adhoc - adhoc_319be41e.json

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: 447.2 s
total steps: 274

operator

scenes

trials

errored

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

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

user

Goal: put the black brick into the pot of water

step 0

assistant

agent noteThe black brick (dark rectangular block with a cable) sits centre-table, roughly 20 cm left and 10 cm ahead of the right gripper; the pot is further left. Flying the right arm above the brick, yawed 90° so the jaws close across its short side.

move_to

right_x0.4000right_y0.2000right_z0.1500right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3794, -0.0196, -0.0257, 0.9995, -0.0177, 0.7933, 0.6025, -0.3775, -0.0154, -0.0284, 0.9993] state[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1802 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2949 right_y=0.0011 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4444, -1.5521, 10.1812, 1.7802, -0.022, 0.1001, -0.0611, -0.5949, -1.3744, 10.1949, 1.917, -0.1099, 0.1441, -0.0855] 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": 0.4, "right_y": 0.2, "right_z": 0.15, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The black brick (dark rectangular block with a cable) sits centre-table, roughly 20 cm left and 10 cm ahead of the right gripper; the pot is further left. Flying the right arm above the brick, yawed 90\u00b0 so the jaws close across its short side."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteWrist cam shows the brick on the jaw column but well above the jaw row, i.e. ~10 cm further to the arm's left (+y), matching the overhead view. Shifting left and lowering to 10 cm to re-check alignment.

move_to

right_x0.4000right_y0.3000right_z0.1000right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.1131, 1.948, 1.5066, -0.7322, -0.9184, -1.121, 0.9993] state[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=0.0025 left_pitch=-0.0126 left_roll=0.0014 left_gripper=0.9995 right_x=0.4139 right_y=0.1919 right_z=0.1437 right_yaw=1.4053 right_pitch=-0.0265 right_roll=-0.0144 right_gripper=0.9993 state[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.8535, -0.0366, -0.022, -0.0122, 0.2803, -11.1385, 6.612, 0.3785, -0.7155, -0.022, -0.0855] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.3, "right_z": 0.1, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "Wrist cam shows the brick on the jaw column but well above the jaw row, i.e. ~10 cm further to the arm's left (+y), matching the overhead view. Shifting left and lowering to 10 cm to re-check alignment."})

tool

executing move_to over 10 steps (1.0s)

step 27

assistant

agent noteThe brick now sits between the jaws at the bottom of the wrist view, slightly to image-right (+x). Descending to just above table level with a small forward tweak to grasp it.

move_to

right_x0.4050right_y0.2950right_z0.0100right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0223, -0.0261, 0.9995, 0.3588, 2.0449, 1.4582, -0.4469, -0.8455, -0.9276, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0014 left_gripper=0.9995 right_x=0.3958 right_y=0.2934 right_z=0.1005 right_yaw=1.5088 right_pitch=-0.0387 right_roll=-0.0086 right_gripper=0.9993 state[joint_eff]: [-0.212, -1.1829, 7.0359, 1.7021, -0.0269, -0.0122, -0.0122, 0.1573, -9.9077, 6.5436, 1.2527, -0.5153, 0.1538, -0.0855] camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.295, "right_z": 0.01, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The brick now sits between the jaws at the bottom of the wrist view, slightly to image-right (+x). Descending to just above table level with a small forward tweak to grasp it."})

tool

executing move_to over 6 steps (0.6s)

step 33

assistant

agent noteDescent stopped at z≈0.026 with the brick filling the bottom of the wrist view between the jaws. Closing the gripper to grasp it.

move_to

right_x0.4050right_y0.2950right_z0.0100right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.358, 2.1994, 1.3678, -0.1947, -0.8539, -0.9268, 0.9993] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4026 right_y=0.2966 right_z=0.0258 right_yaw=1.5118 right_pitch=-0.0291 right_roll=-0.0117 right_gripper=0.9993 state[joint_eff]: [-0.1436, -1.2923, 7.2137, 1.7363, -0.0415, -0.0757, -0.0122, -0.212, -9.3197, 4.9436, 0.8278, -0.2222, 0.0415, -0.0855] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.405, "right_y": 0.295, "right_z": 0.01, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "Descent stopped at z\u22480.026 with the brick filling the bottom of the wrist view between the jaws. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 43

assistant

agent noteGripper closed to 0.01 (empty) and the descent stopped at 2.8 cm — the fingertips landed on top of the brick, which sits to image-right (+x) in the wrist view. Lifting, opening, and shifting 3 cm forward to straddle it.

move_to

right_x0.4350right_y0.2950right_z0.0800right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3576, 2.207, 1.3598, -0.1371, -0.8761, -0.9161, 0.0098] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4059 right_y=0.3004 right_z=0.028 right_yaw=1.5171 right_pitch=0.005 right_roll=-0.0336 right_gripper=0.0098 state[joint_eff]: [-0.1299, -1.1966, 7.0632, 1.7216, -0.0855, -0.0659, -0.0122, -0.4855, -9.7299, 4.9299, 1.1258, -0.1636, -0.0611, 0.8034] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.435, "right_y": 0.295, "right_z": 0.08, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "Gripper closed to 0.01 (empty) and the descent stopped at 2.8 cm \u2014 the fingertips landed on top of the brick, which sits to image-right (+x) in the wrist view. Lifting, opening, and shifting 3 cm forward to straddle it."})

tool

executing move_to over 10 steps (1.0s)

step 53

assistant

agent noteThe brick is now visible between the open jaws at the bottom of the wrist view, slightly left of the jaw column. Backing off 1 cm and descending to table level to straddle it.

move_to

right_x0.4200right_y0.2950right_z0.0000right_yaw1.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0265, 0.9995, 0.3313, 2.2074, 1.5364, -0.3511, -0.8757, -0.9424, 0.995] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.003 left_pitch=-0.0133 left_roll=0.0013 left_gripper=0.9995 right_x=0.4291 right_y=0.2949 right_z=0.0627 right_yaw=1.5049 right_pitch=-0.0105 right_roll=-0.0212 right_gripper=0.995 state[joint_eff]: [-0.0479, -1.2786, 7.0222, 1.7411, -0.0415, -0.0708, -0.0122, -0.6906, -13.4769, 8.6769, 0.9792, -0.4713, 0.0708, -0.1783] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.295, "right_z": 0.0, "right_yaw": 1.5, "right_gripper": 1.0}, "note": "The brick is now visible between the open jaws at the bottom of the wrist view, slightly left of the jaw column. Backing off 1 cm and descending to table level to straddle it."})

tool

executing move_to over 5 steps (0.5s)

step 58

assistant

agent noteThe descent stopped again at 2.6 cm with a jaw resting on top of the brick — it may be longer along x than the jaw opening. Lifting and rotating the wrist back to yaw 0 so the jaws close along y instead, then re-inspecting.

move_to

right_x0.4200right_y0.2950right_z0.0800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3344, 2.2578, 1.4269, -0.1635, -0.9077, -0.923, 0.9987] state[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4202 right_y=0.2971 right_z=0.0259 right_yaw=1.5147 right_pitch=0.0254 right_roll=-0.02 right_gripper=0.9987 state[joint_eff]: [-0.1436, -1.2923, 7.0222, 1.7167, -0.0415, -0.0464, -0.0122, 0.335, -8.9094, 4.7111, 1.1258, 0.0562, -0.2271, -0.149] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.295, "right_z": 0.08, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The descent stopped again at 2.6 cm with a jaw resting on top of the brick \u2014 it may be longer along x than the jaw opening. Lifting and rotating the wrist back to yaw 0 so the jaws close along y instead, then re-inspecting."})

tool

executing move_to over 10 steps (1.0s)

step 68

assistant

agent noteThe yaw only reached 0.25 rad before the step limit; the brick is visible at the lower right of the wrist view. Completing the rotation to yaw 0 at the same hover point.

move_to

right_x0.4200right_y0.2950right_z0.0800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.804, 0.6071, -0.4049, -0.0227, -0.0265, 0.9995, 0.8131, 1.998, 1.1545, 0.1715, 0.4721, 0.2966, 0.9988] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1735 left_yaw=0.003 left_pitch=-0.0324 left_roll=0.0017 left_gripper=0.9995 right_x=0.4098 right_y=0.3215 right_z=0.0678 right_yaw=0.2516 right_pitch=-0.0202 right_roll=-0.0266 right_gripper=0.9988 state[joint_eff]: [-0.212, -1.4838, 7.2274, 1.8291, -0.0562, -0.0757, -0.0122, 0.0752, -9.5932, 7.2274, 1.5702, 0.4469, 0.149, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.295, "right_z": 0.08, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The yaw only reached 0.25 rad before the step limit; the brick is visible at the lower right of the wrist view. Completing the rotation to yaw 0 at the same hover point."})

tool

executing move_to over 3 steps (0.3s)

step 71

assistant

agent noteAt yaw ~0 the brick shows at the lower-right of the wrist view with its long axis running toward the base, so it is offset to the arm's right (−y) and slightly nearer. Shifting 4 cm right and 2 cm back, then descending to table level to straddle it across its short side.

move_to

right_x0.4000right_y0.2550right_z0.0000right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8181, 2.0106, 1.19, 0.0826, 0.5724, 0.3847, 0.9987] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0021 left_gripper=0.9995 right_x=0.4125 right_y=0.3057 right_z=0.0657 right_yaw=0.1302 right_pitch=-0.034 right_roll=-0.0449 right_gripper=0.9987 state[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.7216, -0.0513, -0.0757, -0.0122, -0.1709, -11.535, 5.6274, 1.7314, 0.188, -0.0366, -0.1441] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.255, "right_z": 0.0, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "At yaw ~0 the brick shows at the lower-right of the wrist view with its long axis running toward the base, so it is offset to the arm's right (\u2212y) and slightly nearer. Shifting 4 cm right and 2 cm back, then descending to table level to straddle it across its short side."})

tool

executing move_to over 5 steps (0.5s)

step 76

assistant

agent noteThe arm did not track the last combined move (still hovering at y≈0.31, z≈0.064). Trying the lateral shift alone at the current height before descending.

move_to

right_x0.4000right_y0.2600right_z0.0600right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8177, 2.0106, 1.1896, 0.0864, 0.5369, 0.3626, 0.9987] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1728 left_yaw=0.0028 left_pitch=-0.0358 left_roll=0.0021 left_gripper=0.9995 right_x=0.4107 right_y=0.3113 right_z=0.0639 right_yaw=0.1689 right_pitch=-0.0465 right_roll=-0.0422 right_gripper=0.9987 state[joint_eff]: [-0.2393, -1.306, 6.9949, 1.6923, -0.0513, -0.0317, -0.0122, -0.4034, -11.3436, 5.6684, 1.8095, 0.2222, -0.0659, -0.1441] 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_x": 0.4, "right_y": 0.26, "right_z": 0.06, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The arm did not track the last combined move (still hovering at y\u22480.31, z\u22480.064). Trying the lateral shift alone at the current height before descending."})

tool

executing move_to over 5 steps (0.5s)

step 81

assistant

agent noteThe arm is tracking slowly (y now 0.29); brick still at the lower right of the wrist view. Re-issuing the lateral target to finish the shift.

move_to

right_x0.4000right_y0.2600right_z0.0600right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8055, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8124, 1.9766, 1.1187, 0.0986, 0.5655, 0.4076, 0.9987] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.4024 right_y=0.2923 right_z=0.0577 right_yaw=0.1168 right_pitch=-0.0529 right_roll=-0.0362 right_gripper=0.9987 state[joint_eff]: [-0.1436, -0.8684, 7.0632, 1.7216, -0.0659, -0.0415, -0.0122, -1.4017, -11.3983, 6.6256, 1.409, 0.525, 0.0611, -0.1441] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.26, "right_z": 0.06, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The arm is tracking slowly (y now 0.29); brick still at the lower right of the wrist view. Re-issuing the lateral target to finish the shift."})

tool

executing move_to over 3 steps (0.3s)

step 84

assistant

agent noteThe Anker power bank ("brick") is now centred between the open jaws in the wrist view, long axis running along x. Descending to table level to straddle it.

move_to

right_x0.3950right_y0.2600right_z0.0000right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.791, 1.9579, 1.0641, 0.0509, 0.6132, 0.4728, 0.9987] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.3951 right_y=0.26 right_z=0.0431 right_yaw=0.0212 right_pitch=-0.0904 right_roll=-0.0652 right_gripper=0.9987 state[joint_eff]: [-0.0342, -1.1145, 7.2, 1.6923, -0.0464, -0.0317, -0.0122, -0.4444, -11.9863, 6.4342, 1.37, 0.4127, 0.1343, -0.1441] camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.26, "right_z": 0.0, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The Anker power bank (\"brick\") is now centred between the open jaws in the wrist view, long axis running along x. Descending to table level to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 87

assistant

agent noteThe arm held at z≈0.043 instead of descending, though the brick is clear between the jaws. Commanding a smaller descent to 1.5 cm to see if it tracks.

move_to

right_x0.3950right_y0.2600right_z0.0150right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7902, 1.9579, 1.0641, 0.0483, 0.6132, 0.4759, 0.9988] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.395 right_y=0.2594 right_z=0.0427 right_yaw=0.0186 right_pitch=-0.0922 right_roll=-0.0647 right_gripper=0.9988 state[joint_eff]: [-0.1709, -1.4017, 6.9812, 1.7021, -0.0855, -0.0611, -0.0122, -0.1026, -12.0137, 6.4342, 1.3993, 0.3687, 0.0855, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.26, "right_z": 0.015, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The arm held at z\u22480.043 instead of descending, though the brick is clear between the jaws. Commanding a smaller descent to 1.5 cm to see if it tracks."})

tool

executing move_to over 2 steps (0.2s)

step 89

assistant

agent noteJoint positions are frozen — the IK appears stuck in this pose. Lifting to 10 cm to reset the posture before re-descending onto the brick.

move_to

right_x0.3950right_y0.2600right_z0.1000right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6071, -0.4084, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9988] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.0381 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9988 state[joint_eff]: [-0.1162, -1.306, 7.1043, 1.7021, -0.0415, -0.0269, -0.0122, -0.0889, -11.6171, 6.4342, 1.3944, 0.4127, 0.0659, -0.1441] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.26, "right_z": 0.1, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "Joint positions are frozen \u2014 the IK appears stuck in this pose. Lifting to 10 cm to reset the posture before re-descending onto the brick."})

tool

executing move_to over 4 steps (0.4s)

step 93

assistant

agent noteThe right arm is not responding to vertical targets at all; joints unchanged. Trying a combined retreat (back, up, slightly left) to get the IK out of the stalled pose.

move_to

right_x0.3600right_y0.2800right_z0.1200right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9987] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9987 state[joint_eff]: [-0.0205, -1.1009, 6.9949, 1.7021, -0.0317, -0.0757, -0.0122, -0.2256, -11.8769, 6.4342, 1.3944, 0.398, 0.0562, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.28, "right_z": 0.12, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The right arm is not responding to vertical targets at all; joints unchanged. Trying a combined retreat (back, up, slightly left) to get the IK out of the stalled pose."})

tool

executing move_to over 5 steps (0.5s)

step 98

assistant

agent noteThe arm freed itself; the power bank is now seen ahead, tilted about 20° clockwise from the arm's x axis. Moving back over it at 5 cm with a matching negative yaw so the jaws close across its short side.

move_to

right_x0.4000right_y0.2650right_z0.0500right_yaw-0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8074, 0.6071, -0.408, -0.0223, -0.0261, 0.9995, 0.9054, 1.8385, 1.1851, -0.2401, 0.6559, 0.5591, 0.9987] state[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.172 left_yaw=0.0025 left_pitch=-0.0389 left_roll=0.002 left_gripper=0.9995 right_x=0.3613 right_y=0.2917 right_z=0.1017 right_yaw=0.0559 right_pitch=-0.099 right_roll=-0.0564 right_gripper=0.9987 state[joint_eff]: [-0.1983, -1.3607, 7.2, 1.7363, -0.0317, -0.0611, -0.0122, -1.1282, -10.4957, 7.8564, 1.1355, 0.6276, 0.2076, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.265, "right_z": 0.05, "right_yaw": -0.3, "right_gripper": 1.0}, "note": "The arm freed itself; the power bank is now seen ahead, tilted about 20\u00b0 clockwise from the arm's x axis. Moving back over it at 5 cm with a matching negative yaw so the jaws close across its short side."})

tool

executing move_to over 4 steps (0.4s)

step 102

assistant

agent noteThe power bank now fills the gap between the jaws in the wrist view, aligned with the jaw axis. Descending to table level to get the fingers around it.

move_to

right_x0.3900right_y0.2700right_z0.0000right_yaw-0.2500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8097, 0.6071, -0.4084, -0.0223, -0.0261, 0.9995, 0.8608, 2.1044, 1.3418, -0.3721, 0.7536, 0.7937, 0.9987] state[eef_state]: left_x=0.2923 left_y=0.0018 left_z=0.1713 left_yaw=0.0025 left_pitch=-0.0415 left_roll=0.002 left_gripper=0.9995 right_x=0.3867 right_y=0.27 right_z=0.0333 right_yaw=-0.2004 right_pitch=-0.1596 right_roll=-0.122 right_gripper=0.9987 state[joint_eff]: [-0.0479, -1.4974, 7.0222, 1.6923, -0.0171, -0.0562, -0.0122, -0.6222, -13.2444, 9.0051, 0.8669, 0.5983, 0.0073, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.27, "right_z": 0.0, "right_yaw": -0.25, "right_gripper": 1.0}, "note": "The power bank now fills the gap between the jaws in the wrist view, aligned with the jaw axis. Descending to table level to get the fingers around it."})

tool

executing move_to over 3 steps (0.3s)

step 105

assistant

agent noteThe arm again refuses to descend below ~3.7 cm here, likely a joint limit in this posture. Pulling the grasp point 2 cm nearer along the brick's length (it extends toward the base) and trying the descent again.

move_to

right_x0.3700right_y0.2650right_z0.0000right_yaw-0.2500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9987] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9987 state[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.3897, -11.6581, 7.6239, 0.9841, 0.6667, 0.0952, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.265, "right_z": 0.0, "right_yaw": -0.25, "right_gripper": 1.0}, "note": "The arm again refuses to descend below ~3.7 cm here, likely a joint limit in this posture. Pulling the grasp point 2 cm nearer along the brick's length (it extends toward the base) and trying the descent again."})

tool

executing move_to over 3 steps (0.3s)

step 108

assistant

agent noteThe arm is frozen again with the wrist joints in a twisted configuration (joints 5/6 near 0.8–0.9 rad). Retreating up and toward home to let the IK settle into a clean posture before re-approaching from directly above.

move_to

right_x0.3000right_y0.1500right_z0.1800right_yaw0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9988] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9988 state[joint_eff]: [-0.0342, -1.2786, 7.0222, 1.7021, -0.0855, -0.022, -0.0122, -0.3761, -11.5214, 7.665, 0.9744, 0.5983, 0.0757, -0.1441] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.15, "right_z": 0.18, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The arm is frozen again with the wrist joints in a twisted configuration (joints 5/6 near 0.8\u20130.9 rad). Retreating up and toward home to let the IK settle into a clean posture before re-approaching from directly above."})

tool

executing move_to over 10 steps (1.0s)

step 118

assistant

agent noteArm is free again; the power bank is visible left of the jaws in the wrist view and centre-table in the overhead view. Flying back above it at 12 cm with the matching yaw, then I will descend vertically.

move_to

right_x0.3900right_y0.2650right_z0.1200right_yaw-0.2500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8158, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.7589, 1.2476, 0.9428, -0.5373, 0.6174, 0.5217, 0.9988] state[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1683 left_yaw=0.0028 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3077 right_y=0.1558 right_z=0.1864 right_yaw=-0.0401 right_pitch=-0.0864 right_roll=-0.0281 right_gripper=0.9988 state[joint_eff]: [-0.0615, -1.6479, 7.0769, 1.7216, -0.0708, -0.0513, -0.0122, -0.6496, -0.5949, 6.9538, 1.1551, 0.0611, -0.0122, -0.1441] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.265, "right_z": 0.12, "right_yaw": -0.25, "right_gripper": 1.0}, "note": "Arm is free again; the power bank is visible left of the jaws in the wrist view and centre-table in the overhead view. Flying back above it at 12 cm with the matching yaw, then I will descend vertically."})

tool

executing move_to over 10 steps (1.0s)

step 128

assistant

agent noteThe power bank sits centred between the jaws in the wrist view at 11 cm height. Descending straight down to table level.

move_to

right_x0.3850right_y0.2620right_z0.0000right_yaw-0.2500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8204, 0.6071, -0.416, -0.0227, -0.0261, 0.9995, 0.8577, 1.9327, 1.3895, -0.5419, 0.7578, 0.8021, 0.9987] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3814 right_y=0.2609 right_z=0.1083 right_yaw=-0.2037 right_pitch=-0.1317 right_roll=-0.0737 right_gripper=0.9987 state[joint_eff]: [-0.0615, -1.7299, 6.9812, 1.6874, -0.0171, -0.0317, -0.0122, 0.0068, -10.8103, 7.9658, 0.989, 0.569, 0.1783, -0.1441] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.262, "right_z": 0.0, "right_yaw": -0.25, "right_gripper": 1.0}, "note": "The power bank sits centred between the jaws in the wrist view at 11 cm height. Descending straight down to table level."})

tool

executing move_to over 7 steps (0.7s)

step 135

assistant

agent noteDescent stopped at 2.7 cm with the power bank centred between the jaws and shoulder effort easing, suggesting contact with its top. Closing the gripper while pressing down slightly to see if it grips.

move_to

right_x0.3850right_y0.2620right_z-0.0100right_yaw-0.2500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4156, -0.0227, -0.0261, 0.9995, 0.8612, 2.1101, 1.2785, -0.2527, 0.794, 0.8536, 0.9987] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1667 left_yaw=0.0028 left_pitch=-0.0602 left_roll=0.0027 left_gripper=0.9995 right_x=0.3897 right_y=0.2659 right_z=0.0266 right_yaw=-0.2467 right_pitch=-0.1013 right_roll=-0.0479 right_gripper=0.9987 state[joint_eff]: [-0.0889, -1.4017, 6.9675, 1.7021, -0.0464, -0.0171, -0.0122, -0.3487, -7.4872, 4.0, 0.4225, -0.0708, -0.0708, -0.1441] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.262, "right_z": -0.01, "right_yaw": -0.25, "right_gripper": 0.0}, "note": "Descent stopped at 2.7 cm with the power bank centred between the jaws and shoulder effort easing, suggesting contact with its top. Closing the gripper while pressing down slightly to see if it grips."})

tool

executing move_to over 10 steps (1.0s)

step 145

assistant

agent noteThe jaws closed empty just above the power bank — the arm won't descend below ~2.4 cm in this posture. Opening and pitching the tool forward 0.3 rad while pressing to the floor to try a different wrist configuration.

move_to

right_x0.3850right_y0.2620right_z-0.0200right_yaw-0.2500right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0223, -0.0265, 0.9995, 0.8642, 2.13, 1.2377, -0.0975, 0.8211, 0.8593, 0.0098] state[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1668 left_yaw=0.0027 left_pitch=-0.0598 left_roll=0.0021 left_gripper=0.9995 right_x=0.3975 right_y=0.2721 right_z=0.0237 right_yaw=-0.2553 right_pitch=-0.0386 right_roll=0.0315 right_gripper=0.0098 state[joint_eff]: [0.0342, -1.3744, 7.0085, 1.7118, -0.0269, -0.0415, -0.0122, 0.1026, -6.8855, 3.8496, 0.7399, -0.0562, 0.0122, 0.8132] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.262, "right_z": -0.02, "right_yaw": -0.25, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The jaws closed empty just above the power bank \u2014 the arm won't descend below ~2.4 cm in this posture. Opening and pitching the tool forward 0.3 rad while pressing to the floor to try a different wrist configuration."})

tool

executing move_to over 12 steps (1.2s)

step 157

assistant

agent noteWith the tool pitched forward the grasp point reached 1.6 cm and the power bank now sits between the two visible jaws. Closing the gripper to grasp it.

move_to

right_x0.3850right_y0.2620right_z-0.0200right_yaw-0.2500right_pitch0.3000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9276, 2.3093, 1.0225, 0.7792, 1.0966, 0.6445, 0.9961] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3963 right_y=0.2727 right_z=0.0158 right_yaw=-0.3374 right_pitch=0.3323 right_roll=0.2103 right_gripper=0.9961 state[joint_eff]: [-0.1709, -1.3744, 6.9949, 1.7021, -0.0464, -0.0806, -0.0122, 0.1026, -6.8034, 1.9897, 0.1978, -0.0611, -0.7888, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.262, "right_z": -0.02, "right_yaw": -0.25, "right_pitch": 0.3, "right_gripper": 0.0}, "note": "With the tool pitched forward the grasp point reached 1.6 cm and the power bank now sits between the two visible jaws. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 167

assistant

agent noteThe power bank is ~8 cm wide, nearly the full jaw opening, and the right wrist keeps rolling off-level so a jaw lands on top. Parking the right arm home and bringing the left arm above the brick (same point in its frame, y≈−0.375) for a cleaner straight-down approach.

move_to

right_x0.3000right_y0.0500right_z0.1800right_yaw0.0000right_pitch0.0000right_gripper1.0000left_x0.3900left_y-0.3750left_z0.1200left_yaw-0.2500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9188, 2.3211, 0.934, 1.0683, 1.0363, 0.6197, 0.0098] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3947 right_y=0.2724 right_z=0.0253 right_yaw=-0.346 right_pitch=0.3701 right_roll=0.3842 right_gripper=0.0098 state[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7363, -0.0464, -0.0513, -0.0122, -0.6769, -5.9282, 1.7709, 0.4371, -0.232, -0.188, 0.7937] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.18, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0, "left_x": 0.39, "left_y": -0.375, "left_z": 0.12, "left_yaw": -0.25, "left_gripper": 1.0}, "note": "The power bank is ~8 cm wide, nearly the full jaw opening, and the right wrist keeps rolling off-level so a jaw lands on top. Parking the right arm home and bringing the left arm above the brick (same point in its frame, y\u2248\u22120.375) for a cleaner straight-down approach."})

tool

executing move_to over 34 steps (3.4s)

step 201

assistant

agent noteLeft wrist view shows the power bank to the lower-left of the jaw column, its far end leaning left. Shifting the left arm ~3 cm further left (to the y bound), straightening yaw, and lowering to 5 cm to re-check centring.

move_to

left_x0.3850left_y-0.3950left_z0.0500left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9363, 1.9938, 1.4059, -0.2089, -0.548, -0.4805, 0.9995, 0.0898, 0.8261, 0.5255, -0.2321, -0.0761, 0.3767, 0.9981] state[eef_state]: left_x=0.3852 left_y=-0.3621 left_z=0.109 left_yaw=-0.2344 left_pitch=-0.0875 left_roll=0.0174 left_gripper=0.9995 right_x=0.3024 right_y=0.0443 right_z=0.166 right_yaw=-0.0536 right_pitch=-0.0077 right_roll=0.3762 right_gripper=0.9981 state[joint_eff]: [-0.6085, -10.6051, 9.1009, 1.4579, -0.2711, 0.0757, -0.0611, -0.2393, -2.0308, 10.2632, 1.8974, -0.1734, 0.0073, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.395, "left_z": 0.05, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "Left wrist view shows the power bank to the lower-left of the jaw column, its far end leaning left. Shifting the left arm ~3 cm further left (to the y bound), straightening yaw, and lowering to 5 cm to re-check centring."})

tool

executing move_to over 4 steps (0.4s)

step 205

assistant

agent noteThe brick lies beyond the left arm's y bound (it is still off the left edge of the left wrist view at y=−0.397), so the left arm cannot centre on it. Parking the left arm and returning the right arm above the brick at 10 cm to centre precisely before a level descent.

move_to

left_x0.3000left_y0.0000left_z0.1800left_yaw0.0000left_gripper1.0000right_x0.3900right_y0.2720right_z0.1000right_yaw-0.2500right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-1.0149, 2.2696, 1.618, -0.3092, -0.6865, -0.704, 0.9996, 0.0856, 0.8303, 0.5251, -0.2619, -0.0933, 0.3656, 0.9982] state[eef_state]: left_x=0.3828 left_y=-0.3973 left_z=0.044 left_yaw=-0.0828 left_pitch=-0.118 left_roll=0.0351 left_gripper=0.9996 right_x=0.2984 right_y=0.0457 right_z=0.1585 right_yaw=-0.0375 right_pitch=-0.0407 right_roll=0.3713 right_gripper=0.9982 state[joint_eff]: [-0.4718, -14.4068, 8.335, 1.0867, -0.6422, -0.0366, -0.0611, -0.0479, -1.7573, 7.1043, 2.0342, 0.0415, 0.1099, -0.0073] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_yaw": 0.0, "left_gripper": 1.0, "right_x": 0.39, "right_y": 0.272, "right_z": 0.1, "right_yaw": -0.25, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The brick lies beyond the left arm's y bound (it is still off the left edge of the left wrist view at y=\u22120.397), so the left arm cannot centre on it. Parking the left arm and returning the right arm above the brick at 10 cm to centre precisely before a level descent."})

tool

executing move_to over 36 steps (3.6s)

step 241

assistant

agent noteWrist view shows the power bank nearly vertical and about 1 cm left of the jaw column, with the wrist now level. Nudging 1 cm left and descending to table level with roll held at zero.

move_to

right_x0.3900right_y0.2820right_z0.0000right_yaw-0.2500right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0685, 0.9207, 0.7139, -0.4946, -0.1146, -0.0711, 0.9995, 0.8841, 1.9652, 1.2903, -0.3141, 0.8326, 0.8162, 0.9986] state[eef_state]: left_x=0.3009 left_y=0.0032 left_z=0.1723 left_yaw=0.0566 left_pitch=-0.127 left_roll=0.0292 left_gripper=0.9995 right_x=0.3862 right_y=0.2706 right_z=0.0918 right_yaw=-0.2187 right_pitch=-0.0294 right_roll=-0.0076 right_gripper=0.9986 state[joint_eff]: [0.1983, -2.5641, 8.5128, 1.6777, 0.1245, 0.1587, -0.0611, 0.3624, -9.894, 8.1846, 1.033, 0.6422, 0.188, -0.149] camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.282, "right_z": 0.0, "right_yaw": -0.25, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Wrist view shows the power bank nearly vertical and about 1 cm left of the jaw column, with the wrist now level. Nudging 1 cm left and descending to table level with roll held at zero."})

tool

executing move_to over 6 steps (0.6s)

step 247

assistant

agent noteDescent stalled at 2.4 cm yet again with the brick apparently centred between the jaws, so either the brick is wider than the jaw opening or the arm cannot go lower here. Testing by descending to the table on clear wood 9 cm to the right.

move_to

right_x0.3900right_y0.1900right_z0.0000right_yaw-0.2500right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0692, 0.9245, 0.7139, -0.5121, -0.1055, -0.0715, 0.9995, 0.9031, 2.1616, 1.2415, -0.0525, 0.8951, 0.8612, 0.9987] state[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1678 left_yaw=0.0486 left_pitch=-0.1489 left_roll=0.0255 left_gripper=0.9995 right_x=0.3933 right_y=0.282 right_z=0.0236 right_yaw=-0.2587 right_pitch=0.0245 right_roll=0.023 right_gripper=0.9987 state[joint_eff]: [0.0752, -2.359, 6.8991, 1.7851, -0.1392, -0.0269, -0.0122, 0.1709, -7.7333, 5.5316, 0.4029, -0.2711, -0.1538, -0.149] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.19, "right_z": 0.0, "right_yaw": -0.25, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Descent stalled at 2.4 cm yet again with the brick apparently centred between the jaws, so either the brick is wider than the jaw opening or the arm cannot go lower here. Testing by descending to the table on clear wood 9 cm to the right."})

tool

executing move_to over 8 steps (0.8s)

step 255

assistant

agent noteThe arm reaches the table fine on clear wood, so over the brick the fingertips were landing on its top — it is nearly as wide as the jaw opening. Going back over it with a slightly more clockwise yaw to match its edge and descending to table level.

move_to

right_x0.3900right_y0.2820right_z0.0000right_yaw-0.3500right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0696, 0.9276, 0.7139, -0.5129, -0.1055, -0.0715, 0.9995, 0.7456, 2.0399, 0.8822, 0.2867, 0.8021, 0.701, 0.9987] state[eef_state]: left_x=0.2984 left_y=0.0014 left_z=0.1668 left_yaw=0.0483 left_pitch=-0.1527 left_roll=0.026 left_gripper=0.9995 right_x=0.39 right_y=0.1922 right_z=-0.0003 right_yaw=-0.2756 right_pitch=0.0069 right_roll=0.0108 right_gripper=0.9987 state[joint_eff]: [-0.1573, -2.3179, 6.9812, 1.6093, -0.0952, -0.0513, -0.0122, -0.2393, -10.3316, 5.3675, 1.5897, 0.3492, -0.1636, -0.149] 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_x": 0.39, "right_y": 0.282, "right_z": 0.0, "right_yaw": -0.35, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm reaches the table fine on clear wood, so over the brick the fingertips were landing on its top \u2014 it is nearly as wide as the jaw opening. Going back over it with a slightly more clockwise yaw to match its edge and descending to table level."})

tool

executing move_to over 8 steps (0.8s)

step 263

assistant

agent noteThe grasp point reached table level this time with the power bank lying between the jaws on the left side of the wrist view. Closing the gripper to grasp it.

move_to

right_x0.3900right_y0.2750right_z0.0000right_yaw-0.3500right_pitch0.0000right_roll0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0692, 0.9287, 0.7139, -0.5133, -0.1051, -0.0715, 0.9995, 0.9066, 2.2414, 1.3064, -0.1661, 0.9253, 0.9707, 0.9987] state[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1664 left_yaw=0.0484 left_pitch=-0.1543 left_roll=0.0259 left_gripper=0.9995 right_x=0.3904 right_y=0.2755 right_z=0.0002 right_yaw=-0.3279 right_pitch=0.0014 right_roll=-0.0131 right_gripper=0.9987 state[joint_eff]: [-0.1026, -2.1538, 6.8991, 1.5653, -0.0611, -0.0659, -0.0171, 0.4855, -10.2906, 7.4188, 0.9939, 0.2222, 0.0415, -0.1441] camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.39, "right_y": 0.275, "right_z": 0.0, "right_yaw": -0.35, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The grasp point reached table level this time with the power bank lying between the jaws on the left side of the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 273

assistant

agent noteOut of LLM budget before securing a grasp. The "black brick" is an Anker power bank (~8 cm wide × ~18 cm long × ~2.4 cm thick) lying flat at roughly right-arm (0.39, 0.30–0.32); its width is almost the full 9.5 cm jaw opening, so every close either landed a fingertip on its top or missed it sideways. The last close at y=0.277 was empty with the brick about 4–5 cm further to +y.

give_up

hindsight1) The "black brick" here is an Anker power bank about 8 cm wide, 18 cm long and 2.4 cm thick, lying flat with its long axis roughly along x (yaw ≈ −0.3). It can only be grasped across its 8 cm width, leaving <1 cm of jaw clearance, so centre it to within ~5 mm in y and match its yaw exactly; a descent that stops at z≈0.024 means a fingertip is on top of it (the table is reachable to z=0 nearby). 2) Its true position is about right_x≈0.39, right_y≈0.30–0.32 (in the left arm's frame that is beyond the left_y=−0.4 bound, so only the right arm can take it). 3) The wrist camera badly under-reports lateral offset near the bottom of the frame: a brick that looked centred between the jaws at z=0.09–0.10 was still ~4 cm off. Judge centring only from a low hover (z≈0.03) with the brick spanning the jaw wedges symmetrically. 4) In this cross-over region (right_y≈0.27–0.3, x≈0.39) the right arm's IK picks a twisted wrist branch (joints 5/6 ≈ 0.8–0.9 rad); it sometimes freezes entirely and only a combined retreat (up + back + sideways) frees it. Roll drifts to 0.2–0.4 if pitch is commanded non-zero — keep pitch=0 and explicitly command roll=0. 5) The pot is at about right (0.54, 0.40) — at the y bound — with a rim ~12 cm high. 6) Don't waste calls on repeated same-target sends; the budget (40 calls) is the binding constraint for this task.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0692, 0.9287, 0.7139, -0.5133, -0.1055, -0.0715, 0.9995, 0.9115, 2.2539, 1.3201, -0.1795, 0.9314, 0.9997, 0.0101] state[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1665 left_yaw=0.0487 left_pitch=-0.1542 left_roll=0.0262 left_gripper=0.9995 right_x=0.3898 right_y=0.2774 right_z=-0.0018 right_yaw=-0.3413 right_pitch=0.0028 right_roll=-0.0019 right_gripper=0.0101 state[joint_eff]: [-0.1846, -2.0444, 6.8991, 1.5995, -0.1001, -0.0611, -0.0122, -0.6632, -12.2598, 5.2034, 0.862, 0.3297, 0.1197, 0.8083] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM budget before securing a grasp. The \"black brick\" is an Anker power bank (~8 cm wide \u00d7 ~18 cm long \u00d7 ~2.4 cm thick) lying flat at roughly right-arm (0.39, 0.30\u20130.32); its width is almost the full 9.5 cm jaw opening, so every close either landed a fingertip on its top or missed it sideways. The last close at y=0.277 was empty with the brick about 4\u20135 cm further to +y.", "hindsight": "1) The \"black brick\" here is an Anker power bank about 8 cm wide, 18 cm long and 2.4 cm thick, lying flat with its long axis roughly along x (yaw \u2248 \u22120.3). It can only be grasped across its 8 cm width, leaving <1 cm of jaw clearance, so centre it to within ~5 mm in y and match its yaw exactly; a descent that stops at z\u22480.024 means a fingertip is on top of it (the table is reachable to z=0 nearby). 2) Its true position is about right_x\u22480.39, right_y\u22480.30\u20130.32 (in the left arm's frame that is beyond the left_y=\u22120.4 bound, so only the right arm can take it). 3) The wrist camera badly under-reports lateral offset near the bottom of the frame: a brick that looked centred between the jaws at z=0.09\u20130.10 was still ~4 cm off. Judge centring only from a low hover (z\u22480.03) with the brick spanning the jaw wedges symmetrically. 4) In this cross-over region (right_y\u22480.27\u20130.3, x\u22480.39) the right arm's IK picks a twisted wrist branch (joints 5/6 \u2248 0.8\u20130.9 rad); it sometimes freezes entirely and only a combined retreat (up + back + sideways) frees it. Roll drifts to 0.2\u20130.4 if pitch is commanded non-zero \u2014 keep pitch=0 and explicitly command roll=0. 5) The pot is at about right (0.54, 0.40) \u2014 at the y bound \u2014 with a rim ~12 cm high. 6) Don't waste calls on repeated same-target sends; the budget (40 calls) is the binding constraint for this task."})

tool

give_up: Out of LLM budget before securing a grasp. The "black brick" is an Anker power bank (~8 cm wide × ~18 cm long × ~2.4 cm thick) lying flat at roughly right-arm (0.39, 0.30–0.32); its width is almost the full 9.5 cm jaw opening, so every close either landed a fingertip on its top or missed it sideways. The last close at y=0.277 was empty with the brick about 4–5 cm further to +y.

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)

[
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"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"
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]

call 0 attempt 0 · /messages · status 200 · 19.38 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]: [-0.0196, 0.7952, 0.6048, -0.3794, -0.0196, -0.0257, 0.9995, -0.0177, 0.7933, 0.6025, -0.3775, -0.0154, -0.0284, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1802 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2949 right_y=0.0011 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5521, 10.1812, 1.7802, -0.022, 0.1001, -0.0611, -0.5949, -1.3744, 10.1949, 1.917, -0.1099, 0.1441, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f480a4c6ffbf5a4f01ee3e844ee7f1036980804b19dcca8c195b8e020b5c01c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bc40f6c0745f1fa92acb5a8da2c56e6306eafd9aac732ac2f5a6cdce683402",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
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        "type": "ephemeral"
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      "source": {
        "data": "$blob:26cad826939289d17cefd2a06057528a358a464b8fbdeba4726dad1d73e52498",
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        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 17.61 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]: [-0.0196, 0.7952, 0.6048, -0.3794, -0.0196, -0.0257, 0.9995, -0.0177, 0.7933, 0.6025, -0.3775, -0.0154, -0.0284, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1802 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2949 right_y=0.0011 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5521, 10.1812, 1.7802, -0.022, 0.1001, -0.0611, -0.5949, -1.3744, 10.1949, 1.917, -0.1099, 0.1441, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f480a4c6ffbf5a4f01ee3e844ee7f1036980804b19dcca8c195b8e020b5c01c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bc40f6c0745f1fa92acb5a8da2c56e6306eafd9aac732ac2f5a6cdce683402",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
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        "data": "$blob:26cad826939289d17cefd2a06057528a358a464b8fbdeba4726dad1d73e52498",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W6UwzPpmGmMTgPPuW3M7SZ",
      "input": {
        "note": "The black brick (dark rectangular block with a cable) sits centre-table, roughly 20 cm left and 10 cm ahead of the right gripper; the pot is further left. Flying the right arm above the brick, yawed 90° so the jaws close across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.2,
          "right_yaw": 1.5,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01W6UwzPpmGmMTgPPuW3M7SZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.1131, 1.948, 1.5066, -0.7322, -0.9184, -1.121, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=0.0025 left_pitch=-0.0126 left_roll=0.0014 left_gripper=0.9995 right_x=0.4139 right_y=0.1919 right_z=0.1437 right_yaw=1.4053 right_pitch=-0.0265 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.8535, -0.0366, -0.022, -0.0122, 0.2803, -11.1385, 6.612, 0.3785, -0.7155, -0.022, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce63f90207da2b3796fa8fd08aee23042c2ea99282835f827465992d3685a7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4165b5ecb3116796e892b62ca452f6eab50c3e346854e30db7d94b7e6b7d03d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b85ff4591269f7d285ca4d2bae203755ef46d75257a9484dabf8ed32214b9f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.78 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]: [-0.0196, 0.7952, 0.6048, -0.3794, -0.0196, -0.0257, 0.9995, -0.0177, 0.7933, 0.6025, -0.3775, -0.0154, -0.0284, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1802 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2949 right_y=0.0011 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5521, 10.1812, 1.7802, -0.022, 0.1001, -0.0611, -0.5949, -1.3744, 10.1949, 1.917, -0.1099, 0.1441, -0.0855]",
      "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, 0.8001, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.1131, 1.948, 1.5066, -0.7322, -0.9184, -1.121, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=0.0025 left_pitch=-0.0126 left_roll=0.0014 left_gripper=0.9995 right_x=0.4139 right_y=0.1919 right_z=0.1437 right_yaw=1.4053 right_pitch=-0.0265 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.8535, -0.0366, -0.022, -0.0122, 0.2803, -11.1385, 6.612, 0.3785, -0.7155, -0.022, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cce63f90207da2b3796fa8fd08aee23042c2ea99282835f827465992d3685a7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4165b5ecb3116796e892b62ca452f6eab50c3e346854e30db7d94b7e6b7d03d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b85ff4591269f7d285ca4d2bae203755ef46d75257a9484dabf8ed32214b9f99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012dC77jHFv2BnmQKYJBCAtJ",
      "input": {
        "note": "Wrist cam shows the brick on the jaw column but well above the jaw row, i.e. ~10 cm further to the arm's left (+y), matching the overhead view. Shifting left and lowering to 10 cm to re-check alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.3,
          "right_yaw": 1.5,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012dC77jHFv2BnmQKYJBCAtJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0223, -0.0261, 0.9995, 0.3588, 2.0449, 1.4582, -0.4469, -0.8455, -0.9276, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0014 left_gripper=0.9995 right_x=0.3958 right_y=0.2934 right_z=0.1005 right_yaw=1.5088 right_pitch=-0.0387 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.1829, 7.0359, 1.7021, -0.0269, -0.0122, -0.0122, 0.1573, -9.9077, 6.5436, 1.2527, -0.5153, 0.1538, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab6dae4d0301c43ca4183673df585fe5e8c5d284adce43d91d93dacf85e9679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54ad6786487da575ce82dd8f93b238c87fae7c0323a878c5ce500cc6d839e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94650a9c2c4a5552c12525f657358bd1c6714e5bec87ee65d85403c2140d1735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 13.61 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]: [-0.0196, 0.7952, 0.6048, -0.3794, -0.0196, -0.0257, 0.9995, -0.0177, 0.7933, 0.6025, -0.3775, -0.0154, -0.0284, 0.9993]\nstate[eef_state]: left_x=0.295 left_y=0.0013 left_z=0.1802 left_yaw=-0.0 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9995 right_x=0.2949 right_y=0.0011 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.5521, 10.1812, 1.7802, -0.022, 0.1001, -0.0611, -0.5949, -1.3744, 10.1949, 1.917, -0.1099, 0.1441, -0.0855]",
      "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, 0.8001, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.1131, 1.948, 1.5066, -0.7322, -0.9184, -1.121, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=0.0025 left_pitch=-0.0126 left_roll=0.0014 left_gripper=0.9995 right_x=0.4139 right_y=0.1919 right_z=0.1437 right_yaw=1.4053 right_pitch=-0.0265 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.8535, -0.0366, -0.022, -0.0122, 0.2803, -11.1385, 6.612, 0.3785, -0.7155, -0.022, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0223, -0.0261, 0.9995, 0.3588, 2.0449, 1.4582, -0.4469, -0.8455, -0.9276, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0014 left_gripper=0.9995 right_x=0.3958 right_y=0.2934 right_z=0.1005 right_yaw=1.5088 right_pitch=-0.0387 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.1829, 7.0359, 1.7021, -0.0269, -0.0122, -0.0122, 0.1573, -9.9077, 6.5436, 1.2527, -0.5153, 0.1538, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ab6dae4d0301c43ca4183673df585fe5e8c5d284adce43d91d93dacf85e9679",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54ad6786487da575ce82dd8f93b238c87fae7c0323a878c5ce500cc6d839e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94650a9c2c4a5552c12525f657358bd1c6714e5bec87ee65d85403c2140d1735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqQoKEAgRGAI4AUIIdGhpbmtpbmcSDCU4B+kusTBBjt1dUBoM9Bx05MlxdsGXMdHnIjDzJwIP2pMG4SNATmPhw/M1W3grBed4PoKykt9wTTDIHlao1WQHN344Hk+lC+X9DAEqxgnbgbDurw/TiSdOr6FAsd7M41aYzmSrhOFLDICLOP7YEtRzptQKLGOtbV1bwQV0GCrvp9mF9wuypSAVypCWOgvSTuIgA2pLiYNZ9JBFjJB3hLigtPZiny4gEX7PPUqH6gANYBb0Uo2HlBJgIK71fjfZDKoAF5FsQUNE17+HC6quiwPgVqil9ljbeAipv5uxmpWaFyjw1vh5aFMACx7cJeTA9QmdcXe4a/0YXwZYAnPr6VcEn+X0HLkiTfNuQ4/tVOUQqLvZYLBRgHWJ2/4wrSAyRIw/N7NwVe8MLdwR1rBv29U5+AiLjizsAfhVP8sokm9JvwO6heQyUZA3qJqJFNaGC0eF4DHs2gayxRSDCiIe+yMeKXTxSkSjJBC9wZ9gzmWLtxLKJoHKaEm77xGLVN0JPEH2MmWJlriTmNKZtSoae0ytR8eGALod2rMl/2lKRhemYFCSGW7jCkuXGOAVEr2LpGO+cLEfIu3/aXEqUMiKwV56T6WAuoo+awQMXnhUJap6w6+MxSkB9Keivt1+cbxb383xh7cb1HDgepViY+lUjIMfH4oa7sJ0YGUr3afCu+TKe1XJx3NZOTiYM5bpbcDsjiTnmlI5xKPatvtD8FIzVXpR13shN0/88SQljz5lKjgOptpRl3IUFX9b31eQMTcjHzsa/SDnVhT2rtVv5t8dGeJZIsjhL0dftoErGGGmwVdqf7fp9bLQP7zOviGXqVteUepKKYEZ/Rl77+Q8em2pNYheikiUMRbHgjZM5082F+RPlPrgpSm1s2+7ay4e6xKj231eG1CYFEQ9/s8TIhDkRwDwCZSJPB9l/lWenYm9Q2hwogyo36QbvI+M5nfIRf2ARAd3UdE1mH214bp2LIUbL/VgcMqWGdOjU0ozYxo52x6KOkEZeY7xymFZBjoSKf2o+ulPK4nnQPa6DlcOwS6HKa8AGKbFp0ppxsHOEebyILwTYo7VOb/ysL8NKHVkKYXJPhP76vipcPFk1lH98AZSUOwN4psbI3KpLcgicyOLJhV074CRNgbaO3rfnsaFRCZF5A4ijRhT0qPYzQh0FETxRr2/zJcdMfiuXncYRVajzn+XZiUmO8jzn55B3N+O4dpSQUjNAZAb2UinERoLQrcTQUfDql5DpoBSOvW7Q8ZWepANdqLiHuGe4Gqac6fh2MPhSE1lSaVqIgyPrvk1NMK+VCtik1waBSt7KD3+uIsijH7VIHuImd2kONzPiJL5WJYi9OneWF6tbLWSg4hw+RaGC27x1AW4Hr/gfwxX1o6HdSMYwpHIMzYx9yGPfpBLk4pldwExQL1pvOQ259svNXiLQJ8LAhkPm3gySKxeHs0YAgLqCSHuKDDFoXRt/hocDbwmrGffMkXdjKp2V49sKKz4v+wA1A3bgR+PXs7gkbPasVtXQ5p/s4grM/lOGRrk9ZVyLtFMPwO0E+8DgMuNqDzmSFgQeK/a6i2anW0mDDGyh5glPaByswWlPO0WMfzs1JCiDOl4aytAPnoT/eJmm5rv8xqum/BzkCkHr5Di6HJeUTiq0FxiCvxaCmff2lSQYTRcT5erTuzz/UpRTrJ5tKCZNduyjW5jVu8ZHKezcfVc6ILbBGMkdKLGwajaCz8PXygo4es1t3HGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0182g6jeWTFGP8V7Kgsz3wHy",
      "input": {
        "note": "The brick now sits between the jaws at the bottom of the wrist view, slightly to image-right (+x). Descending to just above table level with a small forward tweak to grasp it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.405,
          "right_y": 0.295,
          "right_yaw": 1.5,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_0182g6jeWTFGP8V7Kgsz3wHy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.358, 2.1994, 1.3678, -0.1947, -0.8539, -0.9268, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4026 right_y=0.2966 right_z=0.0258 right_yaw=1.5118 right_pitch=-0.0291 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2923, 7.2137, 1.7363, -0.0415, -0.0757, -0.0122, -0.212, -9.3197, 4.9436, 0.8278, -0.2222, 0.0415, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a85d36ef67cc78c9f216d9a9f55f5446e6babad61500b453d06584910850e041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a065df0e48d4d8c80ec3f5a6868e1aa7a6dd34aee08774f5a601e06748858f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbe9e21a2a0165c825929197528ecc910abf3b6525e3bc557fd9096949891220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 15.46 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0261, 0.9995, 0.1131, 1.948, 1.5066, -0.7322, -0.9184, -1.121, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=0.0025 left_pitch=-0.0126 left_roll=0.0014 left_gripper=0.9995 right_x=0.4139 right_y=0.1919 right_z=0.1437 right_yaw=1.4053 right_pitch=-0.0265 right_roll=-0.0144 right_gripper=0.9993\nstate[joint_eff]: [-0.1299, -1.4017, 6.8581, 1.8535, -0.0366, -0.022, -0.0122, 0.2803, -11.1385, 6.612, 0.3785, -0.7155, -0.022, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0223, -0.0261, 0.9995, 0.3588, 2.0449, 1.4582, -0.4469, -0.8455, -0.9276, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0014 left_gripper=0.9995 right_x=0.3958 right_y=0.2934 right_z=0.1005 right_yaw=1.5088 right_pitch=-0.0387 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.1829, 7.0359, 1.7021, -0.0269, -0.0122, -0.0122, 0.1573, -9.9077, 6.5436, 1.2527, -0.5153, 0.1538, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.358, 2.1994, 1.3678, -0.1947, -0.8539, -0.9268, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4026 right_y=0.2966 right_z=0.0258 right_yaw=1.5118 right_pitch=-0.0291 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2923, 7.2137, 1.7363, -0.0415, -0.0757, -0.0122, -0.212, -9.3197, 4.9436, 0.8278, -0.2222, 0.0415, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a85d36ef67cc78c9f216d9a9f55f5446e6babad61500b453d06584910850e041",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a065df0e48d4d8c80ec3f5a6868e1aa7a6dd34aee08774f5a601e06748858f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe9e21a2a0165c825929197528ecc910abf3b6525e3bc557fd9096949891220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+AcKEAgRGAI4AUIIdGhpbmtpbmcSDHz+KEVgTP8zvil1vBoMjE5pIWZ9suhhnCCPIjAjLLjN2X+pSqhTitkOcpncrMgsw4mXvOz9qEv+QGIBuQoRfnUQnthvVOW1MY5v78cqlQe5eIVFITneDo6YpYQznwCjQKawCj9vdns3P9yDyJn7ZF87rPTSCzZnDiWpvGKYPOrfOww7xQ+jYseDAh+bd0POVsvifI2lw7HIaUTp6HXHDnrLnz9HoQ3cpu8Yt5tAzLJ7thD36B2gz4aWCrEIfeJNzUBoMyz5b8nn5gCciWq7bHR8ByCar3Qby86gUjmhECaID1uuhMDcbOe97tlzz4eejwtq7rwB0yV2quWnN9E2EircBoj5MfTUHWjQpyWOr9lb1lQgQipzQvqEp+9Qq+0BVbqaqrF4hyEtieNfxY4U0zoFYyeCKW9hV2BzwsAhWji+gqmBDzRRXE5kOchwxwSrrDNuxv+lqxcaELcyw/gl0mK7s7jdKFoH7txTDX0cgRSwyqbla562M9LtpMxl1MiB8SPDtZGIsagnQtlmc9eTZtBziD/BKaI1rL/fCmCN0bTmybkqyGzOLqY+8zBaej7gUyrk17V0kF7t9cswZdSAnNn5FpZlGS0WYUywOpWwdmKWP4LjZeWz2CUtceom6BU84kgrdzlw5ukGYBqPL1acs+Br/cawREO7ie65wEsbDGOTlQWrFgI8KYsjEurACBEP/hzyhotYI5ALqQIrxs0h/1CVvaWj5SWOWBBW5QvVJJOiw1WAUCnxQtUeHaPo3sNWc4w1jdfivmXMeF892hhKMCLVrlZGfdxtfMA1GZcqKt1X7LG+7SWOSBhS+68ong/WyL4cG9CBE9/BoqhpaFXjjM5P/94fbHCWb4ygUH0ol7tEoRcZWVsVvZ9uqY/LjCIdDH7lFPnvSenr5ZyjqkLkdFFAsGdRhA4WT+S3oqxeoFfKrKnztTcSQS/ie5N4UXw+qtHBdk1pOGk0JbqGWWt3m5KkgSmDt5bxiQLYLTmei4hJcnEHNPCOX/IK1yPKCBudPp0DhryeZrnSpjhHrQ1PQu2edkDWiZ7wBfkwfiGvV+C1K2+AddiICOO8ZNGU4vCo0Cf5ZVBkGneOaoKX7ErO8hUj+XSbLFNGe3ZNJUpzT8GMnCIZ4vOduJo7gqYgZMjBjH0+S1dSTuXmLXBpX9hKr1eqSkc7RLViRXR6kQUQcQ1CjUiRZHTA397Pz5XvuQhC2v4LpDzRzwGyPbJOxbUf5bouRkulBTweyeWwU4vfsKwzWgsD1tsmCqbr4rdx1q+n1SwQOuK6GuI7XkioqI/QSnD1r79VkAU28FOthEOMPhXoh83TvhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ZMiNR5njypbr91QxKWHyn",
      "input": {
        "note": "Descent stopped at z≈0.026 with the brick filling the bottom of the wrist view between the jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.405,
          "right_y": 0.295,
          "right_yaw": 1.5,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019ZMiNR5njypbr91QxKWHyn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3576, 2.207, 1.3598, -0.1371, -0.8761, -0.9161, 0.0098]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4059 right_y=0.3004 right_z=0.028 right_yaw=1.5171 right_pitch=0.005 right_roll=-0.0336 right_gripper=0.0098\nstate[joint_eff]: [-0.1299, -1.1966, 7.0632, 1.7216, -0.0855, -0.0659, -0.0122, -0.4855, -9.7299, 4.9299, 1.1258, -0.1636, -0.0611, 0.8034]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e773f06445fdf7f8bc65d5e21eb3debb2f52fd2470937d59901e63785ba71b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a87bab60e7c6a0bc59a970f281de7482d61135b3e0c3b7870bc620cdea9386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33c2b398ae9dc983e867644bdb54a0db6682f51dc3fe2fdeec5609663c693e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 6.859 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, 0.8005, 0.6075, -0.3897, -0.0223, -0.0261, 0.9995, 0.3588, 2.0449, 1.4582, -0.4469, -0.8455, -0.9276, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0017 left_z=0.1778 left_yaw=0.0025 left_pitch=-0.0133 left_roll=0.0014 left_gripper=0.9995 right_x=0.3958 right_y=0.2934 right_z=0.1005 right_yaw=1.5088 right_pitch=-0.0387 right_roll=-0.0086 right_gripper=0.9993\nstate[joint_eff]: [-0.212, -1.1829, 7.0359, 1.7021, -0.0269, -0.0122, -0.0122, 0.1573, -9.9077, 6.5436, 1.2527, -0.5153, 0.1538, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.358, 2.1994, 1.3678, -0.1947, -0.8539, -0.9268, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4026 right_y=0.2966 right_z=0.0258 right_yaw=1.5118 right_pitch=-0.0291 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2923, 7.2137, 1.7363, -0.0415, -0.0757, -0.0122, -0.212, -9.3197, 4.9436, 0.8278, -0.2222, 0.0415, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3576, 2.207, 1.3598, -0.1371, -0.8761, -0.9161, 0.0098]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4059 right_y=0.3004 right_z=0.028 right_yaw=1.5171 right_pitch=0.005 right_roll=-0.0336 right_gripper=0.0098\nstate[joint_eff]: [-0.1299, -1.1966, 7.0632, 1.7216, -0.0855, -0.0659, -0.0122, -0.4855, -9.7299, 4.9299, 1.1258, -0.1636, -0.0611, 0.8034]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e773f06445fdf7f8bc65d5e21eb3debb2f52fd2470937d59901e63785ba71b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52a87bab60e7c6a0bc59a970f281de7482d61135b3e0c3b7870bc620cdea9386",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c2b398ae9dc983e867644bdb54a0db6682f51dc3fe2fdeec5609663c693e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DonBptEy48GqkS3vP9yfhG",
      "input": {
        "note": "Gripper closed to 0.01 (empty) and the descent stopped at 2.8 cm — the fingertips landed on top of the brick, which sits to image-right (+x) in the wrist view. Lifting, opening, and shifting 3 cm forward to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.435,
          "right_y": 0.295,
          "right_yaw": 1.5,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DonBptEy48GqkS3vP9yfhG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0265, 0.9995, 0.3313, 2.2074, 1.5364, -0.3511, -0.8757, -0.9424, 0.995]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.003 left_pitch=-0.0133 left_roll=0.0013 left_gripper=0.9995 right_x=0.4291 right_y=0.2949 right_z=0.0627 right_yaw=1.5049 right_pitch=-0.0105 right_roll=-0.0212 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.2786, 7.0222, 1.7411, -0.0415, -0.0708, -0.0122, -0.6906, -13.4769, 8.6769, 0.9792, -0.4713, 0.0708, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec1e0547273e64cc7f2224e2b3ea18715b654e3cfe7ab27864a5ec49d42544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df154fccac4846e6a0a09241ed8637134af97101b3fcd4f158cf6670c51dba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8da8eab830c3cd2813001a9516fa0241d5242ff44c24c485593bedf0ce4db70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 11.04 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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.358, 2.1994, 1.3678, -0.1947, -0.8539, -0.9268, 0.9993]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4026 right_y=0.2966 right_z=0.0258 right_yaw=1.5118 right_pitch=-0.0291 right_roll=-0.0117 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.2923, 7.2137, 1.7363, -0.0415, -0.0757, -0.0122, -0.212, -9.3197, 4.9436, 0.8278, -0.2222, 0.0415, -0.0855]",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3576, 2.207, 1.3598, -0.1371, -0.8761, -0.9161, 0.0098]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4059 right_y=0.3004 right_z=0.028 right_yaw=1.5171 right_pitch=0.005 right_roll=-0.0336 right_gripper=0.0098\nstate[joint_eff]: [-0.1299, -1.1966, 7.0632, 1.7216, -0.0855, -0.0659, -0.0122, -0.4855, -9.7299, 4.9299, 1.1258, -0.1636, -0.0611, 0.8034]\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 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0265, 0.9995, 0.3313, 2.2074, 1.5364, -0.3511, -0.8757, -0.9424, 0.995]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.003 left_pitch=-0.0133 left_roll=0.0013 left_gripper=0.9995 right_x=0.4291 right_y=0.2949 right_z=0.0627 right_yaw=1.5049 right_pitch=-0.0105 right_roll=-0.0212 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.2786, 7.0222, 1.7411, -0.0415, -0.0708, -0.0122, -0.6906, -13.4769, 8.6769, 0.9792, -0.4713, 0.0708, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cec1e0547273e64cc7f2224e2b3ea18715b654e3cfe7ab27864a5ec49d42544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2df154fccac4846e6a0a09241ed8637134af97101b3fcd4f158cf6670c51dba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da8eab830c3cd2813001a9516fa0241d5242ff44c24c485593bedf0ce4db70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsQgKEAgRGAI4AUIIdGhpbmtpbmcSDFonBRGHsMPGLMwAWRoMPxSuwQ9rK6SWjpnuIjALa63Mxt87CsO026G/axpPMo6MqHQmGb7ILqJWbLRWJ0XnazhtGev/DdPE4zhhcOYqzgfpQxOgAtdfOdkKF9+TY+L3j7aFiqGDBbmazYx1s54vST0CsSWWWstHIc51XvfVw/X5sW020jCviHFcZ0aMfB+70X5lGrDw+nEom6qrOmpMnrSCaulqR/+Ova72RpX26sdSFGXwkihJiEDgCTkaNlS5PyTrkIShBGYZnnfIQAMerXEJyIU4TUw+O0qHmoYqTJUJlaunbSjTL51rHDhAsb9kRH/Ly4IHyvZJVVWHhcm7TtCN7K+T8cqpXg2xPz3yL+Svy3eNhBVD4bCaGmwM2kFoSm96ktAcmK73OMQRvxrUzTNoruYliibg2+b5rPTyBrb2PxaBf6BHN7IHnCxWJu3nb6oyrr+CaMDcR2RwqC2O/+s97qp/vrPIxZ5eCzZiMuTO8hPdUWrL2yLqE6nK/V72lZld5CzM5H+KdK2AZNQCLAZqOJitKm+r1bBXy0il1wWSb02QK+YYHaH9iDrVDcqFOILl+Dbcl/f5Y6+fvX8YSA3qrDUXjFAErdHHuo+enlouOKPLcoIYkhdZ8cZ5D+Dqnfpkea/eC8IrhbuPv74gG+hBh7zz9T5VfpVb6Jo9lzlKgYWyalTGoWRfwpA1GUIn5d2bMGKpiaXFbF/c6etxpymgLc68O9aE143/njCqE+2iJgcNJaiDdolldU5jr3axzq4bMAe1YAxuiwgyc+wIyTwc5/wGESH4dMpGY0uLpcJ/Iyc6RyPS+l8B6jGJpR2Zz5v7GzpwO/wdWyjfTGVFxmHatbr6UKIxZjbOPXG9XiQ4RQp9SsE8kpKqmOcsGM05nSFsOCba79qeNtbzXeizETF0iLP27NlzDS8wmrHPf1dBKxzoWsrWp7+TzU2nJ/O1JMS61ldMBERN7Sgt+/AQSeDJvYb5PGzFeTF1F740N/Z7HYwa+wY4m/4tJSbgVkNdQgs+I8e4IKXVgcOmxaEANcUFVDLIaZXyGvsbg7cN+xYhlEOPmqe1HYChCPipwpGFLIjLQH7JY+DGNOFZj1NQ4WMjdmI8F//ivDye7+am2f6xkl3o/U+d8bsRCcqj0KGsBRG18cmd0B3AfLQzcT3BL5KBmjfYl92o51rb9dot0tb3XSNxfcyVaBhqjmj5fucQmYVJuo/yvEAtwGFcvriLHGoqw+SDp0aoswOlrOK208OQSdU7+ZZQhq1HfB6R6TRa39tYkIZFHVB5YYzeruARmWm7wa3mggqbqRYoDMrPAmZsyxwbtaVJU2PGIP91f+wkR52WCYEvNKpn7Lzxtj9CB2LYBW7MCexVNs5CrRXiTO1eiY4/xuWpamGf/pZwOhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LEcM9m1sm6A7bKXqKctTpG",
      "input": {
        "note": "The brick is now visible between the open jaws at the bottom of the wrist view, slightly left of the jaw column. Backing off 1 cm and descending to table level to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.295,
          "right_yaw": 1.5,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LEcM9m1sm6A7bKXqKctTpG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3344, 2.2578, 1.4269, -0.1635, -0.9077, -0.923, 0.9987]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4202 right_y=0.2971 right_z=0.0259 right_yaw=1.5147 right_pitch=0.0254 right_roll=-0.02 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -1.2923, 7.0222, 1.7167, -0.0415, -0.0464, -0.0122, 0.335, -8.9094, 4.7111, 1.1258, 0.0562, -0.2271, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bdf0be85d635f50acb74c708686342b8ec6483f186e754510e6b07eb14ed40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:185fc62ee2293357bc6ac1ac398986760240cb26d61d28bb5dab1a5f6033bc79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d6ca939f4ed44df5dd07485e894f0a1a82fd07a144eb1bbf33a927fa51ef686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 6.251 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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3576, 2.207, 1.3598, -0.1371, -0.8761, -0.9161, 0.0098]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4059 right_y=0.3004 right_z=0.028 right_yaw=1.5171 right_pitch=0.005 right_roll=-0.0336 right_gripper=0.0098\nstate[joint_eff]: [-0.1299, -1.1966, 7.0632, 1.7216, -0.0855, -0.0659, -0.0122, -0.4855, -9.7299, 4.9299, 1.1258, -0.1636, -0.0611, 0.8034]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0265, 0.9995, 0.3313, 2.2074, 1.5364, -0.3511, -0.8757, -0.9424, 0.995]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.003 left_pitch=-0.0133 left_roll=0.0013 left_gripper=0.9995 right_x=0.4291 right_y=0.2949 right_z=0.0627 right_yaw=1.5049 right_pitch=-0.0105 right_roll=-0.0212 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.2786, 7.0222, 1.7411, -0.0415, -0.0708, -0.0122, -0.6906, -13.4769, 8.6769, 0.9792, -0.4713, 0.0708, -0.1783]\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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3344, 2.2578, 1.4269, -0.1635, -0.9077, -0.923, 0.9987]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4202 right_y=0.2971 right_z=0.0259 right_yaw=1.5147 right_pitch=0.0254 right_roll=-0.02 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -1.2923, 7.0222, 1.7167, -0.0415, -0.0464, -0.0122, 0.335, -8.9094, 4.7111, 1.1258, 0.0562, -0.2271, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bdf0be85d635f50acb74c708686342b8ec6483f186e754510e6b07eb14ed40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:185fc62ee2293357bc6ac1ac398986760240cb26d61d28bb5dab1a5f6033bc79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d6ca939f4ed44df5dd07485e894f0a1a82fd07a144eb1bbf33a927fa51ef686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsdRtdUmq3vtzhxaLCjADb",
      "input": {
        "note": "The descent stopped again at 2.6 cm with a jaw resting on top of the brick — it may be longer along x than the jaw opening. Lifting and rotating the wrist back to yaw 0 so the jaws close along y instead, then re-inspecting.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.295,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QsdRtdUmq3vtzhxaLCjADb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.804, 0.6071, -0.4049, -0.0227, -0.0265, 0.9995, 0.8131, 1.998, 1.1545, 0.1715, 0.4721, 0.2966, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1735 left_yaw=0.003 left_pitch=-0.0324 left_roll=0.0017 left_gripper=0.9995 right_x=0.4098 right_y=0.3215 right_z=0.0678 right_yaw=0.2516 right_pitch=-0.0202 right_roll=-0.0266 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.4838, 7.2274, 1.8291, -0.0562, -0.0757, -0.0122, 0.0752, -9.5932, 7.2274, 1.5702, 0.4469, 0.149, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987c1f0b77a0ff7f140d79bb38db614dba1aac708006cad86ecc718ea6353704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c4176a5cec03e920dc9b445d56788b3c19ddb12d53d385f42617302d1f08ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b95541c5855c5c2a95527455355685d64fba56eb4236eff1f38ef85f3aa8e5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 10.5 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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0265, 0.9995, 0.3313, 2.2074, 1.5364, -0.3511, -0.8757, -0.9424, 0.995]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.003 left_pitch=-0.0133 left_roll=0.0013 left_gripper=0.9995 right_x=0.4291 right_y=0.2949 right_z=0.0627 right_yaw=1.5049 right_pitch=-0.0105 right_roll=-0.0212 right_gripper=0.995\nstate[joint_eff]: [-0.0479, -1.2786, 7.0222, 1.7411, -0.0415, -0.0708, -0.0122, -0.6906, -13.4769, 8.6769, 0.9792, -0.4713, 0.0708, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3344, 2.2578, 1.4269, -0.1635, -0.9077, -0.923, 0.9987]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4202 right_y=0.2971 right_z=0.0259 right_yaw=1.5147 right_pitch=0.0254 right_roll=-0.02 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -1.2923, 7.0222, 1.7167, -0.0415, -0.0464, -0.0122, 0.335, -8.9094, 4.7111, 1.1258, 0.0562, -0.2271, -0.149]",
      "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, 0.804, 0.6071, -0.4049, -0.0227, -0.0265, 0.9995, 0.8131, 1.998, 1.1545, 0.1715, 0.4721, 0.2966, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1735 left_yaw=0.003 left_pitch=-0.0324 left_roll=0.0017 left_gripper=0.9995 right_x=0.4098 right_y=0.3215 right_z=0.0678 right_yaw=0.2516 right_pitch=-0.0202 right_roll=-0.0266 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.4838, 7.2274, 1.8291, -0.0562, -0.0757, -0.0122, 0.0752, -9.5932, 7.2274, 1.5702, 0.4469, 0.149, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:987c1f0b77a0ff7f140d79bb38db614dba1aac708006cad86ecc718ea6353704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c4176a5cec03e920dc9b445d56788b3c19ddb12d53d385f42617302d1f08ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b95541c5855c5c2a95527455355685d64fba56eb4236eff1f38ef85f3aa8e5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStgcKEAgRGAI4AUIIdGhpbmtpbmcSDEHCpGp3id3lzifyiRoMpHz+3PvWxoTY6PDcIjBUBbRRQNyBzttAoBvQzYtEtc1SMOUP3UtTDc+uffRPqw+ss1wCIeGmosmW0AXaDg8q0wZX0QtWeYJ3oUF1oD9V0+4oqD/q4RZxnBkESYuv7MAIgsJT/ZFxP0v1Hgn1X4/JxRNXkrzpVP07xaQ/p3M0aE0TQdnOKISaMf1YMwlp7ndzPB0RMMqpLCd0/rlyxDsV80Teb64/jYJLb4OzKsFN/YI5gEAs24Ypky1222sJu6EkgTAyDJ47K4f8jYGC4471Q4dYdagB9T+H7ZgkFKVWC0/zhFzboUicHYGHdvVtMeLq5fxQcp4xNPBa5a40FcnS+U2BnaDr21STpgAC0Q6fyjrCm5VoG7lg6hrLW9vxLByIy0PDUMVOwsNYMFZ+9sHo0VHxCOgd2PwHDBayga09qLyvmAjaflSs3paCWoHVEdhK5QCXsygMmZzUG80hdzu5vp6aNTRY/kZUlshHyuNsPUjLyCf6XirDbqia2z5Je0KTemHHLfPvtGrOkIPLML0ozIjn48CRG6N4Rn6/Q1YheHxbPeKOFOG0StugKjLITeqXkhd4LVuC7i9sw2uMZcbUCD2bFK4kkiQtz1KV+NJxl5dsmcpVIoXbSqcFI3IUBlJVAnoWOeJRNOq2BoFFhLHaeuY5iwEkkZnPdBUXfTKc0cVkaUqOv7gKWc+y7oH5AQSFkhk7YpmFxPRxMmQuPrzuhSZGZwatdMzINyRuWLk7a5aTftjc+dq+u3pHspVYyIHNJJCh6fBPjnC8Gy+QHv8jE6drWcDzw0mmQ6kMRT8SHlM+KmYF218IhRMnuT3EcLCADjns7bo8p5Ej6I1NcVsjQBYwhBPfri1/6I1C3/4FmHgXRCHoDacOKDaNpBMR1Rw37oA5hk6ScCeTf+G/X2grBvnB1A5qyrhIPYuUcFQsm6/ASvfOCX3b1wRTxXh83P2TrpD9Lpz5a96HW3np0cJk28s4WuKIcJGVn6Oq2zo+bHTbprxFnXsQhKuGuiuOKQ4xJCj3Q+iDYTbAkLWmy1Yd3IbryVqHgJZpOQibz7W9CKJZPEgObW8ZFsIp1ALfvKQLadKOkBHqGtx5nZvjREpx/uxzPYCGpLLgLMa9+TQq8MRtta3urIUK7FcWHDZFphMleH+KzEX0/Z7o7uQx0KSN1ELCrpOCfK5Co6/Paxuv8In47E/0IjSJAWOqbvpeZ89JnxiOERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BQmohDDHn9x44bbXj5DPyg",
      "input": {
        "note": "The yaw only reached 0.25 rad before the step limit; the brick is visible at the lower right of the wrist view. Completing the rotation to yaw 0 at the same hover point.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.295,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BQmohDDHn9x44bbXj5DPyg",
      "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, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8181, 2.0106, 1.19, 0.0826, 0.5724, 0.3847, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0021 left_gripper=0.9995 right_x=0.4125 right_y=0.3057 right_z=0.0657 right_yaw=0.1302 right_pitch=-0.034 right_roll=-0.0449 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.7216, -0.0513, -0.0757, -0.0122, -0.1709, -11.535, 5.6274, 1.7314, 0.188, -0.0366, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1301c1963fc368560f5b65c5a51ee197bf34074e0bc794c2428401452b0d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa78971b533fde313ebfd47e8ee397e5abaf0bf017837ea5b73647d86948950b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e965c366cbdc3ba206b76b5f70908bb81a8c04a159ba5f32fc7be6d7e529987d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 7.166 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, 0.8005, 0.6075, -0.3897, -0.0227, -0.0261, 0.9995, 0.3344, 2.2578, 1.4269, -0.1635, -0.9077, -0.923, 0.9987]\nstate[eef_state]: left_x=0.2943 left_y=0.0018 left_z=0.1778 left_yaw=0.0028 left_pitch=-0.0133 left_roll=0.0016 left_gripper=0.9995 right_x=0.4202 right_y=0.2971 right_z=0.0259 right_yaw=1.5147 right_pitch=0.0254 right_roll=-0.02 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -1.2923, 7.0222, 1.7167, -0.0415, -0.0464, -0.0122, 0.335, -8.9094, 4.7111, 1.1258, 0.0562, -0.2271, -0.149]",
      "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, 0.804, 0.6071, -0.4049, -0.0227, -0.0265, 0.9995, 0.8131, 1.998, 1.1545, 0.1715, 0.4721, 0.2966, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1735 left_yaw=0.003 left_pitch=-0.0324 left_roll=0.0017 left_gripper=0.9995 right_x=0.4098 right_y=0.3215 right_z=0.0678 right_yaw=0.2516 right_pitch=-0.0202 right_roll=-0.0266 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.4838, 7.2274, 1.8291, -0.0562, -0.0757, -0.0122, 0.0752, -9.5932, 7.2274, 1.5702, 0.4469, 0.149, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8181, 2.0106, 1.19, 0.0826, 0.5724, 0.3847, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0021 left_gripper=0.9995 right_x=0.4125 right_y=0.3057 right_z=0.0657 right_yaw=0.1302 right_pitch=-0.034 right_roll=-0.0449 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.7216, -0.0513, -0.0757, -0.0122, -0.1709, -11.535, 5.6274, 1.7314, 0.188, -0.0366, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c1301c1963fc368560f5b65c5a51ee197bf34074e0bc794c2428401452b0d8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa78971b533fde313ebfd47e8ee397e5abaf0bf017837ea5b73647d86948950b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e965c366cbdc3ba206b76b5f70908bb81a8c04a159ba5f32fc7be6d7e529987d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSggsKEAgRGAI4AUIIdGhpbmtpbmcSDKW9HMQb2OLq3JVLPRoMPuzJ4JzqZodmaZoBIjBLMHr4nvQfpQKUjOmNPB231QgA+Km1Q1ROoh0+kz4ezlcLyem4JUqULYKG9mzxCXQqnwpWvuZbgsVovdqBF8edGrTr4K89v/yDBXisucVdRP+QjDv8TZHjPY8mmoJkC8mA/UdllFVl5ZErkpeGTa7CxSYbC05FRQV8LbrOYrcpJJuT8c1cdnyAmuOMycSKj/Sf62+sc2/Fw8YBi94Q/ltqT8fSBt5IOp+/nnM1hOUXR8Xu9RiVfXYoJNTVQAhX4UEkhAAJalYsG41YCv78tvs80I9FwH1HTbFUrqshlCKnX4bO1Ymj5EGh4mFcYgjhsIE8LNRE79i7+vljWlteiANf43Twsd0z/fftD8HRLhNYnnXbGzpBL/NqqfhSOCfCvI5CooOFL20vIR5x5cTNjGB/vNweMd2FABy+Js6nHSiAz49femc1u9WffDxArRkFfUi2LIBKokc9mxcUUsquHciyYlGSwmiZvbzvv6acq2QrPsKhgh1mJsa5VRKx99g/qCcqqnufDVLffCO0AN8mcuSWPAqfAa2BhyoxXuQW6A07t9s7lsQSv2UL7+1OWH+LMBwnyvil2H5m6wDEu3PeKCUYwRqKXUXYMI5iD8m44v/HuXFxVyLrnu74pvHWs+LoK5vq5Y7Se8DLNdIYFGNYfDgV6RVbKDtW/wT+C+7pftCPC3/IxJyZt4vpSjAugidKJLCqSxo9bW9t3hKmMs0Nh0gXPPh8mmIKtuDTkfIL4KdagjAySQ35i1OUVSXYefuJv2UVfAnNlSC4sPO8axKE2EP5MWPSUBY6v2eJkO7lpSn+QqqEE2deDUd7KljywfrCw8/+qD2515crvFF8V1fppKKap3yd3AhzFzDkREvTWxNyCWegH+TEN0oQec0PUOVav7dGQWSHdcb779lKcUd0r7VzU/uWBE4StH0tlNcRl3LKt9mnQhnuy7SFD6ShzoQfsWnc5ZQ1FwCv/nPCyuX8ON7JrxEqKjTtfc5lhF9ojQiqrZlOe7eAk+kmoWduySn7mtGxWPl2oEr8rPCFK8NsPxNj23htK9W3QfOADAGGhQFH/FMMLVS9ONVh/7rM/iVRHY4dgCfbzByLQfVEvRdoL6XOEvw1t/0zvXe+0PCCrG/hl3eovzXbo2GWqiHRCwpzH3E9h/PwiobIUIqeFGNIQuX49CSW5MZBYjemaazylrCza1aioftN9anHAd1NizDNC9CGLU44blcuqlXcsXaTPkZzOtXIMYtLQ9N7t8kj255WaflwTXySwb4t1ARSDNk2GzoyIdmBq8jpzkNGw9WiSGa5ApdXzXipqC3XOJ9JVLej9aS5jYoi+cvy6bUUcBnDgxQsClcCD+4o9Vw5hEGpTLxDzD7iQ29E8BIZ11DTVwfSKCUyapwHi8vEsR4Wd8w3zTzSealiBj6zwzclsdg8JMYvuXGEh++PBWvpFh7OpeAc3P6z2B6PIrYZykRrg6GTQMouKM5JWCJk4yZscfoHIGtokP+PXbyoo9QHI2yqkZe8PBwx5aXCWLE4S2aQjcNrVFQ1Zguu5GhiDfpTv1OqIpGcd+9lsSX6U6XFYrabk1BeQ/MxquxQvILcfy5Gt/zt1LsFIqteUTMpqW3XT8JnaZZ6zgepPiYAIqGrbkrIgLj6VMEsO8M9YPTr0shn5QsQcaVTUwyvQxnvyPIe5nuTjPyHRt/zh1j/XhfGnRPWT89ZfEluvgT02Knx7PwT/uqY1FqhKZ0lh5rEq19ZauW+Ic267NU7G+7C6RCmT9fml1M+P3LLbgSVX2JD3ZkTl1iYaZBxqRLYqfVI/DgypD4fvPxMWf0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WqNdby9hE4TAsPqvJmAWuY",
      "input": {
        "note": "At yaw ~0 the brick shows at the lower-right of the wrist view with its long axis running toward the base, so it is offset to the arm's right (−y) and slightly nearer. Shifting 4 cm right and 2 cm back, then descending to table level to straddle it across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.255,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WqNdby9hE4TAsPqvJmAWuY",
      "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, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8177, 2.0106, 1.1896, 0.0864, 0.5369, 0.3626, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1728 left_yaw=0.0028 left_pitch=-0.0358 left_roll=0.0021 left_gripper=0.9995 right_x=0.4107 right_y=0.3113 right_z=0.0639 right_yaw=0.1689 right_pitch=-0.0465 right_roll=-0.0422 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.306, 6.9949, 1.6923, -0.0513, -0.0317, -0.0122, -0.4034, -11.3436, 5.6684, 1.8095, 0.2222, -0.0659, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8450d4429aae4d61dcdc7359c795713c34635c1a3e40eca0bbef9c9aa655d889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75a50cb7a160b4e11fb58659411ddcae161b293241510e95055b833cf8bbfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3680695ea63d1ec4b45135b82884deef3ebbe516283535a625dd2338824147b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 5.804 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, 0.804, 0.6071, -0.4049, -0.0227, -0.0265, 0.9995, 0.8131, 1.998, 1.1545, 0.1715, 0.4721, 0.2966, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1735 left_yaw=0.003 left_pitch=-0.0324 left_roll=0.0017 left_gripper=0.9995 right_x=0.4098 right_y=0.3215 right_z=0.0678 right_yaw=0.2516 right_pitch=-0.0202 right_roll=-0.0266 right_gripper=0.9988\nstate[joint_eff]: [-0.212, -1.4838, 7.2274, 1.8291, -0.0562, -0.0757, -0.0122, 0.0752, -9.5932, 7.2274, 1.5702, 0.4469, 0.149, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8181, 2.0106, 1.19, 0.0826, 0.5724, 0.3847, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0021 left_gripper=0.9995 right_x=0.4125 right_y=0.3057 right_z=0.0657 right_yaw=0.1302 right_pitch=-0.034 right_roll=-0.0449 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.7216, -0.0513, -0.0757, -0.0122, -0.1709, -11.535, 5.6274, 1.7314, 0.188, -0.0366, -0.1441]",
      "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, 0.8043, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8177, 2.0106, 1.1896, 0.0864, 0.5369, 0.3626, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1728 left_yaw=0.0028 left_pitch=-0.0358 left_roll=0.0021 left_gripper=0.9995 right_x=0.4107 right_y=0.3113 right_z=0.0639 right_yaw=0.1689 right_pitch=-0.0465 right_roll=-0.0422 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.306, 6.9949, 1.6923, -0.0513, -0.0317, -0.0122, -0.4034, -11.3436, 5.6684, 1.8095, 0.2222, -0.0659, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8450d4429aae4d61dcdc7359c795713c34635c1a3e40eca0bbef9c9aa655d889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75a50cb7a160b4e11fb58659411ddcae161b293241510e95055b833cf8bbfef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3680695ea63d1ec4b45135b82884deef3ebbe516283535a625dd2338824147b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvgcKEAgRGAI4AUIIdGhpbmtpbmcSDFxs7g9rHrPv/vkLGBoMtRLMmaIRWqXAEmKMIjBrR5Yrm5y1J6fNZfEu2dJX5mkyQckpAD2qCA7OXQgDXBIBnhrBiFlh766owD9fwBMq2wZGRZA745KCxVxN1Dbo1S6EdZXlMNQdL82BLEq25tmG50cyckdYqR+svJDwhGaCTB9wAvpJ3G4zsnNhsru15o7gh/eXWrmShZZiPk1U1HSSX4G1Xok3eXBMFEt/ZBro5E0B5cJEaSc2GNT9W4QPjryyT4M0G/wiuhyBF8xyX60h6FCRexgqxuI1DPiN19GGnpY8ite7JDurk1VtD9ofDnkSiNr8vullENxs5/J5mbwLhB80DZ1LtJDx0dqeIR9PMumQtZmpaNmbDFBL6sgt4Th1qe1WbVLLA5yTTWBSR4y6a+cG/PZEIr4knTKGc9F0gv42WCUSbyNuUO4EsZ7UODZMeVeq7rCzopbam70O3/7hRaIHfuH8GHnoziWh4N7vCSskJ54blwvsQY0g4QdX0wQN6UK1E6f7g2c3RZCEAkKVnH8M/VUUEu4VjfDjxQ2sfHWpTflf1HbEPDeJC6/wcNaMJ3OR8nwXPeVK9XhM121ybhB/jmiQR04bHn9Gg0K9ZeB6Oc+tz5dtZMlJHDh58ECceBBVjgdJXvXkmI4LHaL4HLOg/AXx+QCxB3+eFg2NBoDdn9sg4GNnUPCgwAqnJgRaDONll/gSnam05aqymbV+XlVSgyfmkRxhmzpL3xpJcLMt/jiRVr/A0PnRsM00y4Yt3yZ2FmLhCp4llZYBedHW5RiWfmSt8tkDnmfopB3lyicqeQchvgn9PkKmBsjKQilZUTvLdwu3HVUmERXbu+1QYQTD4q6iYrG6QWE4ClKk0+Niutj9YKJD3C/JPDKyzZvq1Fz8u3EvXVJX6xrfudDrIRY05vOwzqzlsYUuVtLJKjVYB0DjaT3GBSFs1v7B5oL5MsX23zsYZ/JQzo5uPzWOKObspBYVdwo8e54c/stOcTGKnw25yeI/u/iMmlNmTzPn74nP0kS8Iud/s3IMdjknmamxCn2zzX6A4YJp9Fy7WKp8suzdOuEKTdcUGQyJv3HnZ6eAD9mzGWQ/RD5jEw49At7LvFNrKavqpM18N+N4NBpWOLVzVGsZdQg+WC36q/orpc4A6XRk4J/iS4GcIC98SipgvnoIqZQrLorpcEaTZygmhdpHzrzal3SJxP5vDGs9P+fuDnIuijVe6ykoeVI0TAb736DtiBm8eSppGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015e3Q654dMx9TQD5XjUrHvB",
      "input": {
        "note": "The arm did not track the last combined move (still hovering at y≈0.31, z≈0.064). Trying the lateral shift alone at the current height before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015e3Q654dMx9TQD5XjUrHvB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8055, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8124, 1.9766, 1.1187, 0.0986, 0.5655, 0.4076, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.4024 right_y=0.2923 right_z=0.0577 right_yaw=0.1168 right_pitch=-0.0529 right_roll=-0.0362 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -0.8684, 7.0632, 1.7216, -0.0659, -0.0415, -0.0122, -1.4017, -11.3983, 6.6256, 1.409, 0.525, 0.0611, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51cfd8eb82d276460a6d7f88cb8f9fc882049cce08f6084c8434f6104a80ad29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86798187e77764f7cd89265cbac70f2fa97082d1b4ea280bbbc544cefcc5a360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:185258633fad9f253af98c16aa4b762deb1e0e865249db34f7df91c393e1894d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.163 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, 0.8043, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8181, 2.0106, 1.19, 0.0826, 0.5724, 0.3847, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0028 left_pitch=-0.0354 left_roll=0.0021 left_gripper=0.9995 right_x=0.4125 right_y=0.3057 right_z=0.0657 right_yaw=0.1302 right_pitch=-0.034 right_roll=-0.0449 right_gripper=0.9987\nstate[joint_eff]: [-0.0068, -1.3197, 6.9949, 1.7216, -0.0513, -0.0757, -0.0122, -0.1709, -11.535, 5.6274, 1.7314, 0.188, -0.0366, -0.1441]",
      "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, 0.8043, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8177, 2.0106, 1.1896, 0.0864, 0.5369, 0.3626, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1728 left_yaw=0.0028 left_pitch=-0.0358 left_roll=0.0021 left_gripper=0.9995 right_x=0.4107 right_y=0.3113 right_z=0.0639 right_yaw=0.1689 right_pitch=-0.0465 right_roll=-0.0422 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.306, 6.9949, 1.6923, -0.0513, -0.0317, -0.0122, -0.4034, -11.3436, 5.6684, 1.8095, 0.2222, -0.0659, -0.1441]",
      "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, 0.8055, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8124, 1.9766, 1.1187, 0.0986, 0.5655, 0.4076, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.4024 right_y=0.2923 right_z=0.0577 right_yaw=0.1168 right_pitch=-0.0529 right_roll=-0.0362 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -0.8684, 7.0632, 1.7216, -0.0659, -0.0415, -0.0122, -1.4017, -11.3983, 6.6256, 1.409, 0.525, 0.0611, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51cfd8eb82d276460a6d7f88cb8f9fc882049cce08f6084c8434f6104a80ad29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86798187e77764f7cd89265cbac70f2fa97082d1b4ea280bbbc544cefcc5a360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:185258633fad9f253af98c16aa4b762deb1e0e865249db34f7df91c393e1894d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwYKEAgRGAI4AUIIdGhpbmtpbmcSDOm+qOW1HisA5LqBBhoMyTEwRhTUaJh/agyOIjBRWrOJnE46biW70yZhdKB0MjnlDf7YnU/yLgwFwdNITQXeBVC0p39XXT+hU1Lvn0kqzAVrNxvWHu147DBznJX6S1E6rsdUi400cqKI0vP6IZbbrjKgvkUSidZdgc7vndvTXBMfhOjBFgeKGBLNH0rb/1cr3N7mcOk3Pgq/Z79l64pM7Cfox/BV8TaDTRRVUaxy20LwFwXX5HV2ln5KP+8eOpzRiQke3TVcte4UxkQbMtWsvS+bhK0MS1s1y9zTDM6e6bPZF26E6aSGn7wHIB3s5llz7b4M1S1W++i1xT0U+ZYWRh+GPpbvV/XUAfqIPFt0+ArC3nmhnnlTOvYJCjJgP/zJv1qKrjxw8XDw1ULwcbSn2sLWXQea2w8WbPRfU+uWvKlGVp4HF2Lbo+efdrFTNN5u0bkcKi5mYTK7WFtvajafjayw5QLLuYrsWWTQAyrBKUP7YO9xrKECY9cHSQV2WdZRzkYXHyuFy2/fAUjsuU6MBX4/LOWIOF/84rA+ZLlgkCu107oSUag8bhDzMyNP1QZCCwHr2twqLTw+sZuNuyZyWvTi4D9JwHxF0/taVJAHoR2mBM+WmnDAvvuMrBiUtTqEJJTn6dUubkFmEtMDjJdMyOv1S89pY/isuLAJeXQr4vjtfVkdxj+nwBD9guS/zLSwNmdLuipkcAr3Rb/PtJkV3Nuc6mVROCcVFsotxM73IUgbzFjDKW+DzCqLNLdUCm+fh+83VMzhWemxxnV6ddVD3sB+TCSKIR4be/YlmpQ25oOfPsZ9gKkUrU2weedF8NDr/hfrZ97Adn+Vseu8KvMz3BLDOedew9AN34gg+vFCaRsWCyqqw3nmESpiFtQbMGOJWr7/5cvd1ZEL3nPXU9ecYoeLiJvevsdZYgKCreDNn2p7pJdtMWCyB0J6w8XCnXvjQ5izE0NIHTTXKG3zb5O31ygyHqNKIL+UhHGUZfkS96gU6h5/biVsSo9FfDEr9rVzHvqtgiaIO1TqTcN15cUjt27RdqyrycMDdTmtPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7b9smG8R91ZJ1Y7jTxvim",
      "input": {
        "note": "The arm is tracking slowly (y now 0.29); brick still at the lower right of the wrist view. Re-issuing the lateral target to finish the shift.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01A7b9smG8R91ZJ1Y7jTxvim",
      "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, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.791, 1.9579, 1.0641, 0.0509, 0.6132, 0.4728, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.3951 right_y=0.26 right_z=0.0431 right_yaw=0.0212 right_pitch=-0.0904 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -1.1145, 7.2, 1.6923, -0.0464, -0.0317, -0.0122, -0.4444, -11.9863, 6.4342, 1.37, 0.4127, 0.1343, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9d866090d823f7b514393f91a6b20a525946c3c5f259040f7f0dd79eab71b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3c24d54122d618745e22a036d3e920ce1f67df6a8e0e8ebcff9af48ef8273ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a23dd2e638fd7c735f7015f591772a8fafc9f29aa7f860b253b509f9ca29b816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 11.04 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, 0.8043, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8177, 2.0106, 1.1896, 0.0864, 0.5369, 0.3626, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1728 left_yaw=0.0028 left_pitch=-0.0358 left_roll=0.0021 left_gripper=0.9995 right_x=0.4107 right_y=0.3113 right_z=0.0639 right_yaw=0.1689 right_pitch=-0.0465 right_roll=-0.0422 right_gripper=0.9987\nstate[joint_eff]: [-0.2393, -1.306, 6.9949, 1.6923, -0.0513, -0.0317, -0.0122, -0.4034, -11.3436, 5.6684, 1.8095, 0.2222, -0.0659, -0.1441]",
      "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, 0.8055, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8124, 1.9766, 1.1187, 0.0986, 0.5655, 0.4076, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.4024 right_y=0.2923 right_z=0.0577 right_yaw=0.1168 right_pitch=-0.0529 right_roll=-0.0362 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -0.8684, 7.0632, 1.7216, -0.0659, -0.0415, -0.0122, -1.4017, -11.3983, 6.6256, 1.409, 0.525, 0.0611, -0.1441]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.791, 1.9579, 1.0641, 0.0509, 0.6132, 0.4728, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.3951 right_y=0.26 right_z=0.0431 right_yaw=0.0212 right_pitch=-0.0904 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -1.1145, 7.2, 1.6923, -0.0464, -0.0317, -0.0122, -0.4444, -11.9863, 6.4342, 1.37, 0.4127, 0.1343, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9d866090d823f7b514393f91a6b20a525946c3c5f259040f7f0dd79eab71b57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3c24d54122d618745e22a036d3e920ce1f67df6a8e0e8ebcff9af48ef8273ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a23dd2e638fd7c735f7015f591772a8fafc9f29aa7f860b253b509f9ca29b816",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQgKEAgRGAI4AUIIdGhpbmtpbmcSDMdncSVH64rYTw8TCRoMJy1hQIhfEbS4VHYNIjBdpioULaL6hoHTJw686LM5hXT0z0Tg/t7P0TIBG/r/yQcZk6QwU1djSHH7sxr7/BEqsgdPr1eFts+7ttD77HG+w6iNsVk+bi0BGotc/OQYYGovlxef9dswPg6Sz3mXtrcNx5cyqb9APkU+wmHbHb0UVkHusohqlmwYYzt/TSs4CZx9SjJhEEuTBjIVudmwvLYvn+3HhGC3YHWwrDj8WCktVmLOzTF1TB3yPiQM5b31PdlgIGfXWGUGxJRcADhdc2yP6TI6Du97QTHbXxLq/HSkE0Tn34SNrjSQkTSKs0iH0pEaO/BCt5JcifUa3MHZ7ROkHWgowPjR04/EKmFIB5gKX1n2HN/uAnjYvc4Fh77180pY88AmAh8GZSxyTj3VMvLaA8VohY0snlng/mLzq5ppLeVxA9m+azuiykZjEKhzJkzF2r4VN7pArjzWgl7cGvLkfW9Lj4v/r1ns2wtZUuf8XF7IbbQuomkM7aY2TrUcr5o5jtoklOBbcfjdRJyU3qU89nQ36A5kA+IaXRSr7YbsALcm3X3G+he8ae+FBwjmaRIr1RqjGbIOEEiFBEgEZmVcbKuPGA+kkBm585KK6Kl/NIuZe8n3pEgh/9eVyKY6nUfz8mYQYV7WHHEbSimgaevzNdWE9vBUSiLYq1d6tEzEtnR1y/8UIYatn5kcjPEOy8w88dZGDdbCd+rkfYwcjKJLRdqAKdk9NVhoqhTUUe5XNYVC7tt6w6w/P/HdTBY8jtrFO19IPRmAuU9Sl+jeMuxPpBHpHxHX6I44s04O+2nCCRvR0LYZa30pM5EbY9MVr8CM+hq0eLnyYaRQD5CNYJ6cB0Xax2n2T0iz5VUQ1/kKf4xyqOd2h8MXR1wELk/XmvG23Rg2TwV1Xv95dtGli5q3dkKkkLpzKdZnMR87xWFgC7XC6M1eS2gQOYzGVVhYCw5GRv5pEzeqEycCd9xSXnBIWx5eWfK5lMwOXwGGHy9gSeEHsL2XWOvCZpBDbkUAxrEUqdrpl54lWQQ+0A8vQcIasiZl63u3gMzrkppAu/eJlS666sFMZWS3DqK++Q2eQSupc47A6lt0pFfDV8cIVRaS+2FP8E3sBb3kwETdBSmilDQMxlCWABLwiQ7lvr54cs02BkMhQrN7ZBF6F1hZymJO3ASBHWbpEasSsyI5+VJIBcngcEO4qHSF5Uhsf5VnPm/rAuc0xeOcipGewHSpUg27ZDJEyjZXjVM3h1bs7y4boiO2pbDMCLLNRui4ywSehjU06jqMwYXifUfjw9sQH9ZgRwOTs6I+09nNyaFKaEROwnzOJFAmcHpYuBt7U83tGXIKHgXIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012qnZxL36BbYZtayFTvLSgi",
      "input": {
        "note": "The Anker power bank (\"brick\") is now centred between the open jaws in the wrist view, long axis running along x. Descending to table level to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012qnZxL36BbYZtayFTvLSgi",
      "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, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7902, 1.9579, 1.0641, 0.0483, 0.6132, 0.4759, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.395 right_y=0.2594 right_z=0.0427 right_yaw=0.0186 right_pitch=-0.0922 right_roll=-0.0647 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4017, 6.9812, 1.7021, -0.0855, -0.0611, -0.0122, -0.1026, -12.0137, 6.4342, 1.3993, 0.3687, 0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026e1b10b1bb28fd6a891bd4e6b60444289db18c291fc7f5f603fd28a8976c72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b0a6785cf1057f07c35229f3dd337c99d625dad68709b62f20656a35468750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b63375f7f7370df772153a6b9158087cb57c22568d1274697dbc87d1b569dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 10.91 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, 0.8055, 0.6071, -0.4076, -0.0227, -0.0261, 0.9995, 0.8124, 1.9766, 1.1187, 0.0986, 0.5655, 0.4076, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.4024 right_y=0.2923 right_z=0.0577 right_yaw=0.1168 right_pitch=-0.0529 right_roll=-0.0362 right_gripper=0.9987\nstate[joint_eff]: [-0.1436, -0.8684, 7.0632, 1.7216, -0.0659, -0.0415, -0.0122, -1.4017, -11.3983, 6.6256, 1.409, 0.525, 0.0611, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8051, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.791, 1.9579, 1.0641, 0.0509, 0.6132, 0.4728, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.3951 right_y=0.26 right_z=0.0431 right_yaw=0.0212 right_pitch=-0.0904 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -1.1145, 7.2, 1.6923, -0.0464, -0.0317, -0.0122, -0.4444, -11.9863, 6.4342, 1.37, 0.4127, 0.1343, -0.1441]",
      "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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7902, 1.9579, 1.0641, 0.0483, 0.6132, 0.4759, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.395 right_y=0.2594 right_z=0.0427 right_yaw=0.0186 right_pitch=-0.0922 right_roll=-0.0647 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4017, 6.9812, 1.7021, -0.0855, -0.0611, -0.0122, -0.1026, -12.0137, 6.4342, 1.3993, 0.3687, 0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026e1b10b1bb28fd6a891bd4e6b60444289db18c291fc7f5f603fd28a8976c72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78b0a6785cf1057f07c35229f3dd337c99d625dad68709b62f20656a35468750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b63375f7f7370df772153a6b9158087cb57c22568d1274697dbc87d1b569dc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAgKEAgRGAI4AUIIdGhpbmtpbmcSDB+GyXVOuVMwvAIU5hoMGuQUV3rA1ew/zIooIjDy3StAWceglC6m/78S794UIJxKNs+jTn61/uniBkhj0v/xTKNDhsPkn8Z2z1WRk4Aq2QeeN0rIVRr52HAgjyVZEG7RTDo24dq/XDrrkf47iCRojvSttg0c7+XISwxZaeo8mbZxfEWAXn68KWYbiN1jt+8becCKMExhAjTKgGABOBz7wJ0aW3T/WF71ERTxznv2h5wKwXmgzfwbnNcNU9CNZEIzjywZJhjatPFgwmvptPiv93j3ryN7mKcR2/qMBz69lxmBPAJUc918qbtd3LfJzAkmmCKgwXM7L+bCjl3hAQLN3+N1QcYagSdza6v1XcZlFLvSMMEgOu26i+rOUSGWZm/8PSbZ7MYZUn/YCgoeSGYft6Tr11sXHUOqieXFg0HWqM/KfZMO1xa28MbLRnH3rcb8CfgVz5yGB5m0Gwi1zMaLlzlKFzTR4gDv7n1bllXl7e4lvBg4GlHc05I4nFGMVAledrDhBYBchn8f5bQ2Mb3QaaxWq+kUpi5Pxw3aywSnvYWSBuzxLEnZJlgIUZudJUuRfXDc59F2ZA/URoiEyd3g02C0l3Smt1W3t62nbmZu4uZkzkk9nFwN14B+QETsdqnayZbN3rJHoak1rZXvGv7ziRwzCmcMqHjOukPL9SkgAv0oM1hq1Qnxe65UF71mT8swkeE32saAfVqcRofdi+CRSKcA8y9JmLTfaOR7RrXxo107b38SvBlVo5PNCiwgETQzidYC9zyEkm9Qz1UmBzkbOQ8SBwkseP8CjdFaEi9iaY8069zU8MICynWoPe0oBY0mtv9U0j/xUqxIBgMLCgZHRCLUFm8DyylLHTNhRYrWBQz693dZ5RCtaFKDcFE/5B/Mkk9X3VIfxp3jTB3Hoa3Fg5ME/AkufP5NDp2J9KELBLBygdPyEMV0+L95K0CiTYLBZzyBrQkLXFdWIq759X9bTfOkuBe5o5lJNYBGSYLb7/jlphKtAUTG/qWTwJKw+md5eW8gEDeAfxuHYI0GnFm4LnKE7n3Jy+W+8zUCJWP/4G+tELy6x8B1WpGtMXNf6xTQfQXTHoXWa4Abnad4Buy4cmvAlsRNf5w9ITPMlw049MA/JWOeTQMP/8+XgCNnEVHaR0sYHasyxgCBffgeGSKMnKxij7eOwS1SEHE7jGV8w6t3nXuwPPa7w8IfFwyF+YkdShRGQj8xq0CyQ4mOY+sAxKAEwEV/OZUXkGzb/o8ZQIlXHKobTMgMPoZbSSsp0ap47/8dpt2vQ24riBDA+T5ZoRf9P038rHlRjqYcPU2hk3cvT9O4IVpLT3IA4oSwwvbcuF+TWENE+QrnGhA+BfolFPwH8phaxJc9Bnunoq4g6DtnDwW62eOZSLAQl5zzvmI+ZMfgcgxbD8W0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011Wupge2qmx2xecYUMof7gF",
      "input": {
        "note": "The arm held at z≈0.043 instead of descending, though the brick is clear between the jaws. Commanding a smaller descent to 1.5 cm to see if it tracks.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011Wupge2qmx2xecYUMof7gF",
      "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, 0.6071, -0.4084, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.0381 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.306, 7.1043, 1.7021, -0.0415, -0.0269, -0.0122, -0.0889, -11.6171, 6.4342, 1.3944, 0.4127, 0.0659, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bb74e40f7ada0a83673e30ff8e26ea138c825dcc48034d7fa2dd998ffd7bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ab966f0c97a00db1160a80e379603b4befdf42cc116db0b44c781e4b9e3bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c865d2f65b744ffef95f18973ec8010de8cc664bd18d94cb2bc55e380ea588d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 9.055 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, 0.8051, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.791, 1.9579, 1.0641, 0.0509, 0.6132, 0.4728, 0.9987]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1726 left_yaw=0.0028 left_pitch=-0.0366 left_roll=0.0021 left_gripper=0.9995 right_x=0.3951 right_y=0.26 right_z=0.0431 right_yaw=0.0212 right_pitch=-0.0904 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0342, -1.1145, 7.2, 1.6923, -0.0464, -0.0317, -0.0122, -0.4444, -11.9863, 6.4342, 1.37, 0.4127, 0.1343, -0.1441]",
      "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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7902, 1.9579, 1.0641, 0.0483, 0.6132, 0.4759, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.395 right_y=0.2594 right_z=0.0427 right_yaw=0.0186 right_pitch=-0.0922 right_roll=-0.0647 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4017, 6.9812, 1.7021, -0.0855, -0.0611, -0.0122, -0.1026, -12.0137, 6.4342, 1.3993, 0.3687, 0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6071, -0.4084, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.0381 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.306, 7.1043, 1.7021, -0.0415, -0.0269, -0.0122, -0.0889, -11.6171, 6.4342, 1.3944, 0.4127, 0.0659, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7bb74e40f7ada0a83673e30ff8e26ea138c825dcc48034d7fa2dd998ffd7bc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ab966f0c97a00db1160a80e379603b4befdf42cc116db0b44c781e4b9e3bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c865d2f65b744ffef95f18973ec8010de8cc664bd18d94cb2bc55e380ea588d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3gkKEAgRGAI4AUIIdGhpbmtpbmcSDDXjqlrEGNE/9KJJsBoMJ7aH02sEg8CovNf4IjBzbL/ybmQD1aHbkqQgH6cA6arFLTrwf9X6DA2tcgNmgIjBIPus+GIIz1NM00S6I8Qq+wi+4MnqWZAi/fkteD0Rf10wCdo5yNrkT6ZsiLuhFQJ/cs88mRu7ecf8RBgc+LeZhV/PKKXFM7mdUoiXXyOjjJi2fysJLLHob2KbyKtmL6JpVfxQfInS7/7yIPqlZaFVglh8+d8CsE7SqRGbRxN24za9xlYkCuu1ecwVTnhnCCotoBegpheJ533ixYaeDlrknSciVYN0zI0FkfSH5EkEqrdQP/PODBvVJyZGPkZdGPSoEJ/MhvDcO87pMFJWScNEuNUdH6yFgGOxGuu4XwVRFRHr7ojNYEaaCqgV7urAwEfHcCY9x4b1gztbSS7YobxUR2S5o17NjHHtyrzMWtrU5jctbICrd4XqoeMzQYguU7uxY3gs1CPdOXla1O654LjTRe/OHg4PKe+hEjHgTWJp5O+NlvcY3W7Dfm0i5aWF+kId3j3bG6GyCPzYIOK0sFs1PSvIqLu+MzzRJt28Bz4XG3VcyNBMfQuvUF1gheuCgQpCFONC7CZhBR/e+grsX15eSiBs2Vy5SxT2sCBoIbMgPZVkz0hISdKGlHXgnul+xpfNLYmIibigFo3B48egp4R/I1QlDNzMtNUnBmDOzp7ray9pxUTLsW7NAA8YbglNdtweFFEkrZDugPCVeFazDzTTKuL4IK4KfNXz9lONOcDlzARTyZPiLJceWTWRtofsfEw2liQbWoObR9D5S25nsfR2FLv03Y5C/WkqoWnze9twJvbGVyDOR7m+tNtZyHxyvGt4oPl01C800Lnmx7huHwV+69O1+prO1zlC3uIDp0rBfBqKByldbM1QyraRSrZNfpL3AdCMcLeeTVHPehLOJ18Uft/7A2vAhQPC6xfE9xdca1mN2J1PAmumuNgE80ttEcM/PVq2ioY33Ecfh1s4xK2zOvT6oXOEJER0cZmFjiGfCKyVDMJdgj370qT5cFUr2UDj3Wg9oHz3bJAjOKMkrq4SHApTJYR1cOLsqXDQU6Zy2W6Tf5/NcwvcFTlB7ZE3T2mWbm2OOq3YHctPqSKWlZOlmSeyZhHMUxv22WULNf54A2i82UWpnuuUolvWQ8+d84IxbchQRBauliVhKzKsT3W0aiKxs50DNeTpMd73c81D1/yltmQS5mRbIQLSub+V89kZHYQgVOZSVF4bitnwearxdELwEpH112pSPcEbhHu7geOPbpn8HpcJMwDx/tSoiE3no6Edkl5Rvxre0I2mkYC9eO2S/NegiaGmMFwqALML7tmzFREHCCKtZhl++xjY4R4WgHWibEd7jyiylqdRGFAkV1yOzo2wspNgTi88xWY5Xx3BC8nLnr2bNVg507c+KQjWXkMnBIDeeUrTc7glvrBuAcfsq4wE5ekSKDrdCtbKpfJh2GwHQ5pjOwL/QAwaTyHMZyb1CQkwdIa58OHR/U5C8BS6ktlD83HHBmXEPZj07StlQL1rPeJCf0D+MBdcsntp8kXlIVAOVNOjVGWCLyXFH6OA0Zdoe67B7BQKV7WqPsjlznJqGG8RC3qQIlqdFYG/bEIB4jq/FWLiRUcBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6zjfZCiikbJ85v4gXnj9X",
      "input": {
        "note": "Joint positions are frozen — the IK appears stuck in this pose. Lifting to 10 cm to reset the posture before re-descending onto the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.26,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A6zjfZCiikbJ85v4gXnj9X",
      "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, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1009, 6.9949, 1.7021, -0.0317, -0.0757, -0.0122, -0.2256, -11.8769, 6.4342, 1.3944, 0.398, 0.0562, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a647135cb833dae70b5a0e4f7d69370cfadac78b660da1643cc90981fbb64ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fe08fb3973fbc320a8c937513797c94569d087bc60fe2891fecf2fd24ad7c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71da8ddc62f327db2f48c74ab7e80ec5ca90ccfe267f43ed5e86d4c61be94a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 12.36 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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7902, 1.9579, 1.0641, 0.0483, 0.6132, 0.4759, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.395 right_y=0.2594 right_z=0.0427 right_yaw=0.0186 right_pitch=-0.0922 right_roll=-0.0647 right_gripper=0.9988\nstate[joint_eff]: [-0.1709, -1.4017, 6.9812, 1.7021, -0.0855, -0.0611, -0.0122, -0.1026, -12.0137, 6.4342, 1.3993, 0.3687, 0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6071, -0.4084, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.0381 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.306, 7.1043, 1.7021, -0.0415, -0.0269, -0.0122, -0.0889, -11.6171, 6.4342, 1.3944, 0.4127, 0.0659, -0.1441]",
      "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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1009, 6.9949, 1.7021, -0.0317, -0.0757, -0.0122, -0.2256, -11.8769, 6.4342, 1.3944, 0.398, 0.0562, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a647135cb833dae70b5a0e4f7d69370cfadac78b660da1643cc90981fbb64ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fe08fb3973fbc320a8c937513797c94569d087bc60fe2891fecf2fd24ad7c00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71da8ddc62f327db2f48c74ab7e80ec5ca90ccfe267f43ed5e86d4c61be94a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1AcKEAgRGAI4AUIIdGhpbmtpbmcSDJlevrJj6YPEUyDh+RoMYrLH9lCS6VZqgcvSIjD5bIxORZaqOril3nfOBM6J1iFEAjlN1vI5B/jrWWSGw7cwfdn+GYXY82usi9ydo3Mq8QZeXG1vU3z7wh2E8bcIgHWpcM0+3H/E9oFQyymPzqB1Syl6H1hFgyfZdcp/I5aMCwJgc6o7qm+fsi4iCQ3VR9VjqiJxerYVp9i+ZffDMbrAiq9Gg6igraxoT9RnEiLslJAVTYw/IX7Yg72U6J90JBXLTLp+JQg0Z2Xarh1wC9NfI/mE3V4jNRYCBiyhkNGbwOBuiTKxo7SiERHI7bwOdcHIJCWOUsplV6ztaXC86q9aq6HAhDiHHXzTWL+aeFXuvJ58+aDeXi1KQXJyHwSZ6MEr74sgH37yDXR0Pc3XfP7xlmjR5A+nJhRv648O2dU1dl1pdD/sLl/Xw5lmOze89OMhhh8f5zu0qhwbTGjmWQ+ZviownTJer7JTseQzRbTLzbLh02baNBpamGXJx66b4fzv53sbXdbXuKkYjKLFpTwilyvkLmWacn1/gaYBG8tLCof+qYg0NsGCzbIbh/Gbr/GA1zi1M89RqZlbMPgqHBEZgI3EiSRptqwrblRcyYa/A1tRJ57Ri58u+wGNa1ciL581H3XLmy5bzKfMUtoCPgMyCtRMh8gFQE8NW+J2D67YQkhccYS6/ma6g3OJsG8el103Kt7pJYjGbXDKJ+Uny23rt1VxnXDKdrq1aFcpAtbYcYBT+J8EuJdOKooIArJpsE4Jipz9M3bw/QKEb4HH24OGUQupM38wX2gurN2/LCokPpj+tuPl9tlLo78Y2oP8r1Gl+Lc3daj6xyZV3Bhu04ZMSAlrU5NlZUWbFsDdoRyUrJP+ogb21Meby6FewW3yeS4+WAzBkZTsAQC33qx+BIL5VKNXQQL5vFJz6uxt+8zOMXCErtuRlYvpPe330oH1n007CEFWylge1F7Y3QRf7I06nl3JEj6lgLEDvoiOUyK38hJ1G5lhHHJQ0xn+/uagnx33EPexVPqYmDMVGVv8uzAzqFH2z1BVhkhskP0ysGwDAmbQc/CvfBpT1lK3oQe14tLhaahVl+Q6fpT2njKHbgMMzgOuI2FHVNCFrkCTY/38a3YJGukz6mi4SiGYf4QeSSV3ATsKgLV8LZBs6Q24nkp+RZtgvLIQsAdiQ/qYMrN8dJyezaAfMXNICsw7aKoi4kiXu8cYgrGlwSMzg47liVb/jkLg474ZxkE8PP/jofqytOngMVAjmJsr0/765GyIFcLFhRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JTdjL5uBouMa9o2o9kubTp",
      "input": {
        "note": "The right arm is not responding to vertical targets at all; joints unchanged. Trying a combined retreat (back, up, slightly left) to get the IK out of the stalled pose.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.28,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JTdjL5uBouMa9o2o9kubTp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6071, -0.408, -0.0223, -0.0261, 0.9995, 0.9054, 1.8385, 1.1851, -0.2401, 0.6559, 0.5591, 0.9987]\nstate[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.172 left_yaw=0.0025 left_pitch=-0.0389 left_roll=0.002 left_gripper=0.9995 right_x=0.3613 right_y=0.2917 right_z=0.1017 right_yaw=0.0559 right_pitch=-0.099 right_roll=-0.0564 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.3607, 7.2, 1.7363, -0.0317, -0.0611, -0.0122, -1.1282, -10.4957, 7.8564, 1.1355, 0.6276, 0.2076, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d818e262d3e50afc2ddaac6e0c439cfa80b09919a0b2c3a5d16f851763a7f3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c117d1c5c267b2a39ebd29514d2fa65b46b5d187bdea991179d0b7262ee2228b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d7120d2ac2a0c4a2b92a58de3c69efb8b701069d942d3af5c35918da05b3e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 9.975 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, 0.8062, 0.6071, -0.4084, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9988]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1722 left_yaw=0.0028 left_pitch=-0.0381 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9988\nstate[joint_eff]: [-0.1162, -1.306, 7.1043, 1.7021, -0.0415, -0.0269, -0.0122, -0.0889, -11.6171, 6.4342, 1.3944, 0.4127, 0.0659, -0.1441]",
      "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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1009, 6.9949, 1.7021, -0.0317, -0.0757, -0.0122, -0.2256, -11.8769, 6.4342, 1.3944, 0.398, 0.0562, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8074, 0.6071, -0.408, -0.0223, -0.0261, 0.9995, 0.9054, 1.8385, 1.1851, -0.2401, 0.6559, 0.5591, 0.9987]\nstate[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.172 left_yaw=0.0025 left_pitch=-0.0389 left_roll=0.002 left_gripper=0.9995 right_x=0.3613 right_y=0.2917 right_z=0.1017 right_yaw=0.0559 right_pitch=-0.099 right_roll=-0.0564 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.3607, 7.2, 1.7363, -0.0317, -0.0611, -0.0122, -1.1282, -10.4957, 7.8564, 1.1355, 0.6276, 0.2076, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d818e262d3e50afc2ddaac6e0c439cfa80b09919a0b2c3a5d16f851763a7f3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c117d1c5c267b2a39ebd29514d2fa65b46b5d187bdea991179d0b7262ee2228b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d7120d2ac2a0c4a2b92a58de3c69efb8b701069d942d3af5c35918da05b3e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eet5FE5seNt9gcMusdLBo7",
      "input": {
        "note": "The arm freed itself; the power bank is now seen ahead, tilted about 20° clockwise from the arm's x axis. Moving back over it at 5 cm with a matching negative yaw so the jaws close across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.265,
          "right_yaw": -0.3,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Eet5FE5seNt9gcMusdLBo7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6071, -0.4084, -0.0223, -0.0261, 0.9995, 0.8608, 2.1044, 1.3418, -0.3721, 0.7536, 0.7937, 0.9987]\nstate[eef_state]: left_x=0.2923 left_y=0.0018 left_z=0.1713 left_yaw=0.0025 left_pitch=-0.0415 left_roll=0.002 left_gripper=0.9995 right_x=0.3867 right_y=0.27 right_z=0.0333 right_yaw=-0.2004 right_pitch=-0.1596 right_roll=-0.122 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.4974, 7.0222, 1.6923, -0.0171, -0.0562, -0.0122, -0.6222, -13.2444, 9.0051, 0.8669, 0.5983, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349ca3e6011277f2dbc9c5a61eba119fee40b08bdd3640f4d7a1155df343bdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7def12a5fe0be8025b3b6be0db669e40984868ad3c43c89dac7d5886c9cb254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:545cd45f14b9f51d5ecc822003354e9ffaa8100d176988ab156555438b481904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 13.92 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, 0.8062, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.7898, 1.9579, 1.0641, 0.0483, 0.6136, 0.4755, 0.9987]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1723 left_yaw=0.0028 left_pitch=-0.0377 left_roll=0.0022 left_gripper=0.9995 right_x=0.3951 right_y=0.2592 right_z=0.0427 right_yaw=0.0182 right_pitch=-0.092 right_roll=-0.0652 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.1009, 6.9949, 1.7021, -0.0317, -0.0757, -0.0122, -0.2256, -11.8769, 6.4342, 1.3944, 0.398, 0.0562, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8074, 0.6071, -0.408, -0.0223, -0.0261, 0.9995, 0.9054, 1.8385, 1.1851, -0.2401, 0.6559, 0.5591, 0.9987]\nstate[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.172 left_yaw=0.0025 left_pitch=-0.0389 left_roll=0.002 left_gripper=0.9995 right_x=0.3613 right_y=0.2917 right_z=0.1017 right_yaw=0.0559 right_pitch=-0.099 right_roll=-0.0564 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.3607, 7.2, 1.7363, -0.0317, -0.0611, -0.0122, -1.1282, -10.4957, 7.8564, 1.1355, 0.6276, 0.2076, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6071, -0.4084, -0.0223, -0.0261, 0.9995, 0.8608, 2.1044, 1.3418, -0.3721, 0.7536, 0.7937, 0.9987]\nstate[eef_state]: left_x=0.2923 left_y=0.0018 left_z=0.1713 left_yaw=0.0025 left_pitch=-0.0415 left_roll=0.002 left_gripper=0.9995 right_x=0.3867 right_y=0.27 right_z=0.0333 right_yaw=-0.2004 right_pitch=-0.1596 right_roll=-0.122 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.4974, 7.0222, 1.6923, -0.0171, -0.0562, -0.0122, -0.6222, -13.2444, 9.0051, 0.8669, 0.5983, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:349ca3e6011277f2dbc9c5a61eba119fee40b08bdd3640f4d7a1155df343bdb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7def12a5fe0be8025b3b6be0db669e40984868ad3c43c89dac7d5886c9cb254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545cd45f14b9f51d5ecc822003354e9ffaa8100d176988ab156555438b481904",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3wgKEAgRGAI4AUIIdGhpbmtpbmcSDHXwVJQXTxUTHduuABoMIfC4u+4fYYwTwHQ2IjD1K0X7UlE/ds+DtGNSN6qogG0f7xgUCQy1uHyMzpfrka25UbNY4ZExQY4tTYhxQ58q/Ac9XcrGXGY6nXYkJ3hJ0XM/+2dPDjbLu4kF47V5c8rygsCaKn5J4gMUL6qc7c8EowFjrHTQXtnpY1NY2QmnptmhiA86QdAGUeTOIAx6WeTfh7D9/wL5TlcrAIi42wVl3s4sXVgnevgyWHAeViTGZM2jKMCLcLT6IywcBfr8l7nqVDuyBSLQClsVzVQ1LMM4SOa0iCwjDmy7kiF9x7HqvJ8f+sfHwkwJ256i9UyFxtIvxJRxY/NHAzgABjuZUcDtnuWhaFcJAtIiuVY/lPTCEKDXLc9n6AJZZP0ltYZU/7YZvdLeyTb6Y4+SD3ze2Vqg0hZOlepve8VskYpysNPZoUyGrJ+8/LMueX2DTcA053OdENGEwENgj/zQjLoiT8r2Z+TOPUvfDFQEtrgnCNGLiR3CkZvlGpgxJWmAjDCuI+/kF2C3BdSUZFiWBwuuKwdJkrJEdI67XEptaCxt/AOQ0tFafkLK8YtrhqTUe/PKTzWF/49e6XRCIr+TYeCW1UG+FhEiLGSOtgD4O9jNcFZrh9yiw+ktH/OE+MT7T1mBZBAiwZWV2nKIgMRrFEOeUrY64OWRoBKMpV+ZMBOjfVCBn3uEVODrtQ2uKITAbZ/TnT75/lrGWZWrRwrf166fTZvd2le89BHyAUi8I4tH2nKgZbPYrHsuHhhfJgyqvNq6j5FQ7+Nu1b0RID2PHuIpz3XHCVbKN+CftnUptXJB+H+b/YchCAKyU6ddPu0Dg4V3Byuj4aFIE4z058N7lna8AsUKGkPPkDpJCoevInkmkOViam3a/gsk4NHuajzkDJdLPYCfK59zcKsFptSClrmnFAuTo+oIK/zkSOp1MW1Ose2fOaMbNVVD9As6VQ9BYGayJ/opB+xZmiAf8kWrhqMMmY+3/fCAHVXA8rAcFGLnAuaul7gDTYUTLj2jUV1npLj6KUXDB0NlwOoT/G0Y8KvdIG2NoZAZPTLtF7tThCYuYfzUfdBrM3Fg9IJgk5fTy7CRVE2KojW92Gi8je4H12AwYK6Wk6z2gKDL6PAxgUDaK+KxMBrRO4z2wzhWZ1iktNlXlBhgVrw5yJL1QSaXfhI6oMwPZZBhVPL7zeVmrAXtyApXnrqfBG5ku+iM55ksWWeRZH5c+S/dGd9V4jXs21r5SYYTDkCR76aQScYGvhYF4Q3HRPfxeNJgDucsfiEiZKXE02AlMolL2H/3/60V0eBCCQCYXEsY3Yttae/ppD6iNfVHOeiNA4i5vJsdaLi/mJ9M/mxCqeHDSXMilad9Bu0PAKkY2VDLbsd3KJkplndXwB6Sphd7OLvfrEn+aqDg/l8Zw8iV4ZMWTx+ewes+AUuLEk4B6lAxYjHXgTUahKFrpIgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TFy8Yn8cCHF8eGjUpSvS6C",
      "input": {
        "note": "The power bank now fills the gap between the jaws in the wrist view, aligned with the jaw axis. Descending to table level to get the fingers around it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.27,
          "right_yaw": -0.25,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TFy8Yn8cCHF8eGjUpSvS6C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9987]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.3897, -11.6581, 7.6239, 0.9841, 0.6667, 0.0952, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8edd56fe760b6aac005259cbbc8210f7aa4fe5bdc3d6dd4e85eb89457a3209cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dd8e5aaeb059993f4f4112f3cc7e42d8305e1ae7574feaec358d6c4d1f2be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a11a5ddff6b781c3ebe0c862ff38a865f4f7384135c63998412ab3503260458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 13.48 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, 0.8074, 0.6071, -0.408, -0.0223, -0.0261, 0.9995, 0.9054, 1.8385, 1.1851, -0.2401, 0.6559, 0.5591, 0.9987]\nstate[eef_state]: left_x=0.2922 left_y=0.0018 left_z=0.172 left_yaw=0.0025 left_pitch=-0.0389 left_roll=0.002 left_gripper=0.9995 right_x=0.3613 right_y=0.2917 right_z=0.1017 right_yaw=0.0559 right_pitch=-0.099 right_roll=-0.0564 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.3607, 7.2, 1.7363, -0.0317, -0.0611, -0.0122, -1.1282, -10.4957, 7.8564, 1.1355, 0.6276, 0.2076, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6071, -0.4084, -0.0223, -0.0261, 0.9995, 0.8608, 2.1044, 1.3418, -0.3721, 0.7536, 0.7937, 0.9987]\nstate[eef_state]: left_x=0.2923 left_y=0.0018 left_z=0.1713 left_yaw=0.0025 left_pitch=-0.0415 left_roll=0.002 left_gripper=0.9995 right_x=0.3867 right_y=0.27 right_z=0.0333 right_yaw=-0.2004 right_pitch=-0.1596 right_roll=-0.122 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.4974, 7.0222, 1.6923, -0.0171, -0.0562, -0.0122, -0.6222, -13.2444, 9.0051, 0.8669, 0.5983, 0.0073, -0.149]\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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9987]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.3897, -11.6581, 7.6239, 0.9841, 0.6667, 0.0952, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8edd56fe760b6aac005259cbbc8210f7aa4fe5bdc3d6dd4e85eb89457a3209cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dd8e5aaeb059993f4f4112f3cc7e42d8305e1ae7574feaec358d6c4d1f2be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a11a5ddff6b781c3ebe0c862ff38a865f4f7384135c63998412ab3503260458",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017iN82icyZTaK9togAL7Jyh",
      "input": {
        "note": "The arm again refuses to descend below ~3.7 cm here, likely a joint limit in this posture. Pulling the grasp point 2 cm nearer along the brick's length (it extends toward the base) and trying the descent again.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.265,
          "right_yaw": -0.25,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017iN82icyZTaK9togAL7Jyh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2786, 7.0222, 1.7021, -0.0855, -0.022, -0.0122, -0.3761, -11.5214, 7.665, 0.9744, 0.5983, 0.0757, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebd63a78353e36e1422383d85b777dcae592b8e431d0bd68daeb73ec57a70926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276746ad83564edf1ba63efc118c77b0e098c50b8fe1935d81fb10e80d4041d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d409d312cfa1b6b23104f3709d4694a546c384f7c3674d0be925591fd1a09292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 8.381 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, 0.8097, 0.6071, -0.4084, -0.0223, -0.0261, 0.9995, 0.8608, 2.1044, 1.3418, -0.3721, 0.7536, 0.7937, 0.9987]\nstate[eef_state]: left_x=0.2923 left_y=0.0018 left_z=0.1713 left_yaw=0.0025 left_pitch=-0.0415 left_roll=0.002 left_gripper=0.9995 right_x=0.3867 right_y=0.27 right_z=0.0333 right_yaw=-0.2004 right_pitch=-0.1596 right_roll=-0.122 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.4974, 7.0222, 1.6923, -0.0171, -0.0562, -0.0122, -0.6222, -13.2444, 9.0051, 0.8669, 0.5983, 0.0073, -0.149]\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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9987]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.3897, -11.6581, 7.6239, 0.9841, 0.6667, 0.0952, -0.1441]\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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2786, 7.0222, 1.7021, -0.0855, -0.022, -0.0122, -0.3761, -11.5214, 7.665, 0.9744, 0.5983, 0.0757, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebd63a78353e36e1422383d85b777dcae592b8e431d0bd68daeb73ec57a70926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276746ad83564edf1ba63efc118c77b0e098c50b8fe1935d81fb10e80d4041d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d409d312cfa1b6b23104f3709d4694a546c384f7c3674d0be925591fd1a09292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4g0KEAgRGAI4AUIIdGhpbmtpbmcSDA/KAtmAlWb3HIsbqBoMracdXnb0NO1hZ15XIjAlqQLtaovgwQFBgDcQvqgILx/70fGNO2IVQqqcn3BliA8cj/yG5S/9qlMJlP7ysg8q/wzy1PBxMdr4eckmj7MDrVzuUy5QeSjwPpxF8np3idVROJRSXEKfXTQs5pygqKeWFkc4FM1NBIDqkjX5XosDespj2BgkF3ZVcUi028+ILQeQDRgeZOnGkxVBmjgB/wvsS37gd39azQr5cKOVS/xVT3/CkwAXkygvXkDGx/jE24V188eJ6Nfkq5nsai2iNoOKF3MManeA9Ta2MberOiJ0Ny2fPYhdpRohU7WIq2Qk1nTp78/+MuPMwQ194ONNUa/Lutxps9E0T3bb08XlP7DNgsqyUydrSjZ14dwFHFBc5gekxn9O3xI9NP+BfVe2C6qeGPyDfD8uQdeFqvs374uUONh2qNzq9WmTh9d/DWvjf5Gts8Am/fbI21hyPafRhRtsrTd7fIKbB2hy+iBPZVFFSfuGPxKtIqqbVJBFrQEbkpnMZUa9lzpbeJbL83ictT3Uzl5x0oLK8u1WRxBzn5DWXsO3kD+RONP7ppuByLzEOuno+8FJT8M0dOvPAnNRzIYPwRdLTYT9KO4lw1wNtvaA/Ev47FfH5cIEdftsfGNnJveHKNh2b8BE4fU9PLi8OYTEMGrS6SHXd8x+2tMeoIUnIG5Z+CA/rPnYUryIfxLuxQN9uocF0yEXqfkwZ56JYgg5kl2DMLKEj/W8vMelRRP+DJrUskPn9U37D2n9a8dV6x0P7QZdanHjzz13yOJbLH/jZdGGvgYvRB3MqHryT/WMtzrRRQOOPLbKyQZeCDBL5FuNREG8WaqOvKUHbOhP3xbICn06m0ktA0nEwnicIMMU60OUXLON1V2Mp3RET1gnhtKheZ/Yrn+um5/TQzXwSzhfmf0SjWuspWs9WoraJI8s8UnCSttAuRvS6gXv3/AfGYaHQIgZKpTmBu2OGjGsE8V4K9Rm0VhmMt5I3uZx3LIn5HDMkJZtS4+XugEKpBh/74FNW2uhRawPIOAUriioIZP8rbyVlmgHCDlGvkPL3zdfNJMfLZQTMrFa8ZWF+nN68xZrvBiwtYPIapwiNuxnEqx31m+ooLkuvPmV1nZct5G0htmCPkHs0wxBOrfP5eWIZBDdLj5fOHbo3w8V+IgXbiA5vC13l0a8zyRfMdH/I8nR1gqehyqokF2Fci+BJLfYj3U5X3bF0z4tM57RZS3ujo4uksQUSwRo8/M7r4u72WSduh1TRrYR6jetYC2eCAMZphjQRHB0u8R2RMS0iA+KzuUHWLysNYuUwoQEb/mA2C4XQNo2U79KfBoormbOI9j4dwuNF8uhouLRyl1Ok+OdMrg3UlKrbR5KVEvXNpSpEddm3tptAC7m3/rtn7tfLHxS+9Gjuj75psAK8PyksQJsHnepmoYme+dFZAR6v5bTKNcdCUspbIK1PXAoFXuvlhl7kB0FVIciXdd1Qx9V0d/huLd6fdyC5evCuLSaZnSEH12z+X4191woDC5YhDqKc62Cq/sIumPZ5nI/j0JhduU0McmdEk8IAZouyNnFRpmyFmd8Pp2ATJUVmpo68+3+KXtxcn/dESuSCAXuj2nM0buj7VqGLj8vj2FN/RTUss4/3ehq8mHF6HdizULPNYIzAq0wJSmz+R3mHRUTEC3WxdqLwAV/a+KhlMvUB3UojqRQwFkAfCGByS7aDSasWFKf4ZTkcaCo5KD4obUw3Bmyu4JjCNUKxHvy8K0lRaNIqyz6BPZA9eIFSRN0mDT3tjpSKCl5jZ9kL69k5BmfhO+PKRxcp3MGZHvzPEIWE+JKI7ybvAfiIQLik7frqSZBXmDv9ZFRa9XSQSPtXX6XEsWPeF8UWOZA747SeUL2gESlKtidfvEJqu0qYq0jDM1rvvMi7OZXrjSK4Fy30PHIvns0w28MLCNfKdnMHBtQsLXo/dABR9wM8AUNcEKQETUu3t2oIcQ+Va40jki9q9F+J8llJGJsszEHPzdHjbDlkKXx5kOf4QBN7OYFdbp0Sy6OXbRMcqTw9ul9hIOB2vno5CZV97ylezc+b6pkxOf4RpoMAO7GVO+PmKNVKQsCrSXBjaUkwZOEkwYg4glIPTX+wfuh92XGeDDGaQTMojVdof2O1oP9I1ivsxO8hRbbm9yROAbPUyZ4A0sKpOdGM35GM0KqPE8jHl01OYdZEb0nWKSdcQULxzOhdVcfeiG/5cOo1UxGTEsnJ7FpUdHgQnKNnLn5TpCZFCruaTceEo9zGlJxSE8Gdsfs1KX0MDOKsorT4n7bMATnXdsfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018sz9RwsAvJj3hYPSS4MBae",
      "input": {
        "note": "The arm is frozen again with the wrist joints in a twisted configuration (joints 5/6 near 0.8–0.9 rad). Retreating up and toward home to let the IK settle into a clean posture before re-approaching from directly above.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.15,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018sz9RwsAvJj3hYPSS4MBae",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.7589, 1.2476, 0.9428, -0.5373, 0.6174, 0.5217, 0.9988]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1683 left_yaw=0.0028 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3077 right_y=0.1558 right_z=0.1864 right_yaw=-0.0401 right_pitch=-0.0864 right_roll=-0.0281 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.6479, 7.0769, 1.7216, -0.0708, -0.0513, -0.0122, -0.6496, -0.5949, 6.9538, 1.1551, 0.0611, -0.0122, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb2ebe2cc185c5315448e5a4da76921f2b5e87c6622178121f69d2110db0e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2335cc276632dc50e42cad29b4881801ad6b281a6b1be61fc7529ec516f376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49a0ea7138c963c17bc1cb5a56b05f9e3a6cf4b187ad4f984f3e61e08c1ad5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 9.846 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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9987]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9987\nstate[joint_eff]: [-0.0479, -1.3197, 6.9949, 1.7021, -0.0513, -0.0366, -0.0122, -0.3897, -11.6581, 7.6239, 0.9841, 0.6667, 0.0952, -0.1441]\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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2786, 7.0222, 1.7021, -0.0855, -0.022, -0.0122, -0.3761, -11.5214, 7.665, 0.9744, 0.5983, 0.0757, -0.1441]",
      "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, 0.8158, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.7589, 1.2476, 0.9428, -0.5373, 0.6174, 0.5217, 0.9988]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1683 left_yaw=0.0028 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3077 right_y=0.1558 right_z=0.1864 right_yaw=-0.0401 right_pitch=-0.0864 right_roll=-0.0281 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.6479, 7.0769, 1.7216, -0.0708, -0.0513, -0.0122, -0.6496, -0.5949, 6.9538, 1.1551, 0.0611, -0.0122, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afb2ebe2cc185c5315448e5a4da76921f2b5e87c6622178121f69d2110db0e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2335cc276632dc50e42cad29b4881801ad6b281a6b1be61fc7529ec516f376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49a0ea7138c963c17bc1cb5a56b05f9e3a6cf4b187ad4f984f3e61e08c1ad5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywkKEAgRGAI4AUIIdGhpbmtpbmcSDGrdB6N+eWc8O3voCBoMGoIVA3iJUYOY8TlcIjCHzrOR3CVwgAO1Jyn+Pqc6Up8aizK7kF6qI8bPm2uz8swHIWIrnLAegt55Z1kQ24kq6AgD0jDlwMkviNVDNjFMMsH1S14JvN3Qyz69Z+ixWFXlaPGrKRzobcyhp2qXHUovp29nnIOpqUcAiKDpK0qVtkATvuLQvvbldkuzNu6w+VYUb2al/EfE2VkHiQsos1cH7hAEyUKmPTZg36HZ4jk0Ngff2GodOQFJCHQ0hSueHo8XhQyFpff71JqkjgW1FBwqnpEctgPoHSv4Q4bZCuwzOBMyrz1K+VPCpfVeX7WiOWC85Gxcym70vodRP+PfUOgsLmn131T+5wmLRcYQrmD5n9OWwngEmMLGaAbqe5oFsyOMgd6h/u3Huyk9Nsz/FU4LsRPHWYalz2Izbs5vCnfuQuDFyKAreU5MkF/8tCckWBXTu+GLOSGT7gwAbJBK60lpbMq9u6aNQxJ1pCAqzwziTCMz0Yh8dykluW88c2z/0UuyOm23VtN2r67DfCkCsovk0WWxII4CxRiGerjhStNraPL1MLMFVx/59kQQXJF9q+xdxeEqvDijbh45gkvFc38W7uPWCc4szQFow8BaTUwGMnGhfuyR2bxYC4qLY5aaZY/xfFSN+YhpYFZIKD4221xXiFHNWOFjVYGbjrphEblOqLR7bo1JKsPxAOLlV5/ALJbb9ngKauUOjGwKvYeTo9B/5d18/UNvk1BqN6xX0EJUl1C0aQHAtaFXAGaSJBlJZrEPpjtXh65KTVluEUrej8oyrcE8dYUZaCtgOwVUwPcm+nGxPIfqrrnnPoA2cdhFE7B+yxGuPLreVJSbbxK0HLnTLn3sVDv4M5I3QjuA+lWbTRplG8fVsgERJf563cnj1GNjJP47u1ByHe9GU4ABohjWczPu0bkyHMh25FwEGzncvR28TfRC3wKeA83yoI8zdqTwo2apKya0lNxBpScb3N3NIlaJMDXf/t+IagKB8XvIIWzA4+eq+OvXDsM/AgfQyzmucxmoxQxmhqglyOQazSLA4VupW7kha04M5n9vLsvY52YAVbSRVYFnWQ1zoNCytG6zrCSCmaCFiWcxcPtbUh88C9wsZ009ERn9O5p/StDRcP3pmPgZCnRPhSqaFEhA6nJ26kLZOo4RKFk+mIeYOeehHyS/iZtVSJVJupCvFi75K63KPWxbfNhIYHCYcdRkhYu1O8jy9K+Q7qHUIETHoOUr34vKY8SFBb2dCDYZq+haETVvXoy39uhdQSIiloLA7I5n0Ah6ylxF8Xom+JSvWHIllJIyyQJNTmIlpmLbqOsG8aCkfyyXkghEzuwj9qAQCHgvC+XqIAPa06B99uIgZaLhoky31WDqrRS3N2Nw02Ku8asGCwWJTNBTkhNHxVzoy/ppWVHdswn3cDPIF5ZIlr2T6WRoUXmQsfwANjvABLFbyEZIQVpqCVSancX+9NZYdBdhcej7lBtxpIy8k/DiKHEVjbSDTfcjKssSxbRGT1bwT0pjxFkFPXQ3zPF0nL3/6F2PmsnvesIQJvWe68XdJkmCInQIakyT6y9y6D/B8Do8RFucUCy148BrmOcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fbx5dRRDTXHNnUqNd4Yj6n",
      "input": {
        "note": "Arm is free again; the power bank is visible left of the jaws in the wrist view and centre-table in the overhead view. Flying back above it at 12 cm with the matching yaw, then I will descend vertically.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.39,
          "right_y": 0.265,
          "right_yaw": -0.25,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Fbx5dRRDTXHNnUqNd4Yj6n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8204, 0.6071, -0.416, -0.0227, -0.0261, 0.9995, 0.8577, 1.9327, 1.3895, -0.5419, 0.7578, 0.8021, 0.9987]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3814 right_y=0.2609 right_z=0.1083 right_yaw=-0.2037 right_pitch=-0.1317 right_roll=-0.0737 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.7299, 6.9812, 1.6874, -0.0171, -0.0317, -0.0122, 0.0068, -10.8103, 7.9658, 0.989, 0.569, 0.1783, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabe524dc621a85afdb3457352cfc7eb0e0118d1323c6fd6553ec1d44d512f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcd539b6d4ead42716835f6193a9ffc640a67ee444371cd2e0b7dcb74969835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:100d5acade902d31c110a26e25c66108af61ece8ed028e2413fa2bc6e20f003c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 10.83 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, 0.8108, 0.6071, -0.408, -0.0227, -0.0261, 0.9995, 0.8497, 2.1204, 1.3754, -0.4149, 0.7887, 0.8871, 0.9988]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1711 left_yaw=0.0028 left_pitch=-0.0423 left_roll=0.0023 left_gripper=0.9995 right_x=0.3927 right_y=0.2624 right_z=0.0369 right_yaw=-0.2819 right_pitch=-0.1374 right_roll=-0.0881 right_gripper=0.9988\nstate[joint_eff]: [-0.0342, -1.2786, 7.0222, 1.7021, -0.0855, -0.022, -0.0122, -0.3761, -11.5214, 7.665, 0.9744, 0.5983, 0.0757, -0.1441]",
      "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, 0.8158, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.7589, 1.2476, 0.9428, -0.5373, 0.6174, 0.5217, 0.9988]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1683 left_yaw=0.0028 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3077 right_y=0.1558 right_z=0.1864 right_yaw=-0.0401 right_pitch=-0.0864 right_roll=-0.0281 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.6479, 7.0769, 1.7216, -0.0708, -0.0513, -0.0122, -0.6496, -0.5949, 6.9538, 1.1551, 0.0611, -0.0122, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8204, 0.6071, -0.416, -0.0227, -0.0261, 0.9995, 0.8577, 1.9327, 1.3895, -0.5419, 0.7578, 0.8021, 0.9987]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3814 right_y=0.2609 right_z=0.1083 right_yaw=-0.2037 right_pitch=-0.1317 right_roll=-0.0737 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.7299, 6.9812, 1.6874, -0.0171, -0.0317, -0.0122, 0.0068, -10.8103, 7.9658, 0.989, 0.569, 0.1783, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eabe524dc621a85afdb3457352cfc7eb0e0118d1323c6fd6553ec1d44d512f3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcd539b6d4ead42716835f6193a9ffc640a67ee444371cd2e0b7dcb74969835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100d5acade902d31c110a26e25c66108af61ece8ed028e2413fa2bc6e20f003c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/wYKEAgRGAI4AUIIdGhpbmtpbmcSDBh2foiDk+TwmY05PxoM5ISPHRBifDiesWbvIjDnw+HBv6IODikp1SgRTs+7q2iSSlo2U3tbIO3TMUi5vk+TAmTIsnWRe3xChies2h4qnAZpd9sPr/5JmgycWkbRmqZ1xc6sP/QiiAYi9wPizSAPtLXGfDFbET98VH9UVQsyZ572U36bQlyt1yyY3ch/DKsbUX0eZoBgmR81sq8hgWFYKAkW8RrGQQii5wZqacOdCjYl0MNoxy6UldwfnfLiIKk6qjqAVd+5KlR3FI35hqzjVVyQvtSl7uGAHtveVZzi3K6w6IDYn07FKFG8MQqBdsSlwsyCb8pdM1DUYgu7dwuV1bsVmqrhoAwKfo/sRlVVc9ql2zMEymRsXT23Tr5+AOxGFtY/uNi4NHL480FIc4XPsH1E2HEwbOOVZDPxIU8d89FdJgqsgZJJqDtPA6wsc8PSNUC+tAW2ywGwllaYjXgSQN4MJ/6NlVJNHJJbopKN9bR1VwT0IdJ3cPtLkksiuCSJtDgGj7y/ew56Trrh1xU56ACLaGwIvp/ymdgCQW1MP9Xszl96IS8j3+yUwklsIwko6AMRUcFZ47TqEYl1eC42AxNhHc/1vxnNARbsZMEHNtSVqOtBq2XqAGinVwTcxfgWG5FXNuR5AVzMJuKLL8wPIYiPiKh5QPWcasQxvuQyVO3bRbjhOxXPWWk+Kg68oIs63ptOpVPNv0KfzAPehtBedL8/hMV2SdObsHMvvwcp1xsPV52iayJglInNfPIPZ+aGcZNYReY2DJwcXifeFKSDJNCTqQH28I7+cmXtuSFDhhtEns8MNpkx/BPXXEy3JvfeOJ0qs/rUt/FWaP/q8zMf/w3ZebyLwiPMFgn+3ZzbwQX70FjqAcGwwhzHZdUj2N0wLLmHwjjTm+K3skuEwu3XV4GkjtjagUzxyOkoLex3013oLkE4KFWH98+E9ZPQmrvbX4fQsrGAhvrHeczG1nWjw3GFePjGLfxiW7RN9LpVbWLT/BeNoqUeaD7mflMvozU/MRV0wS2dNhXb35oflBXKXbBY8apsm0A3yG6zq3kQudjeoG+zDTNYxUGojI8X0vfj4rFenJx9M6+67+4KY/nAIRLar0O67RTVeC8gXSyjdgrW+aguZgod3iLpxDXgozNUemBoMGMjScnuLcRcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YXh4keLLoEu478P7vBXoo6",
      "input": {
        "note": "The power bank sits centred between the jaws in the wrist view at 11 cm height. Descending straight down to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.385,
          "right_y": 0.262,
          "right_yaw": -0.25,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01YXh4keLLoEu478P7vBXoo6",
      "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, 0.6071, -0.4156, -0.0227, -0.0261, 0.9995, 0.8612, 2.1101, 1.2785, -0.2527, 0.794, 0.8536, 0.9987]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1667 left_yaw=0.0028 left_pitch=-0.0602 left_roll=0.0027 left_gripper=0.9995 right_x=0.3897 right_y=0.2659 right_z=0.0266 right_yaw=-0.2467 right_pitch=-0.1013 right_roll=-0.0479 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4017, 6.9675, 1.7021, -0.0464, -0.0171, -0.0122, -0.3487, -7.4872, 4.0, 0.4225, -0.0708, -0.0708, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0550013bc4beb5760a450136df820b6fe99e065ddd7f84df26908fcc5e12b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ce060197e57aedbd8aafbed42b3c4a4d8d10b4de2a1039779062e5706fe03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30496ca827a39e1c73d5addb39f328568b37c9763e97c85e52f0b57e96f45c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 23.99 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, 0.8158, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.7589, 1.2476, 0.9428, -0.5373, 0.6174, 0.5217, 0.9988]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1683 left_yaw=0.0028 left_pitch=-0.0545 left_roll=0.0025 left_gripper=0.9995 right_x=0.3077 right_y=0.1558 right_z=0.1864 right_yaw=-0.0401 right_pitch=-0.0864 right_roll=-0.0281 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.6479, 7.0769, 1.7216, -0.0708, -0.0513, -0.0122, -0.6496, -0.5949, 6.9538, 1.1551, 0.0611, -0.0122, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8204, 0.6071, -0.416, -0.0227, -0.0261, 0.9995, 0.8577, 1.9327, 1.3895, -0.5419, 0.7578, 0.8021, 0.9987]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3814 right_y=0.2609 right_z=0.1083 right_yaw=-0.2037 right_pitch=-0.1317 right_roll=-0.0737 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.7299, 6.9812, 1.6874, -0.0171, -0.0317, -0.0122, 0.0068, -10.8103, 7.9658, 0.989, 0.569, 0.1783, -0.1441]",
      "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, 0.8211, 0.6071, -0.4156, -0.0227, -0.0261, 0.9995, 0.8612, 2.1101, 1.2785, -0.2527, 0.794, 0.8536, 0.9987]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1667 left_yaw=0.0028 left_pitch=-0.0602 left_roll=0.0027 left_gripper=0.9995 right_x=0.3897 right_y=0.2659 right_z=0.0266 right_yaw=-0.2467 right_pitch=-0.1013 right_roll=-0.0479 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4017, 6.9675, 1.7021, -0.0464, -0.0171, -0.0122, -0.3487, -7.4872, 4.0, 0.4225, -0.0708, -0.0708, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0550013bc4beb5760a450136df820b6fe99e065ddd7f84df26908fcc5e12b59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71ce060197e57aedbd8aafbed42b3c4a4d8d10b4de2a1039779062e5706fe03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30496ca827a39e1c73d5addb39f328568b37c9763e97c85e52f0b57e96f45c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G21xvYCByXcC9ogdjUe1oi",
      "input": {
        "note": "Descent stopped at 2.7 cm with the power bank centred between the jaws and shoulder effort easing, suggesting contact with its top. Closing the gripper while pressing down slightly to see if it grips.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.385,
          "right_y": 0.262,
          "right_yaw": -0.25,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01G21xvYCByXcC9ogdjUe1oi",
      "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, 0.6071, -0.4152, -0.0223, -0.0265, 0.9995, 0.8642, 2.13, 1.2377, -0.0975, 0.8211, 0.8593, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1668 left_yaw=0.0027 left_pitch=-0.0598 left_roll=0.0021 left_gripper=0.9995 right_x=0.3975 right_y=0.2721 right_z=0.0237 right_yaw=-0.2553 right_pitch=-0.0386 right_roll=0.0315 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.7118, -0.0269, -0.0415, -0.0122, 0.1026, -6.8855, 3.8496, 0.7399, -0.0562, 0.0122, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93de7b9e4c3b819e287b872eb4a19e0b2749ec1c32cc3f5eefed92a73151adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e720adf2812ecd04b0722f59bb7eeb5b4b65dfaecf5731b0fbb25bd967740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:356d66a43cc9de9b3b9e766295f0820cad2eafdc5dcafdc794624900cafb53ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 7.967 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, 0.8204, 0.6071, -0.416, -0.0227, -0.0261, 0.9995, 0.8577, 1.9327, 1.3895, -0.5419, 0.7578, 0.8021, 0.9987]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3814 right_y=0.2609 right_z=0.1083 right_yaw=-0.2037 right_pitch=-0.1317 right_roll=-0.0737 right_gripper=0.9987\nstate[joint_eff]: [-0.0615, -1.7299, 6.9812, 1.6874, -0.0171, -0.0317, -0.0122, 0.0068, -10.8103, 7.9658, 0.989, 0.569, 0.1783, -0.1441]",
      "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, 0.8211, 0.6071, -0.4156, -0.0227, -0.0261, 0.9995, 0.8612, 2.1101, 1.2785, -0.2527, 0.794, 0.8536, 0.9987]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1667 left_yaw=0.0028 left_pitch=-0.0602 left_roll=0.0027 left_gripper=0.9995 right_x=0.3897 right_y=0.2659 right_z=0.0266 right_yaw=-0.2467 right_pitch=-0.1013 right_roll=-0.0479 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4017, 6.9675, 1.7021, -0.0464, -0.0171, -0.0122, -0.3487, -7.4872, 4.0, 0.4225, -0.0708, -0.0708, -0.1441]",
      "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, 0.8211, 0.6071, -0.4152, -0.0223, -0.0265, 0.9995, 0.8642, 2.13, 1.2377, -0.0975, 0.8211, 0.8593, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1668 left_yaw=0.0027 left_pitch=-0.0598 left_roll=0.0021 left_gripper=0.9995 right_x=0.3975 right_y=0.2721 right_z=0.0237 right_yaw=-0.2553 right_pitch=-0.0386 right_roll=0.0315 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.7118, -0.0269, -0.0415, -0.0122, 0.1026, -6.8855, 3.8496, 0.7399, -0.0562, 0.0122, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e93de7b9e4c3b819e287b872eb4a19e0b2749ec1c32cc3f5eefed92a73151adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e720adf2812ecd04b0722f59bb7eeb5b4b65dfaecf5731b0fbb25bd967740f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:356d66a43cc9de9b3b9e766295f0820cad2eafdc5dcafdc794624900cafb53ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5xQKEAgRGAI4AUIIdGhpbmtpbmcSDAGekoeMW3AlZnwKQhoM/Q6wc5cg4wdEIkjrIjA6F/4yYV0F1SZHiXPMA6leEPdlZ4Z3xUF70KAR/eRcokly+NqaKiibTAMfgO3aU6YqhBQQxnRVwCrd0d+0h1gO4LOwFDmhZCZ4Lj7rztbZ9jZ14o/7L5VkArvbl2tdO78D3n5KNDKAuaq32WWgLWPHHbQ+uEr185uwj8v3ussjygn6DeIBWRN4ie0xti2aKJgjq0rcaXDvcp1X2t/cduGFYbvPhbBo/yDaMtUqESWbHUvZ8eLK2sMdwny2NF4VyLZJeDZwmWSHRmJPlKm9+fjChNw2e/zxGmNqs2/Nu+4PKcXVvE6PtpSLt7Km93i95+Ov9yXmkachGzNy4XZNhZk73gS5UhwCTNDCg9WF6Duor0fQWyIZS5XAklHmimbaaj82LnVqVJJtP9TH278D+n5pFsQY2jOXAMed2paQEMUxMVDMNI7KmX7fYaTOBmuA1X+cn2cobXvuB8LOBQEFltpcNoHMbKeYirVZDJDU0wdPj35dGlf3dmAwh7LLHmXwx0CoYsYecbpo50hvEFRjbNLqDChVNZ+dbK7K/q3Xj4+OMjqe4wRVp7br+N28PFXotL7GK4fEJnXjXVVUiNyF+v8FT3iLYa+kAouDc2/HMe2yP8v2mQSKSG15BwrfWsu5t2Asj24xOe1ceIhqM1NWcdfvoF8/UsP0Lt2fjKyoQIC7ed7QdMBZZUjbRqZMuZuMMDmybNVbm/OmaZz3hMC8xK7yLAYSV3LsS0fRrIOEwNKvVGcXHQHb9ldLnLOMNhyrz4Naw5VhY6sSmcmI9RMso7SCettydGa7dN8o5ls6D+3OTFBGWywUyi240aGDmsj9VcmRBOIzBGUZwz29auORUKfu7LgTPjxwtETS0U2BKQK7tb1Q4ldwVaDmjLOGb3e4vV/7cDkxrp7wrUFfS2LmAOSpS8A8Qnv7tdqGOFVCI/U010aicNui/JbNJaTREH4pXIFUIKhDGXNSzGX4eBU+4xF4WdmNW1UtzxXcv9gJXu5xrsZiBe825nwLYfYBQ5IJgEGMtN3QnLoAOWznbQ0mpLz2+kMuWBNotTe5f93ztoBdC/vrMcfP0cecJIpTlotk/pwmCw2WL1I7REfv42poQo/tosVjEtRZheI0w9Yxpud26yDEeblFMZe0gEq6n6Vj3Cnf29tND2qvW73hmUtjf+WWszmBpPtcx3hcRJq8aDghBYgVjJJ7lcBIjdgCmpAdth0kpksa9RGjp8CFFOjGNRI0qPuruuw9R11VHLLiwjuvmzkwjgmrSVZq/LBnE5TVJVPJED93S22QcSj9jxtX3zwnqn+tVQzvh4Uphe63G6WX3nXW/hWDn27reQm2hK3By2anxnWRvLDyJ3K0oS3Re0xLFU/rvSeFwMD7PfVn/wThB2CL37/THXOJw36WuLigT7lT6Jn4AIwjIeNsZ04WLs1P8C/GjlmE0sqYzJtdogFSK8bwws7TrjYyhEihamO4LiUaB3zuTLE2qPu+6vaYhwiREgZg46vDYFFbBzt20imueyHM8g73XXPm5GXddOT4lBHu/i5iYMAS6FGhMRIXxbcGsilTMt+gtUkuwYHlDh/PymDeX5z2kh0BHCtm5KUauj3Tze8zcPElAE1cheVVPnqkDaKveep94ppPguEn9Yv8hP4Xwic5WHAE37SgLR0c/clbXQXjwt0H0Kfw7EKY3d5Z03dtb1P4MA3JFCwj5koubVq3KNgrtMpYWXBH9IM6Z8g77Ht5XFUsrNOztbX1439qhvZYKYoDDfHUGrAmiWyyMOl6AD40OiBrU6VsV6qpcnA9hiluH0IO4LkqUEsosEduglXxYQP1BaAIljWkOG8uUgqxZDkJztbsjGH/F17gsRRTdKRm4SXYclCcygh+LV4wMNB8tnjimpGfXxrjLmpocMUu4mLqOe8EiwRlVyeqvVxlfEryZJYmmMqKO2g75FagknjKJ6kvCXQ/Wikv8lp58oNttJ3kFxdpfE+QqCCuOc16W6LVA/mLw0AXH78EZwdVpOjNWpg2ZVBE9MvO7RR62PDhKtCpvW8WPrgDIRWoRYF5YwrYSFTxhMlCvIHa8ib9nCno4hvGnfRRr3dTSUn8606YOIn05kh9d+SnCbsCQaDF12/zLPbuo2Cr+qfFWCmylxzs7fUIm3Pz9blD4vVJjTdrG59XSPgN1wZNwHMmRowGxQkueTbzDpxjbJPJEuz8hqSZ/v/FHzOlpoZzzWGMBHuiPyQ8N31fmN2qyPELEF87X65wMXJh5G1Vw22/kffhJhxSBxbpviKLvaGAaL1EeZQ415il0Sc3e4uQ68kxfemzh+Q1TlVCDkuO3cO6a1cV5LoSg1axGIL+ycuUdaPx/OBQt+DCVWFsSmwYKLhgR1s1UGa8MU2wcXxkvV8SyweYTKKvX5eRUAV5rwNk02z13UaEksexcqoF0cL0S6wEB+KJUnaGDArZvET8pGoBaeT4V3CfxlEGrmszzY9zCOsVQzKC4HXIu3qHrnt8yEmTHZobfLclNpxRWMLlptISLK9+MP+5PK47d91IpseyapBCsfrE/I1ezN7rJ2F+c2dYIunH8aYYiC88q/HOE4hiVEiutxXoxLMNbM0x6eEd+avmTMX/H93ZdrP0aYPtQqrv+yxv+dtv42BZEqwYxUTt0h4NH+tOrscIqP5iv5v4HsZ+hXeFiv48+LsPSPD/T0kHGxEF9eNWfXd5G4exKsMQF2e+5kStaI2iadljdy3taQ7BKBIlkfovBbgMHmmvE7KnhSZeVwxcrJK83+GwmO/7s8D623GgVEHOOh9BPXHzXBe8NI8p2aVsBbaLHJg68AGpEf+tkcMqiDDhP8f1pNEu3Sp0AcltkF+kiZ4QxwTeiX/fFsrXpsDkbqyzBYcdOAHubTXS13fpG0G5wzhkyv31P5MeVZUb3y7zT7/6qPRsVmozh1BPhwFtxDWXogbECoHUz77Cwr6UNmLB/JxnzzV4zIw/WkYK1n8SUj9Tkfa/AXpNLk4u4nUh/trzarLN2U9TP2r3TcPvIYOBD7GhmPbNqdfs0paMF8rCX9uOqx086uSatPXYilHXUanjNgWQO7/9KUBtyChkaad5My6F8XglDw29bpu7fvAKFGO4H+qPHHxfC8lCGHHL62jkWIhpEVPQFF+WutFv6m4C67dEHOOkqQI4qtCB6YB96x/CnhruJLnvyiBVHcMAnxG8LCD68+apfhaTqqy66+LdQEfejLLup0mSNRsCZDCMvHLJ/18cOMNQ4BJrxW0KspQ0Uzuxad466PyYyvBitnfwp6ghI48H3u2Uh782RhoJfZ0flzrZTbYTUmqeVuM++9ssHoYPLOGPljmhawDE0dMcXCb6rzWUYjWzcAroDf4O5OqG8o+JmZCphLiiPEMc5N7TLg9DgawdIczISReIoaqRzoSbr0BYg86KCMxXEu3G7BOBUAz1pVb5h1rWMWhdr+oIh0ZWrGWru/dHHFdYYr7BTnL7ziQ8E4usl0j8Ne10mhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CMU7VCdCMnSADf6ko6WGq4",
      "input": {
        "note": "The jaws closed empty just above the power bank — the arm won't descend below ~2.4 cm in this posture. Opening and pitching the tool forward 0.3 rad while pressing to the floor to try a different wrist configuration.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.385,
          "right_y": 0.262,
          "right_yaw": -0.25,
          "right_z": -0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CMU7VCdCMnSADf6ko6WGq4",
      "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, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9276, 2.3093, 1.0225, 0.7792, 1.0966, 0.6445, 0.9961]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3963 right_y=0.2727 right_z=0.0158 right_yaw=-0.3374 right_pitch=0.3323 right_roll=0.2103 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.3744, 6.9949, 1.7021, -0.0464, -0.0806, -0.0122, 0.1026, -6.8034, 1.9897, 0.1978, -0.0611, -0.7888, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6846f5487067baa5c455b885aab0ad9fbbb2ed4272ca763b44baff19d943eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0228de5f4d94b7894e8ea7a23bc77dc598e38a29f18b728bcd13a1fc5f50eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d72a040be418c9205c60180b8b529c8ea3b9654065e32a7a1d0941572c210736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 28.36 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, 0.8211, 0.6071, -0.4156, -0.0227, -0.0261, 0.9995, 0.8612, 2.1101, 1.2785, -0.2527, 0.794, 0.8536, 0.9987]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1667 left_yaw=0.0028 left_pitch=-0.0602 left_roll=0.0027 left_gripper=0.9995 right_x=0.3897 right_y=0.2659 right_z=0.0266 right_yaw=-0.2467 right_pitch=-0.1013 right_roll=-0.0479 right_gripper=0.9987\nstate[joint_eff]: [-0.0889, -1.4017, 6.9675, 1.7021, -0.0464, -0.0171, -0.0122, -0.3487, -7.4872, 4.0, 0.4225, -0.0708, -0.0708, -0.1441]",
      "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, 0.8211, 0.6071, -0.4152, -0.0223, -0.0265, 0.9995, 0.8642, 2.13, 1.2377, -0.0975, 0.8211, 0.8593, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1668 left_yaw=0.0027 left_pitch=-0.0598 left_roll=0.0021 left_gripper=0.9995 right_x=0.3975 right_y=0.2721 right_z=0.0237 right_yaw=-0.2553 right_pitch=-0.0386 right_roll=0.0315 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.7118, -0.0269, -0.0415, -0.0122, 0.1026, -6.8855, 3.8496, 0.7399, -0.0562, 0.0122, 0.8132]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9276, 2.3093, 1.0225, 0.7792, 1.0966, 0.6445, 0.9961]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3963 right_y=0.2727 right_z=0.0158 right_yaw=-0.3374 right_pitch=0.3323 right_roll=0.2103 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.3744, 6.9949, 1.7021, -0.0464, -0.0806, -0.0122, 0.1026, -6.8034, 1.9897, 0.1978, -0.0611, -0.7888, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6846f5487067baa5c455b885aab0ad9fbbb2ed4272ca763b44baff19d943eb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0228de5f4d94b7894e8ea7a23bc77dc598e38a29f18b728bcd13a1fc5f50eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d72a040be418c9205c60180b8b529c8ea3b9654065e32a7a1d0941572c210736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpgkKEAgRGAI4AUIIdGhpbmtpbmcSDCtKRKmBRgB3N9HYARoMH3Ss/AM8OFCotLHsIjCkT1rqk5Y3RJjuHqZ0vI/trNgkrWPnsGe6bSycrF3V0c1QYdi86TGxFcf9ytudVvYqwwh7QahfWkauAU8kOiQbZwQC07bdV8gqg0Jpqj6EITojVF/oMm0Yu8UOe3Ivr2wVGv4j3k12tuHgrAF6qTHdlMwleLXia36ek06XQ6mg91iyTmtmTkOyjCrm1hZKKHg8b52/2ChFcUmB/GiV25FKl49Y1BwGo4Zt0MugUSf5sobinpquSIAxHMXskaLCFe1a47ILOOyFTjrnAw8/wG3IxbVtZToMEM+UqIMBSDvngAvMlfIjLAX5sZd9Pl5IdtmNZUvDJnkyea6gBgTxXLr+e2n2NzgBSn+Hu8jQ5XytXilCrZ9acVqsiRTd1LrJxjpUy595utPzPGRoUldhvYsPxQG1GOszMp0EyUqn6rgklyrS/F/8f3RmWbqJSsHvsyPUDvhvJTSSI7PsCatYKP2jdrBy227AniUHHYeCV511zAXiGa7LO+jLK1Ld7SdU4osO6qwo4egyxz57rZMw77JnvKMy3Pnnq1ygN8biOtomSXhaVTmuFRRcCCLB408hy+ilqz3lL2YIAplKqwKpj0UnVUkVExmn5WQMZE6iNKCG0MiQ6BKEU9jRqC8XhX5tbunDR4rMUr8bVLF7ygWc7K5zbye3vhQPqzaHxJmX8squadbVOph11YbBlIV5tq/Y/vUU/HegL6UKGJTgbFhJhvZUeQ0RHQKEmAI9kR6tQFYNE3XNaR803Bu7KMy+MpFDy9V1TqB4Sg9uHdHBJ4x2lSDtOwSGXvecQdz01GBs6KbXltL45yybRmoiddOhEUBx9B4kNu0bB8AK4fSxXpzcnveox+cnRNv30sPdb67rog+HPEdwkeR2MdCJmt/VsjxBi/lKKQI4GJ4lLSBK/Ov4NXsjibmbNKkhfGGuTWARzW66i14Wzor7+e4EF0HxA0Dv+amBuhjvm5obSw4hswDNqw+xdhcp2/solITAM59n3oexI7g/PkVln3LJTZxPkutiz1yL5f7ORRCeTCs603InIJc5jKZm89kyZkee7eeBquOYPA0MKEhA97Uni4cAq4OuFPtfn14m6yKWzyWZnFkRuK5aOKTrHcK15cv2TpiCNPrMkhMBRFW7TVvU4MDzB0dbtxYrvBKzHNZEXJEXxweS1ta8TuETNkmDdLIBaOuHiTi8eeDf7tRL3v5eYMXMH7XGY6cfUkojFuYX2iwDaXbAJeQG/TIjVTuJdD7txsuKwBvkhapGBypUOBtKlvMsZlxhoOcePDZJH3+SksH2EQQchyAZeyqYrKfKxVgQSFlL+SdmfUcL3g07WeQAZcTiuoqzWW5xf+eJLRbSmDekq+ody7UPjqugJyB+gr5fEQo1eTRd2PA02VoaVXX1j1mgbisMzqRWM0bRVxx2g6kPGCNj2xVZcQyOrvOazgzXbDIuixL1OS9TouEI5qWtDhQ+4hgaH7ZOh9+KFi8mlvjLpp5+gb2rG6Y+z/Piq7zABl9wBnGb1n7k7GJiLRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B92cy6FJJCSEg1ZkvYX9Pe",
      "input": {
        "note": "With the tool pitched forward the grasp point reached 1.6 cm and the power bank now sits between the two visible jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_x": 0.385,
          "right_y": 0.262,
          "right_yaw": -0.25,
          "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_01B92cy6FJJCSEg1ZkvYX9Pe",
      "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, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9188, 2.3211, 0.934, 1.0683, 1.0363, 0.6197, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3947 right_y=0.2724 right_z=0.0253 right_yaw=-0.346 right_pitch=0.3701 right_roll=0.3842 right_gripper=0.0098\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7363, -0.0464, -0.0513, -0.0122, -0.6769, -5.9282, 1.7709, 0.4371, -0.232, -0.188, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11115ecb59f5ea11133988c861c89af02ba8525478e62d5e911690b0ff8d49f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8037bf194d3a5a04cf917a09c7e90a7e61e86e3621ca2158b590e6a2ef700748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b1acdc0abeccac0032d146ce6faa514e41bbccf4e18c2146c08a539e77a304f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 9.843 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, 0.8211, 0.6071, -0.4152, -0.0223, -0.0265, 0.9995, 0.8642, 2.13, 1.2377, -0.0975, 0.8211, 0.8593, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0018 left_z=0.1668 left_yaw=0.0027 left_pitch=-0.0598 left_roll=0.0021 left_gripper=0.9995 right_x=0.3975 right_y=0.2721 right_z=0.0237 right_yaw=-0.2553 right_pitch=-0.0386 right_roll=0.0315 right_gripper=0.0098\nstate[joint_eff]: [0.0342, -1.3744, 7.0085, 1.7118, -0.0269, -0.0415, -0.0122, 0.1026, -6.8855, 3.8496, 0.7399, -0.0562, 0.0122, 0.8132]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9276, 2.3093, 1.0225, 0.7792, 1.0966, 0.6445, 0.9961]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3963 right_y=0.2727 right_z=0.0158 right_yaw=-0.3374 right_pitch=0.3323 right_roll=0.2103 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.3744, 6.9949, 1.7021, -0.0464, -0.0806, -0.0122, 0.1026, -6.8034, 1.9897, 0.1978, -0.0611, -0.7888, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9188, 2.3211, 0.934, 1.0683, 1.0363, 0.6197, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3947 right_y=0.2724 right_z=0.0253 right_yaw=-0.346 right_pitch=0.3701 right_roll=0.3842 right_gripper=0.0098\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7363, -0.0464, -0.0513, -0.0122, -0.6769, -5.9282, 1.7709, 0.4371, -0.232, -0.188, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11115ecb59f5ea11133988c861c89af02ba8525478e62d5e911690b0ff8d49f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8037bf194d3a5a04cf917a09c7e90a7e61e86e3621ca2158b590e6a2ef700748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1acdc0abeccac0032d146ce6faa514e41bbccf4e18c2146c08a539e77a304f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012BbUHXHWBr9RKnCPoX3cwY",
      "input": {
        "note": "The power bank is ~8 cm wide, nearly the full jaw opening, and the right wrist keeps rolling off-level so a jaw lands on top. Parking the right arm home and bringing the left arm above the brick (same point in its frame, y≈−0.375) for a cleaner straight-down approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.375,
          "left_yaw": -0.25,
          "left_z": 0.12,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_012BbUHXHWBr9RKnCPoX3cwY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9363, 1.9938, 1.4059, -0.2089, -0.548, -0.4805, 0.9995, 0.0898, 0.8261, 0.5255, -0.2321, -0.0761, 0.3767, 0.9981]\nstate[eef_state]: left_x=0.3852 left_y=-0.3621 left_z=0.109 left_yaw=-0.2344 left_pitch=-0.0875 left_roll=0.0174 left_gripper=0.9995 right_x=0.3024 right_y=0.0443 right_z=0.166 right_yaw=-0.0536 right_pitch=-0.0077 right_roll=0.3762 right_gripper=0.9981\nstate[joint_eff]: [-0.6085, -10.6051, 9.1009, 1.4579, -0.2711, 0.0757, -0.0611, -0.2393, -2.0308, 10.2632, 1.8974, -0.1734, 0.0073, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f847a44b535c85d0171c4e1db32dd4f6d6bc26a6d823a23f99165577928979e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:830a43851916679fc6838075fb5a206a50cec1b67d1599be09854b29ddc0cc9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61b2300a99412a62f966720faddd0f6d904f0ef83a8bf58af77d8de8bd5b591c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 20.71 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, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9276, 2.3093, 1.0225, 0.7792, 1.0966, 0.6445, 0.9961]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3963 right_y=0.2727 right_z=0.0158 right_yaw=-0.3374 right_pitch=0.3323 right_roll=0.2103 right_gripper=0.9961\nstate[joint_eff]: [-0.1709, -1.3744, 6.9949, 1.7021, -0.0464, -0.0806, -0.0122, 0.1026, -6.8034, 1.9897, 0.1978, -0.0611, -0.7888, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9188, 2.3211, 0.934, 1.0683, 1.0363, 0.6197, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3947 right_y=0.2724 right_z=0.0253 right_yaw=-0.346 right_pitch=0.3701 right_roll=0.3842 right_gripper=0.0098\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7363, -0.0464, -0.0513, -0.0122, -0.6769, -5.9282, 1.7709, 0.4371, -0.232, -0.188, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9363, 1.9938, 1.4059, -0.2089, -0.548, -0.4805, 0.9995, 0.0898, 0.8261, 0.5255, -0.2321, -0.0761, 0.3767, 0.9981]\nstate[eef_state]: left_x=0.3852 left_y=-0.3621 left_z=0.109 left_yaw=-0.2344 left_pitch=-0.0875 left_roll=0.0174 left_gripper=0.9995 right_x=0.3024 right_y=0.0443 right_z=0.166 right_yaw=-0.0536 right_pitch=-0.0077 right_roll=0.3762 right_gripper=0.9981\nstate[joint_eff]: [-0.6085, -10.6051, 9.1009, 1.4579, -0.2711, 0.0757, -0.0611, -0.2393, -2.0308, 10.2632, 1.8974, -0.1734, 0.0073, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f847a44b535c85d0171c4e1db32dd4f6d6bc26a6d823a23f99165577928979e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:830a43851916679fc6838075fb5a206a50cec1b67d1599be09854b29ddc0cc9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61b2300a99412a62f966720faddd0f6d904f0ef83a8bf58af77d8de8bd5b591c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015iysn1RmgSSPxQebUF7pVj",
      "input": {
        "note": "Left wrist view shows the power bank to the lower-left of the jaw column, its far end leaning left. Shifting the left arm ~3 cm further left (to the y bound), straightening yaw, and lowering to 5 cm to re-check centring.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.385,
          "left_y": -0.395,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015iysn1RmgSSPxQebUF7pVj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0149, 2.2696, 1.618, -0.3092, -0.6865, -0.704, 0.9996, 0.0856, 0.8303, 0.5251, -0.2619, -0.0933, 0.3656, 0.9982]\nstate[eef_state]: left_x=0.3828 left_y=-0.3973 left_z=0.044 left_yaw=-0.0828 left_pitch=-0.118 left_roll=0.0351 left_gripper=0.9996 right_x=0.2984 right_y=0.0457 right_z=0.1585 right_yaw=-0.0375 right_pitch=-0.0407 right_roll=0.3713 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -14.4068, 8.335, 1.0867, -0.6422, -0.0366, -0.0611, -0.0479, -1.7573, 7.1043, 2.0342, 0.0415, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5240260aaeb6deb13f426563e00c5bb6789238681d1aa5642c57cacf34173918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbecb3837405e12018746279fe38f7d2d77c7aa170dd32d0bd01f5586ba06935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac93e12818c772c2994dbd2cac13d45be3315e50ef313174ab3f15058f902a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 10.1 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, 0.8211, 0.6071, -0.4152, -0.0227, -0.0261, 0.9995, 0.9188, 2.3211, 0.934, 1.0683, 1.0363, 0.6197, 0.0098]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0028 left_pitch=-0.0598 left_roll=0.0027 left_gripper=0.9995 right_x=0.3947 right_y=0.2724 right_z=0.0253 right_yaw=-0.346 right_pitch=0.3701 right_roll=0.3842 right_gripper=0.0098\nstate[joint_eff]: [-0.0205, -1.265, 7.0085, 1.7363, -0.0464, -0.0513, -0.0122, -0.6769, -5.9282, 1.7709, 0.4371, -0.232, -0.188, 0.7937]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9363, 1.9938, 1.4059, -0.2089, -0.548, -0.4805, 0.9995, 0.0898, 0.8261, 0.5255, -0.2321, -0.0761, 0.3767, 0.9981]\nstate[eef_state]: left_x=0.3852 left_y=-0.3621 left_z=0.109 left_yaw=-0.2344 left_pitch=-0.0875 left_roll=0.0174 left_gripper=0.9995 right_x=0.3024 right_y=0.0443 right_z=0.166 right_yaw=-0.0536 right_pitch=-0.0077 right_roll=0.3762 right_gripper=0.9981\nstate[joint_eff]: [-0.6085, -10.6051, 9.1009, 1.4579, -0.2711, 0.0757, -0.0611, -0.2393, -2.0308, 10.2632, 1.8974, -0.1734, 0.0073, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0149, 2.2696, 1.618, -0.3092, -0.6865, -0.704, 0.9996, 0.0856, 0.8303, 0.5251, -0.2619, -0.0933, 0.3656, 0.9982]\nstate[eef_state]: left_x=0.3828 left_y=-0.3973 left_z=0.044 left_yaw=-0.0828 left_pitch=-0.118 left_roll=0.0351 left_gripper=0.9996 right_x=0.2984 right_y=0.0457 right_z=0.1585 right_yaw=-0.0375 right_pitch=-0.0407 right_roll=0.3713 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -14.4068, 8.335, 1.0867, -0.6422, -0.0366, -0.0611, -0.0479, -1.7573, 7.1043, 2.0342, 0.0415, 0.1099, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5240260aaeb6deb13f426563e00c5bb6789238681d1aa5642c57cacf34173918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbecb3837405e12018746279fe38f7d2d77c7aa170dd32d0bd01f5586ba06935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac93e12818c772c2994dbd2cac13d45be3315e50ef313174ab3f15058f902a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U8LUBWyDsqZhqa84zLpxcP",
      "input": {
        "note": "The brick lies beyond the left arm's y bound (it is still off the left edge of the left wrist view at y=−0.397), so the left arm cannot centre on it. Parking the left arm and returning the right arm above the brick at 10 cm to centre precisely before a level descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.18,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.272,
          "right_yaw": -0.25,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_01U8LUBWyDsqZhqa84zLpxcP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0685, 0.9207, 0.7139, -0.4946, -0.1146, -0.0711, 0.9995, 0.8841, 1.9652, 1.2903, -0.3141, 0.8326, 0.8162, 0.9986]\nstate[eef_state]: left_x=0.3009 left_y=0.0032 left_z=0.1723 left_yaw=0.0566 left_pitch=-0.127 left_roll=0.0292 left_gripper=0.9995 right_x=0.3862 right_y=0.2706 right_z=0.0918 right_yaw=-0.2187 right_pitch=-0.0294 right_roll=-0.0076 right_gripper=0.9986\nstate[joint_eff]: [0.1983, -2.5641, 8.5128, 1.6777, 0.1245, 0.1587, -0.0611, 0.3624, -9.894, 8.1846, 1.033, 0.6422, 0.188, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6948be9e877ff35e27e525c04140b846f94bee41fbea030190ff8fea5bc87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f727a5cbce52e01f9439b26e40d5998c221634cbdb83222b60ca3cd8b276c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bed4ad1067529a0282b077a60a93342afb9fce8cebd329a6fb60d4390071b951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 25.8 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]: [-0.9363, 1.9938, 1.4059, -0.2089, -0.548, -0.4805, 0.9995, 0.0898, 0.8261, 0.5255, -0.2321, -0.0761, 0.3767, 0.9981]\nstate[eef_state]: left_x=0.3852 left_y=-0.3621 left_z=0.109 left_yaw=-0.2344 left_pitch=-0.0875 left_roll=0.0174 left_gripper=0.9995 right_x=0.3024 right_y=0.0443 right_z=0.166 right_yaw=-0.0536 right_pitch=-0.0077 right_roll=0.3762 right_gripper=0.9981\nstate[joint_eff]: [-0.6085, -10.6051, 9.1009, 1.4579, -0.2711, 0.0757, -0.0611, -0.2393, -2.0308, 10.2632, 1.8974, -0.1734, 0.0073, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-1.0149, 2.2696, 1.618, -0.3092, -0.6865, -0.704, 0.9996, 0.0856, 0.8303, 0.5251, -0.2619, -0.0933, 0.3656, 0.9982]\nstate[eef_state]: left_x=0.3828 left_y=-0.3973 left_z=0.044 left_yaw=-0.0828 left_pitch=-0.118 left_roll=0.0351 left_gripper=0.9996 right_x=0.2984 right_y=0.0457 right_z=0.1585 right_yaw=-0.0375 right_pitch=-0.0407 right_roll=0.3713 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -14.4068, 8.335, 1.0867, -0.6422, -0.0366, -0.0611, -0.0479, -1.7573, 7.1043, 2.0342, 0.0415, 0.1099, -0.0073]",
      "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]: [-0.0685, 0.9207, 0.7139, -0.4946, -0.1146, -0.0711, 0.9995, 0.8841, 1.9652, 1.2903, -0.3141, 0.8326, 0.8162, 0.9986]\nstate[eef_state]: left_x=0.3009 left_y=0.0032 left_z=0.1723 left_yaw=0.0566 left_pitch=-0.127 left_roll=0.0292 left_gripper=0.9995 right_x=0.3862 right_y=0.2706 right_z=0.0918 right_yaw=-0.2187 right_pitch=-0.0294 right_roll=-0.0076 right_gripper=0.9986\nstate[joint_eff]: [0.1983, -2.5641, 8.5128, 1.6777, 0.1245, 0.1587, -0.0611, 0.3624, -9.894, 8.1846, 1.033, 0.6422, 0.188, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6948be9e877ff35e27e525c04140b846f94bee41fbea030190ff8fea5bc87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f727a5cbce52e01f9439b26e40d5998c221634cbdb83222b60ca3cd8b276c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bed4ad1067529a0282b077a60a93342afb9fce8cebd329a6fb60d4390071b951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7ggKEAgRGAI4AUIIdGhpbmtpbmcSDM4WgOoQYXnCoTGl1RoMsrtlj+nhOmj5uncfIjAhLyN3oquMCokfRAsU9DFEXKyKRpvDvVmOWdwwmKrmCnzfiSQonpwl2F8tsquvABMqiwgYN1H8WncldkajuuIua/b7yEOgZJa7TZPIMqvAFEpyeEEN2lSYoCVP0lpNXAcDH2ypF0ooUpJCFx7A7DbFov6c1h7d1l81gD6LgmmbbtScTW/5L6vHU/dnwQfQc+xK6JV+fZFWpZ2xcOzmpSL5ZE5jKXYPB66i5U+b/RnIsoa1X+JyDye2xFwdeIElCLyJmGkdrfF6qNX4+/OEUOdnyh5rbJws4SQtQwdANPPsIrbGN3/Qi4hjL02ni/rZwtfBCiFxizVtfAtuiuq9IMe5kGY5E6DXkmM/zFGQOmH+GT7g52jHyAh9doirwI29DKCYOmPPTIf5TfhMf9YaQBMNfohuMMF3Mp3VgxVmXaVlPIjL0/oqp+OUX1RKPIJYLBjvovdRlMlWE7BzPFMM3dUUqAasr/6x1zuPXk3oKDXOSMnQXrMG3jt3uzCpfiRIz47UG4zpR/1UulziyhNE21xUu+jnAfGGy3qG4Vu/3a8YBk4UZFbmCoiQNMLVDyPyHmKn/F9ph+acGza0wSMe9Gu9YUe58PUr+2mFKNl/8rnGChoWkva17n7i69axjqWL7fXCn1Ox+9jqflejJ2YNBOtezQGoEMI7Z4TCgvAmNxC0Qo0VgBaQnwed3+++NTNZdkqDV8J/y3TycW1nc/kVLZe6p/kP4Wluc1FWtXuMEanQv4Roa5wP/OtIyokrzjSvohcJc+Kbds5iQ7bEHmXAQChytco0g+KDsOZiP3+ZfMziI5qcy/gl+8xYD5AlgE2as3BqWadZsMELfBC+mP0GU4C2d/zp3XV4ftb7Eyr2PAQkTltpffzgVGPghG5lS7yzqIj3xKgm57Is9pgyc6FFZzKYGDtXGBS2hcGdQhg5ZykEuh87D3ORgKBy39tPX+3p2l76uRse+pvKW4s5h0e2nj5z6YT5AQvWaDokw9MOlzywAq1Cxp+jSUpltwNF9hQmXphfGnfTRrC9+uE2OjjzcQgaFs6JINBeA+bVqgfTDabsgp3TR2fi0iD5iK3eaWbvudplt+K9b5p6E7t2lGMuv8dSlPUEgptyYeaISs/p6y/i+kDw9kuW/3TWHz9WZpnZpl4m9SWYmGhzPfQ5DRCEqJ1oteHlek0cqO7hc/HIMVPCeOQ538IhhpydedNG50f8qJC8Buf3QSNZZ506k7ftli307fJvzEFumUPjA5kBSOie79gGE3ZnfoqNfdUz9TEad6LwdiG2pwjoAh25JYEukRTKDvBh1BG4M/ya3Avym1CoSDrW/SlgEmGXLGhUrQEkXy9PN3gaeWmieo3M8X/T2FnO2l+iY5itIEJVfgXBwXNv4VJ00ZBZNLIRN2FroZ8Kvse7puvsHq/YmawuvPJhC6UhiFHrOn3nzbaadNxrK9cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A4BA6r8rSdhm8m5ARcm3Sh",
      "input": {
        "note": "Wrist view shows the power bank nearly vertical and about 1 cm left of the jaw column, with the wrist now level. Nudging 1 cm left and descending to table level with roll held at zero.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.282,
          "right_yaw": -0.25,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01A4BA6r8rSdhm8m5ARcm3Sh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0692, 0.9245, 0.7139, -0.5121, -0.1055, -0.0715, 0.9995, 0.9031, 2.1616, 1.2415, -0.0525, 0.8951, 0.8612, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1678 left_yaw=0.0486 left_pitch=-0.1489 left_roll=0.0255 left_gripper=0.9995 right_x=0.3933 right_y=0.282 right_z=0.0236 right_yaw=-0.2587 right_pitch=0.0245 right_roll=0.023 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -2.359, 6.8991, 1.7851, -0.1392, -0.0269, -0.0122, 0.1709, -7.7333, 5.5316, 0.4029, -0.2711, -0.1538, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63bae0e6b8b051d14377f9d7f5d5b19a4a5544e0dade416741a569f96b69e895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11dba3009994380def781e0659aece7f8646d3c981ed148c6b732248a0910671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c93b7dfccea4b50a2645552b9be66d9e685e9b388a73428d5503dc83eba8e665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 16.84 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]: [-1.0149, 2.2696, 1.618, -0.3092, -0.6865, -0.704, 0.9996, 0.0856, 0.8303, 0.5251, -0.2619, -0.0933, 0.3656, 0.9982]\nstate[eef_state]: left_x=0.3828 left_y=-0.3973 left_z=0.044 left_yaw=-0.0828 left_pitch=-0.118 left_roll=0.0351 left_gripper=0.9996 right_x=0.2984 right_y=0.0457 right_z=0.1585 right_yaw=-0.0375 right_pitch=-0.0407 right_roll=0.3713 right_gripper=0.9982\nstate[joint_eff]: [-0.4718, -14.4068, 8.335, 1.0867, -0.6422, -0.0366, -0.0611, -0.0479, -1.7573, 7.1043, 2.0342, 0.0415, 0.1099, -0.0073]",
      "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]: [-0.0685, 0.9207, 0.7139, -0.4946, -0.1146, -0.0711, 0.9995, 0.8841, 1.9652, 1.2903, -0.3141, 0.8326, 0.8162, 0.9986]\nstate[eef_state]: left_x=0.3009 left_y=0.0032 left_z=0.1723 left_yaw=0.0566 left_pitch=-0.127 left_roll=0.0292 left_gripper=0.9995 right_x=0.3862 right_y=0.2706 right_z=0.0918 right_yaw=-0.2187 right_pitch=-0.0294 right_roll=-0.0076 right_gripper=0.9986\nstate[joint_eff]: [0.1983, -2.5641, 8.5128, 1.6777, 0.1245, 0.1587, -0.0611, 0.3624, -9.894, 8.1846, 1.033, 0.6422, 0.188, -0.149]",
      "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]: [-0.0692, 0.9245, 0.7139, -0.5121, -0.1055, -0.0715, 0.9995, 0.9031, 2.1616, 1.2415, -0.0525, 0.8951, 0.8612, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1678 left_yaw=0.0486 left_pitch=-0.1489 left_roll=0.0255 left_gripper=0.9995 right_x=0.3933 right_y=0.282 right_z=0.0236 right_yaw=-0.2587 right_pitch=0.0245 right_roll=0.023 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -2.359, 6.8991, 1.7851, -0.1392, -0.0269, -0.0122, 0.1709, -7.7333, 5.5316, 0.4029, -0.2711, -0.1538, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63bae0e6b8b051d14377f9d7f5d5b19a4a5544e0dade416741a569f96b69e895",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11dba3009994380def781e0659aece7f8646d3c981ed148c6b732248a0910671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c93b7dfccea4b50a2645552b9be66d9e685e9b388a73428d5503dc83eba8e665",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UyJfnA4nEQp39rgFBzLNaP",
      "input": {
        "note": "Descent stalled at 2.4 cm yet again with the brick apparently centred between the jaws, so either the brick is wider than the jaw opening or the arm cannot go lower here. Testing by descending to the table on clear wood 9 cm to the right.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.19,
          "right_yaw": -0.25,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UyJfnA4nEQp39rgFBzLNaP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0696, 0.9276, 0.7139, -0.5129, -0.1055, -0.0715, 0.9995, 0.7456, 2.0399, 0.8822, 0.2867, 0.8021, 0.701, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0014 left_z=0.1668 left_yaw=0.0483 left_pitch=-0.1527 left_roll=0.026 left_gripper=0.9995 right_x=0.39 right_y=0.1922 right_z=-0.0003 right_yaw=-0.2756 right_pitch=0.0069 right_roll=0.0108 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -2.3179, 6.9812, 1.6093, -0.0952, -0.0513, -0.0122, -0.2393, -10.3316, 5.3675, 1.5897, 0.3492, -0.1636, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8b4a5533cdcacaf59798579022612f912a8832ccb24364f09bb5a963495f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e171cc7715566e216d28f7230b1113b548f8a9c5b70a7d43011df0726b9e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0141d065a584237b8944e3babb54730d3520d0862626c2241ebc95d8b30fc120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 9.725 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]: [-0.0685, 0.9207, 0.7139, -0.4946, -0.1146, -0.0711, 0.9995, 0.8841, 1.9652, 1.2903, -0.3141, 0.8326, 0.8162, 0.9986]\nstate[eef_state]: left_x=0.3009 left_y=0.0032 left_z=0.1723 left_yaw=0.0566 left_pitch=-0.127 left_roll=0.0292 left_gripper=0.9995 right_x=0.3862 right_y=0.2706 right_z=0.0918 right_yaw=-0.2187 right_pitch=-0.0294 right_roll=-0.0076 right_gripper=0.9986\nstate[joint_eff]: [0.1983, -2.5641, 8.5128, 1.6777, 0.1245, 0.1587, -0.0611, 0.3624, -9.894, 8.1846, 1.033, 0.6422, 0.188, -0.149]",
      "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]: [-0.0692, 0.9245, 0.7139, -0.5121, -0.1055, -0.0715, 0.9995, 0.9031, 2.1616, 1.2415, -0.0525, 0.8951, 0.8612, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1678 left_yaw=0.0486 left_pitch=-0.1489 left_roll=0.0255 left_gripper=0.9995 right_x=0.3933 right_y=0.282 right_z=0.0236 right_yaw=-0.2587 right_pitch=0.0245 right_roll=0.023 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -2.359, 6.8991, 1.7851, -0.1392, -0.0269, -0.0122, 0.1709, -7.7333, 5.5316, 0.4029, -0.2711, -0.1538, -0.149]",
      "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]: [-0.0696, 0.9276, 0.7139, -0.5129, -0.1055, -0.0715, 0.9995, 0.7456, 2.0399, 0.8822, 0.2867, 0.8021, 0.701, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0014 left_z=0.1668 left_yaw=0.0483 left_pitch=-0.1527 left_roll=0.026 left_gripper=0.9995 right_x=0.39 right_y=0.1922 right_z=-0.0003 right_yaw=-0.2756 right_pitch=0.0069 right_roll=0.0108 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -2.3179, 6.9812, 1.6093, -0.0952, -0.0513, -0.0122, -0.2393, -10.3316, 5.3675, 1.5897, 0.3492, -0.1636, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd8b4a5533cdcacaf59798579022612f912a8832ccb24364f09bb5a963495f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e171cc7715566e216d28f7230b1113b548f8a9c5b70a7d43011df0726b9e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0141d065a584237b8944e3babb54730d3520d0862626c2241ebc95d8b30fc120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rcpynh5W7eJeZ7UshDQfpz",
      "input": {
        "note": "The arm reaches the table fine on clear wood, so over the brick the fingertips were landing on its top — it is nearly as wide as the jaw opening. Going back over it with a slightly more clockwise yaw to match its edge and descending to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.282,
          "right_yaw": -0.35,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Rcpynh5W7eJeZ7UshDQfpz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0692, 0.9287, 0.7139, -0.5133, -0.1051, -0.0715, 0.9995, 0.9066, 2.2414, 1.3064, -0.1661, 0.9253, 0.9707, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1664 left_yaw=0.0484 left_pitch=-0.1543 left_roll=0.0259 left_gripper=0.9995 right_x=0.3904 right_y=0.2755 right_z=0.0002 right_yaw=-0.3279 right_pitch=0.0014 right_roll=-0.0131 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.1538, 6.8991, 1.5653, -0.0611, -0.0659, -0.0171, 0.4855, -10.2906, 7.4188, 0.9939, 0.2222, 0.0415, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de21957e3c1f6a89c72e3a36fccfa3b15595d018580018dfe60d39500bd3ec7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d704ba11f6f38f04d1f8d109340a20a104cfa57fe8b1232d8ea8670f4469d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7efa2f3c1cdcf987aead899a84657544f1a86e517ff027c185ef48a27c528643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 17.76 s

model: claude-fable-5-1
effort: medium
temperature: n/a
tool count: 3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0692, 0.9245, 0.7139, -0.5121, -0.1055, -0.0715, 0.9995, 0.9031, 2.1616, 1.2415, -0.0525, 0.8951, 0.8612, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1678 left_yaw=0.0486 left_pitch=-0.1489 left_roll=0.0255 left_gripper=0.9995 right_x=0.3933 right_y=0.282 right_z=0.0236 right_yaw=-0.2587 right_pitch=0.0245 right_roll=0.023 right_gripper=0.9987\nstate[joint_eff]: [0.0752, -2.359, 6.8991, 1.7851, -0.1392, -0.0269, -0.0122, 0.1709, -7.7333, 5.5316, 0.4029, -0.2711, -0.1538, -0.149]",
      "type": "text"
    },
    {
      "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]: [-0.0696, 0.9276, 0.7139, -0.5129, -0.1055, -0.0715, 0.9995, 0.7456, 2.0399, 0.8822, 0.2867, 0.8021, 0.701, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0014 left_z=0.1668 left_yaw=0.0483 left_pitch=-0.1527 left_roll=0.026 left_gripper=0.9995 right_x=0.39 right_y=0.1922 right_z=-0.0003 right_yaw=-0.2756 right_pitch=0.0069 right_roll=0.0108 right_gripper=0.9987\nstate[joint_eff]: [-0.1573, -2.3179, 6.9812, 1.6093, -0.0952, -0.0513, -0.0122, -0.2393, -10.3316, 5.3675, 1.5897, 0.3492, -0.1636, -0.149]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0692, 0.9287, 0.7139, -0.5133, -0.1051, -0.0715, 0.9995, 0.9066, 2.2414, 1.3064, -0.1661, 0.9253, 0.9707, 0.9987]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1664 left_yaw=0.0484 left_pitch=-0.1543 left_roll=0.0259 left_gripper=0.9995 right_x=0.3904 right_y=0.2755 right_z=0.0002 right_yaw=-0.3279 right_pitch=0.0014 right_roll=-0.0131 right_gripper=0.9987\nstate[joint_eff]: [-0.1026, -2.1538, 6.8991, 1.5653, -0.0611, -0.0659, -0.0171, 0.4855, -10.2906, 7.4188, 0.9939, 0.2222, 0.0415, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de21957e3c1f6a89c72e3a36fccfa3b15595d018580018dfe60d39500bd3ec7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d704ba11f6f38f04d1f8d109340a20a104cfa57fe8b1232d8ea8670f4469d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7efa2f3c1cdcf987aead899a84657544f1a86e517ff027c185ef48a27c528643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStAsKEAgRGAI4AUIIdGhpbmtpbmcSDP/Xh2qzXOoWJCnaZBoMzZmL5/l5HLqz9/ZmIjB7NAPWR+OarzCOMoM/L6UwkuXpued7lVBc9FouYh2MUl8+WyNmvwfSz8D36dfdXhgq0QrjcyV267oVL5577xajkVM+UXr8hfiPqTdTeSLv8OrvMvuudHfSpNNmX/rLeuExbQ5mIKhfPMlPWlJWDoMIiWClaU29+6HtolmQwPqGdWvokjXSlKa9u3/NUB6VQ+ITRfr3YvhTPTHgLlzZ/TMUGr72xxmPu8QqeRXTwrnCN+cUJsrECmNry9Iwwy857ESBzxqoDcRsT9PtpzjQe9egFJURVF8cpRJ0602PQKibiuYZnO0ghq/CjWFgPjYG8tVXOpedbTGEJeBxWJsIOKc3nypEu3nUjHdJux4E6VfwmLvZz4sYStSP6l2OYYUr4td9CPWX3R8cdqdBTHe+3dcVCeQqCkEnQd3K6Rt97wiGSFmL12p2Dx2eREpqedVAp4qNKS1m/YfTohXT+3wFfmTQQzi2NOQLM3Eh7mmCjxn5+mf3X9ZEuxi6yVAM3eIWY0nG9bAgu72SUleJTCGanRMI7HNbt3TrNLqSPiem8e7CyapEymvuWceod7iq/mQN5IQbyAMcT2b9AW4VTqvTCA/hIU7TA/VTupZHYR8g3smQxzr/akc5LBblplaTul0xKFD7zJxp5ty/XxYPLUhkkeOKeQgN+mgLv7Ia8Z0v4tWRy/x/8R8jENkv6vlzKZkK0AVRBa9zD5K2gThYHCehNGzM56jE4Sux/wTBH0GKUBxclBZF2AMWA9TnRITfm9/MYuPdDgKODhI+WCfp5knCNz/rqU1bTlLIVA6MjFSIjFn5OKkRBofpB7E/uMiy1F7/0LtUlS1NW0QGFdMC4D6Iq1SKiVSlE+b0xxTs98uFmZyOrQut8R2PcwMFam8B93hIhHRrtt+1MyBM5rErkrMLGZneYlLsz3XHBzc8WoJOYLqMWEhxJJIG/5EoFwJ4DGG/7i8TuclxcuumITbEgZPgHDJPjgAa7WIrpPOjk+eaI8fjf25uPn8F5mz04ayGE6dAXMzqLvRPWIFKos6PmyTIm69nchLAiAS+hMPU6YWWhmwOZ5jJ79AtHF5CJ/9P9tMzHZ2tT2T1Eihp7aruOR1Xm/U0mNScINyQX+PBa+2GcEPKHhPWZelOBMBSUevjD+dO985tJW9vcKPQQ5FU7MAe/JgfkPu4waT4CM5FKgOlYeHWP20vAD+3PjXXzrXnYnysUtkvgog+sbeJ0ToKzH3XmjqbLiCtcC3J013lRLPruyfGG0nQZtAVoNPiqqh+LW0nDp/jaPupK37kDjKfFU4ME2MSN63wVsbA42Oj1r+Rm5O9kxpCOLQY8XgnhO1LnygmcayrJCv8KFHx+UwjHqYX+fUcc6edIqMX28mtRYLIgZmW4jsANQyc2Mxbn4boxU2EzmULK7vATVQrvI9/wpifNpBJ0L3+HhoH4mSdB+LMhRYBbtosJl2GpH4AsUfABok+QELgo/O93jwWt3E3slfgFW8EYHwWDN9SyRywxxPhHVZlVVKj6+sAPvMEZ+1nD5S8WeWIHKnbMbcRvvhF9v0lgGDO3koOSTy7Vl0QDS9OHIwxj6NagfpAiSlqkuLLIv7ktDYbIzGM5dVjU1QTYsnN1kD6TcwFBBwjLfcdkxlZtqhhGqY1Yyda0O2IiWgdC4ubaFh8HUnK7NJoe3A+X7i20vryD55NqLxZq7lIFl8CmayqnBC6Kf8uRVkfOCIU8mmowQAfQmFfyIxD1vjqsNPIdHHAsvFmsqENo9F44ZNKRa62AbHXedHQiLYclPOoqLH9+7miCo716l4loVAvaH7XonVMHsJKYvMxjRFvCLmEI+ItzRCxiPhC8oU74XtrniQ51jyIzn70rCbMvJ/h3SgRaVudwrI2pBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCPBwbanj9Lzzt9YCKa9xB",
      "input": {
        "note": "The grasp point reached table level this time with the power bank lying between the jaws on the left side of the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.275,
          "right_yaw": -0.35,
          "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_01DCPBwbanj9Lzzt9YCKa9xB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0692, 0.9287, 0.7139, -0.5133, -0.1055, -0.0715, 0.9995, 0.9115, 2.2539, 1.3201, -0.1795, 0.9314, 0.9997, 0.0101]\nstate[eef_state]: left_x=0.2984 left_y=0.0015 left_z=0.1665 left_yaw=0.0487 left_pitch=-0.1542 left_roll=0.0262 left_gripper=0.9995 right_x=0.3898 right_y=0.2774 right_z=-0.0018 right_yaw=-0.3413 right_pitch=0.0028 right_roll=-0.0019 right_gripper=0.0101\nstate[joint_eff]: [-0.1846, -2.0444, 6.8991, 1.5995, -0.1001, -0.0611, -0.0122, -0.6632, -12.2598, 5.2034, 0.862, 0.3297, 0.1197, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0867fbf4a0d699ffbe2718b7b0214be7549e0f2e7cf70a3add2e4050cf6ddbf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdb78d25735e7e2537e3326fc1938360d85c4fde546ed5d0f8592765dafd8759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e13613810da61319b159604e9c06f0a2e536211c3cfc1dfff3d634e4f160c810",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]