, -0.1983, -9.853, 5.2991, 1.3358, 0.188, 0.022, 0.6422]\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, 0.8036, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5117, 1.9728, 0.9043, 0.4065, 0.3809, 0.2394, 0.9951]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4477 right_y=0.1802 right_z=0.0254 right_yaw=0.0577 right_pitch=-0.0417 right_roll=-0.019 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.2786, 7.0359, 1.7021, -0.0562, -0.0024, -0.0122, -0.6632, -6.4752, 5.9966, 1.0818, 0.1148, -0.0904, -0.0464]\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, -0.3897, -0.0227, -0.0425, 0.9993, 0.511, 1.9759, 0.9051, 0.416, 0.3775, 0.2348, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4489 right_y=0.1811 right_z=0.0259 right_yaw=0.0623 right_pitch=-0.0361 right_roll=-0.0177 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.347, 7.1726, 1.6923, -0.0708, -0.0269, -0.0122, 0.1162, -9.894, 5.2444, 1.5556, 0.1978, 0.0366, 0.6422]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3da2629b86459a251ac2e52fd7a07a4c662e3e5a103a5d9a9b5fd632e916a01e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580677bc426856c536d0cae954fe5595f70b6f44f32a7ba3e6ea5ecc4af2e26f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92cf6666caba0c2aa6ae24a8dd9a89af9d2b92a0294b3d7bea5f701758edf178",
        "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_012ShbBZ1URmai7w6vCpS8Nx",
      "input": {
        "note": "Second close was empty too; the readback shows the gripper stalled at z=0.025 (shoulder effort still negative, so not table contact) — the jaws likely never got low enough around the brick. Opening and commanding the box floor z=-0.02 to force the descent.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.445,
          "right_y": 0.18,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012ShbBZ1URmai7w6vCpS8Nx",
      "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, -0.0425, 0.9993, 0.5129, 2.0796, 0.8841, 0.6598, 0.3759, 0.244, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4622 right_y=0.19 right_z=0.0171 right_yaw=0.0596 right_pitch=0.0706 right_roll=0.0427 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.6923, -0.0659, -0.0611, -0.0122, -0.1573, -7.3504, 3.1385, 0.8669, 0.1001, -0.2857, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6d49fa1a3967cb12e77ffbc4869fa0a449089213166719fddd14029d793c660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ee2bb2632618d4adfc667bed486c795902ba98ca8d9f4c191c827e6a3c2796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:15616cedc9d7e5dd32b7b76f62e1f3377aad3fb53230e98cf11e484aa358eff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.642 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, 0.8036, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5117, 1.9728, 0.9043, 0.4065, 0.3809, 0.2394, 0.9951]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0015 left_pitch=-0.0133 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4477 right_y=0.1802 right_z=0.0254 right_yaw=0.0577 right_pitch=-0.0417 right_roll=-0.019 right_gripper=0.9951\nstate[joint_eff]: [-0.0752, -1.2786, 7.0359, 1.7021, -0.0562, -0.0024, -0.0122, -0.6632, -6.4752, 5.9966, 1.0818, 0.1148, -0.0904, -0.0464]\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, -0.3897, -0.0227, -0.0425, 0.9993, 0.511, 1.9759, 0.9051, 0.416, 0.3775, 0.2348, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4489 right_y=0.1811 right_z=0.0259 right_yaw=0.0623 right_pitch=-0.0361 right_roll=-0.0177 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.347, 7.1726, 1.6923, -0.0708, -0.0269, -0.0122, 0.1162, -9.894, 5.2444, 1.5556, 0.1978, 0.0366, 0.6422]\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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5129, 2.0796, 0.8841, 0.6598, 0.3759, 0.244, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4622 right_y=0.19 right_z=0.0171 right_yaw=0.0596 right_pitch=0.0706 right_roll=0.0427 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.6923, -0.0659, -0.0611, -0.0122, -0.1573, -7.3504, 3.1385, 0.8669, 0.1001, -0.2857, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6d49fa1a3967cb12e77ffbc4869fa0a449089213166719fddd14029d793c660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ee2bb2632618d4adfc667bed486c795902ba98ca8d9f4c191c827e6a3c2796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15616cedc9d7e5dd32b7b76f62e1f3377aad3fb53230e98cf11e484aa358eff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQkKEAgRGAI4AUIIdGhpbmtpbmcSDG5oZSsMZJWAJFFy1hoMMux1+oAdmjYvENNAIjAjgBmvYDcnnaHbezPWl2Ozki7+bOtiPNMpYMvKx5vUK9fhqsQfrAVEgwyqeDMMxUQq0gibivT37nqwNvMISj1NCvu+/b8HUuYGqpd69DUjR7Bew/a8+Vv0eNyz1gy3JADp5hd7w9paa87kfTflI1Kcw/z4VUHjqUokNf/R/64i9ISPgfzbDzJTEuNtklefuhrccnCoPD7+9qPe9VJkqwNiG+0El5R79T7LOJ1XdWuc9W6CdKORSDyEwLmMFanIlNMkMTNEcod07bF4TN48kQF7y1v2L0Go+0PccABYYUJIm6oVKYb3VVmkN/74eMB7FFvjx3XYvWXkkp9GWh457XAyOd4HBvsqtl0WjH3LoeG6aVWpMP0Tbz8nsu0mogaDTtaZ5PAU0TGseWED1GqOXOvAk31E1Oehxx8KhhKEaN+GhtGmS0XozT9FfDH9GHsgyIl80+lg+Bm9s8IdZjXEVx5SCtgdrLbB0QdkOeEKhmzozT2zicIdmzkh0JdV9nTrTWukwC6Ruo+P3Y/oQGxp5OPIeUkZVxVdcSrLSH9i+JTJWjYMjecrsYPjINfjRs5r+qdcQCO0C3c7TQKtpNl4qIOVfTiWxz7fGKDd1O7e5wlptJVOBDR6f2fodKtBwXSJUZoS2/nUNtIS3gpxMR+llZuL5mUhmNgwTnOt2eAtcmA7QIno/0bqWrMwfgG8UG6WXTc3I/u624+GhmTFyBXD5/gMGaJctBD8Bg/ZtYSnTxZrruCM5SkEmO20GyUn9Zbk3gCIOqxiEPJvVp2vZKQFORy5wJVMZ/TZquS3ydrpqvPM68SlKUFcC524oOnV4o+DioatVEOFfTDqZowMqL7tV+lLlC2AK4rEAFbnVFXbrlBJTwrGsfqCB0c9btUx3PnBgy+RI4xHhxmQyf/rDDKztZgtRZ8UP1+NuyKESNGxPlrPxaH1zKOXANUs79z4QLwIrFm3f/6EsfpGNb0BKTFelQB9APLilKz6jrId/YUQrgDNYi7Yzdh340kvW+Js8rPUm2yc5HmehuoDda1gO4v9bW/Vx7VmD5pFvbax3NwVVl4PhArKPKgaX0VOxCpn+rzqO0JoE3ewr3M01MqvlQ8VUpU+ubdFk0c+vVdiZ1eWf4dSppaD/jJFA5eKsww5/VfDAGX07JF19rkevjv6yuA0pKc6p2iP+qlESrAwQrrKDvN9qi9ob02mYf02adQG2uEMt88okD2Sx0PpfHCVHDBom9GG9oYywF4teurcqqm2Bz8h+zT7jNUFAK80pUiL+z6wunXmMagnj0oefws3GRns3oyuS/QzVrwyBRIouItdWry7Ei43f7CNKgqsi1FU+dM+H0/zBx/ntCYv5g332kqtfSClOnXSGXLj6iCBcaAvkdNggzO58H9xTSroQqzNKJkZVdiVnHbMjdzoZHl0bBhN/2gqMkWtXzOJYDmDIPtbJBlPSBJG1Kqtu3XEa1R9eNHaFb/iLs+pYu+AbaOIbEgs0xhIXgFpsDpPC4APDJHkh1gJL+LzgORYJ6Y9jgXe4Dpcendu3AJ/JhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLKFbCR2pnh6pHxCiJtcRi",
      "input": {
        "note": "The arm pitched slightly forward at its reach and the brick now sits between the jaw tips in the wrist view, spanning the jaw-convergence row. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VLKFbCR2pnh6pHxCiJtcRi",
      "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, -0.0429, 0.9993, 0.5148, 2.0892, 0.8818, 0.6632, 0.3691, 0.2398, 0.7359]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0017 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4605 right_y=0.1914 right_z=0.0122 right_yaw=0.0697 right_pitch=0.0616 right_roll=0.0386 right_gripper=0.7359\nstate[joint_eff]: [-0.1026, -1.265, 7.1316, 1.707, -0.0708, -0.0708, -0.0122, -0.335, -10.8239, 4.9299, 1.6777, 0.1636, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fb23413bc7b9d42f2e7946ba1711ca48fb5ebec69f04c4812bee007043dea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1401dfb6f55db6d49cee92f3a4afa451d135b742ba06b09e5a6c29f263daa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d244f532bbe95e02b44318225887632b2fb9c48f50328e7617051480bf193dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.238 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, -0.3897, -0.0227, -0.0425, 0.9993, 0.511, 1.9759, 0.9051, 0.416, 0.3775, 0.2348, 0.0082]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4489 right_y=0.1811 right_z=0.0259 right_yaw=0.0623 right_pitch=-0.0361 right_roll=-0.0177 right_gripper=0.0082\nstate[joint_eff]: [-0.0889, -1.347, 7.1726, 1.6923, -0.0708, -0.0269, -0.0122, 0.1162, -9.894, 5.2444, 1.5556, 0.1978, 0.0366, 0.6422]\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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5129, 2.0796, 0.8841, 0.6598, 0.3759, 0.244, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4622 right_y=0.19 right_z=0.0171 right_yaw=0.0596 right_pitch=0.0706 right_roll=0.0427 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.6923, -0.0659, -0.0611, -0.0122, -0.1573, -7.3504, 3.1385, 0.8669, 0.1001, -0.2857, -0.1099]\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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0429, 0.9993, 0.5148, 2.0892, 0.8818, 0.6632, 0.3691, 0.2398, 0.7359]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0017 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4605 right_y=0.1914 right_z=0.0122 right_yaw=0.0697 right_pitch=0.0616 right_roll=0.0386 right_gripper=0.7359\nstate[joint_eff]: [-0.1026, -1.265, 7.1316, 1.707, -0.0708, -0.0708, -0.0122, -0.335, -10.8239, 4.9299, 1.6777, 0.1636, 0.0171, 1.0281]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90fb23413bc7b9d42f2e7946ba1711ca48fb5ebec69f04c4812bee007043dea7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd1401dfb6f55db6d49cee92f3a4afa451d135b742ba06b09e5a6c29f263daa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d244f532bbe95e02b44318225887632b2fb9c48f50328e7617051480bf193dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgRGAI4AUIIdGhpbmtpbmcSDHvEtm8hPHf+X1aLwRoM816142BH/blUECSlIjDEQSodbp+ZN7AsylcfbPxEZmbkZGoe3KFwh7nPHAn//qzEbp/TyggpceTsD4f2Qn8q/wbewlgAcOnTTxRn2ZKEJqjotzxgOri/mcGirHoPHI28Ek6aYpPcsSSr86gXSdl2JOKjDwjVAIQ31sMOucFMejdfX9R5Fd6TrhvHXmMvlkPuXnLUBlUuj2hYeeZdSwINsPRpy+oxbs2b5/TB5x4IihTxCeJbAkFQPVDhCWnj4CgcTkPE5n9JVR8XtME2LUurHfYlgmgNxPTAHsJIGRVo9/9uQifFvxlajZSjVz89dqBYvPCWFFiA6b8YdU0GDUsaPn/7HatCesdGpmpTLeoahV3yd8Wy7KG4LCrjFFRpNsObISk+T6gKYM/5XgJ9t/objR8yLuiyCA/PmJpbOCR4emAu7xWP7yhtA5oGnJ7fU9nygFaQ6t6wVpilquIGpNzOt5yB5VObsoNXXKmrMvI6yuUO/y9rd8BStxD5HwbQQTytaaGt+mdUgjJ1BZGZEGgfZ1VY8hColeu6MJNSNE/BX+YAr8G8CrA5/l9DeRWMpsZ/i5MscjtyoNS5AQ8wwiLkcP6memdxuqiZ3Ddo0yLe5TyHeDWw8xv45F9GvR64yhNNJkTuHlmq1laiP4huZHeSvl1jS6ykMK9oOxGHkF4O+1hb/tw8EDXPXbugIf7KY0QhE+c/pFm6qTEufPDU/O83rSXNCq+pQjh6ZZBD0pqruOFadO+c1Klb/ByDkZCLEBLQQzmWja0Bav/WwA+elik30AMFE8yHN+ruM655yiTJiM0tCi11ZK6U9wuzW9/VDac0PQ2gGFTjbboVl6EH1gEIHFdOeMsCweKLwSzkxXkOcQr1/kuBpHY/Pm26ruyFHcJ6QDFKRZe+QVtJK/+hhppLASwPZrqyhAe2ABrhTlxoOzcKpeipoj6HU78M+ZuvxJnhjJdIDOA5Wx4Lo734z12C2e8kzwGjF/jn2QDhKSP0gslCA7rY35pl1uyGz3V4wUy9FflIUT+vzc9xvFlyWVyUYKzaw991EVJvd6fJvcu6Lo02RvCjTZJ2I6ZiVQIpPzK2k7Pwr+GoyWM29VI2QVp/CJSNgCyy8HjoketTcAJSeHaO0u+5knM8LI1ko8xNhFK38FxyQZNl1SO1HtAwY5a4l7V/5ESVD69KoyrE+z8HROXp/nPToquhAShIKfsZ81RsewMLKOx1Jhs79q6lzwoK5mLAlsMiUm+J1e0tItC5yDQ41+fCvsdaO49nZH7EBBrVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011TqmYyZbdNHypqCcTv1RBa",
      "input": {
        "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the brick across its width. Lifting to 10 cm to confirm the brick comes along.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011TqmYyZbdNHypqCcTv1RBa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3897, -0.0227, -0.0456, 0.9993, 0.5152, 1.9049, 0.9142, 0.2974, 0.3527, 0.2352, 0.7357]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0032 left_pitch=-0.0148 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4395 right_y=0.1828 right_z=0.0388 right_yaw=0.0855 right_pitch=-0.0776 right_roll=-0.0198 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.0735, 7.241, 1.7558, -0.0659, 0.0122, -0.0122, -0.0889, -13.8598, 10.0034, 2.4396, 0.2466, 0.0171, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2498e85d9a06e318f96fbd51e0b4879a222c6fe8356d81c8e4607bffbcd85c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac948745c7171ff856b9fb48e8efc35d4d3b28b1eaddf50d1627f93e6b4aedb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8d5fa5fcd86822a586f6adf376195b971eb1dcfecd79b23c37a2f4fed8d7cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 12.85 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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0425, 0.9993, 0.5129, 2.0796, 0.8841, 0.6598, 0.3759, 0.244, 0.9953]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0015 left_pitch=-0.0141 left_roll=-0.0008 left_gripper=0.9993 right_x=0.4622 right_y=0.19 right_z=0.0171 right_yaw=0.0596 right_pitch=0.0706 right_roll=0.0427 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.3197, 7.2, 1.6923, -0.0659, -0.0611, -0.0122, -0.1573, -7.3504, 3.1385, 0.8669, 0.1001, -0.2857, -0.1099]\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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0429, 0.9993, 0.5148, 2.0892, 0.8818, 0.6632, 0.3691, 0.2398, 0.7359]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0017 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4605 right_y=0.1914 right_z=0.0122 right_yaw=0.0697 right_pitch=0.0616 right_roll=0.0386 right_gripper=0.7359\nstate[joint_eff]: [-0.1026, -1.265, 7.1316, 1.707, -0.0708, -0.0708, -0.0122, -0.335, -10.8239, 4.9299, 1.6777, 0.1636, 0.0171, 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, 0.8051, 0.6075, -0.3897, -0.0227, -0.0456, 0.9993, 0.5152, 1.9049, 0.9142, 0.2974, 0.3527, 0.2352, 0.7357]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0032 left_pitch=-0.0148 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4395 right_y=0.1828 right_z=0.0388 right_yaw=0.0855 right_pitch=-0.0776 right_roll=-0.0198 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.0735, 7.241, 1.7558, -0.0659, 0.0122, -0.0122, -0.0889, -13.8598, 10.0034, 2.4396, 0.2466, 0.0171, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2498e85d9a06e318f96fbd51e0b4879a222c6fe8356d81c8e4607bffbcd85c94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac948745c7171ff856b9fb48e8efc35d4d3b28b1eaddf50d1627f93e6b4aedb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d5fa5fcd86822a586f6adf376195b971eb1dcfecd79b23c37a2f4fed8d7cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgRGAI4AUIIdGhpbmtpbmcSDPFcpXE4ZLTj1Bug+xoMYOQxZHG41eoOBW7cIjCoGPdch19Z36RwQDV7/j+71acg7hI2GTcdanj9+GBhNT2dQjVkQa+cxau75yUJDwcqggcsV2GOzYLgWAUIoXIOZRT2hPWjXGD2GWxVVucqTlHM/rRAZNlh05w0XHwH/7365i0AZIb13QCYzGrOghhVKofl6MLWmfsyWFqq0OoWRPrnRma/Tw4chkVlq3z6YcbsFCpvlTM78o9Po2K3R2rH6CtJpjEjtYtgWnRml+cxvHB+YA/PMGcpMKIG0TrZC6C/JG8WqRwmAV+BV+Q/rB1F1Ym95lgGS0Da+fdynd+Qo2HSI1BLFVPIfZuSicd2BFffnzQcnzOce8FiUIMOl7rYGzHK1amCSmUN/atdk3ggaDtlAMdH/NYCB3cSLOCB6jH0a+6hy3MImG59gDUxL6MMkEAWd9wUwDzJdQVwnTcOsB120rHoqZ9EgzRSCedn/EtH3r5Aso3cSSZs8LutpnL4Oqn2KjyM19r/CS3yH2mpq7309rRB5vjdF804tWo3DawP76av88u56O6zZW+buX0f4uoqWmofX9Vkv1wUonZYLxnwRYehZX/O3Gb4Oom6xxRLWl1nWVhQa6gzVvUVN7Zpc0WJKK1HffV8TDEgTS6IgYo+PNvy/z3Bmixbf5uyLoiTVCyi68DtcTcFBXeubKy4Ce1YllXnKnYolpXxjFCKGRizqkLfI/3mk2dZCX3oYjVowrFFcw76kOgMbxuN/6nPYTng/eACUTxVdWvpAWL2xXAPmhVlOXk47j37BS/uRsqR/6+5RptfuKoax5h8QecgJAO7lbuHCuyyAQrbf91VxO1hHHN6ItjiMfQN6rul0goonNdViTaIqnn6EuqWu9F6iBSZT/ebwWLiUURIlwwdt48pl+lnU0zkPppQJXhEuzZQ/3qvgloM0hbGWBPAOWBuGtKG1tBfmRHQ3syekVSvUKvYnbxatsVw/WPxjM7poHd69nVCPlWRLENw5mxjN9UqRyc88978hGrO1JTf5to3dgFNBYF5pwQWi+mniaVshFBZ+k5SXm7jiL8H58F3ZErwWgo/lGtfA0VqVBCJEKc1qhZo1zglHrAZyxFnDu1pRNqdcR0cjlvLCBy+46S0CdMXShaVQ70Wb3JkdEf8i/5H0PiAgtKgDN3YaToLE1JO93PqtKVhGj6863K7bbQkpuebT9dPcF6NGAEg2TOBC4AQ0hkx4WehKh2jblBZgrvzSHPtNgcZIrn2bvuMcY42uTV8PDjm9/xScx4dtUqyrIDHsDmA0wr1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015RNNyxTsiKMBFrWGRRFhCi",
      "input": {
        "note": "The lift was only partially executed (z=0.04) but the brick still sits between the jaws in the wrist view. Continuing the lift to 17 cm while pulling back slightly from the reach limit.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015RNNyxTsiKMBFrWGRRFhCi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.3897, -0.0227, -0.0467, 0.9993, 0.5751, 1.6001, 1.0195, -0.2447, 0.3603, 0.2592, 0.7357]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0038 left_pitch=-0.016 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3888 right_y=0.182 right_z=0.1189 right_yaw=0.1185 right_pitch=-0.194 right_roll=-0.0631 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.6874, -0.0855, -0.0659, -0.0122, 0.2667, -11.3709, 11.1795, 2.0, 0.5348, 0.1538, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ec7ca82c4ed137f4042221fce37e0172e503700efd4819cda1199b738401d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f2eef4b9e7fde6d6dfa1811d37f70f6e645fd47b8c0256474609ab427fae52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c6b79fc3f09cfbf2c039835b3af416b1e7dea27de7e153e6d0b50f0311a04e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 10.95 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, 0.8043, 0.6075, -0.3897, -0.0227, -0.0429, 0.9993, 0.5148, 2.0892, 0.8818, 0.6632, 0.3691, 0.2398, 0.7359]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1767 left_yaw=0.0017 left_pitch=-0.0141 left_roll=-0.0011 left_gripper=0.9993 right_x=0.4605 right_y=0.1914 right_z=0.0122 right_yaw=0.0697 right_pitch=0.0616 right_roll=0.0386 right_gripper=0.7359\nstate[joint_eff]: [-0.1026, -1.265, 7.1316, 1.707, -0.0708, -0.0708, -0.0122, -0.335, -10.8239, 4.9299, 1.6777, 0.1636, 0.0171, 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, 0.8051, 0.6075, -0.3897, -0.0227, -0.0456, 0.9993, 0.5152, 1.9049, 0.9142, 0.2974, 0.3527, 0.2352, 0.7357]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0032 left_pitch=-0.0148 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4395 right_y=0.1828 right_z=0.0388 right_yaw=0.0855 right_pitch=-0.0776 right_roll=-0.0198 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.0735, 7.241, 1.7558, -0.0659, 0.0122, -0.0122, -0.0889, -13.8598, 10.0034, 2.4396, 0.2466, 0.0171, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8062, 0.6075, -0.3897, -0.0227, -0.0467, 0.9993, 0.5751, 1.6001, 1.0195, -0.2447, 0.3603, 0.2592, 0.7357]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0038 left_pitch=-0.016 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3888 right_y=0.182 right_z=0.1189 right_yaw=0.1185 right_pitch=-0.194 right_roll=-0.0631 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.6874, -0.0855, -0.0659, -0.0122, 0.2667, -11.3709, 11.1795, 2.0, 0.5348, 0.1538, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ec7ca82c4ed137f4042221fce37e0172e503700efd4819cda1199b738401d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72f2eef4b9e7fde6d6dfa1811d37f70f6e645fd47b8c0256474609ab427fae52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6b79fc3f09cfbf2c039835b3af416b1e7dea27de7e153e6d0b50f0311a04e4",
        "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_018e8hj2awgLCrqLKXggHRie",
      "input": {
        "note": "The brick is held in the right jaws (visible hanging with its cable, table below it). The pot is to the left near the right arm's y bound; raising high to clear the pot rim and moving partway toward it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.32,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018e8hj2awgLCrqLKXggHRie",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.8051, 2.2158, 2.4496, -1.2255, 0.4671, 0.4221, 0.7391]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1725 left_yaw=0.0053 left_pitch=-0.0328 left_roll=-0.006 left_gripper=0.9993 right_x=0.4206 right_y=0.3279 right_z=0.2476 right_yaw=0.1538 right_pitch=-0.2833 right_roll=-0.1106 right_gripper=0.7391\nstate[joint_eff]: [-0.294, -1.5521, 7.0222, 1.8193, -0.0464, -0.0171, -0.0122, 0.0342, -10.7419, 6.2154, 0.7253, 0.569, 0.1832, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:befbf9b179926f1f34db354bd359ee363f7e38eee57e9a9737243fcca0038eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1ca31da1da0058502f78779c948e922214fb7ef2c1004b68bee59e5806f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd97b0580a3574e6b01e06dc7e493b01c346580beec2fb1e9a0270c83218b637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 14.74 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, 0.8051, 0.6075, -0.3897, -0.0227, -0.0456, 0.9993, 0.5152, 1.9049, 0.9142, 0.2974, 0.3527, 0.2352, 0.7357]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1765 left_yaw=0.0032 left_pitch=-0.0148 left_roll=-0.0033 left_gripper=0.9993 right_x=0.4395 right_y=0.1828 right_z=0.0388 right_yaw=0.0855 right_pitch=-0.0776 right_roll=-0.0198 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.0735, 7.241, 1.7558, -0.0659, 0.0122, -0.0122, -0.0889, -13.8598, 10.0034, 2.4396, 0.2466, 0.0171, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8062, 0.6075, -0.3897, -0.0227, -0.0467, 0.9993, 0.5751, 1.6001, 1.0195, -0.2447, 0.3603, 0.2592, 0.7357]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0038 left_pitch=-0.016 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3888 right_y=0.182 right_z=0.1189 right_yaw=0.1185 right_pitch=-0.194 right_roll=-0.0631 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.6874, -0.0855, -0.0659, -0.0122, 0.2667, -11.3709, 11.1795, 2.0, 0.5348, 0.1538, 1.0281]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8104, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.8051, 2.2158, 2.4496, -1.2255, 0.4671, 0.4221, 0.7391]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1725 left_yaw=0.0053 left_pitch=-0.0328 left_roll=-0.006 left_gripper=0.9993 right_x=0.4206 right_y=0.3279 right_z=0.2476 right_yaw=0.1538 right_pitch=-0.2833 right_roll=-0.1106 right_gripper=0.7391\nstate[joint_eff]: [-0.294, -1.5521, 7.0222, 1.8193, -0.0464, -0.0171, -0.0122, 0.0342, -10.7419, 6.2154, 0.7253, 0.569, 0.1832, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:befbf9b179926f1f34db354bd359ee363f7e38eee57e9a9737243fcca0038eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1ca31da1da0058502f78779c948e922214fb7ef2c1004b68bee59e5806f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd97b0580a3574e6b01e06dc7e493b01c346580beec2fb1e9a0270c83218b637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012C35B9bnqcDtS6WzQSDSwC",
      "input": {
        "note": "The pot appears forward-left of the held brick in the right wrist camera. Moving to the right arm's leftmost y bound and slightly forward, staying high above the rim.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.4,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012C35B9bnqcDtS6WzQSDSwC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4076, -0.0227, -0.0498, 0.9993, 0.865, 2.4783, 2.867, -1.4933, 0.4576, 0.4431, 0.7392]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1705 left_yaw=0.0055 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4035 right_y=0.3587 right_z=0.2189 right_yaw=0.1851 right_pitch=-0.3757 right_roll=-0.1635 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.4974, 6.9949, 1.7363, -0.0757, -0.0757, -0.0122, 0.0752, -15.9658, 8.1709, 1.4286, 0.6276, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c78e05cd1be47ca77a91624dcc7fbf0f70c1672e810ebe0c479d0970d144529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f1e8d44eaa7e43cd5302844bdd8618dc04111a55700b2ed15251678fb81d423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:982ba714c4eeafed558d7d497a9dca514092ab83b6523661a94adf10d0a1529d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 14.03 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, 0.8062, 0.6075, -0.3897, -0.0227, -0.0467, 0.9993, 0.5751, 1.6001, 1.0195, -0.2447, 0.3603, 0.2592, 0.7357]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1762 left_yaw=0.0038 left_pitch=-0.016 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3888 right_y=0.182 right_z=0.1189 right_yaw=0.1185 right_pitch=-0.194 right_roll=-0.0631 right_gripper=0.7357\nstate[joint_eff]: [-0.0615, -1.4154, 7.1726, 1.6874, -0.0855, -0.0659, -0.0122, 0.2667, -11.3709, 11.1795, 2.0, 0.5348, 0.1538, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8104, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.8051, 2.2158, 2.4496, -1.2255, 0.4671, 0.4221, 0.7391]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1725 left_yaw=0.0053 left_pitch=-0.0328 left_roll=-0.006 left_gripper=0.9993 right_x=0.4206 right_y=0.3279 right_z=0.2476 right_yaw=0.1538 right_pitch=-0.2833 right_roll=-0.1106 right_gripper=0.7391\nstate[joint_eff]: [-0.294, -1.5521, 7.0222, 1.8193, -0.0464, -0.0171, -0.0122, 0.0342, -10.7419, 6.2154, 0.7253, 0.569, 0.1832, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4076, -0.0227, -0.0498, 0.9993, 0.865, 2.4783, 2.867, -1.4933, 0.4576, 0.4431, 0.7392]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1705 left_yaw=0.0055 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4035 right_y=0.3587 right_z=0.2189 right_yaw=0.1851 right_pitch=-0.3757 right_roll=-0.1635 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.4974, 6.9949, 1.7363, -0.0757, -0.0757, -0.0122, 0.0752, -15.9658, 8.1709, 1.4286, 0.6276, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c78e05cd1be47ca77a91624dcc7fbf0f70c1672e810ebe0c479d0970d144529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f1e8d44eaa7e43cd5302844bdd8618dc04111a55700b2ed15251678fb81d423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:982ba714c4eeafed558d7d497a9dca514092ab83b6523661a94adf10d0a1529d",
        "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_01Vxiny5D1HyyXxdxPhy1Aq3",
      "input": {
        "note": "The right arm has hit its reach limit (stalled at y=0.36, z=0.22) and the pot centre is still forward-left, beyond it. Plan: set the brick down near the table centre line where the left arm can pick it up and drop it in the pot. Moving back toward that hand-off spot.",
        "targets": {
          "right_x": 0.33,
          "right_y": 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_01Vxiny5D1HyyXxdxPhy1Aq3",
      "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, -0.408, -0.0227, -0.0498, 0.9993, 0.9115, 1.8259, 1.9873, -0.9012, 0.453, 0.4679, 0.7418]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0055 left_pitch=-0.0453 left_roll=-0.006 left_gripper=0.9993 right_x=0.3572 right_y=0.3405 right_z=0.3119 right_yaw=0.2745 right_pitch=-0.0876 right_roll=0.0858 right_gripper=0.7418\nstate[joint_eff]: [-0.0068, -1.1692, 7.2137, 1.7216, -0.0513, -0.0806, -0.0122, 0.0479, -5.3812, 5.6137, 2.1416, 0.3932, 0.0757, 0.823]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea922e48b28cc6deadfd3d48d3a0a1fda81512ec00ac186686b959be8ef8043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e2e3131e9200347d562990b2c321bcf8d35b62a96227e84e742074758f5789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb879519af7206fc8f6c8a5544349fc49b036ae4368c25e14ee96064b6d32c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 12.73 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, 0.8104, 0.6075, -0.4023, -0.0227, -0.0494, 0.9993, 0.8051, 2.2158, 2.4496, -1.2255, 0.4671, 0.4221, 0.7391]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1725 left_yaw=0.0053 left_pitch=-0.0328 left_roll=-0.006 left_gripper=0.9993 right_x=0.4206 right_y=0.3279 right_z=0.2476 right_yaw=0.1538 right_pitch=-0.2833 right_roll=-0.1106 right_gripper=0.7391\nstate[joint_eff]: [-0.294, -1.5521, 7.0222, 1.8193, -0.0464, -0.0171, -0.0122, 0.0342, -10.7419, 6.2154, 0.7253, 0.569, 0.1832, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8139, 0.6075, -0.4076, -0.0227, -0.0498, 0.9993, 0.865, 2.4783, 2.867, -1.4933, 0.4576, 0.4431, 0.7392]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1705 left_yaw=0.0055 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4035 right_y=0.3587 right_z=0.2189 right_yaw=0.1851 right_pitch=-0.3757 right_roll=-0.1635 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.4974, 6.9949, 1.7363, -0.0757, -0.0757, -0.0122, 0.0752, -15.9658, 8.1709, 1.4286, 0.6276, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.9115, 1.8259, 1.9873, -0.9012, 0.453, 0.4679, 0.7418]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0055 left_pitch=-0.0453 left_roll=-0.006 left_gripper=0.9993 right_x=0.3572 right_y=0.3405 right_z=0.3119 right_yaw=0.2745 right_pitch=-0.0876 right_roll=0.0858 right_gripper=0.7418\nstate[joint_eff]: [-0.0068, -1.1692, 7.2137, 1.7216, -0.0513, -0.0806, -0.0122, 0.0479, -5.3812, 5.6137, 2.1416, 0.3932, 0.0757, 0.823]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ea922e48b28cc6deadfd3d48d3a0a1fda81512ec00ac186686b959be8ef8043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1e2e3131e9200347d562990b2c321bcf8d35b62a96227e84e742074758f5789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb879519af7206fc8f6c8a5544349fc49b036ae4368c25e14ee96064b6d32c5f",
        "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_017xpvJcHyavLSFmgZwDLp6D",
      "input": {
        "note": "The arm unfolded upward to z=0.31 and now the wrist camera shows the pot opening almost directly below the held brick, slightly forward-left. Trying to position over the pot centre at a height that keeps the brick above the rim before deciding to drop.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.39,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017xpvJcHyavLSFmgZwDLp6D",
      "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, -0.4084, -0.0227, -0.0498, 0.9993, 0.9222, 1.9812, 1.7172, -0.791, 0.3847, 0.5056, 0.7436]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0055 left_pitch=-0.0457 left_roll=-0.006 left_gripper=0.9993 right_x=0.3477 right_y=0.3549 right_z=0.1448 right_yaw=0.2727 right_pitch=-0.3728 right_roll=-0.0366 right_gripper=0.7436\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.7216, -0.0562, -0.0708, -0.0122, -0.0342, -15.3231, 12.0957, 1.9463, 0.4615, 0.1685, 0.7839]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd5897438cee5c4689f3939bfeef103591c8bff94db01a422c2719462c7286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec654d719d6fa6c1b0c08d4d165090cdb8a7967ccf4acad21255612cfe16ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e68ecfe341789f9e04400b222e9715a31df6897b7dd40bbe005b40671d6cd3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 6.879 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, 0.8139, 0.6075, -0.4076, -0.0227, -0.0498, 0.9993, 0.865, 2.4783, 2.867, -1.4933, 0.4576, 0.4431, 0.7392]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1705 left_yaw=0.0055 left_pitch=-0.0415 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4035 right_y=0.3587 right_z=0.2189 right_yaw=0.1851 right_pitch=-0.3757 right_roll=-0.1635 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.4974, 6.9949, 1.7363, -0.0757, -0.0757, -0.0122, 0.0752, -15.9658, 8.1709, 1.4286, 0.6276, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.9115, 1.8259, 1.9873, -0.9012, 0.453, 0.4679, 0.7418]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0055 left_pitch=-0.0453 left_roll=-0.006 left_gripper=0.9993 right_x=0.3572 right_y=0.3405 right_z=0.3119 right_yaw=0.2745 right_pitch=-0.0876 right_roll=0.0858 right_gripper=0.7418\nstate[joint_eff]: [-0.0068, -1.1692, 7.2137, 1.7216, -0.0513, -0.0806, -0.0122, 0.0479, -5.3812, 5.6137, 2.1416, 0.3932, 0.0757, 0.823]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9222, 1.9812, 1.7172, -0.791, 0.3847, 0.5056, 0.7436]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0055 left_pitch=-0.0457 left_roll=-0.006 left_gripper=0.9993 right_x=0.3477 right_y=0.3549 right_z=0.1448 right_yaw=0.2727 right_pitch=-0.3728 right_roll=-0.0366 right_gripper=0.7436\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.7216, -0.0562, -0.0708, -0.0122, -0.0342, -15.3231, 12.0957, 1.9463, 0.4615, 0.1685, 0.7839]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbd5897438cee5c4689f3939bfeef103591c8bff94db01a422c2719462c7286e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec654d719d6fa6c1b0c08d4d165090cdb8a7967ccf4acad21255612cfe16ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e68ecfe341789f9e04400b222e9715a31df6897b7dd40bbe005b40671d6cd3ff",
        "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_0189WseByQxayigA4ZcGjxR6",
      "input": {
        "note": "The arm sagged badly to z=0.145 near its reach limit and the brick now hangs beside the pot below rim height; it cannot reach over the pot. Retreating toward the base (right-back) to set the brick down for a hand-off to the left arm.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.28,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0189WseByQxayigA4ZcGjxR6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9264, 1.9808, 1.7489, -0.7807, 0.384, 0.5056, 0.7451]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1691 left_yaw=0.0055 left_pitch=-0.0469 left_roll=-0.006 left_gripper=0.9993 right_x=0.3512 right_y=0.3632 right_z=0.158 right_yaw=0.2869 right_pitch=-0.3393 right_roll=-0.0089 right_gripper=0.7451\nstate[joint_eff]: [-0.0479, -1.4564, 7.159, 1.6923, -0.0855, -0.0317, -0.0122, -0.4444, -15.3094, 10.3316, 1.8242, 0.4225, 0.149, 0.4762]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8764dc7e6acdb220fe4dbfde171f196ddfc2ba7eede19bd2bac88140f51c1dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e40a1be63c273f6c6f3352cd9296ddf3173ea0ef8bb802ec45fcd775eae662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e736ef8a014024aecc92b747d1ef5db72007dc5ca712a32f1333fcba1670bb8a",
        "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 · 16.84 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, 0.8173, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.9115, 1.8259, 1.9873, -0.9012, 0.453, 0.4679, 0.7418]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=0.0055 left_pitch=-0.0453 left_roll=-0.006 left_gripper=0.9993 right_x=0.3572 right_y=0.3405 right_z=0.3119 right_yaw=0.2745 right_pitch=-0.0876 right_roll=0.0858 right_gripper=0.7418\nstate[joint_eff]: [-0.0068, -1.1692, 7.2137, 1.7216, -0.0513, -0.0806, -0.0122, 0.0479, -5.3812, 5.6137, 2.1416, 0.3932, 0.0757, 0.823]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8173, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9222, 1.9812, 1.7172, -0.791, 0.3847, 0.5056, 0.7436]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0055 left_pitch=-0.0457 left_roll=-0.006 left_gripper=0.9993 right_x=0.3477 right_y=0.3549 right_z=0.1448 right_yaw=0.2727 right_pitch=-0.3728 right_roll=-0.0366 right_gripper=0.7436\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.7216, -0.0562, -0.0708, -0.0122, -0.0342, -15.3231, 12.0957, 1.9463, 0.4615, 0.1685, 0.7839]\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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8185, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9264, 1.9808, 1.7489, -0.7807, 0.384, 0.5056, 0.7451]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1691 left_yaw=0.0055 left_pitch=-0.0469 left_roll=-0.006 left_gripper=0.9993 right_x=0.3512 right_y=0.3632 right_z=0.158 right_yaw=0.2869 right_pitch=-0.3393 right_roll=-0.0089 right_gripper=0.7451\nstate[joint_eff]: [-0.0479, -1.4564, 7.159, 1.6923, -0.0855, -0.0317, -0.0122, -0.4444, -15.3094, 10.3316, 1.8242, 0.4225, 0.149, 0.4762]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8764dc7e6acdb220fe4dbfde171f196ddfc2ba7eede19bd2bac88140f51c1dec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e40a1be63c273f6c6f3352cd9296ddf3173ea0ef8bb802ec45fcd775eae662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e736ef8a014024aecc92b747d1ef5db72007dc5ca712a32f1333fcba1670bb8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wgKEAgRGAI4AUIIdGhpbmtpbmcSDPBKpBsY7i4UhtahrRoMGGIOmW2V4g0Bo4izIjD2Ycfu9PfQXTG6r5GOAYAWNfw4dUX8lAjdThCR7ZE6eGRs9Icf7eufLDiCkWZdu10qlAigRHUrFytyeaYvS9ICjhtZ5GTuRFMZMgYyLKv3Bk5cgUc1o8X+AUNDKXxj3RUp7uh7iz0FB5NUrIqFNPbmeBzF9V34qa5cTqp9SSXcelwhyviF2kqC9Wo+VRghHqpSWKTDXk3T43WlW8GwUicgY0v9YN9cEteyZamVqZ3iBTgLNSVxGjvuAmwQcs35uy0hXZt6zvcPH61iTdEhq7UGnL1/i7Ag5ykV8+qlQLcgfk7nNBV+kPhBL3NlfFsVmF19QZcn1cV2OWbW8sGFBmkKKuSQHS6lX0VyGgDnUuQj5huFneC+L1ybASWQgwMCNS2hF1jbr/VTbjfSUCIodGiSgscRJE5+5fWiIz2B+EdEjlG2nsT8LQkzIh/n2DDWQw+XAQ/LX2rocAgXMXWs4yPwySEiy2h91bvfQ0OSPEDa5J5QJv/r+ZUtUurDd6CDhoDy+AB3IUuy5JfbT4q3pTfzQJAM88imxhhcJwfbaehaKN3wk54qbn2zoga6TlCb9WjEOZqyyFYXoHWUms4cycA6+DTrPrddrl02AtKzPsPBa8FWzANrged333Ptg6CxSjWCK30AH4k3CkFfgwAB4yQBng1mKHbuJ3T8vwC5PQM0wWEIUPJIXM7OkWwm50BxSVWHgnvreo9y4xqrQND/ntq5eBCZEI9DbtKfpfFgrJWvbv81PtRtdcMihN0C5Hao93SjgLNoyljtPJaDxDODsRjtT9fafxvctPHDAjzXhR/cmCEu9gi166G1eTVV2/WlSefvXB5Zcf8rHnegMcEWfF8DJzAj7b7xKpoykHauRZkKP41i/Kamfz/Ilfbn7i0wNJ8HD+b1NC7OnNHwaNJIuzVJKuMPiUyUiHNtSi0GIMiUW73ZB4XqCQJ9qGtZID29a5hMrpQd3+dNbtCXUTnhoBDAKbap8jLvkuQ6/6gRrbwRccQeyRN7vFnvBi+qHupRm8eZ9qotIPdw44S5sjHW6ByjJFALkRBgAOeht4J1xOaON9SCWVmBP8dXp/2jU+6STalGttWG2tkPdbc40Qkbu2KSgbFYf3BzGwjJxD4c4A9WvJ9S3Ust29UiFmwwY+wQVoUIwsfx1wk4SQQLBnGNYbtkrYat3O8tAOA4BB81/6xerPYhYM9070AITvBhhxWLtOLCKGBewJxZCStBy1Vw9zKWi/rCcOtAZ+rlMZTEf70pELhm4BF5UmvouuaaKIXEiy9iWlt3rVSyj7bX5chk5oGvvp/o+Tw8kmI6oM++vO7lJHDEiLguL3zVvd5i03+ATv3EkKKLULffLd7/z+doMeJkxdj3VIiRNluMb9HxHpgEyzw2q4jtX2od7vqzrUCvj4SDAzhD82oEiuqRJwenZhCPIJpQEs1EyeCU4RBlcqK5jV8hFPI1cIoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YCZx11JwrUHJbCyR6LwxV8",
      "input": {
        "note": "The retreat stalled; the arm did not move and the brick is right against the pot's outer wall in the wrist view. Raising straight up first to free the arm before moving sideways.",
        "targets": {
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YCZx11JwrUHJbCyR6LwxV8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9257, 2.3325, 2.7537, -1.5097, 0.3546, 0.4973, 0.7479]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3532 right_y=0.3732 right_z=0.2492 right_yaw=0.2959 right_pitch=-0.4157 right_roll=-0.0405 right_gripper=0.7479\nstate[joint_eff]: [-0.1026, -1.4154, 7.1453, 1.6825, -0.0415, -0.0562, -0.0122, -0.3077, -16.7726, 10.0034, 1.2576, 0.4567, -0.0122, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03f6efd4393f37dce1590d0d18972c778272cd44e6ae7949cb054bf56db1e045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649d48685ba81e5bd5b7e5acfc29ec685a12e4bbcd5a2c60e2ff4628982c828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b928e79560ed42b068d11992d2da27dd5f32137197778a92facc53b09e5eddc0",
        "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 · 15.35 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, 0.8173, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9222, 1.9812, 1.7172, -0.791, 0.3847, 0.5056, 0.7436]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1694 left_yaw=0.0055 left_pitch=-0.0457 left_roll=-0.006 left_gripper=0.9993 right_x=0.3477 right_y=0.3549 right_z=0.1448 right_yaw=0.2727 right_pitch=-0.3728 right_roll=-0.0366 right_gripper=0.7436\nstate[joint_eff]: [-0.1573, -1.347, 7.2, 1.7216, -0.0562, -0.0708, -0.0122, -0.0342, -15.3231, 12.0957, 1.9463, 0.4615, 0.1685, 0.7839]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8185, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9264, 1.9808, 1.7489, -0.7807, 0.384, 0.5056, 0.7451]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1691 left_yaw=0.0055 left_pitch=-0.0469 left_roll=-0.006 left_gripper=0.9993 right_x=0.3512 right_y=0.3632 right_z=0.158 right_yaw=0.2869 right_pitch=-0.3393 right_roll=-0.0089 right_gripper=0.7451\nstate[joint_eff]: [-0.0479, -1.4564, 7.159, 1.6923, -0.0855, -0.0317, -0.0122, -0.4444, -15.3094, 10.3316, 1.8242, 0.4225, 0.149, 0.4762]\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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9257, 2.3325, 2.7537, -1.5097, 0.3546, 0.4973, 0.7479]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3532 right_y=0.3732 right_z=0.2492 right_yaw=0.2959 right_pitch=-0.4157 right_roll=-0.0405 right_gripper=0.7479\nstate[joint_eff]: [-0.1026, -1.4154, 7.1453, 1.6825, -0.0415, -0.0562, -0.0122, -0.3077, -16.7726, 10.0034, 1.2576, 0.4567, -0.0122, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03f6efd4393f37dce1590d0d18972c778272cd44e6ae7949cb054bf56db1e045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649d48685ba81e5bd5b7e5acfc29ec685a12e4bbcd5a2c60e2ff4628982c828c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b928e79560ed42b068d11992d2da27dd5f32137197778a92facc53b09e5eddc0",
        "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_018jhFa3wdbWZaxmLMJUDdqs",
      "input": {
        "note": "From above, the brick now hovers over the pot's right rim with the pot centre about 7 cm further left. Nudging to the arm's leftmost y bound at height to get the brick footprint inside the rim.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.4,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018jhFa3wdbWZaxmLMJUDdqs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9249, 2.4142, 2.8666, -1.5997, 0.3489, 0.4969, 0.7493]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3513 right_y=0.3717 right_z=0.2335 right_yaw=0.2834 right_pitch=-0.466 right_roll=-0.0747 right_gripper=0.7493\nstate[joint_eff]: [-0.335, -1.0872, 7.3641, 1.707, -0.0806, -0.0757, -0.0122, 0.1026, -14.2017, 7.0769, 1.3944, 0.2613, -0.0513, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e85472294c01ac8934e881c075854007917ab96007d1c6183299d2b420d3bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5245f949624a83fb2b5d9d2194e8d8910776a7fa1b65fed0f5b2abbfe53fc18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bea8237dd8e81cfb07e14fa014331a23f48fc07f4ebd03c920abd77a46e43bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 13.52 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, 0.8185, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9264, 1.9808, 1.7489, -0.7807, 0.384, 0.5056, 0.7451]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1691 left_yaw=0.0055 left_pitch=-0.0469 left_roll=-0.006 left_gripper=0.9993 right_x=0.3512 right_y=0.3632 right_z=0.158 right_yaw=0.2869 right_pitch=-0.3393 right_roll=-0.0089 right_gripper=0.7451\nstate[joint_eff]: [-0.0479, -1.4564, 7.159, 1.6923, -0.0855, -0.0317, -0.0122, -0.4444, -15.3094, 10.3316, 1.8242, 0.4225, 0.149, 0.4762]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9257, 2.3325, 2.7537, -1.5097, 0.3546, 0.4973, 0.7479]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3532 right_y=0.3732 right_z=0.2492 right_yaw=0.2959 right_pitch=-0.4157 right_roll=-0.0405 right_gripper=0.7479\nstate[joint_eff]: [-0.1026, -1.4154, 7.1453, 1.6825, -0.0415, -0.0562, -0.0122, -0.3077, -16.7726, 10.0034, 1.2576, 0.4567, -0.0122, 0.6227]\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 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9249, 2.4142, 2.8666, -1.5997, 0.3489, 0.4969, 0.7493]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3513 right_y=0.3717 right_z=0.2335 right_yaw=0.2834 right_pitch=-0.466 right_roll=-0.0747 right_gripper=0.7493\nstate[joint_eff]: [-0.335, -1.0872, 7.3641, 1.707, -0.0806, -0.0757, -0.0122, 0.1026, -14.2017, 7.0769, 1.3944, 0.2613, -0.0513, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e85472294c01ac8934e881c075854007917ab96007d1c6183299d2b420d3bdf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5245f949624a83fb2b5d9d2194e8d8910776a7fa1b65fed0f5b2abbfe53fc18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bea8237dd8e81cfb07e14fa014331a23f48fc07f4ebd03c920abd77a46e43bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKR1DhfiURCFu56ME7YyVt",
      "input": {
        "note": "The arm is at its reach limit and cannot move further left, but the brick protrudes forward from the jaws by several cm. Yawing the tool counterclockwise so the brick swings to point left over the pot opening (first half of the rotation).",
        "targets": {
          "right_yaw": 0.9
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HKR1DhfiURCFu56ME7YyVt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.8188, 2.1677, 2.3001, -1.346, 0.0929, 0.0288, 0.7524]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1682 left_yaw=0.0055 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3435 right_y=0.3486 right_z=0.1919 right_yaw=0.6927 right_pitch=-0.6413 right_roll=-0.085 right_gripper=0.7524\nstate[joint_eff]: [-0.1026, -1.388, 7.0906, 1.6777, -0.022, -0.0513, -0.0122, -0.0615, -15.9932, 7.1726, 1.8193, 0.0562, -0.0464, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6542a9af79de92f13f6d16d10e1e94dc8e078d8f550820a251ef6a17a6d119b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d46e91956fcba184b908a325416dbbaf47e6b5d1296f4cfae49c2be071615bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2577b38c90ab979597842e30fb1261ff27915a0e5263f1eef0383affcf240151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 17.34 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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9257, 2.3325, 2.7537, -1.5097, 0.3546, 0.4973, 0.7479]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3532 right_y=0.3732 right_z=0.2492 right_yaw=0.2959 right_pitch=-0.4157 right_roll=-0.0405 right_gripper=0.7479\nstate[joint_eff]: [-0.1026, -1.4154, 7.1453, 1.6825, -0.0415, -0.0562, -0.0122, -0.3077, -16.7726, 10.0034, 1.2576, 0.4567, -0.0122, 0.6227]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9249, 2.4142, 2.8666, -1.5997, 0.3489, 0.4969, 0.7493]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3513 right_y=0.3717 right_z=0.2335 right_yaw=0.2834 right_pitch=-0.466 right_roll=-0.0747 right_gripper=0.7493\nstate[joint_eff]: [-0.335, -1.0872, 7.3641, 1.707, -0.0806, -0.0757, -0.0122, 0.1026, -14.2017, 7.0769, 1.3944, 0.2613, -0.0513, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.8188, 2.1677, 2.3001, -1.346, 0.0929, 0.0288, 0.7524]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1682 left_yaw=0.0055 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3435 right_y=0.3486 right_z=0.1919 right_yaw=0.6927 right_pitch=-0.6413 right_roll=-0.085 right_gripper=0.7524\nstate[joint_eff]: [-0.1026, -1.388, 7.0906, 1.6777, -0.022, -0.0513, -0.0122, -0.0615, -15.9932, 7.1726, 1.8193, 0.0562, -0.0464, 0.3101]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6542a9af79de92f13f6d16d10e1e94dc8e078d8f550820a251ef6a17a6d119b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d46e91956fcba184b908a325416dbbaf47e6b5d1296f4cfae49c2be071615bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2577b38c90ab979597842e30fb1261ff27915a0e5263f1eef0383affcf240151",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgAkKEAgRGAI4AUIIdGhpbmtpbmcSDPvUcB7Wzz+JnPQ0LRoMOX3l/dXjEhAZPowcIjA3mdzmvDEq81nEUauAcve6s6mZL3Syj6KzUZrbsjQ+Vh7ONcLfpAN6n9tVGiVNv5AqnQgzSbxgNosDtQS1vN5nz5vLiaR2tkHq/jU1iLNrYIRjACJWrSiZ24mCDAuLvRe8yvYIdrwq4HSDIMSsQLA1LlV+Kl7JOx58IiYSS7lkYWjyfpfPzmbn76B+Suc9XwhM4Z0Ye+y+6w0BQRpwcgW5YvPHqpX11P+9p7OnOOrHMtr6FDpoPFuE0flWz+ZlcVnQr8hAPERohr1+ZZ9ncqgD67X1acNaEYuBSYPYL7SXt5qG/em1voyJGIWwTPezTaCfdrQMVz7hEspMxbdTnPCV6dHJo8CoiOdIhRGFPNV4+/W96oPdOR7bSKVM8apsbD4scoBOpqjzdN5CKAg6mo+hFDaxVYWd5LKO1/hnwDHP4+T0l3o19Jz2WKHBhVwhK2TBG7iUu8V3bBqnJSyUP0BXdkLFb8HuWU4bWW40QIqTaXj2d8XCfD8JDxTZpyBCX9FIK73rPmXSXSZEv4YeRXz6cLzgrZyOdys+ZVtHi0CJzzLrLuxiT2WE1hvywwk6MycsIrUW52Woc82Ez3NjWBPq2858ex6sSt99AABh4Es9cIJ4ZKmNcHg9GROgdzsuVMUoP/SAziXw0lEL/e2utO9wCC6aNGkpq24i10yJm1b2z6tBlFKQRpkabPCKtuAx8aK4E8Dr6h32c4XevWOCDEg1fw6c5wG9m+8IDoqUTMzXx3VT9Sg13MxP/FjE+zXHIHor2LCeii4oh3RUKnQKae6hB17Yq1zWVmLaPNBXG13GL+6k7hKOeNP7+qQ0pwkujOGONFvS3qrrPiEkqzbK7XZcr6wk/Aap9blpX3zeZ7rFjsZ/5pmUGT525C0ah6kjNcibqyJiFclRxfXUA1+FfhmVarq721vE00grO9zjNlj1g2QToGmTesBGt6mXGroJtps+jxx+A1VZL9Jy065Mg6fldLIVZifFxj3A/yV0z2tMajx/H/N6a14xReJAED/TIy87DhJ6vJ9+rhB4AkqEaKHDyQPJvq684y22BmfaPKo7SUqyUSdDKzdLpP1bjFVWUPJly4AGDoj/3RC6W2kvZ22safBShIKYgDD6iqJVI5tKlRyC4Fl++V8rDL+TgPTLhOin/WB/mvcZMP1oqBHa1Ck9O89KjOkOc95qYFwG/V9hPyZanB5FW8Td84QijUg5YISxAWMVZixlcQYzkUrsRxwUSjq0dXbZ8SXsTq8oHbckPu7+llv405xgCKsj3MO8FuJn0t2G2BvHq7H0iiMDefgJwgSh0JvbRjZKhvdKTtyUH9mZ8h20QgPSpo8st3CT4947bLGEE0C4gYUI2LRiAi3h+5l8CSQV8EfFFPfXOzhB5oZtb5G5zLJ+1/sGH2fO8S4/CKfgqK6o0wAEWCEJ2ebWfCw6BSMIL37ecjERDam8ChXfcizxkzrJjrP2K05SudgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6z5Qc1PmgaHjAhibampVd",
      "input": {
        "note": "Yaw reached 0.69 and the brick now sits over the pot's right rim in the overhead view, but the arm sagged to z=0.19. Completing the rotation to ~90° while commanding extra height so the brick's far end swings inward over the pot.",
        "targets": {
          "right_yaw": 1.5,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01A6z5Qc1PmgaHjAhibampVd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7021, 2.2124, 2.5332, -1.5452, -0.1719, -0.6643, 0.7516]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3404 right_y=0.3322 right_z=0.2282 right_yaw=1.312 right_pitch=-0.6251 right_roll=-0.091 right_gripper=0.7516\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.7509, -0.0269, -0.0513, -0.0122, 0.3761, -13.7231, 4.588, 1.1697, -0.398, -0.0562, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6e8c63a5cf83e763c5b02d88a80b3fb73dc0deef934a05d26764cfc50da8b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab819d3b0ca8bbf96b9d439d80f72365f8516a08dd7f16137f9445934bcfe22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a71fbf9f6227d97207d995979199d3a79d4ef6937d2a3dbbd003454fcb6d0923",
        "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 · 5.897 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]: [-0.0196, 0.8211, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.9249, 2.4142, 2.8666, -1.5997, 0.3489, 0.4969, 0.7493]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1683 left_yaw=0.0055 left_pitch=-0.0495 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3513 right_y=0.3717 right_z=0.2335 right_yaw=0.2834 right_pitch=-0.466 right_roll=-0.0747 right_gripper=0.7493\nstate[joint_eff]: [-0.335, -1.0872, 7.3641, 1.707, -0.0806, -0.0757, -0.0122, 0.1026, -14.2017, 7.0769, 1.3944, 0.2613, -0.0513, 0.6422]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8215, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.8188, 2.1677, 2.3001, -1.346, 0.0929, 0.0288, 0.7524]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1682 left_yaw=0.0055 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3435 right_y=0.3486 right_z=0.1919 right_yaw=0.6927 right_pitch=-0.6413 right_roll=-0.085 right_gripper=0.7524\nstate[joint_eff]: [-0.1026, -1.388, 7.0906, 1.6777, -0.022, -0.0513, -0.0122, -0.0615, -15.9932, 7.1726, 1.8193, 0.0562, -0.0464, 0.3101]\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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7021, 2.2124, 2.5332, -1.5452, -0.1719, -0.6643, 0.7516]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3404 right_y=0.3322 right_z=0.2282 right_yaw=1.312 right_pitch=-0.6251 right_roll=-0.091 right_gripper=0.7516\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.7509, -0.0269, -0.0513, -0.0122, 0.3761, -13.7231, 4.588, 1.1697, -0.398, -0.0562, -0.0855]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a6e8c63a5cf83e763c5b02d88a80b3fb73dc0deef934a05d26764cfc50da8b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ab819d3b0ca8bbf96b9d439d80f72365f8516a08dd7f16137f9445934bcfe22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a71fbf9f6227d97207d995979199d3a79d4ef6937d2a3dbbd003454fcb6d0923",
        "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_0111NdmEyCwwwrq2pDoWCsyv",
      "input": {
        "note": "The brick slipped out during the rotation and now lies on the table just right of the pot, visible in the right wrist camera. Retracting the right arm back and un-yawing so the overhead camera can show where the brick landed.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.22,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0111NdmEyCwwwrq2pDoWCsyv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7002, 2.2032, 2.5111, -1.5681, -0.2268, -0.8314, 0.9961]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3279 right_y=0.3329 right_z=0.2259 right_yaw=1.4835 right_pitch=-0.6278 right_roll=-0.0898 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.306, 7.3094, 1.6923, -0.0317, -0.0464, -0.0122, 0.1436, -13.9556, 5.4769, 0.8523, -0.4518, -0.0366, -0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd6f672efccca7731ea80c1d26479639dc0150cac67b188203112eb33d78e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368c5f093a76deb3d50fc0c9f17372b8b251b0fa4dcdda5cc4df54e4b4f48059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9ffe6f288690eb5129adf15ef8a74d1e5446842afbd249382c8855e76005b4d",
        "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 · 22.38 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]: [-0.0196, 0.8215, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.8188, 2.1677, 2.3001, -1.346, 0.0929, 0.0288, 0.7524]\nstate[eef_state]: left_x=0.293 left_y=0.0018 left_z=0.1682 left_yaw=0.0055 left_pitch=-0.0499 left_roll=-0.0059 left_gripper=0.9993 right_x=0.3435 right_y=0.3486 right_z=0.1919 right_yaw=0.6927 right_pitch=-0.6413 right_roll=-0.085 right_gripper=0.7524\nstate[joint_eff]: [-0.1026, -1.388, 7.0906, 1.6777, -0.022, -0.0513, -0.0122, -0.0615, -15.9932, 7.1726, 1.8193, 0.0562, -0.0464, 0.3101]\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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7021, 2.2124, 2.5332, -1.5452, -0.1719, -0.6643, 0.7516]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3404 right_y=0.3322 right_z=0.2282 right_yaw=1.312 right_pitch=-0.6251 right_roll=-0.091 right_gripper=0.7516\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.7509, -0.0269, -0.0513, -0.0122, 0.3761, -13.7231, 4.588, 1.1697, -0.398, -0.0562, -0.0855]\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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7002, 2.2032, 2.5111, -1.5681, -0.2268, -0.8314, 0.9961]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3279 right_y=0.3329 right_z=0.2259 right_yaw=1.4835 right_pitch=-0.6278 right_roll=-0.0898 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.306, 7.3094, 1.6923, -0.0317, -0.0464, -0.0122, 0.1436, -13.9556, 5.4769, 0.8523, -0.4518, -0.0366, -0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bd6f672efccca7731ea80c1d26479639dc0150cac67b188203112eb33d78e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:368c5f093a76deb3d50fc0c9f17372b8b251b0fa4dcdda5cc4df54e4b4f48059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9ffe6f288690eb5129adf15ef8a74d1e5446842afbd249382c8855e76005b4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjAcKEAgRGAI4AUIIdGhpbmtpbmcSDHhEWKjAi6YMmhLhhBoMcRdzq8PFSooFLz1cIjDu2McUAPkgYRLmszw/5/tWWDdwtcM0WH8V1pgNiHR4TRsbCDysp4A/nknWpKhKjGUqqQa2evX5sgnHsUXIlaWX/81C2EHTwHpBeze9T7+v5tvOHjquOLUJ3hAggRkzTCejrcHo9HDOiLU6Q/pYBQ+RqtNzdZWPGJzKBV4OVAFjE5cJG5t+2DxJ9AYmx89fG9Pfd9A3qi4UZbC2ec49hzQI+i4DGadQ3iaPdlVz2M1hySyVmgwZlQBAFQ4n0oqQsrhcPfPS+PEpjySYra2+jtAWfFp2qB6o+5sV1mjovlc6rofqZ+5YUDZqK3D1HkAFuvlNvEZzkQraCai8tZkEVRI2xUROtxjMxYtEga6Pr37bqgpnXPGeLvqrw2U9S0YECkrpS7CKSjp1TKwH7Kjnkk9QKxVglvsMoMehGF3b7HSathbQ9+jky8U3b4JVZxrOSEHe8bUwEphYFpoX5i+GdLxsxFbIm0ccDCXs6q3jfrQQnG4CPI6nqLUifaA8EUDRPlmKCihe1ZtY8V1mNB/uP0KuVum5zsdauJ3UIWWFRBh6o4OLmC0GMfDNa9GeCufgeME9UHc4kokZyBev+EXV1oZBShylWvYlk6GPXtTKal3raRUHqzKOzNSSfX8Mdnxkw/u1qGVvHpTb2mK5bj8fLail1Da1pYCDufHKM9v8uv23mPG4d4eHj61hmv5DLXrINHEv6ah9ZlkdkoyrdDf8duOF8MHN+Ao4FW2QhZLpqQAaHyr+YnRcYwzYz0EoLrj91pVEkUDcCs3FF8Gxh9Sbcf0xlKsZy2zu01qqfT6SIMIPDkQl3fIbe92Nm8v3nBEXKpsStRCTiS0T9vjKH8YFyE+0jyrJ/gqneJzG5alb02gtcCbII5kUZbc+R5PWrPgnCGv92AvsB+5v5GLA6wEnPmbJjzM/OPusxP0ptIVRKyMuzh1CnKp2mMN6xn/TuYXlSjuOFUS5zkcO0aUsdOv6J09/JMBZC6dYtAHd6OkNK8wQpdKJJ2lhGXIlrzWc/fLMX88T5hk6cGKFsviN3r+mk2qLmR0h+RpG1MEJnyXGAfPkk1ap0UObRxn4lbrkDkXHJxQ4MtiHdSgrfMn9qXLTxuGNyWNN9uIBcPnqTEN+ulPo/kiQf5VlB3clVbjcehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C2Uqpvj3e5BeHXEEj7xeRD",
      "input": {
        "note": "The retreat stalled again in this awkward wrist pose. Raising and pulling the grasp point toward the base first, keeping yaw, to unstick the arm before rotating back.",
        "targets": {
          "right_x": 0.25,
          "right_z": 0.35
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01C2Uqpvj3e5BeHXEEj7xeRD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.8455, 1.9297, 2.2604, -1.5715, -0.1844, -0.6945, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.165 left_yaw=0.0055 left_pitch=-0.0637 left_roll=-0.0056 left_gripper=0.9993 right_x=0.241 right_y=0.3261 right_z=0.2651 right_yaw=1.4935 right_pitch=-0.6329 right_roll=-0.0809 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.6205, 7.0222, 1.7118, -0.0464, -0.0806, -0.0122, 0.2256, -12.465, 5.8051, 0.9841, -0.2662, 0.1441, -0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd5d3cd5e2ddb0e4c49bb524284dea56bd763b652ee77107d23174a12b8cc9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2b4b0bf2639901094ebe987bd6cf53163863e8c7d5e24a7575da0827f55766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3e2f3464620bcca3e279b0dca8859a1b2cd73da0f9372582cdcfce1601c3481",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 30.35 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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7021, 2.2124, 2.5332, -1.5452, -0.1719, -0.6643, 0.7516]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3404 right_y=0.3322 right_z=0.2282 right_yaw=1.312 right_pitch=-0.6251 right_roll=-0.091 right_gripper=0.7516\nstate[joint_eff]: [-0.0752, -1.306, 7.0085, 1.7509, -0.0269, -0.0513, -0.0122, 0.3761, -13.7231, 4.588, 1.1697, -0.398, -0.0562, -0.0855]\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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7002, 2.2032, 2.5111, -1.5681, -0.2268, -0.8314, 0.9961]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3279 right_y=0.3329 right_z=0.2259 right_yaw=1.4835 right_pitch=-0.6278 right_roll=-0.0898 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.306, 7.3094, 1.6923, -0.0317, -0.0464, -0.0122, 0.1436, -13.9556, 5.4769, 0.8523, -0.4518, -0.0366, -0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8284, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.8455, 1.9297, 2.2604, -1.5715, -0.1844, -0.6945, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.165 left_yaw=0.0055 left_pitch=-0.0637 left_roll=-0.0056 left_gripper=0.9993 right_x=0.241 right_y=0.3261 right_z=0.2651 right_yaw=1.4935 right_pitch=-0.6329 right_roll=-0.0809 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.6205, 7.0222, 1.7118, -0.0464, -0.0806, -0.0122, 0.2256, -12.465, 5.8051, 0.9841, -0.2662, 0.1441, -0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd5d3cd5e2ddb0e4c49bb524284dea56bd763b652ee77107d23174a12b8cc9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d2b4b0bf2639901094ebe987bd6cf53163863e8c7d5e24a7575da0827f55766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3e2f3464620bcca3e279b0dca8859a1b2cd73da0f9372582cdcfce1601c3481",
        "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_011JSNbckNWo8zqwRgz4hgch",
      "input": {
        "note": "The brick lies on the table right beside the pot (cable trailing from it in the overhead view). The right arm can't reach the pot, so I'm parking it back to the right and un-yawing, then will use the left arm to pick the brick and drop it in.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_011JSNbckNWo8zqwRgz4hgch",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8307, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.5343, 1.3613, 1.5505, -1.4437, 0.2058, 0.334, 0.9956]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1643 left_yaw=0.0055 left_pitch=-0.0663 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2489 right_y=0.1095 right_z=0.2444 right_yaw=0.083 right_pitch=-0.6349 right_roll=-0.0903 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.6923, -0.0464, -0.0806, -0.0171, -0.1709, -5.4906, 5.8872, 0.9548, 0.2955, 0.1343, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da26d53a512000d3b7f43f6df9ce9633ffdcda791f77ae4d7d3bd03c22ae97f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f65abd15e34a93b96868607b4c6552d5048c5038d1b091f7aaaef582c7e497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af210acbed8652ee7903171a4f08ea77fbca820b485cf32d285eaca4e4b944b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 10.89 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]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.7002, 2.2032, 2.5111, -1.5681, -0.2268, -0.8314, 0.9961]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0055 left_pitch=-0.0606 left_roll=-0.0056 left_gripper=0.9993 right_x=0.3279 right_y=0.3329 right_z=0.2259 right_yaw=1.4835 right_pitch=-0.6278 right_roll=-0.0898 right_gripper=0.9961\nstate[joint_eff]: [-0.0068, -1.306, 7.3094, 1.6923, -0.0317, -0.0464, -0.0122, 0.1436, -13.9556, 5.4769, 0.8523, -0.4518, -0.0366, -0.398]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8284, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.8455, 1.9297, 2.2604, -1.5715, -0.1844, -0.6945, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.165 left_yaw=0.0055 left_pitch=-0.0637 left_roll=-0.0056 left_gripper=0.9993 right_x=0.241 right_y=0.3261 right_z=0.2651 right_yaw=1.4935 right_pitch=-0.6329 right_roll=-0.0809 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.6205, 7.0222, 1.7118, -0.0464, -0.0806, -0.0122, 0.2256, -12.465, 5.8051, 0.9841, -0.2662, 0.1441, -0.0562]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8307, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.5343, 1.3613, 1.5505, -1.4437, 0.2058, 0.334, 0.9956]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1643 left_yaw=0.0055 left_pitch=-0.0663 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2489 right_y=0.1095 right_z=0.2444 right_yaw=0.083 right_pitch=-0.6349 right_roll=-0.0903 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.6923, -0.0464, -0.0806, -0.0171, -0.1709, -5.4906, 5.8872, 0.9548, 0.2955, 0.1343, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da26d53a512000d3b7f43f6df9ce9633ffdcda791f77ae4d7d3bd03c22ae97f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76f65abd15e34a93b96868607b4c6552d5048c5038d1b091f7aaaef582c7e497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af210acbed8652ee7903171a4f08ea77fbca820b485cf32d285eaca4e4b944b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014N9gdbYMLVjURy7e2CWsLT",
      "input": {
        "note": "Overhead view is clear now: the brick lies just right of the pot at roughly right (0.41, 0.24), too far for the left arm's reach. Flying the right gripper above it to re-grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.41,
          "right_y": 0.24,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014N9gdbYMLVjURy7e2CWsLT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4164, -0.0227, -0.0498, 0.9993, 0.609, 2.0323, 1.7782, -1.0489, 0.2287, 0.3752, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1634 left_yaw=0.0055 left_pitch=-0.0698 left_roll=-0.0054 left_gripper=0.9993 right_x=0.393 right_y=0.2297 right_z=0.1115 right_yaw=0.0917 right_pitch=-0.6651 right_roll=-0.125 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6752, 7.1043, 1.6825, -0.0366, -0.0366, -0.0122, 0.3624, -11.1795, 8.5675, 0.7204, 0.3443, 0.2125, -0.4029]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9028d1cdacf71470e152b3372c6af4ab0fdbe3976a60c90d7ac3a022996108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa51903c14073d0110e342ac0711c04c8fb4b357c870eb0415e4a66a66fb20b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3aaeaacdb0b835128a5307bb2bda994888a40b35c80a073ed40bf9cb86fa481e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.872 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]: [-0.0196, 0.8284, 0.6075, -0.4152, -0.0227, -0.0498, 0.9993, 0.8455, 1.9297, 2.2604, -1.5715, -0.1844, -0.6945, 0.9957]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.165 left_yaw=0.0055 left_pitch=-0.0637 left_roll=-0.0056 left_gripper=0.9993 right_x=0.241 right_y=0.3261 right_z=0.2651 right_yaw=1.4935 right_pitch=-0.6329 right_roll=-0.0809 right_gripper=0.9957\nstate[joint_eff]: [-0.0615, -1.6205, 7.0222, 1.7118, -0.0464, -0.0806, -0.0122, 0.2256, -12.465, 5.8051, 0.9841, -0.2662, 0.1441, -0.0562]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0196, 0.8307, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.5343, 1.3613, 1.5505, -1.4437, 0.2058, 0.334, 0.9956]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1643 left_yaw=0.0055 left_pitch=-0.0663 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2489 right_y=0.1095 right_z=0.2444 right_yaw=0.083 right_pitch=-0.6349 right_roll=-0.0903 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.6923, -0.0464, -0.0806, -0.0171, -0.1709, -5.4906, 5.8872, 0.9548, 0.2955, 0.1343, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4164, -0.0227, -0.0498, 0.9993, 0.609, 2.0323, 1.7782, -1.0489, 0.2287, 0.3752, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1634 left_yaw=0.0055 left_pitch=-0.0698 left_roll=-0.0054 left_gripper=0.9993 right_x=0.393 right_y=0.2297 right_z=0.1115 right_yaw=0.0917 right_pitch=-0.6651 right_roll=-0.125 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6752, 7.1043, 1.6825, -0.0366, -0.0366, -0.0122, 0.3624, -11.1795, 8.5675, 0.7204, 0.3443, 0.2125, -0.4029]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f9028d1cdacf71470e152b3372c6af4ab0fdbe3976a60c90d7ac3a022996108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa51903c14073d0110e342ac0711c04c8fb4b357c870eb0415e4a66a66fb20b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3aaeaacdb0b835128a5307bb2bda994888a40b35c80a073ed40bf9cb86fa481e",
        "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_01LXkN5wrXWrgNwsa6DEcZSt",
      "input": {
        "note": "The brick shows ahead-left of the jaws in the wrist camera, but the wrist is still pitched back at -0.66 which skews the view. Commanding pitch back to 0 while shifting ~3 cm forward and left to line up over the brick.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.27,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01LXkN5wrXWrgNwsa6DEcZSt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6075, -0.4267, -0.0227, -0.0498, 0.9993, 0.7326, 1.9434, 1.2327, -0.0677, 0.5598, 0.2829, 0.9957]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1602 left_yaw=0.0055 left_pitch=-0.0846 left_roll=-0.005 left_gripper=0.9993 right_x=0.4302 right_y=0.2657 right_z=0.0894 right_yaw=0.1106 right_pitch=-0.0788 right_roll=-0.1447 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.7436, 6.9812, 1.7363, -0.0855, -0.0513, -0.0122, 0.4718, -9.0462, 6.5709, 1.8242, 0.3883, -0.0122, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25eaf48e45b2c1e80a00e734b16d361e0a76bd9896f23a4f2f3b3c1328bd43b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40de017a86526eaaa9a8bcfe7767137d9af7b728a825daa94e33f3ecf8f62a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40fd2560f3b49c077dc41f1384805afc869c628dab456742f67f6ad40d753e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.197 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]: [-0.0196, 0.8307, 0.6075, -0.4156, -0.0227, -0.0498, 0.9993, 0.5343, 1.3613, 1.5505, -1.4437, 0.2058, 0.334, 0.9956]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1643 left_yaw=0.0055 left_pitch=-0.0663 left_roll=-0.0055 left_gripper=0.9993 right_x=0.2489 right_y=0.1095 right_z=0.2444 right_yaw=0.083 right_pitch=-0.6349 right_roll=-0.0903 right_gripper=0.9956\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.6923, -0.0464, -0.0806, -0.0171, -0.1709, -5.4906, 5.8872, 0.9548, 0.2955, 0.1343, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0196, 0.8333, 0.6075, -0.4164, -0.0227, -0.0498, 0.9993, 0.609, 2.0323, 1.7782, -1.0489, 0.2287, 0.3752, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1634 left_yaw=0.0055 left_pitch=-0.0698 left_roll=-0.0054 left_gripper=0.9993 right_x=0.393 right_y=0.2297 right_z=0.1115 right_yaw=0.0917 right_pitch=-0.6651 right_roll=-0.125 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6752, 7.1043, 1.6825, -0.0366, -0.0366, -0.0122, 0.3624, -11.1795, 8.5675, 0.7204, 0.3443, 0.2125, -0.4029]",
      "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]: [-0.0196, 0.8379, 0.6075, -0.4267, -0.0227, -0.0498, 0.9993, 0.7326, 1.9434, 1.2327, -0.0677, 0.5598, 0.2829, 0.9957]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1602 left_yaw=0.0055 left_pitch=-0.0846 left_roll=-0.005 left_gripper=0.9993 right_x=0.4302 right_y=0.2657 right_z=0.0894 right_yaw=0.1106 right_pitch=-0.0788 right_roll=-0.1447 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.7436, 6.9812, 1.7363, -0.0855, -0.0513, -0.0122, 0.4718, -9.0462, 6.5709, 1.8242, 0.3883, -0.0122, -0.0659]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25eaf48e45b2c1e80a00e734b16d361e0a76bd9896f23a4f2f3b3c1328bd43b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c40de017a86526eaaa9a8bcfe7767137d9af7b728a825daa94e33f3ecf8f62a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40fd2560f3b49c077dc41f1384805afc869c628dab456742f67f6ad40d753e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQkKEAgRGAI4AUIIdGhpbmtpbmcSDByO+K1HcCIoQi+yLhoMF+wc4W7jXSae1q9EIjBa/JjIsmwIATlWEqVil+lu/vu2rv8QHlphxEnjIcSI8ftyFsq1Ls9TPu6h7rZw0dIqqghFRjlLRaXzBo+0x5IQ2NCLI80wcqr6yXTnghSmn35ziSoQp7iychhVVv080Yd9BnL8dbVm1kC83AxmYeI8fyaOE2Q64sIXo5t1WcTCeIDvJ0+FrlEXaF+F1VchTf2gv4ujKXAdwl+ZZF0JwcLRWf85Kq6TATG3mDo4VZjfzuP8i9Vn0sWJxxHD9Po9XxILGZzG5yivFMrVedI/QRiuFUaO3m0zZElk6mH22BWRKN5mo0w3SirvX7A1PNL9kLAulAxwqW3/lpWzCPKsRLGQn+mcT0cSiZE5weiFiLw4OUlT9QN8gGJrpl1JdGFJxx1Xm16dtLIXtiebUyMWwZM1awZW18mre0uFuyX8rBgwy0rtH5evSrv0/72yCDp/G1qL67wwrDgnBKT9qZEZEUgMvC8UTaWYo/FgvhX4QJ79OgJwd34aP6zbK+Sv+ZkXudrroYEldjBwXNWytc0i6TBDi0I4Ds1y7rwQvRBpdmsLinFoaqn9b5fefjmlH3QJB8q3ZLGSMGTCFxrhQA7ek1omTp/821YRLZXYNQ1emsW+s760sdklN9e2G8QjewmmPaVXRUkiULT2yq/EwUqw9Y7EkjUERqWa/e/+KW6qoLIGP8y8kLzUJkgSoN3/pOg5v3V66Cex1J2aNYXPeT6HVq9gUu+2wNqO6/NEteugtO7U6y3HbdDkqCFzhQdhs35rUhiXQuQI70dM7JS4rlLvgUuX7R5yqEAb6PvOI/XiUawSZ11MSJHeG67tieh/acSh5g9CqwuH0yv/XqB0HOxxOaKyvuNCafyrCniwhm17xxShnm7kMxU/AQQfeV3GmOntJo0D76PRAkkgsD65uuzpiXKrPpqkVkowRMfwYJpVa+iQWEXCvMZSDAgTnwLflg8WzURTCha/p+thiG0ivSc2fw+9/HfGlSzx9tGZ57jM+rp+7+9Fz0lEUT9dOYWCiZ/HW/qIvPV7zLbp46s4c7lBdb50+nuPDstf52WOy9e2+bxCCGvILVB5riaa3LX08DyBxy7hZqmPt1XvBOOlQSJBh9h4ZFPNZlmbNC2jqZ82OPunNSyVpUJ0H4gUn231MqKUKRmKt3OVdrqkMPSlppcyFRCF4lH/SuU8T+4kCCR5glhhELugOfzaWaj+ccY94IRT1JOtVQL3aaHzr9RYYK96qTGfFH/4TJ3ynpFtzZhLjsf4TNzL/vrg8h8zF285SqNipCBFXR/Qx6K6esqIkBsE5QxnOTWMeBCa/chrHGwv61t/82bHkXfujjKve76sPHaG4wXbtenCA2CfixNRXTbeXsFUyDkE2ClQY3cyU7YZCKfGJvGjHfvupPa36y1HJ8U+nYGmsDCua9Oq1+EdBYzEUCs5YKjMJ7FcLTKXfkhAZQ6FIPbU0M6k6AjFV2QRK9ublMRv89GfzOVLtvaQdKTxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wmuxes6xoMRsPFzUJDXpgD",
      "input": {
        "note": "The brick now lies between the jaws in the wrist view, slightly left of the jaw column, with the pot wall just beyond it. Descending to table level with a small leftward correction before closing.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.28,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Wmuxes6xoMRsPFzUJDXpgD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.4335, -0.0227, -0.0498, 0.9993, 0.7528, 2.1609, 1.1656, 0.2184, 0.5705, 0.2993, 0.9956]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1587 left_yaw=0.0056 left_pitch=-0.0919 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4325 right_y=0.2794 right_z=0.0053 right_yaw=0.1141 right_pitch=-0.0719 right_roll=-0.1367 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4838, 7.0085, 1.7314, -0.0366, -0.0659, -0.0122, 0.5675, -8.3897, 5.2855, 0.9695, 0.2466, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37e9eb5b5b153d2ef5bb4b9f64b44b927bcb5fdf4f86c79a8ccd986f0fde197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ee759c7123370060ac442e25af61569d0ee275d099e4414bd93c166733d267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8f8b8c68f90eab100090f5bb0e07115887012dc802320c7c78997c3f9055553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.727 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]: [-0.0196, 0.8333, 0.6075, -0.4164, -0.0227, -0.0498, 0.9993, 0.609, 2.0323, 1.7782, -1.0489, 0.2287, 0.3752, 0.9963]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1634 left_yaw=0.0055 left_pitch=-0.0698 left_roll=-0.0054 left_gripper=0.9993 right_x=0.393 right_y=0.2297 right_z=0.1115 right_yaw=0.0917 right_pitch=-0.6651 right_roll=-0.125 right_gripper=0.9963\nstate[joint_eff]: [-0.1846, -1.6752, 7.1043, 1.6825, -0.0366, -0.0366, -0.0122, 0.3624, -11.1795, 8.5675, 0.7204, 0.3443, 0.2125, -0.4029]",
      "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]: [-0.0196, 0.8379, 0.6075, -0.4267, -0.0227, -0.0498, 0.9993, 0.7326, 1.9434, 1.2327, -0.0677, 0.5598, 0.2829, 0.9957]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1602 left_yaw=0.0055 left_pitch=-0.0846 left_roll=-0.005 left_gripper=0.9993 right_x=0.4302 right_y=0.2657 right_z=0.0894 right_yaw=0.1106 right_pitch=-0.0788 right_roll=-0.1447 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.7436, 6.9812, 1.7363, -0.0855, -0.0513, -0.0122, 0.4718, -9.0462, 6.5709, 1.8242, 0.3883, -0.0122, -0.0659]",
      "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]: [-0.0196, 0.8383, 0.6075, -0.4335, -0.0227, -0.0498, 0.9993, 0.7528, 2.1609, 1.1656, 0.2184, 0.5705, 0.2993, 0.9956]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1587 left_yaw=0.0056 left_pitch=-0.0919 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4325 right_y=0.2794 right_z=0.0053 right_yaw=0.1141 right_pitch=-0.0719 right_roll=-0.1367 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4838, 7.0085, 1.7314, -0.0366, -0.0659, -0.0122, 0.5675, -8.3897, 5.2855, 0.9695, 0.2466, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37e9eb5b5b153d2ef5bb4b9f64b44b927bcb5fdf4f86c79a8ccd986f0fde197",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ee759c7123370060ac442e25af61569d0ee275d099e4414bd93c166733d267",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8f8b8c68f90eab100090f5bb0e07115887012dc802320c7c78997c3f9055553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TGXqGxjAvxuaVGFQhrqRSs",
      "input": {
        "note": "At z≈0 the brick fills the space between the jaws in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TGXqGxjAvxuaVGFQhrqRSs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.4343, -0.0227, -0.0498, 0.9993, 0.7525, 2.1708, 1.1648, 0.2481, 0.5678, 0.2947, 0.7459]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1586 left_yaw=0.0056 left_pitch=-0.0926 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4348 right_y=0.2819 right_z=0.0047 right_yaw=0.1189 right_pitch=-0.058 right_roll=-0.1275 right_gripper=0.7459\nstate[joint_eff]: [-0.0752, -1.4838, 6.9812, 1.6337, -0.0464, -0.0611, -0.0122, 0.0479, -12.1504, 5.4906, 1.2088, 0.2173, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a15b94ecab0f82cc5862db448c799b26d271577e1726b14ff2e1cfd68bee6257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e7bae2ab6b6b072b0a7d314e8698c56f4ab6a3830748e7ad349fe7217a9278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1daf52cce2f08ea562a6427c327d816364ae9d0db880a30de86ee5f949c68a64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 10.69 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]: [-0.0196, 0.8379, 0.6075, -0.4267, -0.0227, -0.0498, 0.9993, 0.7326, 1.9434, 1.2327, -0.0677, 0.5598, 0.2829, 0.9957]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1602 left_yaw=0.0055 left_pitch=-0.0846 left_roll=-0.005 left_gripper=0.9993 right_x=0.4302 right_y=0.2657 right_z=0.0894 right_yaw=0.1106 right_pitch=-0.0788 right_roll=-0.1447 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.7436, 6.9812, 1.7363, -0.0855, -0.0513, -0.0122, 0.4718, -9.0462, 6.5709, 1.8242, 0.3883, -0.0122, -0.0659]",
      "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]: [-0.0196, 0.8383, 0.6075, -0.4335, -0.0227, -0.0498, 0.9993, 0.7528, 2.1609, 1.1656, 0.2184, 0.5705, 0.2993, 0.9956]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1587 left_yaw=0.0056 left_pitch=-0.0919 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4325 right_y=0.2794 right_z=0.0053 right_yaw=0.1141 right_pitch=-0.0719 right_roll=-0.1367 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4838, 7.0085, 1.7314, -0.0366, -0.0659, -0.0122, 0.5675, -8.3897, 5.2855, 0.9695, 0.2466, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8383, 0.6075, -0.4343, -0.0227, -0.0498, 0.9993, 0.7525, 2.1708, 1.1648, 0.2481, 0.5678, 0.2947, 0.7459]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1586 left_yaw=0.0056 left_pitch=-0.0926 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4348 right_y=0.2819 right_z=0.0047 right_yaw=0.1189 right_pitch=-0.058 right_roll=-0.1275 right_gripper=0.7459\nstate[joint_eff]: [-0.0752, -1.4838, 6.9812, 1.6337, -0.0464, -0.0611, -0.0122, 0.0479, -12.1504, 5.4906, 1.2088, 0.2173, -0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a15b94ecab0f82cc5862db448c799b26d271577e1726b14ff2e1cfd68bee6257",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e7bae2ab6b6b072b0a7d314e8698c56f4ab6a3830748e7ad349fe7217a9278",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1daf52cce2f08ea562a6427c327d816364ae9d0db880a30de86ee5f949c68a64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQcKEAgRGAI4AUIIdGhpbmtpbmcSDMWVaYX/yeqFeo0vaxoMpqNhXoNYETua9Bw7IjB+xoafdxe7QE0vd9HlWXRjc9jRiKyFslxS72QiBgS9ZPQjlLg5EOK21laFsUrqJcsqygZ36rzyIX9V/Z8fyO5vgH8ueHjLmN/aCpk1Cgz9/BJehcKfNB8plj1fediqvDtV56Bz4FcJeMuCGsBfrGqj07eBog7V4zP+9Hi0cSCwyjgEN52GCQgqOIfP9gEi+Aq1xyhMKl7yftXTxinj7Hmod+GOVrHjNnxMI2MpPSoy45XaQsuWyyO4T3KQnf+yddmx1PHLEpfnFk5LDk/u+pRuTUwdtSrbxss5YAcYhYD/P3si6LZw+6nuV/rwPbXtN6EU59ImsCxzpMta+5dlh0Exaln2aJ2BrHovRNkxoGEWbIJQivuP4HuSUSnB1bI1DyfMABduxQGDzS8bTYR/aXjmi5DkOI4Sj8zFvjBiBiPAWyCfAzqjwuGk110sPquRheZYBXNKuLwl7JEpFnVC3H3Y80SwNuF7jnYCiMF9pmxKG3h6RdUwpzc8jxkzbFMGxD1fqI3Xu8ucIgQHvEiBscHLQa6WT8rPp4kOw6KiRjd/KCzYRBuQBc4kOoYaIuTEDe996mmJwzWAgjP1icXH0Zp6R8ybtqAKZs17jGcbf1tIkENSVk6ZZQg/swwOBgSqHEvMftMHXCXv0m+EkbijQIs5kncgYbF86mhu2tLhCFh3lYEGkwEUwEDST4g1b7RSqlW8aWU9n229OM/2nvg4XvZm0ruJpkZUMr9toYXz2iYPnMIATpWRhoRS0BDu0EVh1WhROQQMrrbJnm+HAbhotXq7ujXTmBrHHzHqgfFG8JEpVgrPVTVIvfS/fXGClDOA/k7sjWIvTU+DYtma8a2Fa8TFBkfacyCjMHU4uM72aB7J9iVD3SvVHc55VccD835cyZzBk+n1V5O3Ngv1tuqAEA1aNQ83gMel9yZRHPz/M7cS4DSdd4nf/28d/gMTaF7h3IfjYtlZgf4JVTamq3+Eb3tsS6+QI/um9RaqzFEOPdCm5jxAQ1TwbVnN/TaVrCnbxrG6rzqOayc4wYKqEuvfUoZfrG4Rm4K+GJ4QKY5W8C6bYsqOGwh899iahG14kC2f9HTNzByc8hIMJY0t+jJsteaSkT+R5z4LhZpPUmkWvSeQxAdHfzxbzp/pJ68K8icgPwFn9QDA4dJHvzDSXasKohHy8T0NkHFzoOSv5i69HxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147XBVXW8ct3P3VcEnmmnwf",
      "input": {
        "note": "Grasp confirmed (gripper 0.75, brick between the jaws). Lifting high and pulling back to a comfortable pose before rotating the brick to point left over the pot.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.25,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_0147XBVXW8ct3P3VcEnmmnwf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4347, -0.0227, -0.0498, 0.9993, 0.9047, 1.6096, 1.4273, -0.7712, 0.6197, 0.4057, 0.7507]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1581 left_yaw=0.0056 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3287 right_y=0.2579 right_z=0.2161 right_yaw=0.1595 right_pitch=-0.1744 right_roll=-0.1964 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.6479, 7.159, 1.6484, -0.0317, -0.0708, -0.0122, 0.4171, -12.3556, 10.9607, 1.7314, 0.7497, 0.232, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c921d45dc84ada6667ca73e2cceffc470b94e5772bdfb4c136dfe85845cf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a70fbcfe1c219687631e710c6400a5ae0db9209f6b474aa4ecb39a67ae3bb7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86ec87a32d34f0dfcc87b91b511c3229c087306d0f2c695c5c5d123c094ed71e",
        "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 · 4.721 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]: [-0.0196, 0.8383, 0.6075, -0.4335, -0.0227, -0.0498, 0.9993, 0.7528, 2.1609, 1.1656, 0.2184, 0.5705, 0.2993, 0.9956]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1587 left_yaw=0.0056 left_pitch=-0.0919 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4325 right_y=0.2794 right_z=0.0053 right_yaw=0.1141 right_pitch=-0.0719 right_roll=-0.1367 right_gripper=0.9956\nstate[joint_eff]: [-0.0068, -1.4838, 7.0085, 1.7314, -0.0366, -0.0659, -0.0122, 0.5675, -8.3897, 5.2855, 0.9695, 0.2466, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8383, 0.6075, -0.4343, -0.0227, -0.0498, 0.9993, 0.7525, 2.1708, 1.1648, 0.2481, 0.5678, 0.2947, 0.7459]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1586 left_yaw=0.0056 left_pitch=-0.0926 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4348 right_y=0.2819 right_z=0.0047 right_yaw=0.1189 right_pitch=-0.058 right_roll=-0.1275 right_gripper=0.7459\nstate[joint_eff]: [-0.0752, -1.4838, 6.9812, 1.6337, -0.0464, -0.0611, -0.0122, 0.0479, -12.1504, 5.4906, 1.2088, 0.2173, -0.0024, 1.0281]",
      "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]: [-0.0196, 0.8398, 0.6075, -0.4347, -0.0227, -0.0498, 0.9993, 0.9047, 1.6096, 1.4273, -0.7712, 0.6197, 0.4057, 0.7507]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1581 left_yaw=0.0056 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3287 right_y=0.2579 right_z=0.2161 right_yaw=0.1595 right_pitch=-0.1744 right_roll=-0.1964 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.6479, 7.159, 1.6484, -0.0317, -0.0708, -0.0122, 0.4171, -12.3556, 10.9607, 1.7314, 0.7497, 0.232, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08c921d45dc84ada6667ca73e2cceffc470b94e5772bdfb4c136dfe85845cf8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a70fbcfe1c219687631e710c6400a5ae0db9209f6b474aa4ecb39a67ae3bb7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86ec87a32d34f0dfcc87b91b511c3229c087306d0f2c695c5c5d123c094ed71e",
        "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/AgKEAgRGAI4AUIIdGhpbmtpbmcSDB7cPJk53RQtvr5qLxoMncRiT06s/6IYPfXcIjC1qej0KJ+9V1o/dx+WOdE+D2/x1bowoDpLpZ76q1gODN61jBiw/CDbEOsW6ExznfoqmQh4y9Gqaiows4Of4t+0v4BmSNqouGT2IzPiM8oJQ47XLqqQVNfUUwh55grsRfpx3h4zoL342u0ihHQlhkG6j8bxzagv+eUOT69zoKWfdST7f2VueeFKHsZBJMHwSLobMTYdAJMzyV3dKEOUnjy1dSlDgL98tehsCLn+Ff5jBnEX/dGl+PY8uznZjBChLE1iaA9dzY0TF0ryLvvACPoktWqhfE95SYaw5+/KP5YCiHKcdYO8Rq27JxPvNc3NPfXg0hoP/dfj0g9vgvEa7FneynI0LGZVx1yoaENQVOwJAomw6K++eXaM/F3Q/g2n20spxVZbp27G3cNLL3LJEcLBohqBHAzxbjnu6jqQWsFnb+N5DWVy/lEFLInEZHzVlwJWcStsAB1A9Pnq/tJ1rDrXiBAKiHOReG2RbVHjoQlae4yOL8TevBTqCcfYSsGRfzYOQZGjwSGHlUCmdkx65jbw8RmpUDMlRJkOhUTUyCS/alas3OY2cQaHohTvw4yXamd2tTg+XoslFBl88gQJzZ/tWIWzPYIKFhj9niM7NTMw+XdpLshTAk04prQiiyQvIh2DY4+vDM55WZZzArcXZEDAjaaJSFpZ6Bl4Muce8M4YYFlrgNsVnihTToXEwTGNJGKg3KE9KRffNJpTPsBVz7ELxazVxjFvEI64uMNnrUL2fyV5X9HyFD/nvgFJ3K+h3t63+zqHcrcqTIuensmMKYtYKYQ+3ak35APTy+E2FwAaE9EfRjdtZcm/I8V4iec17VE07LCVd0yCoqkPQN535Sr06yxYcBnpN7NmLbssk1Z3TvMUWL2PpbSzCiSmWdQd6bgNWRG1dEzTvnoFQWO+MjJyYxinFMDClPMgEYX5WuFBndx2UMP0VIXd/xfYKH/SQqH951vMsWScVkI1x46LjbEXo7NQKoy4rRKAipjWXtfI2iGiM0UVmMTAKR2k78sLtbWM31q7zkiV45sdIP7XLNpTt6dz+oei8c/bjUiyWHXTXqdh08q9ssE/ADps3EU7M3G8RkgBhHtCZtlXpkpeSUr4qZDGpbMUDhV+VSPruIRHOXc1xzg2v4ZvkYd5/yGrPK8gTFunFILKgfBAsaViUPgljUaTlTcq6zdP303lGOL09HWKREUBwpuM1fjEn9fnkSLe/hfGAOXvCDXCAtQJsXhTB9KM1XNTY+R0/R3KaJfJOpeTKv1oVKqZndS/EeHUrlWWPbfbdtxowkYk7/tgyyMXblxarkYSe58urUGikpJugtVzWzSdPO+6aLon5p+8Pk0NgOUGgbVxQnN4j7m+8BHM9YZ97tqIpbD8vYW5wpGpp7w7WJ0JcXP7LO7xo0gU1H1wPe3M8DhCTlFGT9fxAXbpYKl2P5muGsVRI6lzXJ1XOcIA0jlGFoB03mUNmxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MAmBKgGieqY6TA4gjZkHuA",
      "input": {
        "note": "Brick is securely held, protruding forward from the jaws with the pot to its left. Raising higher and starting the counterclockwise yaw so the brick will point over the pot.",
        "targets": {
          "right_yaw": 0.8,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MAmBKgGieqY6TA4gjZkHuA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4412, -0.0227, -0.0498, 0.9993, 0.6743, 1.5486, 1.6371, -0.9485, 0.1032, -0.1749, 0.7536]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1568 left_yaw=0.0056 left_pitch=-0.101 left_roll=-0.0046 left_gripper=0.9993 right_x=0.332 right_y=0.2466 right_z=0.2712 right_yaw=0.6731 right_pitch=-0.3024 right_roll=-0.1867 right_gripper=0.7536\nstate[joint_eff]: [-0.1846, -1.5111, 7.1316, 1.7021, -0.0806, -0.0317, -0.0122, -0.212, -9.4564, 10.4957, 1.7314, -0.1197, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e435e79a7194d7cf09057d8571e4a66cc7b67d67be7921627843ff7eccc930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f85d52709cfade1ec2337cd0aeb3680456844c9d2869d5dcc508438081260bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66701ba3ceedf28e969e56234c632ff06ebe2185288aa29f2b3bdddd0c342525",
        "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 · 11.54 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]: [-0.0196, 0.8383, 0.6075, -0.4343, -0.0227, -0.0498, 0.9993, 0.7525, 2.1708, 1.1648, 0.2481, 0.5678, 0.2947, 0.7459]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1586 left_yaw=0.0056 left_pitch=-0.0926 left_roll=-0.0048 left_gripper=0.9993 right_x=0.4348 right_y=0.2819 right_z=0.0047 right_yaw=0.1189 right_pitch=-0.058 right_roll=-0.1275 right_gripper=0.7459\nstate[joint_eff]: [-0.0752, -1.4838, 6.9812, 1.6337, -0.0464, -0.0611, -0.0122, 0.0479, -12.1504, 5.4906, 1.2088, 0.2173, -0.0024, 1.0281]",
      "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]: [-0.0196, 0.8398, 0.6075, -0.4347, -0.0227, -0.0498, 0.9993, 0.9047, 1.6096, 1.4273, -0.7712, 0.6197, 0.4057, 0.7507]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1581 left_yaw=0.0056 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3287 right_y=0.2579 right_z=0.2161 right_yaw=0.1595 right_pitch=-0.1744 right_roll=-0.1964 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.6479, 7.159, 1.6484, -0.0317, -0.0708, -0.0122, 0.4171, -12.3556, 10.9607, 1.7314, 0.7497, 0.232, 1.0281]\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 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6075, -0.4412, -0.0227, -0.0498, 0.9993, 0.6743, 1.5486, 1.6371, -0.9485, 0.1032, -0.1749, 0.7536]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1568 left_yaw=0.0056 left_pitch=-0.101 left_roll=-0.0046 left_gripper=0.9993 right_x=0.332 right_y=0.2466 right_z=0.2712 right_yaw=0.6731 right_pitch=-0.3024 right_roll=-0.1867 right_gripper=0.7536\nstate[joint_eff]: [-0.1846, -1.5111, 7.1316, 1.7021, -0.0806, -0.0317, -0.0122, -0.212, -9.4564, 10.4957, 1.7314, -0.1197, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95e435e79a7194d7cf09057d8571e4a66cc7b67d67be7921627843ff7eccc930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f85d52709cfade1ec2337cd0aeb3680456844c9d2869d5dcc508438081260bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66701ba3ceedf28e969e56234c632ff06ebe2185288aa29f2b3bdddd0c342525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXAfmWWdhRZH4TFi28udsw",
      "input": {
        "note": "Yaw is at 0.67 and the brick is still held, now angled toward the pot. Completing the rotation to ~90° so the brick points left over the pot opening.",
        "targets": {
          "right_yaw": 1.5,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HXAfmWWdhRZH4TFi28udsw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.844, 0.6075, -0.4446, -0.0227, -0.0498, 0.9993, 0.4118, 1.8595, 2.1689, -1.393, -0.4122, -0.9051, 0.7536]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.155 left_yaw=0.0056 left_pitch=-0.1087 left_roll=-0.0044 left_gripper=0.9993 right_x=0.354 right_y=0.2358 right_z=0.292 right_yaw=1.3036 right_pitch=-0.3878 right_roll=-0.1489 right_gripper=0.7536\nstate[joint_eff]: [-0.0615, -1.6889, 7.1726, 1.746, -0.0366, -0.0611, -0.0122, -0.3214, -9.812, 7.9111, 0.9499, -0.4811, -0.0611, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3502b3d61d9dae252a289d8be8d55a88495ca016870119554f5460aef3d7b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b55d6deb37b63cd3581abb3c9214c2d433eca4d721a43b372ae13fe710cf718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7df09d786e678e1631d61bdaecc7c168ac2067d93754439c00337f1409a1863c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 18.8 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]: [-0.0196, 0.8398, 0.6075, -0.4347, -0.0227, -0.0498, 0.9993, 0.9047, 1.6096, 1.4273, -0.7712, 0.6197, 0.4057, 0.7507]\nstate[eef_state]: left_x=0.29 left_y=0.0019 left_z=0.1581 left_yaw=0.0056 left_pitch=-0.0945 left_roll=-0.0048 left_gripper=0.9993 right_x=0.3287 right_y=0.2579 right_z=0.2161 right_yaw=0.1595 right_pitch=-0.1744 right_roll=-0.1964 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.6479, 7.159, 1.6484, -0.0317, -0.0708, -0.0122, 0.4171, -12.3556, 10.9607, 1.7314, 0.7497, 0.232, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0196, 0.8398, 0.6075, -0.4412, -0.0227, -0.0498, 0.9993, 0.6743, 1.5486, 1.6371, -0.9485, 0.1032, -0.1749, 0.7536]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1568 left_yaw=0.0056 left_pitch=-0.101 left_roll=-0.0046 left_gripper=0.9993 right_x=0.332 right_y=0.2466 right_z=0.2712 right_yaw=0.6731 right_pitch=-0.3024 right_roll=-0.1867 right_gripper=0.7536\nstate[joint_eff]: [-0.1846, -1.5111, 7.1316, 1.7021, -0.0806, -0.0317, -0.0122, -0.212, -9.4564, 10.4957, 1.7314, -0.1197, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.844, 0.6075, -0.4446, -0.0227, -0.0498, 0.9993, 0.4118, 1.8595, 2.1689, -1.393, -0.4122, -0.9051, 0.7536]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.155 left_yaw=0.0056 left_pitch=-0.1087 left_roll=-0.0044 left_gripper=0.9993 right_x=0.354 right_y=0.2358 right_z=0.292 right_yaw=1.3036 right_pitch=-0.3878 right_roll=-0.1489 right_gripper=0.7536\nstate[joint_eff]: [-0.0615, -1.6889, 7.1726, 1.746, -0.0366, -0.0611, -0.0122, -0.3214, -9.812, 7.9111, 0.9499, -0.4811, -0.0611, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3502b3d61d9dae252a289d8be8d55a88495ca016870119554f5460aef3d7b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b55d6deb37b63cd3581abb3c9214c2d433eca4d721a43b372ae13fe710cf718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7df09d786e678e1631d61bdaecc7c168ac2067d93754439c00337f1409a1863c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwkKEAgRGAI4AUIIdGhpbmtpbmcSDL5b0d5KwBsgcYyaThoMo/OQLZAB4Wb6v+gUIjDIaQ4B3D1HDyDhKHWgXk2OLzCV7UKrIiO6BNRuEMH7qIqDXuy+SaU2+OE9HKsF7FIqvAjlti3m6Y4Ld3WSmqQ99kOI58UnSlSbnfg2Hx5siucTfc0VMh6hCw3HXOY5ojCtBQeix4tDtjWP2va4/bJo5uIiDFwaSq9NkIbDACQQJ95kFc4KK/HZV5N6JS77CP1a1V2B7tmDK8/PHcyHpdgXS+P48t3ze8VyghfWr6DeBsemmmgw6kCnfscti5zBImCGzxms0auANnd1SCYIkC6f0rVD2C0HAncM30gqpzdUOlWUmpb4LWPFPPFf6typTV79GC3MTHnU6c8d1Niqe4z83R+UI51781K8mW/0Ni03AghxbH2wTPIFZMlr8MGtaUaQOl82f/Ceyg14wYLd+eEXGWwSZDpC0oIUdVyR2cW2Ekm3jmmrGOa4QjZ55BfQDzCc3wWNLyQO5CJ+JaW+dkCU6YndzL/fG2e6CTKJ1AjKhcN3o16aGMAFOkpAbz7sLoSll6O5LMKE1wlLGZyORR5fQ0dEDNweVcbj5DW26i8UqIaSaYhGByDzDr6ADFC7kZ9KZFM78DFwiktfpuOBmglklvpxNyLiUvihEQXVzpthnVnwV0ryijqMsFg8jmMVlqTrQy02Ao0EVbQLsz1XdrAiqRroDF9ZHRa19iMJ/EiBgL9XRKbSEyIP+0b3YfHsSujXsuNZ2toHh4TUCxuVcNbh8sY2oyDJ625DBk626RrNCKMIzDX9cMjiMf8Ijgcir+RWMLdJwKqV+v/54E+XHfk7pzK0junWdDVT4mHEYHHxDemlNs3asarFGbS9FjGb0FA1Lu2Tm64lpVSGSTG6xX0iyb5QT8y/P2ScKhLb9Lp1t7lf3PKKZmc+5WMdj46rCyIAxyRnnY/W4nA/26h+KB24ecvjbdwg4LQv9ZSVRMyay7BAmG19R3cRfAm+qkTP0xNFRkqhn6TDi7m47mL46XddrsoWC4dJ+vRqY+5DUA4cYte3xWS2hTELs6TKrgIN3gPxT9ZeUTTa8Zu6zYEfgzP3VYhYsbHf8j5cArNsprRfmPa3Po+ZRUx2cexuzPe5A+qa1V9d3Ezq4eX0q3MkPpRuiXCrQK84xrdVSm7F61PlmbpZZAdBlzQtyy3Ca9qScEMElOByKWQZ1qSsyVQCx/DtD9fck58UwfLUCW8ODjuC52nCNBrT9dRLGVN1vVR5aVB7VghBnS2tzL4LWTKvo09ezv3Gqf5A6skLdcFoMR5BFf61neshp1iq6kW/BFh822tQuvVP9xk5UWi1fCyrsNp+CVuhN0g8oB9fhhUoT2l7pS3sLYg3xqoB4G1F7oBjDcmQ3thDHnvNv1V14Vuf8+I7jUAHnGeXWRBr7hGf10KG2tck7E85z7eRJQYWNj9TsBl6NRlVJTtvcRjjkAksVVDeNpzJ+8c5joFFRzmWa7XNUF1Zkmy7Ihv/B6sXaCSRo0+oQpYA9A4K7ZZuuEjvE/WjCaWiBTIsJqQBdGEVcLUPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MJCthpph2ytnsWVjzdTgkb",
      "input": {
        "note": "The brick is held pointing left toward the pot (pot visible straight ahead of it in the wrist camera). Moving the arm to its leftmost reach so the brick extends over the pot opening.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.38,
          "right_yaw": 1.5,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MJCthpph2ytnsWVjzdTgkb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6075, -0.4534, -0.0227, -0.0498, 0.9993, 0.6765, 2.3257, 2.7884, -1.5993, -0.3523, -0.8436, 0.7536]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1524 left_yaw=0.0056 left_pitch=-0.1209 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3436 right_y=0.3587 right_z=0.2535 right_yaw=1.5083 right_pitch=-0.4586 right_roll=-0.1059 right_gripper=0.7536\nstate[joint_eff]: [0.0068, -1.812, 7.2274, 1.746, -0.0317, -0.0562, -0.0122, 0.3897, -12.8068, 8.9778, 1.2723, -0.4762, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26b2d282e70783a9f2800eb665e6f2d1d6873f94b694a16e89731195f9fcf16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08a89cf492de39414e99f1425d13f1c40769715ef330ad69ad73ac3fc06b7347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db5b2df3f5566c8bae4d066478684ecfdb389478d11cfd49e4d5c260fa0f5099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 14 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]: [-0.0196, 0.8398, 0.6075, -0.4412, -0.0227, -0.0498, 0.9993, 0.6743, 1.5486, 1.6371, -0.9485, 0.1032, -0.1749, 0.7536]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1568 left_yaw=0.0056 left_pitch=-0.101 left_roll=-0.0046 left_gripper=0.9993 right_x=0.332 right_y=0.2466 right_z=0.2712 right_yaw=0.6731 right_pitch=-0.3024 right_roll=-0.1867 right_gripper=0.7536\nstate[joint_eff]: [-0.1846, -1.5111, 7.1316, 1.7021, -0.0806, -0.0317, -0.0122, -0.212, -9.4564, 10.4957, 1.7314, -0.1197, -0.0122, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.844, 0.6075, -0.4446, -0.0227, -0.0498, 0.9993, 0.4118, 1.8595, 2.1689, -1.393, -0.4122, -0.9051, 0.7536]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.155 left_yaw=0.0056 left_pitch=-0.1087 left_roll=-0.0044 left_gripper=0.9993 right_x=0.354 right_y=0.2358 right_z=0.292 right_yaw=1.3036 right_pitch=-0.3878 right_roll=-0.1489 right_gripper=0.7536\nstate[joint_eff]: [-0.0615, -1.6889, 7.1726, 1.746, -0.0366, -0.0611, -0.0122, -0.3214, -9.812, 7.9111, 0.9499, -0.4811, -0.0611, 1.033]\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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6075, -0.4534, -0.0227, -0.0498, 0.9993, 0.6765, 2.3257, 2.7884, -1.5993, -0.3523, -0.8436, 0.7536]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1524 left_yaw=0.0056 left_pitch=-0.1209 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3436 right_y=0.3587 right_z=0.2535 right_yaw=1.5083 right_pitch=-0.4586 right_roll=-0.1059 right_gripper=0.7536\nstate[joint_eff]: [0.0068, -1.812, 7.2274, 1.746, -0.0317, -0.0562, -0.0122, 0.3897, -12.8068, 8.9778, 1.2723, -0.4762, 0.149, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a26b2d282e70783a9f2800eb665e6f2d1d6873f94b694a16e89731195f9fcf16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08a89cf492de39414e99f1425d13f1c40769715ef330ad69ad73ac3fc06b7347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db5b2df3f5566c8bae4d066478684ecfdb389478d11cfd49e4d5c260fa0f5099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019No2NRQUKS7vBt2VPWpfCu",
      "input": {
        "note": "Overhead view shows the gripper over the pot's right rim with the held brick extending further left over the pot's interior. Opening the gripper to drop the brick into the pot.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019No2NRQUKS7vBt2VPWpfCu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8478, 0.6075, -0.4538, -0.0227, -0.0498, 0.9993, 0.6792, 2.3268, 2.7331, -1.589, -0.3492, -0.8463, 0.9953]\nstate[eef_state]: left_x=0.2874 left_y=0.002 left_z=0.1523 left_yaw=0.0056 left_pitch=-0.1216 left_roll=-0.0041 left_gripper=0.9993 right_x=0.3424 right_y=0.3587 right_z=0.2376 right_yaw=1.5281 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.0598, 6.9675, 1.6239, -0.0415, -0.022, -0.0122, -0.4855, -14.2838, 5.4496, 1.1306, -0.2271, 0.0611, -0.1538]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f3beabd5182ce7d748420b27b8cd32707cb7c67796827cfac2c1c68840358ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b29ecaa6ea6d1a32c82394c75cfcea1816838c748a0009e971fe108df1073d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad43dce104d720e6d913b490fbecd4721c7aea5048356045712aea8ac8c7c532",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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