adhoc - adhoc_3f8b59f2.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: 488.1 s
total steps: 315

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 sits ahead and to the left of the right gripper (left side of right_cam, right of the pot in top view). Moving the right arm to hover about 15 cm above the estimated brick position with the gripper open.

move_to

right_x0.3800right_y0.1000right_z0.1500right_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, -0.0223, -0.0414, 0.9996, -0.0204, 0.7937, 0.6033, -0.3786, -0.0154, -0.033, 0.9985] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1802 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0003 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985 state[joint_eff]: [-0.5265, -1.5385, 10.1538, 1.79, 0.0024, 0.2662, -0.0562, -0.5128, -1.4701, 10.2222, 1.8584, -0.0855, 0.1978, -0.1636] 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": 0.38, "right_y": 0.1, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick sits ahead and to the left of the right gripper (left side of right_cam, right of the pot in top view). Moving the right arm to hover about 15 cm above the estimated brick position with the gripper open."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteThe brick is still left of the jaw column in the right wrist camera, and the arm fell a bit short of the target. Shifting further left and slightly forward to center the brick under the jaws.

move_to

right_x0.4000right_y0.1600right_z0.1500right_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, -0.3866, -0.0223, -0.0425, 0.9996, 0.3855, 1.3121, 0.7082, -0.0963, 0.2848, 0.1631, 0.9985] state[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3616 right_y=0.097 right_z=0.1232 right_yaw=0.047 right_pitch=-0.0987 right_roll=-0.0363 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.6342, 6.8444, 1.7802, -0.0269, -0.0122, -0.0122, 0.1709, -5.7641, 9.3607, 1.7851, 0.2759, 0.149, -0.1636] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.16, "right_z": 0.15, "right_gripper": 1.0}, "note": "The brick is still left of the jaw column in the right wrist camera, and the arm fell a bit short of the target. Shifting further left and slightly forward to center the brick under the jaws."})

tool

executing move_to over 6 steps (0.6s)

step 15

assistant

agent noteThe brick is now near the center of the right wrist view, slightly left of the jaw column and lying diagonally. Nudging left/forward and yawing the tool about -35° so the jaws close across the brick's short side.

move_to

right_x0.4200right_y0.1850right_z0.1500right_yaw-0.6000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.5232, 1.5238, 0.9691, -0.2031, 0.3618, 0.2321, 0.9985] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3919 right_y=0.158 right_z=0.1361 right_yaw=0.0818 right_pitch=-0.1307 right_roll=-0.0522 right_gripper=0.9985 state[joint_eff]: [-0.0068, -1.0462, 7.0085, 1.7363, -0.0659, -0.0659, -0.0122, 0.1026, -6.7624, 8.9094, 1.4872, 0.3394, 0.1294, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.185, "right_z": 0.15, "right_yaw": -0.6, "right_gripper": 1.0}, "note": "The brick is now near the center of the right wrist view, slightly left of the jaw column and lying diagonally. Nudging left/forward and yawing the tool about -35\u00b0 so the jaws close across the brick's short side."})

tool

executing move_to over 5 steps (0.5s)

step 20

assistant

agent noteThe arm was still mid-rotation in the last frame; the brick is now roughly between the jaws in the wrist view. Letting the yaw finish settling while descending to 10 cm to re-check alignment before the final descent.

move_to

right_x0.4200right_y0.1850right_z0.1000right_yaw-0.6000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.3935, -0.0227, -0.0456, 0.9996, 0.6998, 1.9976, 1.6257, -0.7567, 0.7284, 0.8696, 0.9985] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1745 left_yaw=0.003 left_pitch=-0.0259 left_roll=-0.0027 left_gripper=0.9996 right_x=0.4297 right_y=0.2127 right_z=0.1368 right_yaw=-0.3889 right_pitch=-0.1725 right_roll=-0.0445 right_gripper=0.9985 state[joint_eff]: [-0.1299, -1.6205, 7.2821, 1.7705, -0.0073, -0.0171, -0.0122, -0.3214, -11.9316, 6.3521, 0.2759, 0.5495, 0.2711, -0.1636] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.185, "right_z": 0.1, "right_yaw": -0.6, "right_gripper": 1.0}, "note": "The arm was still mid-rotation in the last frame; the brick is now roughly between the jaws in the wrist view. Letting the yaw finish settling while descending to 10 cm to re-check alignment before the final descent."})

tool

executing move_to over 3 steps (0.3s)

step 23

assistant

agent noteThe brick's long side (~10 cm, too wide for the jaws) is now along the jaw closing axis, so I'm rotating the tool 90° the other way to grip its short side, and shifting ~2.5 cm toward the brick, which sits left of the jaw column.

move_to

right_x0.4400right_y0.2000right_z0.1000right_yaw0.9700right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4011, -0.0227, -0.046, 0.9996, 0.6933, 2.0537, 1.6001, -0.87, 0.7841, 1.0855, 0.9985] state[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1728 left_yaw=0.0032 left_pitch=-0.0339 left_roll=-0.0029 left_gripper=0.9996 right_x=0.4133 right_y=0.1859 right_z=0.1033 right_yaw=-0.5697 right_pitch=-0.1911 right_roll=-0.0875 right_gripper=0.9985 state[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7558, -0.0806, -0.022, -0.0122, -0.7043, -10.0991, 6.6803, 1.0232, 0.4615, 0.1538, -0.1636] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.1, "right_yaw": 0.97, "right_gripper": 1.0}, "note": "The brick's long side (~10 cm, too wide for the jaws) is now along the jaw closing axis, so I'm rotating the tool 90\u00b0 the other way to grip its short side, and shifting ~2.5 cm toward the brick, which sits left of the jaw column."})

tool

executing move_to over 10 steps (1.0s)

step 33

assistant

agent noteThe previous 90° yaw command was not tracked at all (readback unchanged), likely too large a rotation for the IK. Stepping the yaw to an intermediate value of 0.2 rad first, slightly higher to give the wrist room.

move_to

right_x0.4300right_y0.1900right_z0.1200right_yaw0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0494, 0.9996, 0.6891, 2.0659, 1.5932, -0.8555, 0.7803, 1.1076, 0.9985] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.005 left_pitch=-0.04 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4146 right_y=0.1852 right_z=0.0965 right_yaw=-0.5857 right_pitch=-0.195 right_roll=-0.0746 right_gripper=0.9985 state[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7656, -0.0806, -0.0366, -0.0122, -0.3214, -10.7966, 6.4342, 0.8474, 0.5299, 0.1734, -0.1636] 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": 0.43, "right_y": 0.19, "right_z": 0.12, "right_yaw": 0.2, "right_gripper": 1.0}, "note": "The previous 90\u00b0 yaw command was not tracked at all (readback unchanged), likely too large a rotation for the IK. Stepping the yaw to an intermediate value of 0.2 rad first, slightly higher to give the wrist room."})

tool

executing move_to over 6 steps (0.6s)

step 39

assistant

Yaw is progressing (now 0.02). Continuing the rotation toward 0.97.

agent noteYaw is now tracking (0.02 rad) and the brick is centered under the jaws in the wrist view but still diagonal. Continuing the rotation to 0.97 rad so the jaws line up with the brick's short side.

move_to

right_x0.4300right_y0.1900right_z0.1200right_yaw0.9700right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4149, -0.0227, -0.0498, 0.9996, 0.5472, 1.7695, 1.1706, -0.3248, 0.3622, 0.3595, 0.9986] state[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0503 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4151 right_y=0.1838 right_z=0.0947 right_yaw=0.0194 right_pitch=-0.2743 right_roll=-0.038 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7558, -0.0806, -0.0415, -0.0122, -1.7983, -11.7402, 6.4479, 1.5214, 0.1636, -0.0269, -0.1587] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

Yaw is progressing (now 0.02). Continuing the rotation toward 0.97.

move_to({"targets": {"right_x": 0.43, "right_y": 0.19, "right_z": 0.12, "right_yaw": 0.97, "right_gripper": 1.0}, "note": "Yaw is now tracking (0.02 rad) and the brick is centered under the jaws in the wrist view but still diagonal. Continuing the rotation to 0.97 rad so the jaws line up with the brick's short side."})

tool

executing move_to over 7 steps (0.7s)

step 46

assistant

agent noteYaw only reached 0.2 rad; the brick's long axis is still diagonal in the wrist view. Stepping yaw to 0.65 to bring the long axis vertical so the jaws close across the short side.

move_to

right_x0.4300right_y0.1900right_z0.1200right_yaw0.6500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.158, -0.2497, 0.26, 0.1303, 0.9986] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4268 right_y=0.1875 right_z=0.1018 right_yaw=0.1955 right_pitch=-0.2472 right_roll=-0.0924 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.6728, -0.0415, -0.0611, -0.0122, 0.1846, -11.4803, 6.5162, 1.6239, 0.0464, -0.0513, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.19, "right_z": 0.12, "right_yaw": 0.65, "right_gripper": 1.0}, "note": "Yaw only reached 0.2 rad; the brick's long axis is still diagonal in the wrist view. Stepping yaw to 0.65 to bring the long axis vertical so the jaws close across the short side."})

tool

executing move_to over 3 steps (0.3s)

step 49

assistant

agent noteThe yaw command stalled again at 0.2 rad with no motion, so the IK seems stuck at this extended pose. Pulling the arm closer and higher where it has more freedom while rotating to yaw 0.9, then I'll re-approach the brick.

move_to

right_x0.3800right_y0.1700right_z0.1800right_yaw0.9000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.1572, -0.2497, 0.26, 0.1303, 0.9985] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4266 right_y=0.1874 right_z=0.1015 right_yaw=0.1955 right_pitch=-0.248 right_roll=-0.0926 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.347, 7.0085, 1.746, -0.0659, -0.0317, -0.0122, 0.0068, -11.535, 6.5709, 1.7118, 0.0855, -0.0464, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.17, "right_z": 0.18, "right_yaw": 0.9, "right_gripper": 1.0}, "note": "The yaw command stalled again at 0.2 rad with no motion, so the IK seems stuck at this extended pose. Pulling the arm closer and higher where it has more freedom while rotating to yaw 0.9, then I'll re-approach the brick."})

tool

executing move_to over 6 steps (0.6s)

step 55

assistant

agent noteYaw reached 0.72 and the brick now lies nearly vertical on the jaw column in the wrist view, with space below it, so the fingertips are a few cm short. Advancing ~4 cm along the tool's forward direction, finishing the yaw, and descending to 6 cm.

move_to

right_x0.4200right_y0.1800right_z0.0600right_yaw0.9500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2722, 1.5612, 1.2011, -0.5087, -0.2401, -0.4389, 0.9986] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1681 left_yaw=0.0053 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3961 right_y=0.1579 right_z=0.1614 right_yaw=0.7157 right_pitch=-0.271 right_roll=-0.0978 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.6777, -0.0562, -0.0708, -0.0122, -0.4171, -8.6769, 9.4154, 1.409, -0.3053, -0.022, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.18, "right_z": 0.06, "right_yaw": 0.95, "right_gripper": 1.0}, "note": "Yaw reached 0.72 and the brick now lies nearly vertical on the jaw column in the wrist view, with space below it, so the fingertips are a few cm short. Advancing ~4 cm along the tool's forward direction, finishing the yaw, and descending to 6 cm."})

tool

executing move_to over 7 steps (0.7s)

step 62

assistant

agent noteThe brick now lies vertically between the jaws in the wrist view, slightly right of the jaw column. Nudging ~1 cm right and descending to table level to grasp it across its short side.

move_to

right_x0.4200right_y0.1680right_z0.0000right_yaw0.9500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2485, 1.8187, 1.1164, -0.2657, -0.3683, -0.6209, 0.9986] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4136 right_y=0.1743 right_z=0.0621 right_yaw=0.9137 right_pitch=-0.3106 right_roll=-0.077 right_gripper=0.9986 state[joint_eff]: [-0.0615, -1.4154, 7.1453, 1.6532, -0.0317, -0.0659, -0.0122, -0.4855, -8.4171, 6.1197, 1.3065, -0.3199, -0.0855, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.168, "right_z": 0.0, "right_yaw": 0.95, "right_gripper": 1.0}, "note": "The brick now lies vertically between the jaws in the wrist view, slightly right of the jaw column. Nudging ~1 cm right and descending to table level to grasp it across its short side."})

tool

executing move_to over 5 steps (0.5s)

step 67

assistant

agent noteThe gripper is at table level with the brick filling the space between the jaws in the wrist view. Closing the gripper to grasp it.

move_to

right_x0.4200right_y0.1680right_z0.0000right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.2199, 1.9427, 1.0637, -0.0875, -0.384, -0.6773, 0.9985] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4252 right_y=0.1665 right_z=0.0153 right_yaw=0.9286 right_pitch=-0.3041 right_roll=-0.1056 right_gripper=0.9985 state[joint_eff]: [-0.212, -1.0735, 7.1863, 1.6777, 0.0024, -0.0855, -0.0171, -0.3624, -7.8564, 4.4239, 1.0085, -0.4567, 0.0513, -0.1636] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.168, "right_z": 0.0, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "The gripper is at table level with the brick filling the space between the jaws in the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 77

assistant

agent noteGripper settled at 0.74 (~7 cm), consistent with gripping the power-bank-sized brick across its width. Lifting 8 cm to confirm the brick comes with the jaws.

move_to

right_x0.4200right_y0.1660right_z0.0800right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0231, -0.0498, 0.9996, 0.2157, 1.9701, 1.0489, -0.0715, -0.3992, -0.6777, 0.7392] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0056 left_pitch=-0.0556 left_roll=-0.0053 left_gripper=0.9996 right_x=0.42 right_y=0.166 right_z=0.0015 right_yaw=0.9417 right_pitch=-0.3156 right_roll=-0.0776 right_gripper=0.7392 state[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.7167, -0.0855, -0.0415, -0.0122, -0.0205, -9.2513, 5.3812, 1.3016, -0.3346, -0.0757, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.166, "right_z": 0.08, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the power-bank-sized brick across its width. Lifting 8 cm to confirm the brick comes with the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 85

assistant

agent noteThe arm only rose to 3.5 cm so far and the brick is still gripped (its far end shows in the wrist view). Continuing the lift to 16 cm to clear the pot rim and confirm the brick is carried.

move_to

right_x0.4000right_y0.1600right_z0.1600right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2146, 1.8805, 1.1473, -0.3729, -0.3817, -0.6865, 0.7392] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4029 right_y=0.1588 right_z=0.035 right_yaw=0.9615 right_pitch=-0.4101 right_roll=-0.0139 right_gripper=0.7392 state[joint_eff]: [-0.0752, -1.3744, 7.2547, 1.6972, -0.0366, -0.0659, -0.0122, -0.212, -13.3402, 10.0034, 1.3553, -0.4713, -0.0513, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.16, "right_z": 0.16, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "The arm only rose to 3.5 cm so far and the brick is still gripped (its far end shows in the wrist view). Continuing the lift to 16 cm to clear the pot rim and confirm the brick is carried."})

tool

executing move_to over 9 steps (0.9s)

step 94

assistant

agent noteThe brick is clearly lifted off the table in both the top and wrist views. Raising to 28 cm to clear the pot rim before carrying it over the pot to the left.

move_to

right_x0.4000right_y0.2000right_z0.2800right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2203, 1.8027, 1.4342, -0.8215, -0.3515, -0.6819, 0.7381] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3943 right_y=0.1543 right_z=0.1178 right_yaw=0.97 right_pitch=-0.4903 right_roll=0.0298 right_gripper=0.7381 state[joint_eff]: [-0.1983, -1.3607, 7.2274, 1.6679, -0.0464, -0.0317, -0.0122, 0.1162, -13.3265, 9.9214, 1.2381, -0.4567, 0.0611, 1.0037] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.2, "right_z": 0.28, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "The brick is clearly lifted off the table in both the top and wrist views. Raising to 28 cm to clear the pot rim before carrying it over the pot to the left."})

tool

executing move_to over 11 steps (1.1s)

step 105

assistant

agent noteThe brick is held high at ~26 cm and the pot is visible to the upper-left in the wrist camera. Carrying the brick left over the pot (about 17 cm in +y, slightly forward).

move_to

right_x0.4200right_y0.3700right_z0.2800right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4164, -0.0227, -0.0498, 0.9996, 0.3351, 2.0602, 2.3768, -1.4986, -0.2775, -0.5751, 0.7317] state[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1676 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4071 right_y=0.1968 right_z=0.2564 right_yaw=0.9586 right_pitch=-0.5289 right_roll=0.021 right_gripper=0.7317 state[joint_eff]: [-0.1573, -1.388, 7.0222, 1.663, -0.0317, -0.0562, -0.0171, 0.4308, -11.7128, 8.1299, 0.8816, -0.4567, 0.232, 1.033] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.42, "right_y": 0.37, "right_z": 0.28, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "The brick is held high at ~26 cm and the pot is visible to the upper-left in the wrist camera. Carrying the brick left over the pot (about 17 cm in +y, slightly forward)."})

tool

executing move_to over 15 steps (1.5s)

step 120

assistant

agent noteThe arm stopped short; the gripper is over the pot's right edge with the pot's centre to the upper-left in the wrist view. Moving another ~5 cm left and 3 cm forward so the brick is over the pot's mouth.

move_to

right_x0.4100right_y0.3800right_z0.2600right_yaw0.9500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0494, 0.9996, 0.667, 2.3989, 2.8094, -1.6192, -0.1341, -0.2802, 0.7317] state[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0051 left_pitch=-0.0598 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3775 right_y=0.3319 right_z=0.2142 right_yaw=0.9791 right_pitch=-0.6179 right_roll=0.0393 right_gripper=0.7317 state[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.6679, -0.0708, -0.0073, -0.0122, 0.2667, -13.3265, 8.8547, 1.4139, -0.0806, 0.149, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.38, "right_z": 0.26, "right_yaw": 0.95, "right_gripper": 0.0}, "note": "The arm stopped short; the gripper is over the pot's right edge with the pot's centre to the upper-left in the wrist view. Moving another ~5 cm left and 3 cm forward so the brick is over the pot's mouth."})

tool

executing move_to over 8 steps (0.8s)

step 128

assistant

agent noteThe arm is at its reach limit with the tool pitched back (-0.69), leaving the brick over the pot's right rim rather than its mouth. Commanding a forward pitch to extend reach and swing the brick over the pot's centre.

move_to

right_x0.4000right_y0.4000right_z0.2400right_yaw0.9500right_pitch0.3000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.7017, 2.4111, 2.7487, -1.6161, -0.1154, -0.2302, 0.7315] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0053 left_pitch=-0.0606 left_roll=-0.0054 left_gripper=0.9996 right_x=0.3653 right_y=0.3401 right_z=0.1909 right_yaw=0.9764 right_pitch=-0.6912 right_roll=0.0649 right_gripper=0.7315 state[joint_eff]: [-0.0889, -1.2513, 7.0496, 1.7411, -0.0562, -0.0513, -0.0122, 0.4308, -14.0103, 9.6479, 1.243, -0.0806, 0.1538, 1.0183] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.4, "right_y": 0.4, "right_z": 0.24, "right_yaw": 0.95, "right_pitch": 0.3, "right_gripper": 0.0}, "note": "The arm is at its reach limit with the tool pitched back (-0.69), leaving the brick over the pot's right rim rather than its mouth. Commanding a forward pitch to extend reach and swing the brick over the pot's centre."})

tool

executing move_to over 34 steps (3.4s)

step 162

assistant

agent noteGripper reading dropped to 0.48 so the brick may have shifted in the jaws; the wrist camera now looks into the pot's white interior. Moving forward 3 cm so the jaws sit further over the pot mouth before releasing.

move_to

right_x0.4300right_y0.4000right_z0.1700right_yaw0.9500right_pitch0.3000right_gripper0.4778

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.823, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.6918, 1.8786, 1.3441, 0.0654, -0.2726, -0.0658, 0.4778] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1663 left_yaw=0.0053 left_pitch=-0.0617 left_roll=-0.0053 left_gripper=0.9996 right_x=0.3954 right_y=0.394 right_z=0.182 right_yaw=0.9473 right_pitch=0.1162 right_roll=0.0839 right_gripper=0.4778 state[joint_eff]: [0.0068, -1.3197, 7.1453, 1.6777, -0.0708, -0.0513, -0.0122, 0.0889, -13.7504, 6.9538, 2.0635, -0.1636, 0.2076, 0.1294] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.4, "right_z": 0.17, "right_yaw": 0.95, "right_pitch": 0.3, "right_gripper": 0.4778}, "note": "Gripper reading dropped to 0.48 so the brick may have shifted in the jaws; the wrist camera now looks into the pot's white interior. Moving forward 3 cm so the jaws sit further over the pot mouth before releasing."})

tool

executing move_to over 7 steps (0.7s)

step 169

assistant

agent noteThe jaws are now above the pot's interior in the wrist view. Opening the gripper to release the brick into the pot.

move_to

right_x0.4300right_y0.4000right_z0.1700right_yaw0.9500right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6495, 1.99, 1.2945, 0.3416, -0.3244, -0.0521, 0.477] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4233 right_y=0.3967 right_z=0.1601 right_yaw=0.9471 right_pitch=0.232 right_roll=0.0852 right_gripper=0.477 state[joint_eff]: [-0.3487, -1.2786, 6.9949, 1.6679, -0.0464, -0.0611, -0.0122, -0.8137, -9.6889, 6.6803, 1.9902, -0.2369, 0.0757, -0.1099] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.4, "right_z": 0.17, "right_yaw": 0.95, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The jaws are now above the pot's interior in the wrist view. Opening the gripper to release the brick into the pot."})

tool

executing move_to over 6 steps (0.6s)

step 175

assistant

agent noteThe pot interior in the wrist camera looks empty, so the brick may have slipped out before the release. Retracting the right arm toward home to uncover the overhead view and locate the brick.

move_to

right_x0.3000right_y0.0800right_z0.2200right_yaw0.3000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6456, 2.0087, 1.2942, 0.395, -0.3309, -0.0475, 0.9954] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4279 right_y=0.3987 right_z=0.1616 right_yaw=0.9489 right_pitch=0.2653 right_roll=0.0813 right_gripper=0.9954 state[joint_eff]: [-0.2667, -1.4291, 7.0085, 1.707, -0.0562, -0.0269, -0.0171, -0.5675, -11.1795, 6.8855, 2.1172, -0.2222, 0.1832, -0.0171] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.08, "right_z": 0.22, "right_yaw": 0.3, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The pot interior in the wrist camera looks empty, so the brick may have slipped out before the release. Retracting the right arm toward home to uncover the overhead view and locate the brick."})

tool

executing move_to over 27 steps (2.7s)

step 202

assistant

agent noteThe brick dropped onto the table just right of the pot, near the table's centre line — out of the right arm's comfortable reach for the pot. Switching to the left arm: flying it above the brick with yaw ~0.95 to match the brick's diagonal, while parking the right arm at home.

move_to

left_x0.3300left_y-0.3600left_z0.1500left_yaw0.9500left_gripper1.0000right_x0.2950right_y0.0000right_z0.1800right_yaw0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.1711, 0.9081, 0.7681, -0.4316, -0.1432, -0.0246, 0.998] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0663 left_roll=-0.0052 left_gripper=0.9996 right_x=0.3052 right_y=0.082 right_z=0.213 right_yaw=0.2945 right_pitch=0.0018 right_roll=0.0761 right_gripper=0.998 state[joint_eff]: [-0.1846, -1.5111, 7.0359, 1.7216, -0.0562, -0.0415, -0.0122, -0.1983, -2.3726, 8.8957, 1.8388, -0.2955, -0.0366, -0.2222] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.36, "left_z": 0.15, "left_yaw": 0.95, "left_gripper": 1.0, "right_x": 0.295, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0}, "note": "The brick dropped onto the table just right of the pot, near the table's centre line \u2014 out of the right arm's comfortable reach for the pot. Switching to the left arm: flying it above the brick with yaw ~0.95 to match the brick's diagonal, while parking the right arm at home."})

tool

executing move_to over 33 steps (3.3s)

step 235

assistant

agent noteThe left wrist camera already shows the brick directly ahead, long axis vertical and nearly on the jaw column, so my y estimate was too far; the arm is at y=-0.26. Stopping the leftward motion and advancing ~3 cm along the tool's forward direction while descending to 5 cm.

move_to

left_x0.3500left_y-0.2250left_z0.0500left_yaw0.9000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9855, 2.4081, 2.0373, -1.5578, -0.8627, -2.0617, 0.9996, -0.0669, 0.8055, 0.6056, -0.4103, -0.112, -0.0177, 0.9978] state[eef_state]: left_x=0.3364 left_y=-0.2583 left_z=0.0829 left_yaw=0.8735 left_pitch=-0.0855 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2915 right_y=0.0038 right_z=0.172 right_yaw=0.0266 right_pitch=-0.0387 right_roll=0.0686 right_gripper=0.9978 state[joint_eff]: [1.0051, -11.5761, 7.3368, -0.4274, -0.5006, -0.4029, -0.0562, -0.4034, -2.1402, 6.7077, 2.1026, 0.0513, 0.149, -0.0269] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.225, "left_z": 0.05, "left_yaw": 0.9, "left_gripper": 1.0}, "note": "The left wrist camera already shows the brick directly ahead, long axis vertical and nearly on the jaw column, so my y estimate was too far; the arm is at y=-0.26. Stopping the leftward motion and advancing ~3 cm along the tool's forward direction while descending to 5 cm."})

tool

executing move_to over 3 steps (0.3s)

step 238

assistant

agent noteThe brick now appears left of the jaw column and tilted ~30° in the left wrist view. Shifting ~3 cm toward it, reducing yaw to straighten the brick along the image vertical, and descending to 2 cm.

move_to

left_x0.3300left_y-0.2500left_z0.0200left_yaw0.4500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9817, 2.5267, 2.1696, -1.565, -0.857, -2.0621, 0.9996, -0.0669, 0.8082, 0.5991, -0.4149, -0.1123, -0.0193, 0.9978] state[eef_state]: left_x=0.3484 left_y=-0.2747 left_z=0.0608 left_yaw=0.8791 left_pitch=-0.0924 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2901 right_y=0.004 right_z=0.1674 right_yaw=0.0278 right_pitch=-0.0523 right_roll=0.0689 right_gripper=0.9978 state[joint_eff]: [-0.212, -11.9726, 6.2974, -0.4762, -0.359, -0.3492, -0.0562, -0.335, -0.9641, 7.5009, 1.7265, -0.105, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.25, "left_z": 0.02, "left_yaw": 0.45, "left_gripper": 1.0}, "note": "The brick now appears left of the jaw column and tilted ~30\u00b0 in the left wrist view. Shifting ~3 cm toward it, reducing yaw to straighten the brick along the image vertical, and descending to 2 cm."})

tool

executing move_to over 3 steps (0.3s)

step 241

assistant

agent noteThe left arm barely tracked the yaw change (still 0.88) but the brick now sits nearly vertical between the jaws in the wrist view, slightly left of centre. Descending to table level with a 1 cm leftward nudge to grasp it as-is.

move_to

left_x0.3380left_y-0.2700left_z0.0000left_yaw0.8800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.5991, -0.4152, -0.1123, -0.0193, 0.9978] state[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.2902 right_y=0.0038 right_z=0.1669 right_yaw=0.027 right_pitch=-0.0542 right_roll=0.0691 right_gripper=0.9978 state[joint_eff]: [-0.1436, -14.188, 6.4752, -0.4957, -0.4567, -0.3443, -0.0562, -0.0752, -1.3333, 7.0632, 1.6777, -0.1148, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.338, "left_y": -0.27, "left_z": 0.0, "left_yaw": 0.88, "left_gripper": 1.0}, "note": "The left arm barely tracked the yaw change (still 0.88) but the brick now sits nearly vertical between the jaws in the wrist view, slightly left of centre. Descending to table level with a 1 cm leftward nudge to grasp it as-is."})

tool

executing move_to over 3 steps (0.3s)

step 244

assistant

agent noteThe descent stopped at 4 cm and nothing moved, so a fingertip is probably resting on the brick's left edge. Lifting to 9 cm and shifting ~2 cm left to re-centre the brick between the jaws.

move_to

left_x0.3300left_y-0.2600left_z0.0900left_yaw0.8800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0189, 0.9978] state[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.0268 right_pitch=-0.0553 right_roll=0.0695 right_gripper=0.9978 state[joint_eff]: [0.0205, -14.1333, 6.5436, -0.486, -0.486, -0.3541, -0.0562, -0.1846, -1.2513, 7.0769, 1.6825, -0.0611, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.26, "left_z": 0.09, "left_yaw": 0.88, "left_gripper": 1.0}, "note": "The descent stopped at 4 cm and nothing moved, so a fingertip is probably resting on the brick's left edge. Lifting to 9 cm and shifting ~2 cm left to re-centre the brick between the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 248

assistant

agent noteThe left arm is not responding to any nearby target (joints frozen), likely an IK dead-end in this crossed-over pose. Commanding a large retreat up and back toward its home side with yaw 0 to unstick it.

move_to

left_x0.2500left_y-0.1500left_z0.2000left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0193, 0.9978] state[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.027 right_pitch=-0.0553 right_roll=0.0692 right_gripper=0.9978 state[joint_eff]: [0.0205, -14.3248, 6.5983, -0.5104, -0.4762, -0.3443, -0.0562, -0.3761, -1.2923, 7.2137, 1.7265, -0.1148, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": -0.15, "left_z": 0.2, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "The left arm is not responding to any nearby target (joints frozen), likely an IK dead-end in this crossed-over pose. Commanding a large retreat up and back toward its home side with yaw 0 to unstick it."})

tool

executing move_to over 12 steps (1.2s)

step 260

assistant

agent noteThe left arm is free again and the wrist camera shows the brick ahead-right with its long side along the image-x (jaw) axis, so I need a ~90° yaw. Moving back over the brick at 15 cm while rotating in stages, first to yaw -0.8.

move_to

left_x0.3300left_y-0.2500left_z0.1500left_yaw-0.8000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9783, 1.1294, 0.9272, -0.7959, -0.7689, -0.8948, 0.9996, -0.0677, 0.8154, 0.5941, -0.4217, -0.1123, -0.0204, 0.9978] state[eef_state]: left_x=0.2534 left_y=-0.1501 left_z=0.1948 left_yaw=0.0995 left_pitch=-0.0792 left_roll=-0.0361 left_gripper=0.9996 right_x=0.2888 right_y=0.0039 right_z=0.1619 right_yaw=0.0278 right_pitch=-0.0712 right_roll=0.0698 right_gripper=0.9978 state[joint_eff]: [0.3487, -2.5778, 6.5436, 1.4432, -0.3541, 0.2515, -0.0562, -0.0615, -1.5385, 7.2684, 1.7851, -0.0952, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.25, "left_z": 0.15, "left_yaw": -0.8, "left_gripper": 1.0}, "note": "The left arm is free again and the wrist camera shows the brick ahead-right with its long side along the image-x (jaw) axis, so I need a ~90\u00b0 yaw. Moving back over the brick at 15 cm while rotating in stages, first to yaw -0.8."})

tool

executing move_to over 9 steps (0.9s)

step 269

assistant

agent noteYaw reached -0.63 and the brick, now near the jaw column, is diagonal at ~45°. Continuing the rotation to -1.5 so its long side is vertical in the wrist view and the jaws close across its width.

move_to

left_x0.3300left_y-0.2400left_z0.1200left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5892, 1.3991, 0.8333, -0.2054, 0.0532, -0.0467, 0.9996, -0.0673, 0.8173, 0.5941, -0.4225, -0.1123, -0.0219, 0.9978] state[eef_state]: left_x=0.3216 left_y=-0.2219 left_z=0.1198 left_yaw=-0.6307 left_pitch=-0.2009 left_roll=-0.0535 left_gripper=0.9996 right_x=0.2888 right_y=0.004 right_z=0.1612 right_yaw=0.029 right_pitch=-0.0738 right_roll=0.0688 right_gripper=0.9978 state[joint_eff]: [0.3077, -6.9128, 9.6752, 1.8632, 0.0904, 0.1734, -0.0562, -0.1299, -1.347, 7.1043, 1.6484, -0.0757, -0.0073, -0.0122] camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.24, "left_z": 0.12, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "Yaw reached -0.63 and the brick, now near the jaw column, is diagonal at ~45\u00b0. Continuing the rotation to -1.5 so its long side is vertical in the wrist view and the jaws close across its width."})

tool

executing move_to over 6 steps (0.6s)

step 275

assistant

agent noteThe brick now appears at the bottom centre of the left wrist view, i.e. close under the fingertips, apparently with its long side pointing toward the base. Descending to 4 cm while finishing the yaw to check alignment before the grasp.

move_to

left_x0.3450left_y-0.2350left_z0.0400left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.355, 1.7512, 1.2266, -0.5854, 0.6128, 0.7162, 0.9996, -0.0677, 0.8207, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978] state[eef_state]: left_x=0.3456 left_y=-0.2326 left_z=0.1089 left_yaw=-1.3043 left_pitch=-0.2546 left_roll=-0.0827 left_gripper=0.9996 right_x=0.289 right_y=0.0038 right_z=0.1603 right_yaw=0.0288 right_pitch=-0.0772 right_roll=0.0688 right_gripper=0.9978 state[joint_eff]: [0.4581, -9.1829, 7.2137, 0.8523, 0.5983, 0.232, -0.0562, -0.1846, -1.5932, 6.9538, 1.6435, -0.0708, -0.0708, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.345, "left_y": -0.235, "left_z": 0.04, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "The brick now appears at the bottom centre of the left wrist view, i.e. close under the fingertips, apparently with its long side pointing toward the base. Descending to 4 cm while finishing the yaw to check alignment before the grasp."})

tool

executing move_to over 5 steps (0.5s)

step 280

assistant

agent noteAt 4 cm the brick spans ~140 px across the bottom of the left wrist view with a straight horizontal edge, consistent with its 7 cm width sitting between the jaws. Descending to table level for the grasp.

move_to

left_x0.3390left_y-0.2350left_z0.0000left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3431, 1.9381, 1.2186, -0.5587, 0.6796, 0.918, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978] state[eef_state]: left_x=0.339 left_y=-0.2352 left_z=0.0436 left_yaw=-1.4779 left_pitch=-0.2757 left_roll=-0.1254 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978 state[joint_eff]: [0.5265, -9.306, 5.7778, 0.9011, 0.486, 0.0708, -0.0611, -0.212, -1.4974, 7.1179, 1.6337, -0.0757, -0.0659, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.339, "left_y": -0.235, "left_z": 0.0, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "At 4 cm the brick spans ~140 px across the bottom of the left wrist view with a straight horizontal edge, consistent with its 7 cm width sitting between the jaws. Descending to table level for the grasp."})

tool

executing move_to over 3 steps (0.3s)

step 283

assistant

agent noteThe descent stalled at ~4 cm, so a jaw is resting on top of the brick, which sits right of the jaw column in the wrist view (image-right is toward the base at this yaw). Lifting slightly and shifting 2.5 cm back toward the base to centre the brick between the jaws.

move_to

left_x0.3170left_y-0.2370left_z0.0700left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5419, 0.6838, 0.9474, 0.9996, -0.0677, 0.823, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978] state[eef_state]: left_x=0.3418 left_y=-0.2349 left_z=0.0386 left_yaw=-1.4914 left_pitch=-0.2704 left_roll=-0.1068 left_gripper=0.9996 right_x=0.2891 right_y=0.0038 right_z=0.1597 right_yaw=0.0288 right_pitch=-0.0795 right_roll=0.0691 right_gripper=0.9978 state[joint_eff]: [0.1026, -9.5932, 5.6, 0.9109, 0.4029, 0.2076, -0.0611, -0.1026, -1.388, 6.9949, 1.6337, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.317, "left_y": -0.237, "left_z": 0.07, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "The descent stalled at ~4 cm, so a jaw is resting on top of the brick, which sits right of the jaw column in the wrist view (image-right is toward the base at this yaw). Lifting slightly and shifting 2.5 cm back toward the base to centre the brick between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 286

assistant

agent noteThe left arm has frozen again on a small target (no joint change). Making a larger retreat up and back toward the base to unstick the IK before re-approaching the brick.

move_to

left_x0.2800left_y-0.2100left_z0.1500left_yaw-1.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5411, 0.6838, 0.9466, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978] state[eef_state]: left_x=0.3419 left_y=-0.2349 left_z=0.0387 left_yaw=-1.4907 left_pitch=-0.2701 left_roll=-0.1066 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978 state[joint_eff]: [0.1162, -9.3744, 5.7504, 0.8913, 0.4078, 0.2418, -0.0611, -0.0479, -1.347, 6.9538, 1.6337, -0.0757, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.28, "left_y": -0.21, "left_z": 0.15, "left_yaw": -1.5, "left_gripper": 1.0}, "note": "The left arm has frozen again on a small target (no joint change). Making a larger retreat up and back toward the base to unstick the IK before re-approaching the brick."})

tool

executing move_to over 8 steps (0.8s)

step 294

assistant

agent noteFrom 15 cm the whole brick is visible between the jaws but with its long side along the jaw axis, so I was 90° off. Rotating back to yaw 0 and centring over the brick at 12 cm.

move_to

left_x0.3100left_y-0.2450left_z0.1200left_yaw0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3325, 1.5978, 1.2282, -0.8322, 0.68, 0.9466, 0.9996, -0.0677, 0.8249, 0.5941, -0.4221, -0.1127, -0.0227, 0.9978] state[eef_state]: left_x=0.2976 left_y=-0.2165 left_z=0.15 left_yaw=-1.465 left_pitch=-0.242 left_roll=-0.034 left_gripper=0.9996 right_x=0.2892 right_y=0.0039 right_z=0.1592 right_yaw=0.0294 right_pitch=-0.081 right_roll=0.0691 right_gripper=0.9978 state[joint_eff]: [0.2803, -3.1932, 6.4342, 0.7643, 0.2466, 0.1929, -0.0562, -0.0615, -1.3744, 6.9949, 1.7216, -0.1148, -0.0708, -0.0122] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.31, "left_y": -0.245, "left_z": 0.12, "left_yaw": 0.0, "left_gripper": 1.0}, "note": "From 15 cm the whole brick is visible between the jaws but with its long side along the jaw axis, so I was 90\u00b0 off. Rotating back to yaw 0 and centring over the brick at 12 cm."})

tool

executing move_to over 10 steps (1.0s)

step 304

assistant

agent noteThe brick is now upright between the jaws in the left wrist view, slightly left and ahead of the jaw column. Low on call budget, so descending onto it with a small shift and closing the gripper in one motion.

move_to

left_x0.3300left_y-0.2450left_z0.0000left_yaw-0.4000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9051, 1.5787, 1.0389, -0.4614, -0.4171, -0.6025, 0.9996, -0.0677, 0.8299, 0.5941, -0.4229, -0.1123, -0.0227, 0.9978] state[eef_state]: left_x=0.2987 left_y=-0.2587 left_z=0.1067 left_yaw=-0.2176 left_pitch=-0.3091 left_roll=-0.0097 left_gripper=0.9996 right_x=0.2893 right_y=0.0038 right_z=0.1577 right_yaw=0.0291 right_pitch=-0.0867 right_roll=0.0694 right_gripper=0.9978 state[joint_eff]: [-0.2667, -7.8838, 8.0342, 0.9695, -0.4127, -0.022, -0.0562, -0.1983, -1.6889, 6.9675, 1.6337, -0.1148, -0.0562, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.33, "left_y": -0.245, "left_z": 0.0, "left_yaw": -0.4, "left_gripper": 0.0}, "note": "The brick is now upright between the jaws in the left wrist view, slightly left and ahead of the jaw column. Low on call budget, so descending onto it with a small shift and closing the gripper in one motion."})

tool

executing move_to over 10 steps (1.0s)

step 314

assistant

agent noteOut of LLM-call budget. The right arm grasped the brick but could not reach the pot's mouth (pot centre is at right_y ≈ 0.42, beyond the right arm's y bound/reach) and the brick slipped out onto the table beside the pot. The left arm then repeatedly froze in IK dead-ends while crossing over to y ≈ -0.25 and the final closing attempt missed the brick, which now lies just right of the pot.

give_up

hindsight1) The pot sits near the table centre-left (top_cam ~(98,65)); its mouth is at right_y ≈ 0.42–0.45 which the right arm cannot reach (y bound 0.4 and reach limit at z>0.2 with pitch pinned to -0.6). For the left arm the pot is at about left_x 0.40, left_y -0.23 — use the LEFT arm for anything going into the pot. 2) The black brick is a power bank ~12 x 7 x 2.5 cm with a cable; grasp across the 7 cm width (settled gripper ≈ 0.74). Its long side is too wide for the jaws. 3) Yaw changes of more than ~0.7 rad in one command often are not tracked at all (readback unchanged); step yaw in ≤0.5 rad increments, and keep the arm at z ≥ 0.15 and x ≤ 0.4 while rotating. 4) When an arm crosses the centre line (left_y ≈ -0.25 to -0.36) the IK frequently freezes completely on small targets; the only fix that worked was a large retreat (x ≈ 0.25–0.28, z ≥ 0.15) before re-approaching — budget 2 extra calls for this. 5) A descent stalling at z ≈ 0.04 over this brick means a jaw is resting on top of it: lift and shift 2–3 cm laterally rather than re-sending. 6) At yaw ≈ -1.5, wrist image-right points toward the base (−x); at yaw ≈ +0.9, image-up is forward-left. Compute image axes from yaw before nudging. 7) Carrying the brick with the tool pitched to the -0.6 bound at long reach made it slip (gripper reading fell from 0.74 to 0.48); carry with x ≤ 0.4 and avoid forcing pitch.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7471, 1.7557, 0.8108, 0.0978, -0.2687, -0.355, 0.0088, -0.0673, 0.8307, 0.5941, -0.4225, -0.1127, -0.0227, 0.9978] state[eef_state]: left_x=0.3424 left_y=-0.2483 left_z=0.0281 left_yaw=-0.3397 left_pitch=-0.2378 left_roll=-0.0272 left_gripper=0.0088 right_x=0.2894 right_y=0.004 right_z=0.1576 right_yaw=0.0298 right_pitch=-0.0871 right_roll=0.0697 right_gripper=0.9978 state[joint_eff]: [0.3487, -4.6154, 3.1932, 0.6422, 0.2076, 0.2759, 0.6569, -0.212, -1.347, 6.9949, 1.6288, -0.1001, -0.0659, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM-call budget. The right arm grasped the brick but could not reach the pot's mouth (pot centre is at right_y \u2248 0.42, beyond the right arm's y bound/reach) and the brick slipped out onto the table beside the pot. The left arm then repeatedly froze in IK dead-ends while crossing over to y \u2248 -0.25 and the final closing attempt missed the brick, which now lies just right of the pot.", "hindsight": "1) The pot sits near the table centre-left (top_cam ~(98,65)); its mouth is at right_y \u2248 0.42\u20130.45 which the right arm cannot reach (y bound 0.4 and reach limit at z>0.2 with pitch pinned to -0.6). For the left arm the pot is at about left_x 0.40, left_y -0.23 \u2014 use the LEFT arm for anything going into the pot. 2) The black brick is a power bank ~12 x 7 x 2.5 cm with a cable; grasp across the 7 cm width (settled gripper \u2248 0.74). Its long side is too wide for the jaws. 3) Yaw changes of more than ~0.7 rad in one command often are not tracked at all (readback unchanged); step yaw in \u22640.5 rad increments, and keep the arm at z \u2265 0.15 and x \u2264 0.4 while rotating. 4) When an arm crosses the centre line (left_y \u2248 -0.25 to -0.36) the IK frequently freezes completely on small targets; the only fix that worked was a large retreat (x \u2248 0.25\u20130.28, z \u2265 0.15) before re-approaching \u2014 budget 2 extra calls for this. 5) A descent stalling at z \u2248 0.04 over this brick means a jaw is resting on top of it: lift and shift 2\u20133 cm laterally rather than re-sending. 6) At yaw \u2248 -1.5, wrist image-right points toward the base (\u2212x); at yaw \u2248 +0.9, image-up is forward-left. Compute image axes from yaw before nudging. 7) Carrying the brick with the tool pitched to the -0.6 bound at long reach made it slip (gripper reading fell from 0.74 to 0.48); carry with x \u2264 0.4 and avoid forcing pitch."})

tool

give_up: Out of LLM-call budget. The right arm grasped the brick but could not reach the pot's mouth (pot centre is at right_y ≈ 0.42, beyond the right arm's y bound/reach) and the brick slipped out onto the table beside the pot. The left arm then repeatedly froze in IK dead-ends while crossing over to y ≈ -0.25 and the final closing attempt missed the brick, which now lies just right of the pot.

Trial 0 Wire

Tools (trial initial)

[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]

System (trial initial)

[
{
"cache_control": {
"type": "ephemeral"
},
"text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n in meters in the arm's base frame (the grasp point sits between the\n fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n the trial's start orientation; 0 keeps the start orientation and positive\n turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n also relative to the trial's start orientation. Positive pitch tips the\n tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n 9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n (both face forward), each with its own base frame: +x forward, +y left,\n +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n With the tool pointing straight down the wrist reaches ~0.51 m from the\n base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n normalized fraction of that (0 closed, 1 open). After a full close the\n settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n and stays there for many seconds. Effort cannot tell an empty close\n from a grasp. Judge grasps by the settled reading, then by lifting\n 5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n at ~45°. It is not a plan view: you see the sides of objects, and image-y\n is compressed relative to image-x. Arm-forward is image-up, arm-right is\n image-right, the two bases sit just below the bottom edge, and an arm\n extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n px/cm in the far half of the frame where the arms work, rising to ≈ 8\n px/cm at the bottom edge, and x and y scales differ at the same spot.\n Derive the local scale from your first sizeable move and reuse it.\n Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n forward of the finger axis, so they look *past* the fingertips. Anything\n at or nearer than the grasp point is out of frame; the dark wedge at the\n bottom-centre is the jaws; a held object is never visible in its own\n wrist camera; the working arm hides from the top camera whatever it\n hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n at or below the bottom edge of the wrist image. An object that appears\n centred on the jaw column with clear space below it is still a few\n centimetres short of the fingertips, toward the base. The jaws converge\n on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n pitched forward, ≈ 200 with the tool vertical): a brief empty close\n shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n table and changes within a single frame (larger toward the bottom\n edge). To calibrate it, make a pure radial move of known size and read\n the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n 3 cm radial move and a 1.4 cm descent shift features about equally), so\n depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n toward the base. Rolling the wrist rotates the scene but the jaws still\n close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n description). The fence-side y bound is tight because a low fence runs\n along each outer table edge; the cross-over side reaches past the\n table's centre line, so any point on the table is reachable by at least\n one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n reach and with a load. Aim ~2 cm high when carrying and when clearing\n obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n unfold from there; if a move out of a folded pose stalls, first raise z\n and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n the shoulder stops tracking while its effort stays negative (still\n holding the arm up); effort flipping positive means the arm is pressing\n into the surface: back off. A grasped object touching down reads as a\n stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n more than ~1.5 cm means one of three things: the target was clipped to\n the workspace box (the tool description lists the bounds), the arm is\n at its reach or folded limit (the arm simply stops), or you are in\n contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n the tool about the grasp point; it does not move the grasp point\n sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n with the far-region scale from the facts, remembering the view is\n oblique: a target's image-y position over-states its distance from the\n base by the compression factor, and it sits in whichever arm's frame\n you convert to (the workspace box gives the base spacing for switching\n frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n look at the wrist camera. The object should sit on the jaw column\n (x ≈ 110). If it is fully visible with empty frame below it, advance\n 2–3 cm radially before descending, because the fingertips are further\n out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n retry once. If the second close is also empty, do not repeat it:\n re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n lift clear, then verify in the overhead frame after the arm has moved\n away. The working arm's occlusion of the top view is expected; do not\n retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n cross-over bound), so any object on the table is reachable by at least\n one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n moves, scale probes or table touches; the first task motion is the\n sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n off-centre. Align in the wrist view before closing, and close no further\n than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n and give up early; the operator can move it or widen the box for the\n next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
"type": "text"
}
]

call 0 attempt 0 · /messages · status 200 · 18.45 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, -0.0223, -0.0414, 0.9996, -0.0204, 0.7937, 0.6033, -0.3786, -0.0154, -0.033, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1802 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0003 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5265, -1.5385, 10.1538, 1.79, 0.0024, 0.2662, -0.0562, -0.5128, -1.4701, 10.2222, 1.8584, -0.0855, 0.1978, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b1459af03ac1836c5f7dab69190cf127baa48029f6c6b54f2e90948b4e7c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbd69a14ba75708482da06bdd6f9aaf5315ca0d18dbf7328a766412de4e050d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0bda21909c8b6369c7b3f7eae0af8a39fc2eb8716fb0b07a71ead66c190e0a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 6.62 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, -0.0223, -0.0414, 0.9996, -0.0204, 0.7937, 0.6033, -0.3786, -0.0154, -0.033, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1802 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0003 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5265, -1.5385, 10.1538, 1.79, 0.0024, 0.2662, -0.0562, -0.5128, -1.4701, 10.2222, 1.8584, -0.0855, 0.1978, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b1459af03ac1836c5f7dab69190cf127baa48029f6c6b54f2e90948b4e7c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efbd69a14ba75708482da06bdd6f9aaf5315ca0d18dbf7328a766412de4e050d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0bda21909c8b6369c7b3f7eae0af8a39fc2eb8716fb0b07a71ead66c190e0a5",
        "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_01AKqzsPysTSndtQapeuMDWR",
      "input": {
        "note": "The black brick sits ahead and to the left of the right gripper (left side of right_cam, right of the pot in top view). Moving the right arm to hover about 15 cm above the estimated brick position with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AKqzsPysTSndtQapeuMDWR",
      "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, -0.3866, -0.0223, -0.0425, 0.9996, 0.3855, 1.3121, 0.7082, -0.0963, 0.2848, 0.1631, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3616 right_y=0.097 right_z=0.1232 right_yaw=0.047 right_pitch=-0.0987 right_roll=-0.0363 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.6342, 6.8444, 1.7802, -0.0269, -0.0122, -0.0122, 0.1709, -5.7641, 9.3607, 1.7851, 0.2759, 0.149, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6cf72191f740c08f4ee4db6d31df02541cc0fee7d4919db8b3c6654f537a671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950d652be61f75d44870a5a6d929bc54a2830ce2c94f39db6f9437a1bec8095b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aca5e722ee98792888244fc363f03cddab31221eaa0488d209c0123d71f4bef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 20.51 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, -0.0223, -0.0414, 0.9996, -0.0204, 0.7937, 0.6033, -0.3786, -0.0154, -0.033, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1802 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0003 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5265, -1.5385, 10.1538, 1.79, 0.0024, 0.2662, -0.0562, -0.5128, -1.4701, 10.2222, 1.8584, -0.0855, 0.1978, -0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.0425, 0.9996, 0.3855, 1.3121, 0.7082, -0.0963, 0.2848, 0.1631, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3616 right_y=0.097 right_z=0.1232 right_yaw=0.047 right_pitch=-0.0987 right_roll=-0.0363 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.6342, 6.8444, 1.7802, -0.0269, -0.0122, -0.0122, 0.1709, -5.7641, 9.3607, 1.7851, 0.2759, 0.149, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6cf72191f740c08f4ee4db6d31df02541cc0fee7d4919db8b3c6654f537a671",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:950d652be61f75d44870a5a6d929bc54a2830ce2c94f39db6f9437a1bec8095b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aca5e722ee98792888244fc363f03cddab31221eaa0488d209c0123d71f4bef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkQcKEAgRGAI4AUIIdGhpbmtpbmcSDHhmDnIen3XHFLY9sBoMdFrrycudfQDnFMBlIjAqaJDomVC16NM8grhDFbJZzbDlRAVap0JiqlLI06MQAMZw4WkfdiTk2vfkhJHbiucqrgbaKjvzBrapjZS0wg7uN73rHLTGAc1Emw2x4gvT3QYxH10dccaRnAYnYVH/zRvZXmdPVnCJq6RD4oUenUAGwu4t/D1hZ4Lsz9ysqHIb/dn0i5S0JnB1eNI2FjYzAdmbDJi38j5NCtkvr/3+U4K+9+9Z+RwlOvTS78W+rKAKQ2plgCgnpBCqJ7Wl7mCpHe6+az1dJ44DTys/CIJ+e1EzhXuOBboYt4IB6DDhUFsUO+pjK+QMtU74TICZVro8hMQt/XjjpI2nppYHxRP2C/ABIvsHHVYyFB+oZXFJr13wMmFTstea7+1HCggxLeGCtlU7tTPEVnk+Y/JoQi272U7x22lOMN6q/NAAjXqN2oCHtpiZX4X4ib79xqUiaigXA/lveQ1Hb2DfVavVoUXxuRZTHwamdlYU83cKpPw1sstkVPtx/bvFxR1yuFKwpJEZTfqWMkXPOfAv1PcA4ltKeKEn7ydIqamwIR67lLHJy3D/mTKEiuYhlKJ9/BP/DwXxXZnWJB2mroWSKREn9YLLdJSAU/PFetSfU5LIJlMQk/eRchEtU5VStmzGNVfJ8W0IZJ8usfcEOCXvkvrwfLrsfd0kLNAtn1ewjZCQbeepUDOncUyAiVUXnfWglITA9+doM92W1ubS0dDtMo55Du8825e5k013Eaj3xZqU5KFuA3V71XObtFmyHsgcNmC9x8/IHpDF1XYX+i1xD8lPGn1deHCXbxTmdU19rxY/ggoqDb+2rDjJM7U/5nIKmAVrNKHFInjDp/tIqKESxH+l1TREUZUyJxifGBLO66BDmgX6L0tY4dpgTrw7LEIveouk9r179C34tPkge3XBwmH6PoXz+RIUAVUlt6Eeet+wwV9bcBQOx2o6TZJo1rO18CB457HzkOefXS1YfDrHla20EDi7Ij9WbJiKAeMKPjq6AyXfEUphC5fb3j+UvXsH7eBO82dqLh7cFkTy5lPOTtZPb9ip38XaN9XMdoFMHMzSGubvFlZnQRsQHLI9nN1GpQ/Mb+v+3LvLM8ST8QCRDHHL/H7CYbTM0c44AecuDYp49dfFUTyY3I5M9ZPIWyUf31cAjTDCHy3+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JebhGtYpkgDNcRKYSsjjyt",
      "input": {
        "note": "The brick is still left of the jaw column in the right wrist camera, and the arm fell a bit short of the target. Shifting further left and slightly forward to center the brick under the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.16,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JebhGtYpkgDNcRKYSsjjyt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.5232, 1.5238, 0.9691, -0.2031, 0.3618, 0.2321, 0.9985]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3919 right_y=0.158 right_z=0.1361 right_yaw=0.0818 right_pitch=-0.1307 right_roll=-0.0522 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -1.0462, 7.0085, 1.7363, -0.0659, -0.0659, -0.0122, 0.1026, -6.7624, 8.9094, 1.4872, 0.3394, 0.1294, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5032a274918d21379b785cc78ba000ff21052678c178c9db829b4838203568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f44de7d11f9aea87b1bac3ae449dc3899152024ff220ce0b1f6df7de13d31ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d54ec82fc481caf8bc758faf30cec33e580409cb89b0eb63edb80810285ef73b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 7.895 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, -0.0223, -0.0414, 0.9996, -0.0204, 0.7937, 0.6033, -0.3786, -0.0154, -0.033, 0.9985]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1802 left_yaw=0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=0.0003 right_z=0.18 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9985\nstate[joint_eff]: [-0.5265, -1.5385, 10.1538, 1.79, 0.0024, 0.2662, -0.0562, -0.5128, -1.4701, 10.2222, 1.8584, -0.0855, 0.1978, -0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.0425, 0.9996, 0.3855, 1.3121, 0.7082, -0.0963, 0.2848, 0.1631, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3616 right_y=0.097 right_z=0.1232 right_yaw=0.047 right_pitch=-0.0987 right_roll=-0.0363 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.6342, 6.8444, 1.7802, -0.0269, -0.0122, -0.0122, 0.1709, -5.7641, 9.3607, 1.7851, 0.2759, 0.149, -0.1636]",
      "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, 0.8043, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.5232, 1.5238, 0.9691, -0.2031, 0.3618, 0.2321, 0.9985]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3919 right_y=0.158 right_z=0.1361 right_yaw=0.0818 right_pitch=-0.1307 right_roll=-0.0522 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -1.0462, 7.0085, 1.7363, -0.0659, -0.0659, -0.0122, 0.1026, -6.7624, 8.9094, 1.4872, 0.3394, 0.1294, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f5032a274918d21379b785cc78ba000ff21052678c178c9db829b4838203568",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f44de7d11f9aea87b1bac3ae449dc3899152024ff220ce0b1f6df7de13d31ea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d54ec82fc481caf8bc758faf30cec33e580409cb89b0eb63edb80810285ef73b",
        "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_01V5uEnQPTDbXMitBCgyHXSQ",
      "input": {
        "note": "The brick is now near the center of the right wrist view, slightly left of the jaw column and lying diagonally. Nudging left/forward and yawing the tool about -35° so the jaws close across the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.185,
          "right_yaw": -0.6,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V5uEnQPTDbXMitBCgyHXSQ",
      "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, 0.6075, -0.3935, -0.0227, -0.0456, 0.9996, 0.6998, 1.9976, 1.6257, -0.7567, 0.7284, 0.8696, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1745 left_yaw=0.003 left_pitch=-0.0259 left_roll=-0.0027 left_gripper=0.9996 right_x=0.4297 right_y=0.2127 right_z=0.1368 right_yaw=-0.3889 right_pitch=-0.1725 right_roll=-0.0445 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.6205, 7.2821, 1.7705, -0.0073, -0.0171, -0.0122, -0.3214, -11.9316, 6.3521, 0.2759, 0.5495, 0.2711, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c49b0b5a324f6d1c59c5735dce1d979592a3fb0b98aef3be374b966146bb060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68ed47267c703a3480ce4d9c4ceea3eed612a401b87a590f0350b2cbf791ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:635d5704dcb27d3377eaf79a2cfdacb0c8fcb479ec1539b9cdbaeb2a2af65604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 18.6 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.3866, -0.0223, -0.0425, 0.9996, 0.3855, 1.3121, 0.7082, -0.0963, 0.2848, 0.1631, 0.9985]\nstate[eef_state]: left_x=0.2948 left_y=0.0017 left_z=0.1784 left_yaw=0.001 left_pitch=-0.0099 left_roll=-0.0008 left_gripper=0.9996 right_x=0.3616 right_y=0.097 right_z=0.1232 right_yaw=0.047 right_pitch=-0.0987 right_roll=-0.0363 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.6342, 6.8444, 1.7802, -0.0269, -0.0122, -0.0122, 0.1709, -5.7641, 9.3607, 1.7851, 0.2759, 0.149, -0.1636]",
      "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, 0.8043, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.5232, 1.5238, 0.9691, -0.2031, 0.3618, 0.2321, 0.9985]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3919 right_y=0.158 right_z=0.1361 right_yaw=0.0818 right_pitch=-0.1307 right_roll=-0.0522 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -1.0462, 7.0085, 1.7363, -0.0659, -0.0659, -0.0122, 0.1026, -6.7624, 8.9094, 1.4872, 0.3394, 0.1294, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.3935, -0.0227, -0.0456, 0.9996, 0.6998, 1.9976, 1.6257, -0.7567, 0.7284, 0.8696, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1745 left_yaw=0.003 left_pitch=-0.0259 left_roll=-0.0027 left_gripper=0.9996 right_x=0.4297 right_y=0.2127 right_z=0.1368 right_yaw=-0.3889 right_pitch=-0.1725 right_roll=-0.0445 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.6205, 7.2821, 1.7705, -0.0073, -0.0171, -0.0122, -0.3214, -11.9316, 6.3521, 0.2759, 0.5495, 0.2711, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c49b0b5a324f6d1c59c5735dce1d979592a3fb0b98aef3be374b966146bb060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f68ed47267c703a3480ce4d9c4ceea3eed612a401b87a590f0350b2cbf791ce0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:635d5704dcb27d3377eaf79a2cfdacb0c8fcb479ec1539b9cdbaeb2a2af65604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QgKEAgRGAI4AUIIdGhpbmtpbmcSDAtDtzoDQg4YQjdFtxoMwlsG/rkw1Wo7xw+fIjDiXFuP06zXMtWKq8PsckQ0kWO3dzpJMsrbrPnGVhbbc2f/D88FLLV1hldRGK/vrIEq8gfk/dNOVFyyL8xF7iEvmy40Ee1jijkBHtZzf98uKnHzX864B8E7hzfCt0AKZg7mzpEQlC8+/h4XMk6zAx2p+cGekluxdtryuuhhI6BdnUgynClDUh5xPQkrNTvI/mHNSv5+ct3UAoqXDNhS1AwmTEc4DjPAUFVhTLoV0Pyzi0gX8xS/nsHV4PzLld7jAqLO2QiOkweuv8wjRDA1IKbF6FeyCcvv9VPNRw3Wju+lj44RT2NvyV9OC0ApHwy1aLyEXWC0LdjpmylB9WLeUQAnZHDOQ6G1Uyfe5UYTT9B6dCsQfL6Ok55oJbV6TArME0xCozx3ZO7tOvxEVLcp0H/Er7ZeKKHcni1jwOIDCRLX7rY7hV8g3i6xpkAK/b8GLOG9j9mJDCqrcD5V8lGnbFXgyA2wrGFM1W9N/nHhKZzUePMgY+Ejq1W9RoRF2vuiLNdoTwruaMfnFp60yY+L7edINC3y8uPWQ3mBkEb0pik4jAOwbxheNvouUbKEzumDfvOpELnGe9gHhibq0dObZ0YFfQXJvP68MsgiIloAX+GywF9Zkb7kGJxbBMxWm8gIGxQlrPIXUEpGQQwXBhTF7H7kRSWly3HHCpZsGYPSulnT/p5EFAsctr3DFEVL+3HK7MFGPVCURPmhJ/MBrxESt+ddGG45lnZXXZgtjr+5CcPI2j8KbAqYUyRNTXtYuSULQMmbeZ1QJd9X57Eq0Ixvt3GCEUPV1vL2yAfyebtgtYA8q9pt+RXP6WHSLX50zllLxivRHgrXmG1o0b8VNlQGszQLY2NqDdpfFanir8Gh7kQ5Nu41OXKVKJou2U6x9c8uTCiA0DEVq8u7GsIqiDUQyHxSMX++4/qxqDbD7tC4C952cAu1gwhaaFr3n/T+MZwa0st1hQ2cav96W2YVDsS6nb/7nHwxS4r6WCw4R1huZ9/B7qcXbByezWqDomstU2jAKJujb+OQc9b3HXvW5tlggBxHvxEvliz2szcv+G3rzc/+MWgFN3JhCE4jfawhukHxCBoQgKrUweFavlmzktWoxcKXY/7AnywVErV6CtRk9YWM7UY+LxeL2RZVbxLQ9syguAfndiuqBpvSTC3EVQGgVtd/znikMrkIm7KDplSPT3StKGicxrZx7HvkeY83IX97LWeqD/rgtEmmhBKAIvC20/1WWSaMDyID4xhQ8bIjjZv2e6Gq4XhJmF2LEuHReQri9t48w6YL8GyHJ4kIpft1miPORTFb1mz8+4xyVsGJFfnVM8TIim2c8vIKHFZyb6IMwASoOnF36c867uPriCHRy4Bka2d9XHc5GyfDJXVVVY1VooSV5qLOQsQh17ZwHQU8HUtDS4NOpRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EQeaxR7S14k8X77ZBo6pE",
      "input": {
        "note": "The arm was still mid-rotation in the last frame; the brick is now roughly between the jaws in the wrist view. Letting the yaw finish settling while descending to 10 cm to re-check alignment before the final descent.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.185,
          "right_yaw": -0.6,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013EQeaxR7S14k8X77ZBo6pE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4011, -0.0227, -0.046, 0.9996, 0.6933, 2.0537, 1.6001, -0.87, 0.7841, 1.0855, 0.9985]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1728 left_yaw=0.0032 left_pitch=-0.0339 left_roll=-0.0029 left_gripper=0.9996 right_x=0.4133 right_y=0.1859 right_z=0.1033 right_yaw=-0.5697 right_pitch=-0.1911 right_roll=-0.0875 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7558, -0.0806, -0.022, -0.0122, -0.7043, -10.0991, 6.6803, 1.0232, 0.4615, 0.1538, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b7ce00969f87bac6a1cdff3fa367b4c40c7b63d32004ddfacb67756d0e8cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407623169032ab51429c565f4f63a831c097330e69da84372e4427e86b11d053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62f8c54b73c4a79bdaf58a6b1edb81de6ea2c6af8b4597124317ce5e44b6924d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 13.22 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, 0.8043, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.5232, 1.5238, 0.9691, -0.2031, 0.3618, 0.2321, 0.9985]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.177 left_yaw=0.0013 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9996 right_x=0.3919 right_y=0.158 right_z=0.1361 right_yaw=0.0818 right_pitch=-0.1307 right_roll=-0.0522 right_gripper=0.9985\nstate[joint_eff]: [-0.0068, -1.0462, 7.0085, 1.7363, -0.0659, -0.0659, -0.0122, 0.1026, -6.7624, 8.9094, 1.4872, 0.3394, 0.1294, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.3935, -0.0227, -0.0456, 0.9996, 0.6998, 1.9976, 1.6257, -0.7567, 0.7284, 0.8696, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1745 left_yaw=0.003 left_pitch=-0.0259 left_roll=-0.0027 left_gripper=0.9996 right_x=0.4297 right_y=0.2127 right_z=0.1368 right_yaw=-0.3889 right_pitch=-0.1725 right_roll=-0.0445 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.6205, 7.2821, 1.7705, -0.0073, -0.0171, -0.0122, -0.3214, -11.9316, 6.3521, 0.2759, 0.5495, 0.2711, -0.1636]",
      "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, 0.8101, 0.6075, -0.4011, -0.0227, -0.046, 0.9996, 0.6933, 2.0537, 1.6001, -0.87, 0.7841, 1.0855, 0.9985]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1728 left_yaw=0.0032 left_pitch=-0.0339 left_roll=-0.0029 left_gripper=0.9996 right_x=0.4133 right_y=0.1859 right_z=0.1033 right_yaw=-0.5697 right_pitch=-0.1911 right_roll=-0.0875 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7558, -0.0806, -0.022, -0.0122, -0.7043, -10.0991, 6.6803, 1.0232, 0.4615, 0.1538, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b7ce00969f87bac6a1cdff3fa367b4c40c7b63d32004ddfacb67756d0e8cf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407623169032ab51429c565f4f63a831c097330e69da84372e4427e86b11d053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f8c54b73c4a79bdaf58a6b1edb81de6ea2c6af8b4597124317ce5e44b6924d",
        "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_01TudP1z4XkkUeVCzEEwaKUi",
      "input": {
        "note": "The brick's long side (~10 cm, too wide for the jaws) is now along the jaw closing axis, so I'm rotating the tool 90° the other way to grip its short side, and shifting ~2.5 cm toward the brick, which sits left of the jaw column.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.2,
          "right_yaw": 0.97,
          "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_01TudP1z4XkkUeVCzEEwaKUi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0494, 0.9996, 0.6891, 2.0659, 1.5932, -0.8555, 0.7803, 1.1076, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.005 left_pitch=-0.04 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4146 right_y=0.1852 right_z=0.0965 right_yaw=-0.5857 right_pitch=-0.195 right_roll=-0.0746 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7656, -0.0806, -0.0366, -0.0122, -0.3214, -10.7966, 6.4342, 0.8474, 0.5299, 0.1734, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fff25137c72890671e5376bfd1346def10131320860ea1320d17d68e29dd2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952fb673830d6755a1f26bdac0a08db291595abb73e64f97eafea4a6840d4220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b1e511efd3964117a516b57d11d9eab33adb9914525dd73ed87cc575fba8a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 6.443 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, 0.8097, 0.6075, -0.3935, -0.0227, -0.0456, 0.9996, 0.6998, 1.9976, 1.6257, -0.7567, 0.7284, 0.8696, 0.9985]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1745 left_yaw=0.003 left_pitch=-0.0259 left_roll=-0.0027 left_gripper=0.9996 right_x=0.4297 right_y=0.2127 right_z=0.1368 right_yaw=-0.3889 right_pitch=-0.1725 right_roll=-0.0445 right_gripper=0.9985\nstate[joint_eff]: [-0.1299, -1.6205, 7.2821, 1.7705, -0.0073, -0.0171, -0.0122, -0.3214, -11.9316, 6.3521, 0.2759, 0.5495, 0.2711, -0.1636]",
      "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, 0.8101, 0.6075, -0.4011, -0.0227, -0.046, 0.9996, 0.6933, 2.0537, 1.6001, -0.87, 0.7841, 1.0855, 0.9985]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1728 left_yaw=0.0032 left_pitch=-0.0339 left_roll=-0.0029 left_gripper=0.9996 right_x=0.4133 right_y=0.1859 right_z=0.1033 right_yaw=-0.5697 right_pitch=-0.1911 right_roll=-0.0875 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7558, -0.0806, -0.022, -0.0122, -0.7043, -10.0991, 6.6803, 1.0232, 0.4615, 0.1538, -0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0494, 0.9996, 0.6891, 2.0659, 1.5932, -0.8555, 0.7803, 1.1076, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.005 left_pitch=-0.04 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4146 right_y=0.1852 right_z=0.0965 right_yaw=-0.5857 right_pitch=-0.195 right_roll=-0.0746 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7656, -0.0806, -0.0366, -0.0122, -0.3214, -10.7966, 6.4342, 0.8474, 0.5299, 0.1734, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fff25137c72890671e5376bfd1346def10131320860ea1320d17d68e29dd2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:952fb673830d6755a1f26bdac0a08db291595abb73e64f97eafea4a6840d4220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b1e511efd3964117a516b57d11d9eab33adb9914525dd73ed87cc575fba8a2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3QgKEAgRGAI4AUIIdGhpbmtpbmcSDFHF+8nkVsci/YVJZhoMfddV+1SRmKpZTdz6IjB9KATHu/ARcDVvFnY89vagwTaIAaFKuEy42PEvT1MxVorlla1PydnsnvRVCm5X76Uq+gflW5NAmZoSxZja/EIhW2y6wbA/8yHcMDgxCU/P349CvtcY88LNIEBhr0TnKGTdXaZQC/JBeh+1EcEWyfcno/k0MRuK/f5yCAErvkMAw3VsgjMLN5cPO8hjbPXY/nR3g54l2lYOOdr0CQMMMoGid9xV18RgwOArsQjyISZOrAPOdI1MK+SawiOLnSH4mSs8KscXV3z6soLvEDkT0KvANA7oafyU/+B9RphyhbusCpHOFFpgUYVFfsq/ZuvlDnewJDZpsylR9DQfkFg1rB7Z9a2cfaKkLxaJbXdxBvKHCEgblseB6SoQugslbvX47mn8cgGlyKPymr9dLOQs8JXd8WW37uF5nhpZzX5Lri6+Do7HFgrKqAtDUuP5e7geUWbNrW1kBKpeC2bboktuJ+5zfdhRInby4IW0N7PFhnyL+GP5bzafHuyp8M8AihmM/qDbftKScU3BvtUqTTczqTWjOBhaTkdc1jK8hlviMp6dgoSIWY9o2IoL57RYxdsty1MB+I1iQoWbuaqQfq0wkhLpuA6jm4KBZnvV2dkFHgR6F5QxwR1WwM0PsakjcYRGJq/0j/wcJopvs3GXxsLvZiDy4PLduRDFd5chxioM2OvF4MtCk2xlSB5HR0ScVssjStD5MZERiKpMSCYKx4HW1LBXPkmgcXTItlHbgK2MRSAC9Z4TS2ZCYybRSujGQ9uj13iNQ7j2P2l/CnMY2JVjXH9NcnU1YpkGkEs59kAdZgx32t9Fihqbq+c207FIiCB4ZGGlganHHvWEp9BJOE/mEyn+NRpdak0RfgAw6Ph/N1VUiRdue92AUnn1N4XpEU26JGn1qEtvFRQLkzVmQ+mUvD8t2vjmM4jeM/mQK4FS6XiXExSb0Mfu+r7LK3vX6CZT6LPCoytSf6NanPppv+bEvjZs1cOnXX7PIJxBcETcyKxHOubZVFBBcnr4LCg7RENLgQH3KD1FhHxIaxTArxrTErB24orcgM9t50TUrUstXHb2cIX/ARfLUsvj37mCY3epEf2CXXyOBOyk06OVQ4ei7HHDc6/eTFoy6KLi1GcW/um3Ts0ko8P3qGz2ef4JBUzQorfRkCjr1Oax/XxIJIYor/e+5JJGjxXtMtQcIaVVNS6WRYcGqdvRmoDMoW2FseM1dTdmbp5WbHsLDpi+Yus10qKDC96gGs4fpCCJv9Eu86kg47ZRhIifZoYj1Fmzmthc9QQfRcoNqEYs9qLRG0VVaVmEi7Suisj33JMcApqY5cgn0iQsgLyd5aZrcRe5HUA38L2Jx6YtJvaO7U3UjL5D7bBQr6LlKfWiNeYLUsxvzLWKQo7PCzMUdJD5/AZeAmOl7ypUwt2L9vPRmPgR60aPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G24mXN73KFpSMAEwoemFdz",
      "input": {
        "note": "The previous 90° yaw command was not tracked at all (readback unchanged), likely too large a rotation for the IK. Stepping the yaw to an intermediate value of 0.2 rad first, slightly higher to give the wrist room.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.19,
          "right_yaw": 0.2,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01G24mXN73KFpSMAEwoemFdz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4149, -0.0227, -0.0498, 0.9996, 0.5472, 1.7695, 1.1706, -0.3248, 0.3622, 0.3595, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0503 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4151 right_y=0.1838 right_z=0.0947 right_yaw=0.0194 right_pitch=-0.2743 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7558, -0.0806, -0.0415, -0.0122, -1.7983, -11.7402, 6.4479, 1.5214, 0.1636, -0.0269, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f27d5cdad5d37c64201e1d9c38f5c785d3c3affba56d3d6ae532c67e00c43a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a0157cab8c4d9e71d04bfa5d767c29c912731b98c1adcd071e9331f27596c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c57f2c3bd6343bddd2bcf3eff6333c6569e1ed44f8987a152b90a91b5b34d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 7.983 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, 0.8101, 0.6075, -0.4011, -0.0227, -0.046, 0.9996, 0.6933, 2.0537, 1.6001, -0.87, 0.7841, 1.0855, 0.9985]\nstate[eef_state]: left_x=0.2934 left_y=0.0018 left_z=0.1728 left_yaw=0.0032 left_pitch=-0.0339 left_roll=-0.0029 left_gripper=0.9996 right_x=0.4133 right_y=0.1859 right_z=0.1033 right_yaw=-0.5697 right_pitch=-0.1911 right_roll=-0.0875 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.3333, 7.0222, 1.7558, -0.0806, -0.022, -0.0122, -0.7043, -10.0991, 6.6803, 1.0232, 0.4615, 0.1538, -0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0494, 0.9996, 0.6891, 2.0659, 1.5932, -0.8555, 0.7803, 1.1076, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.005 left_pitch=-0.04 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4146 right_y=0.1852 right_z=0.0965 right_yaw=-0.5857 right_pitch=-0.195 right_roll=-0.0746 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7656, -0.0806, -0.0366, -0.0122, -0.3214, -10.7966, 6.4342, 0.8474, 0.5299, 0.1734, -0.1636]",
      "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, 0.8127, 0.6075, -0.4149, -0.0227, -0.0498, 0.9996, 0.5472, 1.7695, 1.1706, -0.3248, 0.3622, 0.3595, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0503 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4151 right_y=0.1838 right_z=0.0947 right_yaw=0.0194 right_pitch=-0.2743 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7558, -0.0806, -0.0415, -0.0122, -1.7983, -11.7402, 6.4479, 1.5214, 0.1636, -0.0269, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98f27d5cdad5d37c64201e1d9c38f5c785d3c3affba56d3d6ae532c67e00c43a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a0157cab8c4d9e71d04bfa5d767c29c912731b98c1adcd071e9331f27596c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c57f2c3bd6343bddd2bcf3eff6333c6569e1ed44f8987a152b90a91b5b34d84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Yaw is progressing (now 0.02). Continuing the rotation toward 0.97.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J8uZ9GvPkf5oqjV4fv98Fh",
      "input": {
        "note": "Yaw is now tracking (0.02 rad) and the brick is centered under the jaws in the wrist view but still diagonal. Continuing the rotation to 0.97 rad so the jaws line up with the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.19,
          "right_yaw": 0.97,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01J8uZ9GvPkf5oqjV4fv98Fh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.158, -0.2497, 0.26, 0.1303, 0.9986]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4268 right_y=0.1875 right_z=0.1018 right_yaw=0.1955 right_pitch=-0.2472 right_roll=-0.0924 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.6728, -0.0415, -0.0611, -0.0122, 0.1846, -11.4803, 6.5162, 1.6239, 0.0464, -0.0513, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68ba3d084a2728a10d0b20ef83de56c0591b58dc8b4eeaaa7bc804dd0bd8f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a76e7367ba3968b10a85810140d7c92ef487d2ccf384671253fb0350fec697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2cd2d51a7a556ee6c65b850daeba2830bbadcebd471d184d9c8c851acc19279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 16.87 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4072, -0.0227, -0.0494, 0.9996, 0.6891, 2.0659, 1.5932, -0.8555, 0.7803, 1.1076, 0.9985]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1716 left_yaw=0.005 left_pitch=-0.04 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4146 right_y=0.1852 right_z=0.0965 right_yaw=-0.5857 right_pitch=-0.195 right_roll=-0.0746 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.347, 7.0085, 1.7656, -0.0806, -0.0366, -0.0122, -0.3214, -10.7966, 6.4342, 0.8474, 0.5299, 0.1734, -0.1636]",
      "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, 0.8127, 0.6075, -0.4149, -0.0227, -0.0498, 0.9996, 0.5472, 1.7695, 1.1706, -0.3248, 0.3622, 0.3595, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0503 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4151 right_y=0.1838 right_z=0.0947 right_yaw=0.0194 right_pitch=-0.2743 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7558, -0.0806, -0.0415, -0.0122, -1.7983, -11.7402, 6.4479, 1.5214, 0.1636, -0.0269, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.158, -0.2497, 0.26, 0.1303, 0.9986]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4268 right_y=0.1875 right_z=0.1018 right_yaw=0.1955 right_pitch=-0.2472 right_roll=-0.0924 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.6728, -0.0415, -0.0611, -0.0122, 0.1846, -11.4803, 6.5162, 1.6239, 0.0464, -0.0513, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b68ba3d084a2728a10d0b20ef83de56c0591b58dc8b4eeaaa7bc804dd0bd8f01",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a76e7367ba3968b10a85810140d7c92ef487d2ccf384671253fb0350fec697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2cd2d51a7a556ee6c65b850daeba2830bbadcebd471d184d9c8c851acc19279",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1QkKEAgRGAI4AUIIdGhpbmtpbmcSDJ7IXZSHYCUSPvgIWRoMEAdi/t8uRCx7GpXLIjBG1h6MsgFNGZFdyza2N6BOPTPdZ3vXX7PqnQbPo6uNVLCPjMsKg+2NuFWcWgupQv8q8gj62JE35dJPdjEAH9oY9HEelmSc6Pb9144zwyMKePfjEk9XU33vjKExkR9bQXO1OFzEVqMpf/MwXogv35iTPSOtwbyBzilARGDj++9Q2Mvjork+9agwuvfAeMJtQHZGIhE/YBVmBxVNN9OgSZRww9m/sneWl2qMYGfdQFwnv55f0E9YJvuvvWdpE99ccZL2Fz/eYbXYUBNcG64gLuoZthoHvU1fZJopOCaLcuhkjdDH9zzFCmu1PSO5R14LB5X2vdLT5Q8bsjiF2D7QQ3E3j9lCPTp7BqMCev/u+YXbK5MN75H6n703D8GB2X+5j2xfw8yOgkRseixG/3gqki18YybJgNkOO+DWpp+UV2mhp7++qZMzxMqhG8ib4BbTIOg6gZ+qzF2xon5PSpGt4W7liSNeXsH+kyPmS4OJq4+6o9o5KQSS95lxar3u37tgySp+fXiJSLheC3xW0lKw4n47fQqNU1Zqo7YkM0Bmr9+cbi3kgftMGu1tiH82IzOarsvNEOhaeK1sKfFlXnHr6B0MOCbkxEPNbTlKl47trT4Dy++iC5YHG1GmQnwy5RnFKrNz2L02XsWppY73T/lXfCHiftKofd9ODaMG89wOxW75Mt8BLBeVbCpzo/951th8yoIVH49gCgJkyhhDOIThg2AUT2Xf4w9kh8l2gZioP+4hK/stNyjqx30rkEISkwZr14VffS0zFht35hFqlzbk6oSkbXaZwePzxL6kujGEFgyOR75ZRglLwrWeOXCldGbYKJFQRqeOyAbsoxTc4Rp53nGgBe7RQqeo2tZurDchudnM1xjpnltNXt++axCS5A2rziU3XOq4OTqp/Wi+TYFGr1/cn1R2ubzT2DxL64kA6O2zDesopmVNjJthhHOV0lRkEmX0nBp0JYMhvsDRHTMu+JC1x+PRdMtI6ukEHMEx5d5Pjl2+pCdN+oRPWA9b5rxB+DSTuwDESeeJw31y9evwrcGeuZ0HHlsibmVYT6NVoOYVD08cVF9uw8ixN/LwZFpmJ9V4sIiczcU4MAPMwy2mZQlhUaBgZQaaasx5sCo2JhzcV7H2N87HXD5eQ3+hmcZpxJU+yWrn4rZLjhiuuMGnVZ4cuSgXRFSGts8wKbfzPECWDudcXpnO6naTrFAOrpvwu1wszfEqvyyqDaQ/bOt7Dm/l+6KlgpWEuDETT5GdOoZXUzLfjC5w7kzO+xIR+dK+yksDJ451dQ68DgCl006q7LR4Zx5ZyqoxdywN6Cl968hHcdw64xCWJzCw7PuCIauG8FfZgGb3anGl2wzdLFrG4gj9sBHexj+/wFSRmJKp8wuelFBXaDN6aC+/Oo3mi4XKsTBwjEq/MAh9CESbI2QGC9DbptNQuYbLsCcyCEU+gNV2I3+nWrCn4X5YWZKMUc007uzgOBSLbHbAbN9C8h5wKtDH6oYAl8mcnhcEDw2qLtO8JSYiv194wYTvb3GKvX9QC6CzaixBgFCzG29/h1pcMACSAyfUdSxLEE3VQ9+HktBVCq3HXD2oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011xwGrVnccmgSquxGXtdHJt",
      "input": {
        "note": "Yaw only reached 0.2 rad; the brick's long axis is still diagonal in the wrist view. Stepping yaw to 0.65 to bring the long axis vertical so the jaws close across the short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.19,
          "right_yaw": 0.65,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011xwGrVnccmgSquxGXtdHJt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.1572, -0.2497, 0.26, 0.1303, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4266 right_y=0.1874 right_z=0.1015 right_yaw=0.1955 right_pitch=-0.248 right_roll=-0.0926 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.746, -0.0659, -0.0317, -0.0122, 0.0068, -11.535, 6.5709, 1.7118, 0.0855, -0.0464, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a1ac88f627ab1e79a5e129151cf106f10be17c069992d862f750aa08fbe1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cb818c3d4aeb2832eea78e6dee6fd8e17b6a1352ef4df77a018fb93f18b326e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:100561ea58e473ff7811aa7e24730002d68dc72e1423f25a68f8981feb00f1c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 13.32 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, 0.8127, 0.6075, -0.4149, -0.0227, -0.0498, 0.9996, 0.5472, 1.7695, 1.1706, -0.3248, 0.3622, 0.3595, 0.9986]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0503 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4151 right_y=0.1838 right_z=0.0947 right_yaw=0.0194 right_pitch=-0.2743 right_roll=-0.038 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.0598, 6.9949, 1.7558, -0.0806, -0.0415, -0.0122, -1.7983, -11.7402, 6.4479, 1.5214, 0.1636, -0.0269, -0.1587]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.158, -0.2497, 0.26, 0.1303, 0.9986]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4268 right_y=0.1875 right_z=0.1018 right_yaw=0.1955 right_pitch=-0.2472 right_roll=-0.0924 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.6728, -0.0415, -0.0611, -0.0122, 0.1846, -11.4803, 6.5162, 1.6239, 0.0464, -0.0513, -0.1587]\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, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.1572, -0.2497, 0.26, 0.1303, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4266 right_y=0.1874 right_z=0.1015 right_yaw=0.1955 right_pitch=-0.248 right_roll=-0.0926 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.746, -0.0659, -0.0317, -0.0122, 0.0068, -11.535, 6.5709, 1.7118, 0.0855, -0.0464, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a1ac88f627ab1e79a5e129151cf106f10be17c069992d862f750aa08fbe1e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cb818c3d4aeb2832eea78e6dee6fd8e17b6a1352ef4df77a018fb93f18b326e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100561ea58e473ff7811aa7e24730002d68dc72e1423f25a68f8981feb00f1c1",
        "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_013Yof3HV4ej4eKhi93SQCcT",
      "input": {
        "note": "The yaw command stalled again at 0.2 rad with no motion, so the IK seems stuck at this extended pose. Pulling the arm closer and higher where it has more freedom while rotating to yaw 0.9, then I'll re-approach the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.17,
          "right_yaw": 0.9,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013Yof3HV4ej4eKhi93SQCcT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2722, 1.5612, 1.2011, -0.5087, -0.2401, -0.4389, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1681 left_yaw=0.0053 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3961 right_y=0.1579 right_z=0.1614 right_yaw=0.7157 right_pitch=-0.271 right_roll=-0.0978 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.6777, -0.0562, -0.0708, -0.0122, -0.4171, -8.6769, 9.4154, 1.409, -0.3053, -0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9343ed1db72394c8ec39789326f2dfc301b938972d2a3a5c72424bad4377bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4896f27f32d43d2ea0cb4e266d402d330690a909ce4e61c63eaa85fcec5be6ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01d8d69d5e0e2e8ec7348d08151dd1437955e664ad8cf1f6def1827e7a74f2fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 8.783 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, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.158, -0.2497, 0.26, 0.1303, 0.9986]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4268 right_y=0.1875 right_z=0.1018 right_yaw=0.1955 right_pitch=-0.2472 right_roll=-0.0924 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.1692, 7.0085, 1.6728, -0.0415, -0.0611, -0.0122, 0.1846, -11.4803, 6.5162, 1.6239, 0.0464, -0.0513, -0.1587]\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, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.1572, -0.2497, 0.26, 0.1303, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4266 right_y=0.1874 right_z=0.1015 right_yaw=0.1955 right_pitch=-0.248 right_roll=-0.0926 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.746, -0.0659, -0.0317, -0.0122, 0.0068, -11.535, 6.5709, 1.7118, 0.0855, -0.0464, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2722, 1.5612, 1.2011, -0.5087, -0.2401, -0.4389, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1681 left_yaw=0.0053 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3961 right_y=0.1579 right_z=0.1614 right_yaw=0.7157 right_pitch=-0.271 right_roll=-0.0978 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.6777, -0.0562, -0.0708, -0.0122, -0.4171, -8.6769, 9.4154, 1.409, -0.3053, -0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9343ed1db72394c8ec39789326f2dfc301b938972d2a3a5c72424bad4377bece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4896f27f32d43d2ea0cb4e266d402d330690a909ce4e61c63eaa85fcec5be6ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01d8d69d5e0e2e8ec7348d08151dd1437955e664ad8cf1f6def1827e7a74f2fd",
        "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_01Dp7MjZGA6DgRRe4S7f7FqQ",
      "input": {
        "note": "Yaw reached 0.72 and the brick now lies nearly vertical on the jaw column in the wrist view, with space below it, so the fingertips are a few cm short. Advancing ~4 cm along the tool's forward direction, finishing the yaw, and descending to 6 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.18,
          "right_yaw": 0.95,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Dp7MjZGA6DgRRe4S7f7FqQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2485, 1.8187, 1.1164, -0.2657, -0.3683, -0.6209, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4136 right_y=0.1743 right_z=0.0621 right_yaw=0.9137 right_pitch=-0.3106 right_roll=-0.077 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.4154, 7.1453, 1.6532, -0.0317, -0.0659, -0.0122, -0.4855, -8.4171, 6.1197, 1.3065, -0.3199, -0.0855, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54a410a462f597a5c6ba9ff428f76aaf37aa5aa2d5ac47b4d0b32ecd16402f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56b80650a4c10824641bf169c5de367a210fc452951fb90f0875f0ac1154ffc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f511d10980c4eddf91e234f0089c5877499cdc8bb68b4850b9671b07e3c5ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 6.461 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, 0.8127, 0.6075, -0.4152, -0.0227, -0.0498, 0.9996, 0.5037, 1.758, 1.1572, -0.2497, 0.26, 0.1303, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1693 left_yaw=0.0053 left_pitch=-0.0507 left_roll=-0.0056 left_gripper=0.9996 right_x=0.4266 right_y=0.1874 right_z=0.1015 right_yaw=0.1955 right_pitch=-0.248 right_roll=-0.0926 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.746, -0.0659, -0.0317, -0.0122, 0.0068, -11.535, 6.5709, 1.7118, 0.0855, -0.0464, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2722, 1.5612, 1.2011, -0.5087, -0.2401, -0.4389, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1681 left_yaw=0.0053 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3961 right_y=0.1579 right_z=0.1614 right_yaw=0.7157 right_pitch=-0.271 right_roll=-0.0978 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.6777, -0.0562, -0.0708, -0.0122, -0.4171, -8.6769, 9.4154, 1.409, -0.3053, -0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2485, 1.8187, 1.1164, -0.2657, -0.3683, -0.6209, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4136 right_y=0.1743 right_z=0.0621 right_yaw=0.9137 right_pitch=-0.3106 right_roll=-0.077 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.4154, 7.1453, 1.6532, -0.0317, -0.0659, -0.0122, -0.4855, -8.4171, 6.1197, 1.3065, -0.3199, -0.0855, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54a410a462f597a5c6ba9ff428f76aaf37aa5aa2d5ac47b4d0b32ecd16402f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56b80650a4c10824641bf169c5de367a210fc452951fb90f0875f0ac1154ffc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f511d10980c4eddf91e234f0089c5877499cdc8bb68b4850b9671b07e3c5ef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzQoKEAgRGAI4AUIIdGhpbmtpbmcSDKM8i/NtZuGQCOizaBoM4RiH0n+sb8l7xTDLIjAwT2+MS0QQcM5wSPhbfaqIFzV2/XQf1PSg+qa9RfkQER3aOEWWokbzufs3P+a6/cQq6gn0tUHrTLZ7e5Dlwyq/chl4NML3ppLTFWlbF3iixuZkE5uLqc9cw4IczEWTQ5RtZOFm4G2gbzOlvXJ60wUpFdY8W8HGyeeVdjp4LfqmMdTQNQ9XOlYKwlRBN+3fhuherKfyZO/XWhCF4brEu/jzxdHojEUY/5j82lHUioTugEZ93LP+NTMQpPLm6FnA5FOSnCZBgw9NkjH7YFKnDMCiCkAXZIFhVoC0R9B3GSiQPz5kDG2+QiQpwsHTtOwZyefd+bIapuNMsMUgbtesBoAt9Zq4nu+hpe7KW4EsAYCQsLrQ0e+/cSIUlO99SVukpUL2k74sjpOtRulfLGg2Hg9ynXi6Dp9vlVS1d24CIUQFDGwcTFECF9dULoEIAeWVYDc2tF5lvNTG+l85XGFuCOIl5KCjpfgBgrOFsBqmgOda+d0S5/taMy5hi/pURlLb7v7kxdb6LMDcTz2snb67OKrrofVWNcLHNUQOgBkBXJbeWQJogi881ulNUqpTkUw29jUOH8fp4ugzxrTpcr0ITs07ZvkpxK9/8Z+dtgj405bN9Z+b1OP6Vwd/9yF4MgRO2ZhSrW7lSyxdPYzJ2UlqjwadfTURDTeELWJ8obUYe2Idlanlmslx8uFQRpWjOrs+ayqpLJr7gIs4UOStM0RZ5DoNLS+YQYUO+VxCxvaOjyiw0IYmf4KAlEPDy4qDoybqSJuW4IT5kFE9BmXHt64a94hFwhQAoM9PaQHD6bl9Ytm2d9Bwld88hyL1QaNbLNGwRV7T7dfadgzUa1C2ZTLpjfZnpklVVSPbWyRcOB6PV/qHIj4aTSegnEYP7MxtRl2EU7YH77MvngGFc4Leh15+xAd2t9XFCRn/PqyqLFdN0Rq+jrzcNpliahj5WOObPMM5hMi9vCSaBkp+PpB3dj6flqz/mMQbL5g/Q71M6kSoO7F+PTrKc04HZoPV9dxnKtaqAvOItptSEjCytsHDGitC6+pPx1q4ozIjlDsuOblp4ZW778Vq2c6k5GffbXHfLMYo/rIlzV4L4OnqsjgzXHASJ7OzDnjLwZgQxqlOdVDyu75F5ZwBskMMiRBskjQLO+cD1A5nF+6Bdmr0MeJlq/zaEed6dUVg3UiTHj4OvMeuyou7nJYenoZbenO7RZTT3DJ5EF8VfppBX4AEyQ/YaRVdtdB/1NVYwpiqkyxTm+BbcnJYDFnn3v2lsWSpsm8raZ8dZ31xCNEBOdWq/dkQSlI1q68ZmMTm4efmsdyMk/7dP1soRrwUNbjNum7TIr2JZOmBpGA8XyvscldRavUKQ0b3J+9/XsOL94M9hWJtjMLQhd89dpTOHoNNV2efsOHJ/KLzGT1SvEf+10qHkwCx8qnDzt+BYYsul6tA8X44m5JBBHaqnjT5h+BFUggQbd54RQpQRSOiCmRwWUFi3vPlLH5htOZGqMK9v/bp4cTd+8cZvLqS04TQ1Yv+vgaB8vszEKUrWuJaldPxhXRMh4N1oATdnO10eIaXKEMpmS7nCZEPUSkzWlIdlkxm0b6YMVoW4gLREeVdXF9eSgMAOIw3ZQQ4iOUZThle6IhvldUOTjrql7knaYvlGuldr30ga8L97an/a885B8LWcaIag35979E4AsL1T+hNVU+AWafxp+whFY3xutxqz5umQZOPJk27y04EIOr2IJwFtqusu40MYMHlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LR6NvNwWk71WP4EydqZdyM",
      "input": {
        "note": "The brick now lies vertically between the jaws in the wrist view, slightly right of the jaw column. Nudging ~1 cm right and descending to table level to grasp it across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.168,
          "right_yaw": 0.95,
          "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_01LR6NvNwWk71WP4EydqZdyM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.2199, 1.9427, 1.0637, -0.0875, -0.384, -0.6773, 0.9985]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4252 right_y=0.1665 right_z=0.0153 right_yaw=0.9286 right_pitch=-0.3041 right_roll=-0.1056 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.0735, 7.1863, 1.6777, 0.0024, -0.0855, -0.0171, -0.3624, -7.8564, 4.4239, 1.0085, -0.4567, 0.0513, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0e864b0e74c4d8c276740c51455606022a40ce8a9085a8394032a8d632f555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf6668480bd39aca6a6415532b1477efdeb27f4d07bede1da26aa36f23ac75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52c8ec6716511a354487e98c46c1d047ee20a52fe52c77ea1d2e73d7bddfdc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 7.224 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, 0.8165, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2722, 1.5612, 1.2011, -0.5087, -0.2401, -0.4389, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1681 left_yaw=0.0053 left_pitch=-0.0549 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3961 right_y=0.1579 right_z=0.1614 right_yaw=0.7157 right_pitch=-0.271 right_roll=-0.0978 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.5521, 7.0085, 1.6777, -0.0562, -0.0708, -0.0122, -0.4171, -8.6769, 9.4154, 1.409, -0.3053, -0.022, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2485, 1.8187, 1.1164, -0.2657, -0.3683, -0.6209, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4136 right_y=0.1743 right_z=0.0621 right_yaw=0.9137 right_pitch=-0.3106 right_roll=-0.077 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.4154, 7.1453, 1.6532, -0.0317, -0.0659, -0.0122, -0.4855, -8.4171, 6.1197, 1.3065, -0.3199, -0.0855, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.2199, 1.9427, 1.0637, -0.0875, -0.384, -0.6773, 0.9985]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4252 right_y=0.1665 right_z=0.0153 right_yaw=0.9286 right_pitch=-0.3041 right_roll=-0.1056 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.0735, 7.1863, 1.6777, 0.0024, -0.0855, -0.0171, -0.3624, -7.8564, 4.4239, 1.0085, -0.4567, 0.0513, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0e864b0e74c4d8c276740c51455606022a40ce8a9085a8394032a8d632f555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cf6668480bd39aca6a6415532b1477efdeb27f4d07bede1da26aa36f23ac75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c8ec6716511a354487e98c46c1d047ee20a52fe52c77ea1d2e73d7bddfdc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7gYKEAgRGAI4AUIIdGhpbmtpbmcSDHqqh5+9fhyOHPeQMRoMOIpYvWPJQD6T1z1aIjBVdHI8RHHiwSLAMTTsoqrnLj+v6m6QySC32yzhpfuJ3j8l1M5X5PPI3xXi7ZvBd7oqiwZW9UkOigFuZ4/aIxcPMmPavnvE9x7N3OOaVkEtKelWwlSDX6/0sEiB8Ttoy6PzOlG2PMgf6O06cJ+0q9eFZliFrl5E4aELyvss6Mg/ZT62dUyUfOdAxJzxdIXDolq8Fa8tnqD9y0dUBciTtzL5vRVs3PD1pP+wjSgtW0VVCC9kdgD+Ec9ZVIrHSdzIemGbMIe00DJYMFbksSN8lIYXLlHOYNOm5nxa1CI/RSq9P2TqEdlkWSh+iwyhSbdItXepRSTQgT0dN7WL8QMoJm4nYhMNir8+Uame72VgZIr4VQTYR0jU9GqzGlG2Q/8nCdNJoKMvArnUOejrknQ4SvLeoKZjXUBq5E53JBZ1VC4hTrQep/n6uYuTqnndfPfHs8VTck2Bb2awg09FYnTiFbUoUndf/JNwPXi7XPe1F1VK4Hz7tR+XlI0qO6Z3XeLSKu7CGVDlviCzTfCxiB17XCyVUGb3Mj+uAxZGQ/NPE7DfUKdtf0myanSRCNH52GQno8CF65sb/8hXsLlrEvCBqgzmBgWvOqRRhqBd2zIPS9ZUbHxLwG4rfJZYgMPE28X62BQ3a5lC23lPPMrV6PxJkuh0oPZb5WXQVUZ8Kykx8OCf5brxEG7tzhQylx8OTZ+Mnun+kcQLqieXI+fegK5Gt+D8yLnK7TShcNGUPi8FY7Wx/s4qGYJAKO4CIum/WiN3NExYdfg2IGqDTVPEl+MBTYEy5c6Sl1wzIOoXhKyXgJTA9Fktd/NmfCaVEHy+875PT8MEWbcFFDX/JCn7JvD7aXock5IKvvtHOMCqGHPMh6JNTJ9KXXtEvaoJUyxLiRRWwoIG56LvZyrwH1WOtMgvNVsp7PT8kH5UX7oih29eT9WTQQGKNxMvyQR0RPbchRdUW7W/m/tptIRO/EXded7asM3O2dQPtJXnDqaViHj2yPGWYh6L2RkzXcuWeJKXNpkUdjJrd7CfEybcHwRm9MTpZn+x0QNJJluhh5K5qeBmVdbM4NQTiuo+W+SbtCXtKvrCjqySoMUa1LlO3t86Itpj8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0114ik6niso4x61GDA9wKLRm",
      "input": {
        "note": "The gripper is at table level with the brick filling the space between the jaws in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.168,
          "right_yaw": 0.95,
          "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_0114ik6niso4x61GDA9wKLRm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0231, -0.0498, 0.9996, 0.2157, 1.9701, 1.0489, -0.0715, -0.3992, -0.6777, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0056 left_pitch=-0.0556 left_roll=-0.0053 left_gripper=0.9996 right_x=0.42 right_y=0.166 right_z=0.0015 right_yaw=0.9417 right_pitch=-0.3156 right_roll=-0.0776 right_gripper=0.7392\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.7167, -0.0855, -0.0415, -0.0122, -0.0205, -9.2513, 5.3812, 1.3016, -0.3346, -0.0757, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72a7f8800f4ee1d75a80891a3e903505860c3fb4a562b27a7db61ce1a3835328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ae3a3702844c85ac58a05dfb814de8c0e724a24516ff59f3e2409f4167196e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a78b34e3c3d3c27c98b3b0ac617c4b29f3ef5011468e705f16c9e7c0ab2c7abd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 8.593 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, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2485, 1.8187, 1.1164, -0.2657, -0.3683, -0.6209, 0.9986]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4136 right_y=0.1743 right_z=0.0621 right_yaw=0.9137 right_pitch=-0.3106 right_roll=-0.077 right_gripper=0.9986\nstate[joint_eff]: [-0.0615, -1.4154, 7.1453, 1.6532, -0.0317, -0.0659, -0.0122, -0.4855, -8.4171, 6.1197, 1.3065, -0.3199, -0.0855, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.2199, 1.9427, 1.0637, -0.0875, -0.384, -0.6773, 0.9985]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4252 right_y=0.1665 right_z=0.0153 right_yaw=0.9286 right_pitch=-0.3041 right_roll=-0.1056 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.0735, 7.1863, 1.6777, 0.0024, -0.0855, -0.0171, -0.3624, -7.8564, 4.4239, 1.0085, -0.4567, 0.0513, -0.1636]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0231, -0.0498, 0.9996, 0.2157, 1.9701, 1.0489, -0.0715, -0.3992, -0.6777, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0056 left_pitch=-0.0556 left_roll=-0.0053 left_gripper=0.9996 right_x=0.42 right_y=0.166 right_z=0.0015 right_yaw=0.9417 right_pitch=-0.3156 right_roll=-0.0776 right_gripper=0.7392\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.7167, -0.0855, -0.0415, -0.0122, -0.0205, -9.2513, 5.3812, 1.3016, -0.3346, -0.0757, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72a7f8800f4ee1d75a80891a3e903505860c3fb4a562b27a7db61ce1a3835328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4ae3a3702844c85ac58a05dfb814de8c0e724a24516ff59f3e2409f4167196e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78b34e3c3d3c27c98b3b0ac617c4b29f3ef5011468e705f16c9e7c0ab2c7abd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0wYKEAgRGAI4AUIIdGhpbmtpbmcSDPDuS/0Gcy0YqbOFbxoMiiKuk9OE3FzMfXd+IjDe7CIhO+Fg43dmTGxt4OZWHgowwy/n+fF77gnPhUUGhgeLIVEtcZxurfdlT1MPy4Iq8AVrn5zofGvI0AjjpacILuUhP6AN2PL9x5qrMSB6KOt2E76t/DRqnqu4gj7XjqSDj/1wr9eo8jNyHmc+y5PcZ6Ka3QUY61KruxQM9DmBY0R+FbLhkim2V6Ta33IA04kmutebDm2v62H0lzbU4k2WbXhmaQz+sKOd3F8ZgIHfENQ+Exy2pIqAQyn7W8VsGrSZD8DJMJUX26jNMh0IwXpRcaV1oFeHdrbvfkL5VQShAEzWaSxG1hVYk+TW5Jc/sGntPw62baleAoQBBUV48/oILYCZgFq0wjiF3vVmdatSLo5IBGlnfl8a4wnFMsWUgSSgRETex732O/nJpvIvBh8Z8J/3IclzzcjJFC+WqVUHiLtDv/wgBRCsvJqNqxF3FCfmwn7FxmFLUyFExBryWrHzHyx/GytWylsC+LvOZW9niVW9a3Dm88Ra8HC9lrcDV7JVYW1UF3u7lu8YWoIZ9yfQFREkufx3kNE0C+WQJfmiLJJSRDFvDWfIwvrS21MgakpP/OZNk1gQFAITjmR4BqbtQhpJB5zo7TSlcZqQaN4yYYXCsy5NVmOTKz5qIrHhUYfTedloCmIGPpb7/7J7olrSl3Gx4xb2l0WOM55S/UX9nZf7WOrAKcnx0TPPRGBGUEbkSqV/n0hrFu/OAzp9M9NWEtbMLVegXxH/LpyrMwFfZInRXImuIF3sFxYGPsReyjvbeNHugSEd5DDFSurlTwtsTxKLB1lP7ZCjFWI+7Ph1BgASdDK9n26food5B7WopDsk5JBuSZfqyvoPUk9c7kiv5mTbSwSzRLi+KnHRvmNSbE2OhAp4Gzq9ILHCx8e17tUhgYwzBrG6OvJA7A8rD6W/1yPQSXw9E5xZW7z+Vuiuije4KNNIgO9znDcQ3LzbC/JM7gXd/mfADSnRrGnMpIetLv0zcAwA+LtvAzjFz/doEZ6vXqVp4CYyXoIDTvbiNGaviO8g58KIw5UqdC3B8qmPCCc/uEAAM9rOd4fSM3stur87pRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NinNYo7cN8174SWaAQ4oou",
      "input": {
        "note": "Gripper settled at 0.74 (~7 cm), consistent with gripping the power-bank-sized brick across its width. Lifting 8 cm to confirm the brick comes with the jaws.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.166,
          "right_yaw": 0.95,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01NinNYo7cN8174SWaAQ4oou",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2146, 1.8805, 1.1473, -0.3729, -0.3817, -0.6865, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4029 right_y=0.1588 right_z=0.035 right_yaw=0.9615 right_pitch=-0.4101 right_roll=-0.0139 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.3744, 7.2547, 1.6972, -0.0366, -0.0659, -0.0122, -0.212, -13.3402, 10.0034, 1.3553, -0.4713, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c8072c32481cb749c4f56dda8ee6df6b65c3d1ac93c9e1dfdb63f0b4818be09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8c9649546ab0fea46f0d065c4c298ed8b99b14874498af4db8cd4e2d50375b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd743952cc75b739fce629a5ec1552bdb71e3e2a1034aeef0c3c708de81669b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.08 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, 0.8173, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.2199, 1.9427, 1.0637, -0.0875, -0.384, -0.6773, 0.9985]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.056 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4252 right_y=0.1665 right_z=0.0153 right_yaw=0.9286 right_pitch=-0.3041 right_roll=-0.1056 right_gripper=0.9985\nstate[joint_eff]: [-0.212, -1.0735, 7.1863, 1.6777, 0.0024, -0.0855, -0.0171, -0.3624, -7.8564, 4.4239, 1.0085, -0.4567, 0.0513, -0.1636]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0231, -0.0498, 0.9996, 0.2157, 1.9701, 1.0489, -0.0715, -0.3992, -0.6777, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0056 left_pitch=-0.0556 left_roll=-0.0053 left_gripper=0.9996 right_x=0.42 right_y=0.166 right_z=0.0015 right_yaw=0.9417 right_pitch=-0.3156 right_roll=-0.0776 right_gripper=0.7392\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.7167, -0.0855, -0.0415, -0.0122, -0.0205, -9.2513, 5.3812, 1.3016, -0.3346, -0.0757, 1.033]\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 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2146, 1.8805, 1.1473, -0.3729, -0.3817, -0.6865, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4029 right_y=0.1588 right_z=0.035 right_yaw=0.9615 right_pitch=-0.4101 right_roll=-0.0139 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.3744, 7.2547, 1.6972, -0.0366, -0.0659, -0.0122, -0.212, -13.3402, 10.0034, 1.3553, -0.4713, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c8072c32481cb749c4f56dda8ee6df6b65c3d1ac93c9e1dfdb63f0b4818be09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8c9649546ab0fea46f0d065c4c298ed8b99b14874498af4db8cd4e2d50375b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd743952cc75b739fce629a5ec1552bdb71e3e2a1034aeef0c3c708de81669b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwkKEAgRGAI4AUIIdGhpbmtpbmcSDMU6WFWbK/WnyhtveBoMRPWC2L4Nc7YytcyCIjBLfJeFDo3jV4lLeXuglEdb8oC0RtcfshuEYI/jgQygJzH5WdXPmgKX09cwZD/K5I8qzAhlhtJGvxnfxl6eiuZY+kt1Gfwl97fVfxoUhtRxLkKbyzemd2IzLTwMzUrcRu3LtO9Jm3liguKxq1YJTB6mhOz5nkqyFZJnh6WwwCz3QPpxgWr7h7CtDEbC5UHA7r+lU/cpBEQmeKxGkmdt4I4oMQu+qn4pyxUvPmh24SH/bAnL4iOrpcSmRpRSItSW+dc7f2P+n9RQIiPQhuQ80q4yEk8UtLtdj3Gr1QTurDoj0sPDsFhEEgPwcK0zIFavX7wgvN41EuGWalR0ogrATHhFa/iMX9VToZj3tAxJL5/GjU4/dRFU12qqczU6ST0eBzvCmZ7FGXzSscvdRkLQQzPO3hINOqhoZTCnNLh51Tu8xGFov/GEtT42/YLLXGaM3S5g+UDJdDGWIrz4fIin6TgqredGBjhR/jOKgsYlSkx/A2kMx+H8gxFtjaU7Y/oIxbLBRQA50YMxPGniy5yg3dTmr+GwQZVb26XmNrOaNehHcrGFDCZk3BiNgkNMMqPwcNZDZCIOJfEJa9XPOxk//8dDPDhb6cZhA4OJGEIDmrcchfBIQBmW//bfDuYG1lX0rkZuiDdTspPIsUNCmQTTn8+2Tmw14OO6oLaa/qiv63lbe3afvRZcXLJfv2ItcMmz9Xdm1EgY+5wHSsab7joIUwrFloykTAVddAJjEbn+Z8Z3pEW+1l5NFUs8yeLq8hPfMfS7oa8f5a0/a76qUJ2icRbAbkvpnNuyBazYiV3VSpldpKP4vKbGyxcljKJRhzK99fXK4hj0jsS7woGmojm3HtXtq0XlzPUsmnq4jtm6EBOnOkJefScJ64Akx9+FNbS6qUucfvu6S004FOH5be4Azw5OgXFTQwuEaXL2X9qYUy8amCmE5T1909KYanKOry4Ifx4ujv+QIovJUNWeDMQesdrmOePvucRcZpYG7vttEAqu0LQsDfXV04AlctSjd+uSUJiZQm57qgGNY1C4KR1igEqTzmLRDN87e7vQ672mrQn4bj2t9bbI/xS8nR5fIJ/Z73XYSVFMAxS7SE0iIxKziuhDM98sjs42vv8XE+UJB3sUSgKybrTVri23Q8Im6SWuZUvH/Wy5OhY5NYRVWBpieEtSGQ+KW/pejH+HCbS+mRm2OBwk1Maaqd+jcYYBvqTqC0bSRm7Sxgfu8BxbyVvjQ2G+eJQUln6eW+Q2UwH5FM92PSm0dGl2z3W0DXEL7sBywuGVIdR22RJc441q0NXfS+E0wcj1GBAno/QS88dP5zc3MH7UF9j1M5zB4AG7Q0E7zyVjyQI15I6+iixkTvg4n3w7r9dcVHYfDoF83cfyrEoPYQqbDj+pSPHSQ6HbyeVm0evr78NLjgNPT1kXcJTbIcM2Qep/qGVpxUEBGzBMyxV5BMf6P5rqoHwfQgZdGV/fW7zxkiVzXe/pG4MLXayobpDmGVAwBP6Zp1ARRQBDPxayQggLQLmvfkdkJ8aQ64Y6bxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QHaCaCfw5mqyRECUACQgsW",
      "input": {
        "note": "The arm only rose to 3.5 cm so far and the brick is still gripped (its far end shows in the wrist view). Continuing the lift to 16 cm to clear the pot rim and confirm the brick is carried.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4,
          "right_y": 0.16,
          "right_yaw": 0.95,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QHaCaCfw5mqyRECUACQgsW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2203, 1.8027, 1.4342, -0.8215, -0.3515, -0.6819, 0.7381]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3943 right_y=0.1543 right_z=0.1178 right_yaw=0.97 right_pitch=-0.4903 right_roll=0.0298 right_gripper=0.7381\nstate[joint_eff]: [-0.1983, -1.3607, 7.2274, 1.6679, -0.0464, -0.0317, -0.0122, 0.1162, -13.3265, 9.9214, 1.2381, -0.4567, 0.0611, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5722b2e8c344f23a500b5d4a4b3002f30cd8fa3823687147b0d065e09b20654d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c89b37a3a848015c6724d9729f687f2a11b627e6ba50c33ec1d7d8f8f363ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3552b12784690754df85ed6c79ac9426b71cd8c8940d219dc0a5e9bf8a851910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 7.537 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0231, -0.0498, 0.9996, 0.2157, 1.9701, 1.0489, -0.0715, -0.3992, -0.6777, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0056 left_pitch=-0.0556 left_roll=-0.0053 left_gripper=0.9996 right_x=0.42 right_y=0.166 right_z=0.0015 right_yaw=0.9417 right_pitch=-0.3156 right_roll=-0.0776 right_gripper=0.7392\nstate[joint_eff]: [-0.0615, -1.4017, 7.0085, 1.7167, -0.0855, -0.0415, -0.0122, -0.0205, -9.2513, 5.3812, 1.3016, -0.3346, -0.0757, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2146, 1.8805, 1.1473, -0.3729, -0.3817, -0.6865, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4029 right_y=0.1588 right_z=0.035 right_yaw=0.9615 right_pitch=-0.4101 right_roll=-0.0139 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.3744, 7.2547, 1.6972, -0.0366, -0.0659, -0.0122, -0.212, -13.3402, 10.0034, 1.3553, -0.4713, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2203, 1.8027, 1.4342, -0.8215, -0.3515, -0.6819, 0.7381]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3943 right_y=0.1543 right_z=0.1178 right_yaw=0.97 right_pitch=-0.4903 right_roll=0.0298 right_gripper=0.7381\nstate[joint_eff]: [-0.1983, -1.3607, 7.2274, 1.6679, -0.0464, -0.0317, -0.0122, 0.1162, -13.3265, 9.9214, 1.2381, -0.4567, 0.0611, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5722b2e8c344f23a500b5d4a4b3002f30cd8fa3823687147b0d065e09b20654d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c89b37a3a848015c6724d9729f687f2a11b627e6ba50c33ec1d7d8f8f363ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3552b12784690754df85ed6c79ac9426b71cd8c8940d219dc0a5e9bf8a851910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0AsKEAgRGAI4AUIIdGhpbmtpbmcSDL+h95etEy7rCAO7+RoMAgS1ZX0oa5WOeu3GIjAH1/zXHiS3dFRK+YGskXA72dOzH4DoEdlXzIyjy7Fw7WOD2Jc+imcmLaO19XGz2uAq7QrGsyQJryJmMKGEFlIyvCSQ3Mca0XA7mjYfIWWs4PEdOYynmGpJA6dW+CDpDsI+Hc/QGJRJwjpjLtzKLKZ222+LMvVjkaskoJzuAF7j6493Y+gx4lM6QuNSKFLTGO9Xe0k7EFtz/CJxy1tVU9y6EfJzruOd2VDYsambrPykU4rr5Q8l6+wTVjxZEoDdps68NFfecxaTM0y53ROGUXfvPMwI/Amj7ZOMBNgTPoGF5d7TMxRhdKbIyqCa774qeNXTTuFLE6VnMh0Kxa5WBSFSkOgZNiC8nqG12sI21ILAtDBUFEfoq+9P+HDWtKHkok0ttrAmW5/NaRvG7jlnO/wWyk969ZJp4euHiQKrMYbdLedCekEdFfLt7VgFc3wAPVxZLyvJVlDbiX65uy9WrlyEEOG7NENvsfQrLjUxQFlI/+sYDIa9+YGuZ+qCO7dUupsXNkXvnLJvgrBs4nO35nKrVqScD7CWrWlj2mlC9mLrgyAbaAOGOebLJNaaQ3pdp+Sgi4CNCXgoRaqwBW8X91qYAElAUr2e3lvilJ+dPIQfKuz3naFOFQhpjZwKBuxS5pM1cFqQciMPEMdBlCXOQnGpC7LkFqf6Lah4BXoXmnOVsrIAz/Dod1OSktlK9r/OWXDAQoHu8QFtC/JA9q6w1nfLkogr6U7RIQx3uJgDlAeBozWlC2n1XSHzoDJVhKVHyKBTdpYo9LX8hQ9wCjclDSs/OC/kAXmkCZXus0EIwDMEiUOGejvdk34LNxTfkeTtk7VdPGF7d95GRT8WcTbgteDYg8+ippSLY8cyeUHenLBlEnmREpc2Dh37O3F+r2a87ilMRM6mDuVj/UvlR18xfHdXa17g6/juh4p+MGKx9GipvE1l5/n8KRVfJfI4CrUQvykXMuxBe4ebj7jZllAx3XbFbz/ywiLfXgVMBixI476ayfYL3F6FdJ1ojGLZzLtuIgbkENDQHzPHxBrOiMbgqFW7f59EPmIhifBxow7iU5AMeTgDeDCEd26euOVLlSOca66NgSi7AGxlcNlyhXOR7XsLoUNrE3NuHXtM1C4FFgxzzK2hMk17G4XHWtpR5haKbDR88IXZ/irArrtqydvTXyWQRD1xQnRwJJUbnjuyuaTdRSf/GUlIFMdBYcSAsyUvGXCqLbW3RhzgbbAxHLcghGrjTX+jCF5fCZXbHHfBfVCfpP/9k6T+X/jXteZNeZT7Gs2nQvgpml+6JSKhJzja9o5FBQ7d9gJZz8pf750k7GFMBR1t6bzTvIDCUVt/iljsaCsjjswCqW85ilX0wlHp80wQEGnfvOjJv/4grLuYFZsYRW3wMBpVc1qJJymsiJY0U9fIoKipMeKBTn+C6j8rjeX/HG7tIGQLpg4WgBD4z1uDFrHkLyjk7xDS9rgX9Uc4udEHEyGkC47I0gZFjIyWPJ3DLVyBYtUBYlfQ8pBoQLjF08wUxkeb482b0FPHsvxoVKxqVa8MSEQkUMdSKAyhC7WA5AbXAEXkne49BYW2dnGbi5tyTsw5pht4dJwGNxTEvdt8QHU2Bs1b6uLjwZRPjVqk4bPHfo6QxqpvCwqYhofUm/jcYF6HlJ8DLwKkfM/jPaJL3+OnjLRajcoyTeSTazvg0NDrNUol0x+vwCIsZz1kVR+auTD0oNaTdqKBrUHcpq3/0HM5LUJV2vGFgbVloRjO2g9gVKjGMssXn2OlmZSH3mhhU8WxqRaDzQfcPuDFn35l+Lq1sWjr9YXsQX6YnbNVqo72xuylbMsE/kBXpTiLfv7pE5uVXmy90pnA6SCjH4HQCxzmpOYK5wOwgPkvG+UxjAWyJlfKfg1Rq2+nXZucUgvnLmnP88C2hMyINIdjVZwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CG5YKjEG9bWbaBR4CAmaJx",
      "input": {
        "note": "The brick is clearly lifted off the table in both the top and wrist views. Raising to 28 cm to clear the pot rim before carrying it over the pot to the left.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.4,
          "right_y": 0.2,
          "right_yaw": 0.95,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CG5YKjEG9bWbaBR4CAmaJx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4164, -0.0227, -0.0498, 0.9996, 0.3351, 2.0602, 2.3768, -1.4986, -0.2775, -0.5751, 0.7317]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1676 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4071 right_y=0.1968 right_z=0.2564 right_yaw=0.9586 right_pitch=-0.5289 right_roll=0.021 right_gripper=0.7317\nstate[joint_eff]: [-0.1573, -1.388, 7.0222, 1.663, -0.0317, -0.0562, -0.0171, 0.4308, -11.7128, 8.1299, 0.8816, -0.4567, 0.232, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c418cfe72fdd8291fbe1f880129dcb177e687bc9fe85c916994492d4787bae56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defb2f2c04773847509a7fc476cd589cf0b3563adee1dfde0a7da41e84e555bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34442be9146614c242c2a99fefe3153a48d8508c93e1997818404be459b8041f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 9.768 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2146, 1.8805, 1.1473, -0.3729, -0.3817, -0.6865, 0.7392]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.4029 right_y=0.1588 right_z=0.035 right_yaw=0.9615 right_pitch=-0.4101 right_roll=-0.0139 right_gripper=0.7392\nstate[joint_eff]: [-0.0752, -1.3744, 7.2547, 1.6972, -0.0366, -0.0659, -0.0122, -0.212, -13.3402, 10.0034, 1.3553, -0.4713, -0.0513, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2203, 1.8027, 1.4342, -0.8215, -0.3515, -0.6819, 0.7381]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3943 right_y=0.1543 right_z=0.1178 right_yaw=0.97 right_pitch=-0.4903 right_roll=0.0298 right_gripper=0.7381\nstate[joint_eff]: [-0.1983, -1.3607, 7.2274, 1.6679, -0.0464, -0.0317, -0.0122, 0.1162, -13.3265, 9.9214, 1.2381, -0.4567, 0.0611, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4164, -0.0227, -0.0498, 0.9996, 0.3351, 2.0602, 2.3768, -1.4986, -0.2775, -0.5751, 0.7317]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1676 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4071 right_y=0.1968 right_z=0.2564 right_yaw=0.9586 right_pitch=-0.5289 right_roll=0.021 right_gripper=0.7317\nstate[joint_eff]: [-0.1573, -1.388, 7.0222, 1.663, -0.0317, -0.0562, -0.0171, 0.4308, -11.7128, 8.1299, 0.8816, -0.4567, 0.232, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c418cfe72fdd8291fbe1f880129dcb177e687bc9fe85c916994492d4787bae56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defb2f2c04773847509a7fc476cd589cf0b3563adee1dfde0a7da41e84e555bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34442be9146614c242c2a99fefe3153a48d8508c93e1997818404be459b8041f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlQcKEAgRGAI4AUIIdGhpbmtpbmcSDE5o1NqICaGmqt8eohoMQDnB2Pi0quCc8ls8IjAe6NEgI9SDkC+6xbYwEOnS961dCwGZ6SBLtpGl9fN+51DFgaPcFan4xT/P7ian8kkqsgY567BF9uIm/nZGGiQ57fi6O/N01JorPvEFIXGMEea9Blyu7p9TA2KFw0HeN+9xQYC/r8DruJO1b7ZZhxt1yL+8rmh5RDNne7PIGh2GKIgExRlBBoKrEIu9I73hcM7/kb05pDCFAHhI5y2SfxKSYUfGO7QtVMziZlH8Td3+ACg1C6svN+fvJzSTmpPJi1+g3+MF271R+tuuTYxu4fw5sq6pTnoIJRfhRdoGHUoeV96wwYFc5Z2alPygBKKs/g6VuUhNSmT4k9b+3gO3jj9NSgLJB8kGxfrwk+klN5yaJ1vqOZt9jfGLcGDVPQjgFLXVf3onvLxjVrkzDijxNyNQ/IGmL9zklutaeCAbQWhR0G3nt9XsLENvErm64kuxjNqPWVyOtKlyweMY6HgcJ5BsKw0saNQDTlwAVOTtosmJ9t/PQEH77OwJhgJ4J3hBK0VhVB72oip2hLJsNLZL1FpJTFeQPZCrg4akpG6Bz+6r5MAh1xCsVEQNgR5gkR6q4oiWfkz5pDMd9+BlgC6Wq/IxVikGdKUw3rBpGi6JZWkQLkXN4Le9h/LndWmt4TrJ7j+BKB1nz4y9u9WfHjJOfIiESCM/TqqvhesdhDRTBZM7nNVopFuEbiC5YByaugtH4y9RxfibqvFd8WZDkkxuWkNhMXNDXcg1OjmlxZesbEbV8bWEvVS9iGv/OaUbMj8+MS85tGDrxSJtKjxsx9jbtAAcZBR3lUuVY5evBHblO7NJuyAOEXRA/AAmG54uoEEsFfzvBbTNa5CrBENngtLqyutzg8V0gBp1bC0bmqVtzOlkyZeCyBHjWj8twdxg1JPXKTR+BuAYiyheyj3/D0yVUK27P97gtA/wfTBYQSgJh/cJbODfqvs8lHBszmh2XS/qMAtzaF0FGM8t6mq1Cdc/f30lzHgculbt/SGsciDqZ6tmzkdJVsQvE0ymnCKvXONKNHvuQIc3F99eK5TmNkT8zz9QL5uWHMuVZn+exck5S2FAff2iWS45Qj8cxyzDdTCitNPHdrSwMuqfBGrpMmEtrPGcDtQR7AtNsyDjfOuiMoE3G5xFoBA1IORKWKmD2QVw3y6qOJUXihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0111NySy8X4KrYridUk5WCoN",
      "input": {
        "note": "The brick is held high at ~26 cm and the pot is visible to the upper-left in the wrist camera. Carrying the brick left over the pot (about 17 cm in +y, slightly forward).",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.42,
          "right_y": 0.37,
          "right_yaw": 0.95,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_0111NySy8X4KrYridUk5WCoN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0494, 0.9996, 0.667, 2.3989, 2.8094, -1.6192, -0.1341, -0.2802, 0.7317]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0051 left_pitch=-0.0598 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3775 right_y=0.3319 right_z=0.2142 right_yaw=0.9791 right_pitch=-0.6179 right_roll=0.0393 right_gripper=0.7317\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.6679, -0.0708, -0.0073, -0.0122, 0.2667, -13.3265, 8.8547, 1.4139, -0.0806, 0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca969d4ff59b4fc1367f2f09b193cfde845c89deee506fc047e738454327cb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:802cff4c27478c3ecfe723fafb552f092b53aa56c44a00199d222aae23fa898f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2410503cbd3b9ad15b0ad17d4e1816dbf5c6d3897d94e8b4a7f703709e9b40c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 14.42 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.2203, 1.8027, 1.4342, -0.8215, -0.3515, -0.6819, 0.7381]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1679 left_yaw=0.0053 left_pitch=-0.0556 left_roll=-0.0055 left_gripper=0.9996 right_x=0.3943 right_y=0.1543 right_z=0.1178 right_yaw=0.97 right_pitch=-0.4903 right_roll=0.0298 right_gripper=0.7381\nstate[joint_eff]: [-0.1983, -1.3607, 7.2274, 1.6679, -0.0464, -0.0317, -0.0122, 0.1162, -13.3265, 9.9214, 1.2381, -0.4567, 0.0611, 1.0037]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8181, 0.6075, -0.4164, -0.0227, -0.0498, 0.9996, 0.3351, 2.0602, 2.3768, -1.4986, -0.2775, -0.5751, 0.7317]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1676 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4071 right_y=0.1968 right_z=0.2564 right_yaw=0.9586 right_pitch=-0.5289 right_roll=0.021 right_gripper=0.7317\nstate[joint_eff]: [-0.1573, -1.388, 7.0222, 1.663, -0.0317, -0.0562, -0.0171, 0.4308, -11.7128, 8.1299, 0.8816, -0.4567, 0.232, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0494, 0.9996, 0.667, 2.3989, 2.8094, -1.6192, -0.1341, -0.2802, 0.7317]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0051 left_pitch=-0.0598 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3775 right_y=0.3319 right_z=0.2142 right_yaw=0.9791 right_pitch=-0.6179 right_roll=0.0393 right_gripper=0.7317\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.6679, -0.0708, -0.0073, -0.0122, 0.2667, -13.3265, 8.8547, 1.4139, -0.0806, 0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca969d4ff59b4fc1367f2f09b193cfde845c89deee506fc047e738454327cb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:802cff4c27478c3ecfe723fafb552f092b53aa56c44a00199d222aae23fa898f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2410503cbd3b9ad15b0ad17d4e1816dbf5c6d3897d94e8b4a7f703709e9b40c3",
        "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_01DokhufLfF6cUUbgogk2BYW",
      "input": {
        "note": "The arm stopped short; the gripper is over the pot's right edge with the pot's centre to the upper-left in the wrist view. Moving another ~5 cm left and 3 cm forward so the brick is over the pot's mouth.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.41,
          "right_y": 0.38,
          "right_yaw": 0.95,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DokhufLfF6cUUbgogk2BYW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.7017, 2.4111, 2.7487, -1.6161, -0.1154, -0.2302, 0.7315]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0053 left_pitch=-0.0606 left_roll=-0.0054 left_gripper=0.9996 right_x=0.3653 right_y=0.3401 right_z=0.1909 right_yaw=0.9764 right_pitch=-0.6912 right_roll=0.0649 right_gripper=0.7315\nstate[joint_eff]: [-0.0889, -1.2513, 7.0496, 1.7411, -0.0562, -0.0513, -0.0122, 0.4308, -14.0103, 9.6479, 1.243, -0.0806, 0.1538, 1.0183]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd59703e1caea0b4c0fd41c6db5c986f11b1770e5047e212590a597bb7cc077f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc8d15bdf3a7e24fb468ef6be61cf58a16a2d3092dd1956693223b407c2748f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16efe9b44faa67fab7c27df3083f9a9c9085467ccdf3fef934a187a823153909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 16.62 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, 0.8181, 0.6075, -0.4164, -0.0227, -0.0498, 0.9996, 0.3351, 2.0602, 2.3768, -1.4986, -0.2775, -0.5751, 0.7317]\nstate[eef_state]: left_x=0.2916 left_y=0.0019 left_z=0.1676 left_yaw=0.0053 left_pitch=-0.0572 left_roll=-0.0054 left_gripper=0.9996 right_x=0.4071 right_y=0.1968 right_z=0.2564 right_yaw=0.9586 right_pitch=-0.5289 right_roll=0.021 right_gripper=0.7317\nstate[joint_eff]: [-0.1573, -1.388, 7.0222, 1.663, -0.0317, -0.0562, -0.0171, 0.4308, -11.7128, 8.1299, 0.8816, -0.4567, 0.232, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0494, 0.9996, 0.667, 2.3989, 2.8094, -1.6192, -0.1341, -0.2802, 0.7317]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0051 left_pitch=-0.0598 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3775 right_y=0.3319 right_z=0.2142 right_yaw=0.9791 right_pitch=-0.6179 right_roll=0.0393 right_gripper=0.7317\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.6679, -0.0708, -0.0073, -0.0122, 0.2667, -13.3265, 8.8547, 1.4139, -0.0806, 0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.7017, 2.4111, 2.7487, -1.6161, -0.1154, -0.2302, 0.7315]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0053 left_pitch=-0.0606 left_roll=-0.0054 left_gripper=0.9996 right_x=0.3653 right_y=0.3401 right_z=0.1909 right_yaw=0.9764 right_pitch=-0.6912 right_roll=0.0649 right_gripper=0.7315\nstate[joint_eff]: [-0.0889, -1.2513, 7.0496, 1.7411, -0.0562, -0.0513, -0.0122, 0.4308, -14.0103, 9.6479, 1.243, -0.0806, 0.1538, 1.0183]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd59703e1caea0b4c0fd41c6db5c986f11b1770e5047e212590a597bb7cc077f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cc8d15bdf3a7e24fb468ef6be61cf58a16a2d3092dd1956693223b407c2748f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16efe9b44faa67fab7c27df3083f9a9c9085467ccdf3fef934a187a823153909",
        "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_01UgZ9xfpkMHCt8kabk84Px9",
      "input": {
        "note": "The arm is at its reach limit with the tool pitched back (-0.69), leaving the brick over the pot's right rim rather than its mouth. Commanding a forward pitch to extend reach and swing the brick over the pot's centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_x": 0.4,
          "right_y": 0.4,
          "right_yaw": 0.95,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01UgZ9xfpkMHCt8kabk84Px9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.6918, 1.8786, 1.3441, 0.0654, -0.2726, -0.0658, 0.4778]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1663 left_yaw=0.0053 left_pitch=-0.0617 left_roll=-0.0053 left_gripper=0.9996 right_x=0.3954 right_y=0.394 right_z=0.182 right_yaw=0.9473 right_pitch=0.1162 right_roll=0.0839 right_gripper=0.4778\nstate[joint_eff]: [0.0068, -1.3197, 7.1453, 1.6777, -0.0708, -0.0513, -0.0122, 0.0889, -13.7504, 6.9538, 2.0635, -0.1636, 0.2076, 0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9c09e5e4f110acee0783e020dfeb6e3c2f51a34619d4a00dd6c4ff3aca3522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf56eecd5f4c488e474fdac76939dc6059c248b756fd9518af0206a92780bfb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:161a4cd990c92dac1d089e56b14800f030e69e792c440c2d7b143fc176026add",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 6.204 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6075, -0.416, -0.0227, -0.0494, 0.9996, 0.667, 2.3989, 2.8094, -1.6192, -0.1341, -0.2802, 0.7317]\nstate[eef_state]: left_x=0.2919 left_y=0.0019 left_z=0.1668 left_yaw=0.0051 left_pitch=-0.0598 left_roll=-0.0051 left_gripper=0.9996 right_x=0.3775 right_y=0.3319 right_z=0.2142 right_yaw=0.9791 right_pitch=-0.6179 right_roll=0.0393 right_gripper=0.7317\nstate[joint_eff]: [-0.0068, -1.6205, 6.9949, 1.6679, -0.0708, -0.0073, -0.0122, 0.2667, -13.3265, 8.8547, 1.4139, -0.0806, 0.149, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.7017, 2.4111, 2.7487, -1.6161, -0.1154, -0.2302, 0.7315]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0053 left_pitch=-0.0606 left_roll=-0.0054 left_gripper=0.9996 right_x=0.3653 right_y=0.3401 right_z=0.1909 right_yaw=0.9764 right_pitch=-0.6912 right_roll=0.0649 right_gripper=0.7315\nstate[joint_eff]: [-0.0889, -1.2513, 7.0496, 1.7411, -0.0562, -0.0513, -0.0122, 0.4308, -14.0103, 9.6479, 1.243, -0.0806, 0.1538, 1.0183]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.6918, 1.8786, 1.3441, 0.0654, -0.2726, -0.0658, 0.4778]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1663 left_yaw=0.0053 left_pitch=-0.0617 left_roll=-0.0053 left_gripper=0.9996 right_x=0.3954 right_y=0.394 right_z=0.182 right_yaw=0.9473 right_pitch=0.1162 right_roll=0.0839 right_gripper=0.4778\nstate[joint_eff]: [0.0068, -1.3197, 7.1453, 1.6777, -0.0708, -0.0513, -0.0122, 0.0889, -13.7504, 6.9538, 2.0635, -0.1636, 0.2076, 0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b9c09e5e4f110acee0783e020dfeb6e3c2f51a34619d4a00dd6c4ff3aca3522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf56eecd5f4c488e474fdac76939dc6059c248b756fd9518af0206a92780bfb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161a4cd990c92dac1d089e56b14800f030e69e792c440c2d7b143fc176026add",
        "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_01XgyKo2QbJxUgEWSuK6ysP6",
      "input": {
        "note": "Gripper reading dropped to 0.48 so the brick may have shifted in the jaws; the wrist camera now looks into the pot's white interior. Moving forward 3 cm so the jaws sit further over the pot mouth before releasing.",
        "targets": {
          "right_gripper": 0.4778,
          "right_pitch": 0.3,
          "right_x": 0.43,
          "right_y": 0.4,
          "right_yaw": 0.95,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XgyKo2QbJxUgEWSuK6ysP6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6495, 1.99, 1.2945, 0.3416, -0.3244, -0.0521, 0.477]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4233 right_y=0.3967 right_z=0.1601 right_yaw=0.9471 right_pitch=0.232 right_roll=0.0852 right_gripper=0.477\nstate[joint_eff]: [-0.3487, -1.2786, 6.9949, 1.6679, -0.0464, -0.0611, -0.0122, -0.8137, -9.6889, 6.6803, 1.9902, -0.2369, 0.0757, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a71a9e4973672fd3947ca87861cad0bb778f57f7a938f6b6a47750297d5b073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f010fe1feded3f9b296b6d5fc59bc5d87b28a937c241c68aa392a59aa3ded5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:956545a2c9bec3a94ed8f0bef1be8da4df59679b99067ed2199bf6274266b5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.606 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, 0.8223, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.7017, 2.4111, 2.7487, -1.6161, -0.1154, -0.2302, 0.7315]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1666 left_yaw=0.0053 left_pitch=-0.0606 left_roll=-0.0054 left_gripper=0.9996 right_x=0.3653 right_y=0.3401 right_z=0.1909 right_yaw=0.9764 right_pitch=-0.6912 right_roll=0.0649 right_gripper=0.7315\nstate[joint_eff]: [-0.0889, -1.2513, 7.0496, 1.7411, -0.0562, -0.0513, -0.0122, 0.4308, -14.0103, 9.6479, 1.243, -0.0806, 0.1538, 1.0183]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.823, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.6918, 1.8786, 1.3441, 0.0654, -0.2726, -0.0658, 0.4778]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1663 left_yaw=0.0053 left_pitch=-0.0617 left_roll=-0.0053 left_gripper=0.9996 right_x=0.3954 right_y=0.394 right_z=0.182 right_yaw=0.9473 right_pitch=0.1162 right_roll=0.0839 right_gripper=0.4778\nstate[joint_eff]: [0.0068, -1.3197, 7.1453, 1.6777, -0.0708, -0.0513, -0.0122, 0.0889, -13.7504, 6.9538, 2.0635, -0.1636, 0.2076, 0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6495, 1.99, 1.2945, 0.3416, -0.3244, -0.0521, 0.477]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4233 right_y=0.3967 right_z=0.1601 right_yaw=0.9471 right_pitch=0.232 right_roll=0.0852 right_gripper=0.477\nstate[joint_eff]: [-0.3487, -1.2786, 6.9949, 1.6679, -0.0464, -0.0611, -0.0122, -0.8137, -9.6889, 6.6803, 1.9902, -0.2369, 0.0757, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a71a9e4973672fd3947ca87861cad0bb778f57f7a938f6b6a47750297d5b073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f010fe1feded3f9b296b6d5fc59bc5d87b28a937c241c68aa392a59aa3ded5a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956545a2c9bec3a94ed8f0bef1be8da4df59679b99067ed2199bf6274266b5ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSigkKEAgRGAI4AUIIdGhpbmtpbmcSDJXgYP/2alsJQzM4UBoMAATlxZHXF265s4mTIjCoNBSrEYLIer26IibH48IUUKWacAH/X7c9ai+3ni2B745EC84K0F708w+L4dPMDEgqpwiCVxitydJzzs9C3ocvKvBikRSBaR+/HahM4oJv9Q+LU8MMNOvhFXHzWPPvS8r4wT2EMuFKFHrdrS0Tpew+734QXM+8wh9b22yDZTK9ww49gnur0kUaoMrL5UzhgsI7UVSrpyV2GYXbfwKcZ9OyWwweDRwTNISkm8xvqOaxmWtDxOgE5FypvjUKCCfMSP4x1E6y3/Y8fW04oi+6F7dDiSdoQwzIakKlmm09aUq9n6Zv84zUju5zJ64LP7jA7zWDfoTtUxzH5OMfW/2ESeBMFuBsehw9Wc2shoDsnfBye6Is/Zx6YFFdjh1i2hwlg1fUJdv+pF1OI1RTPtszYB8tK8+vu09h1kAGMZTlbe/3SkkN28EgfWeLSNDsUz9oY2AwZOjRlU6AnUm86pKV0Odz1ZEOonanTzVv2c6/E27KmwAcVFBaX0ucm2RramZjkK9fSnsAmx7lJFKjHDHED+oogpzFbbqeRlO359bb10/3BTsiK1Xmxto3eS6CSbpXniLFBnrJ6BuHAVJLxG4mQJJG/mYrH+TfI6GMF5P4+X11k6Rbgkq8Za4QZ2RBdJYEa3x7OpXbILNSavtsV3zzOr3YjdoWZgkwxCHU0H8RhXNIZZaH47QDinNfQexfALWEgdWr4KS6Id7kk7qCwA4tDB4RzyZJsjNIzHsEz9yHTp0AE1YeMTawUBY4D/A+gJ2rOiR2pw5EDZ6iZQaEi29G7Jf+JlcOMKK6NwZs8pyfsU/vmQxoTIf3IsEf6iV4ikKuvqZajcZAKBBYRQmxsUcedd21ipqyGvNIeMYzSi5YXS+Ri1WbydTgN5Cb459wGltb/kBIjW9YtfOB6reQEl99apicgHCnAqvTOgjnQ30IaYjHikA/jErH/HawrW1O5rXJSN6J5wErpIAz2WZT0YKC1Xgpc0XmfvxP9+MTvpF5bWsLZI24k45aiyyfvZ8DeFiLp+Kug1HzVb6Qtk3aTECazrRw7s2xsZ7ez6Er2+hn4LnyCDJMxlKRb59D8ByaTo2GySWtk7xLDfNcJWq7MWqssE6AYQUAu3JhhkLrvycqwr8eNfIBpys1R6wTeul8mnUOK7SAOGeCBCejG0dtkgx5loD4yUQhQQDZYEg3fRdXlwqwwCvUD3c/yML+KOq6DtSrl0zZ2Gxw72tgcQip7n73/D7/DX4OVje9v6G9g7cOQE6UodSSwlJtXIsrWrrAOWQGc/9j3n40pu5E8bhg1NVOzI4AxGvcgXgyFW7T1tD+K+bQv4+4xtFzlZ8m6eO0bIoxpBdiDMmEQtDZAIS4zBb8qJUBQa3GkhCM3wItO8NExQhZAPvxfacCNc0EhXXiEMbtN90nd6tXdSBG2DXf389fHeXufEf+7cFYdZ04BG+/9U+Fpm6Q+vPbYfXutXeZMXpctcPW6PeASbdC77qMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YVXGphS3Tx1wVGKf1tUXZn",
      "input": {
        "note": "The jaws are now above the pot's interior in the wrist view. Opening the gripper to release the brick into the pot.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.43,
          "right_y": 0.4,
          "right_yaw": 0.95,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YVXGphS3Tx1wVGKf1tUXZn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6456, 2.0087, 1.2942, 0.395, -0.3309, -0.0475, 0.9954]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4279 right_y=0.3987 right_z=0.1616 right_yaw=0.9489 right_pitch=0.2653 right_roll=0.0813 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.4291, 7.0085, 1.707, -0.0562, -0.0269, -0.0171, -0.5675, -11.1795, 6.8855, 2.1172, -0.2222, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89141a09444669a4eaf2242ca43d9a82ae01ea58ba186040cd919d59f208aedc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670bd6449ecab2627f604ab01d1b0fbef3b721576e87670ec1230ebeb7f0291e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6c27c7b45b01c43b1d4d70877060bfd7d3fd549f4dc6b7aac41ed729fcdaeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 15.61 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.416, -0.0227, -0.0498, 0.9996, 0.6918, 1.8786, 1.3441, 0.0654, -0.2726, -0.0658, 0.4778]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1663 left_yaw=0.0053 left_pitch=-0.0617 left_roll=-0.0053 left_gripper=0.9996 right_x=0.3954 right_y=0.394 right_z=0.182 right_yaw=0.9473 right_pitch=0.1162 right_roll=0.0839 right_gripper=0.4778\nstate[joint_eff]: [0.0068, -1.3197, 7.1453, 1.6777, -0.0708, -0.0513, -0.0122, 0.0889, -13.7504, 6.9538, 2.0635, -0.1636, 0.2076, 0.1294]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6495, 1.99, 1.2945, 0.3416, -0.3244, -0.0521, 0.477]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4233 right_y=0.3967 right_z=0.1601 right_yaw=0.9471 right_pitch=0.232 right_roll=0.0852 right_gripper=0.477\nstate[joint_eff]: [-0.3487, -1.2786, 6.9949, 1.6679, -0.0464, -0.0611, -0.0122, -0.8137, -9.6889, 6.6803, 1.9902, -0.2369, 0.0757, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6456, 2.0087, 1.2942, 0.395, -0.3309, -0.0475, 0.9954]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4279 right_y=0.3987 right_z=0.1616 right_yaw=0.9489 right_pitch=0.2653 right_roll=0.0813 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.4291, 7.0085, 1.707, -0.0562, -0.0269, -0.0171, -0.5675, -11.1795, 6.8855, 2.1172, -0.2222, 0.1832, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89141a09444669a4eaf2242ca43d9a82ae01ea58ba186040cd919d59f208aedc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:670bd6449ecab2627f604ab01d1b0fbef3b721576e87670ec1230ebeb7f0291e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6c27c7b45b01c43b1d4d70877060bfd7d3fd549f4dc6b7aac41ed729fcdaeba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoAgKEAgRGAI4AUIIdGhpbmtpbmcSDO8VXpEJ5GeeDrWxexoMo6Zo5Fy5gUe71naUIjCSsO+aUv93gLrBcJbpP6p3RaxQ9BZKVpwhSlF3WY6ikJLJ6WOb0OKJ6gW6d9gLa0IqvQfBy0ArLBQeXiIU/VEBl77Z87BCSW/zwU64bnxmL8sP8KICRiZUzHrfPetfm8cHhtWowW4xvzKD1GItWLUdiTJ7zjpwgjjAC2q65E7Md8THgg8+dM4VfvwjNjU6XKBXRCaAc8lr8HKOq5EVVFuAp7wAT0Bq6B2erowO1fLVEmPp+KEVC+EfeFP09jq2TzVIe0/C0D4cJuW3w4SsJ3TXLkBob9HtWeB0o4I8EP2qA2QX4samyn2A/KqwaZlTsRjch2Z6CAC+B326fHHx0ofasuUo7SP7yU1SKP+So0l3lT7Rthu8VpvsVqCI5NYG3zsKoBZB4zh9ocfbvrVkqRr02lO2phqv0CAiQ5Mso4ULTh3Mk5qNeAEO1M5MrHwsPhTqgAxpPZr84fr6UoORYfBipdA+zFE5EOW84Ui1dOhvxu3IEtjPt3i09FYSD04lYocGxDQgYL2RjWwVtLQuhgNEQdv77QMX6ReXts6+KbRo5FfNoQE5VedIHHZ1J/0YmUfqsQ3RdUAcLcpfwJ/pCAor0jW7SykJPMdCwv6zTv9+hqYSq0KVui+lAEqNIglJpv5/zzs1JURowNHFAjnzSdKbPEu5ptBxfB5KVrYuD1vI4dxaf9jaBbSEPkyTxMesVeHe7JiANc5KkWrdzXVnnCg9ewyWuyGT1bXHO2maq0w6og/OJJACsb3eqNoLcBMIK6S12jN+ymEHcGzELca+Mvj3rcQ7r4dJN0FLyxw5EifKgFUkUYR3vMfUOB1I37xYDhsRftjUD9pk3zUf3G7ngcslJ/vVrXMw0fSWJEc6yv5z2huzG/TIlnVSyTymwDZLOBZoqPuOT18fuqjNtBrdIcfMhQHHD3T/6bw/9CMIw5lpfj1w9ObKDmAfJtFFiUKnZ2DIcubViqfxzUVspwERRTVbFX/5eFKr9x13OjzB+NSfPlJBxe+94hSaVyH/IxyzdOftBjuV2ABGa47qAZHdZGYJNvOX+pUUHz75/+er5no8trXvDks0cnldIANrI6D/MZQhao4pGqeFYqnYMJ2ReCZfr8f2IxWddZUC7tyRwh/Y3WFhAu+n5Yq+EM350F8sEbfekLf5I4En9Rk6VZS3e5TCAsJQ4fGAID4oSfqnxUeoUY5F9/OO2JHex4IW7fMsl0d3F1My7rs7th8BsGK+piGq0Fwzoahiry8/a89sWh0FuaDsCXN8ShmjME4KKvQAos7l2NtEaNV1/+O6YzaIvE0Nv5RdHl7NrmmGxLJF4JiGSrKvecWV/v/OnrB/VAIWYuAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MzE3QDoM19FKuFgjprFXeP",
      "input": {
        "note": "The pot interior in the wrist camera looks empty, so the brick may have slipped out before the release. Retracting the right arm toward home to uncover the overhead view and locate the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.08,
          "right_yaw": 0.3,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 27 steps (2.7s)",
      "tool_use_id": "toolu_01MzE3QDoM19FKuFgjprFXeP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.828, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.1711, 0.9081, 0.7681, -0.4316, -0.1432, -0.0246, 0.998]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0663 left_roll=-0.0052 left_gripper=0.9996 right_x=0.3052 right_y=0.082 right_z=0.213 right_yaw=0.2945 right_pitch=0.0018 right_roll=0.0761 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.5111, 7.0359, 1.7216, -0.0562, -0.0415, -0.0122, -0.1983, -2.3726, 8.8957, 1.8388, -0.2955, -0.0366, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280516fc503e06261ec842452df24e9bfa92fff9db4ef0ef9b61e3de3b90f47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7fd4807584fe64d918c1a85d9076201003fa1e987c22701d524e5afa9bfb58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03ac9b67362688d984dbd950d81e345e84a70abee802f013e535bef425c3a085",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 17.04 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6495, 1.99, 1.2945, 0.3416, -0.3244, -0.0521, 0.477]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4233 right_y=0.3967 right_z=0.1601 right_yaw=0.9471 right_pitch=0.232 right_roll=0.0852 right_gripper=0.477\nstate[joint_eff]: [-0.3487, -1.2786, 6.9949, 1.6679, -0.0464, -0.0611, -0.0122, -0.8137, -9.6889, 6.6803, 1.9902, -0.2369, 0.0757, -0.1099]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6456, 2.0087, 1.2942, 0.395, -0.3309, -0.0475, 0.9954]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4279 right_y=0.3987 right_z=0.1616 right_yaw=0.9489 right_pitch=0.2653 right_roll=0.0813 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.4291, 7.0085, 1.707, -0.0562, -0.0269, -0.0171, -0.5675, -11.1795, 6.8855, 2.1172, -0.2222, 0.1832, -0.0171]",
      "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, 0.828, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.1711, 0.9081, 0.7681, -0.4316, -0.1432, -0.0246, 0.998]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0663 left_roll=-0.0052 left_gripper=0.9996 right_x=0.3052 right_y=0.082 right_z=0.213 right_yaw=0.2945 right_pitch=0.0018 right_roll=0.0761 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.5111, 7.0359, 1.7216, -0.0562, -0.0415, -0.0122, -0.1983, -2.3726, 8.8957, 1.8388, -0.2955, -0.0366, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280516fc503e06261ec842452df24e9bfa92fff9db4ef0ef9b61e3de3b90f47a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e7fd4807584fe64d918c1a85d9076201003fa1e987c22701d524e5afa9bfb58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ac9b67362688d984dbd950d81e345e84a70abee802f013e535bef425c3a085",
        "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_01LxVp7V64Tr6cMkvDBP5bN5",
      "input": {
        "note": "The brick dropped onto the table just right of the pot, near the table's centre line — out of the right arm's comfortable reach for the pot. Switching to the left arm: flying it above the brick with yaw ~0.95 to match the brick's diagonal, while parking the right arm at home.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.36,
          "left_yaw": 0.95,
          "left_z": 0.15,
          "right_x": 0.295,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 33 steps (3.3s)",
      "tool_use_id": "toolu_01LxVp7V64Tr6cMkvDBP5bN5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9855, 2.4081, 2.0373, -1.5578, -0.8627, -2.0617, 0.9996, -0.0669, 0.8055, 0.6056, -0.4103, -0.112, -0.0177, 0.9978]\nstate[eef_state]: left_x=0.3364 left_y=-0.2583 left_z=0.0829 left_yaw=0.8735 left_pitch=-0.0855 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2915 right_y=0.0038 right_z=0.172 right_yaw=0.0266 right_pitch=-0.0387 right_roll=0.0686 right_gripper=0.9978\nstate[joint_eff]: [1.0051, -11.5761, 7.3368, -0.4274, -0.5006, -0.4029, -0.0562, -0.4034, -2.1402, 6.7077, 2.1026, 0.0513, 0.149, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a003b63a7f2ecf36caa2a5a22705d780ead5979c7a813e1f02541aba56aea2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b2db1da8103c8dd0873cc7c0fe9a47ad42c6a32f2182f4d95df53a4fcd93ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4612f6a8f1528edd546376adee737e4a7e4fbf88db79ada61c99fcccc62d5f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 23.44 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, 0.8249, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.6456, 2.0087, 1.2942, 0.395, -0.3309, -0.0475, 0.9954]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1659 left_yaw=0.0053 left_pitch=-0.0633 left_roll=-0.0053 left_gripper=0.9996 right_x=0.4279 right_y=0.3987 right_z=0.1616 right_yaw=0.9489 right_pitch=0.2653 right_roll=0.0813 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -1.4291, 7.0085, 1.707, -0.0562, -0.0269, -0.0171, -0.5675, -11.1795, 6.8855, 2.1172, -0.2222, 0.1832, -0.0171]",
      "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, 0.828, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.1711, 0.9081, 0.7681, -0.4316, -0.1432, -0.0246, 0.998]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0663 left_roll=-0.0052 left_gripper=0.9996 right_x=0.3052 right_y=0.082 right_z=0.213 right_yaw=0.2945 right_pitch=0.0018 right_roll=0.0761 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.5111, 7.0359, 1.7216, -0.0562, -0.0415, -0.0122, -0.1983, -2.3726, 8.8957, 1.8388, -0.2955, -0.0366, -0.2222]",
      "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]: [-0.9855, 2.4081, 2.0373, -1.5578, -0.8627, -2.0617, 0.9996, -0.0669, 0.8055, 0.6056, -0.4103, -0.112, -0.0177, 0.9978]\nstate[eef_state]: left_x=0.3364 left_y=-0.2583 left_z=0.0829 left_yaw=0.8735 left_pitch=-0.0855 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2915 right_y=0.0038 right_z=0.172 right_yaw=0.0266 right_pitch=-0.0387 right_roll=0.0686 right_gripper=0.9978\nstate[joint_eff]: [1.0051, -11.5761, 7.3368, -0.4274, -0.5006, -0.4029, -0.0562, -0.4034, -2.1402, 6.7077, 2.1026, 0.0513, 0.149, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a003b63a7f2ecf36caa2a5a22705d780ead5979c7a813e1f02541aba56aea2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b2db1da8103c8dd0873cc7c0fe9a47ad42c6a32f2182f4d95df53a4fcd93ae2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4612f6a8f1528edd546376adee737e4a7e4fbf88db79ada61c99fcccc62d5f50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3xMKEAgRGAI4AUIIdGhpbmtpbmcSDK0HGVsiQfTcsCnbDBoMqQr6W7E5Meu0Bz2IIjADuDMIZtvogXSp42LANxp6eOtKkeC/f3FeWg+anRSdp6By8qZil0eLgKblj4x1wTMq/BLev8FUJ+wyQqPhOKXw40LueFRZexR0723s0OJnvGxrfPXInN6vXUqUF2UUOU/BLKTVR0h6vbbqj3esCgCgQ1YhsXFbMV/jzMIB0cEO9D+pW+I9LKno1/IWEFp8Z89ePaQYAXFEdmQvxw7z1caz2YrhNsD37PbCgHHsttqA38jMvXZe44QvY2aa9nTmGrboX3ltmo0cOhpMJJBeF2o5XaAgwGYrJxz7D4ET3YSxKWRhqFTX3gHdKQilKzZmakQpM2ZfarWB41NZHbq8xUWiXrXdxKDvyntyXwn0dSzoZQ0jecbdwOaQV1RJvb3qQj2hKZKe1WflXysnaBK4dE+CjM9OedFRoq0VhB+hQQrOa4A6kOqLOBZAG9V1LNeUFUQ73P95/NaGPRU1zOPKJ5zYYm4NwHEMFVkfnq+PJb6f6DC+SPYMAJ4kxPvT25WrRiN0b7VsNvVQX0Pp3DtNZtftuQutldYlxsE1wjvYFYIHWXDxlrcadvzhCqGuQkOlT1cAdUYy/XobWEsquZHt+csA7iUneg3AlBgBioSwPCaSpw37sYzf2fhjhctDG3WtLIFezpE2g3cPuJ8dn43OyY/57D4VxRsOXX8WMuqn8iHR2fkBA+GiLzf4KAbp/gxxW8gVPOlmGOvqbTSX96y+1U7dTvGNYJJNacuv08KXKJPdh83vmcDXJUv2h5cdpey14xd5mWZfcc4df+wAzYjDxNbsK7Y/UNABMCcB/VwFsAp8R5Be9d4rsF+y/EFOopiTB2V1Mj6Clf/8XmM5hvA0JWjPaRb8u1lYMabJzNtzHhcN+f529gcUxK/f2MydV98mBjIWn0Th14zg6LYRnRd3h5LwRdxOCUlUIo0sKGpaSjBkJkAb5pHItGS6jN2Wb5rMml9qSla++P8sAESeKeqYkdy6fwtgkq0HeoJIPaxWyg+K8AKIeLFnsFs9ZFWerFMKB/ifR05dFzH79Niex0c5o5AefKnSSAwhyu2I1dNXlNXzPVL8RjsLT0rTGYCNe7I6wzvN+PG8MWkmvEu4PJM3Is9A4znBOBFQd5slR5BhkA7OOoqI3XJqsShiMpx+H8+AgToKIlhNBwEy4EhHio8zDeebknZh0jHevPgkQX71mzMSPLH/Q4F8R1/IXO40K0BgaayFWZ35u4y77RU3Itq6XwsW9Mw8V/Qg95vSGlr/3TjaPBnJsLQj/Dj1LuHH8tInDM9stkmHuQq14YeZKUGrJoOk7DM1x/Ku0K8qoMcHCjUKmhGmHuPzEppGWxGM09EAn8B3X+J5mC0N16Owd9BrvD98yCfvXm7KmR80661a3r4zgfEUNT5GlhGkddFh1+0QpmTmJjzd9shfFyJ8XH1yAb3LhFb3OdpJc19SiDiRncdr5HfzTY5Njnig7PnSnchKg7aXzsRzpn0UANL0h83VU/VBVbqLIzaWmoYZ9AvMdVpOcNiyQRCMGa8j9Hx4F+DA4nw20WQpMSlruJLyiK2IU2niA3Qc+8Brouqi0GPpZ7VWNK8ZyCK5ISoiG3OQEHtGcx+siI3XKpwmkM1AzUWlmshXdkPkSf6FoSi2KEx474bGWzxoyz5va+YE9clYBpybW/I864tCFAFBAj5U4K4I04sEsFnkffu+Uin7SPFVVJnmXvu0B/GgcyauTGCW+9J+SQAoa1IYYK6/UGW3/5P2Sq1dIELFyKc3twDzkx6G/p6EKQWnGZa3bNRVUylDQNpo3wHxrRdKgUbXvQ8r1sK1pZUgiQYiwtH8VB5z3rERmULiwUIuiSvgbxxrpb8ZDgIXUuiO3nFVfMC2gK3OLnZ97IbyDm4ruAVfaDfDTHXOe9dxatS8Lok84/sfMI+plOkUXrlZQL/iueg/V0LRMBAYW+mQT/+0CbXgkQMXH1R73l44kIvGojdQsZM5M+K9584fc3whMlRsqv1iOaFZdtnuvSen8cU1TnUQQRVC3pg+4PP2Xf1UjWdbfI20RBmOV8ETXhB7mwrVpC/XtNdYBslevnLU73Ih+byO3KohBKfWZyJqooqIz1Wmh5sebhf/Pp97FXZk4B3LkrNqEMcac6gCK2QD231hU3egVLGja+T5Fbwp9yWQ+r2fTylw7vl9w51wVADd8FX5bsxPlvMEizpforMvK0R8WzMFMgz7iH7Lg6mmF0pYkJn3dpgLiLLXZZwQvRss0bkwuI81qqEZgn6KVCgeLJLWpKsMihtCyNmri3OsepyhNGf5fwEesbnpPGhzsWFx5lPi7JZc/Yby420DJ/ySS+T2yHvc/oUvgJozJGvEEQzzTLgMSoUWDIQv58A/zDo63c9q/F4vphenbj5yaM1sJv9SPWVUG6QhXcVOY3xr/Q+sP+TbbAICWT2pE8PIB+P7aLHXRon73LSAY4BwMNsuLx2zLW9mCh+cUa5PmrwPpUEaDKb0NusnauLDNBOJtcFbozUv/p04XuL+Du1MtL5YWm8knDj3Mj3cJaE8xAjI3e/SZPhH5ON0grZp9shhsP76ehee6nn1+2463yddaQeDoe2TogUGslcRyyCul2S3DkKZEwcXVWV0tUR0gp6tcGGmMZQWOHfpspTWzlPQPO/02qQTsopDzRD5uRyQgkSuQ2GIIUoSw6IeF/J2d5tur1ydqURe+/vAvECmOc6nzWhwdwQxf18KlKmK6SvDY/CSNmFbW4idzhLM7M4QLT/sTcR3jGhDaCC1ZJOVkMDXlYn9WeiTjGY2S9YeoOzT1JbS778lNOWfP7uor8/tYhYS0fpLUPx9QfIdoW8RyTcj9OH6eacL+oxelpm46J8HXXgzGlYp/BPScheaJm2cgWuOxzAEIMGNRlR9sBU9JRVTv/UiJXDIPlJiqaGHHC9vRaJgBusWKn+mdClQVEwMmdBtEUl22p4YCDYUtzT/5hO9xtIB9dtokRe1WwNRmy9/CtxPmWpEPz0jUahW/8p9DzReM+d2Fs3xgCMFt7uJJt3DBBeBilkGr+Z98isF4CmVQfSaYuLzYZhb64a4i2nyCkZY1BXSVJNnOPkr15m7/bEmo0ZsVpXCL0RrdWAFLWIlMI/lDqtbkyluPMcJ10aWRGXEYHo9w3n9dSjrZ6vQWewvLzsBggK/k2/6ka9U1fGKgCSGzcz2CUo/QFiCsRa6iBDUjDY9/GmWDs1k4I6msW8O9mBeBH11y8Q6ULqV3xkpzxnZ/JlGT+bRC9FoH1K1cCkC1ILkAeLJ/nu9AMpu2rJ5Fueycv/WBxTrrFqs+7fJUnaZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U2D9nn3whFrKV5Wi9fERG4",
      "input": {
        "note": "The left wrist camera already shows the brick directly ahead, long axis vertical and nearly on the jaw column, so my y estimate was too far; the arm is at y=-0.26. Stopping the leftward motion and advancing ~3 cm along the tool's forward direction while descending to 5 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.225,
          "left_yaw": 0.9,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01U2D9nn3whFrKV5Wi9fERG4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9817, 2.5267, 2.1696, -1.565, -0.857, -2.0621, 0.9996, -0.0669, 0.8082, 0.5991, -0.4149, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3484 left_y=-0.2747 left_z=0.0608 left_yaw=0.8791 left_pitch=-0.0924 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2901 right_y=0.004 right_z=0.1674 right_yaw=0.0278 right_pitch=-0.0523 right_roll=0.0689 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -11.9726, 6.2974, -0.4762, -0.359, -0.3492, -0.0562, -0.335, -0.9641, 7.5009, 1.7265, -0.105, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de95ca5aba48f5b78e62bd43011a2c49f38e7b03da4caa4c117c08847558af1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293a0aea1f7c76955109e175801df205f7dd0b1936805671279a11da8b504847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:022a3a55b65d3cc8a2bfc8cc9e8804c3d098895ecfb61e6405e6d80b3723772b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 12.04 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, 0.828, 0.6075, -0.4156, -0.0227, -0.0498, 0.9996, 0.1711, 0.9081, 0.7681, -0.4316, -0.1432, -0.0246, 0.998]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.165 left_yaw=0.0053 left_pitch=-0.0663 left_roll=-0.0052 left_gripper=0.9996 right_x=0.3052 right_y=0.082 right_z=0.213 right_yaw=0.2945 right_pitch=0.0018 right_roll=0.0761 right_gripper=0.998\nstate[joint_eff]: [-0.1846, -1.5111, 7.0359, 1.7216, -0.0562, -0.0415, -0.0122, -0.1983, -2.3726, 8.8957, 1.8388, -0.2955, -0.0366, -0.2222]",
      "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]: [-0.9855, 2.4081, 2.0373, -1.5578, -0.8627, -2.0617, 0.9996, -0.0669, 0.8055, 0.6056, -0.4103, -0.112, -0.0177, 0.9978]\nstate[eef_state]: left_x=0.3364 left_y=-0.2583 left_z=0.0829 left_yaw=0.8735 left_pitch=-0.0855 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2915 right_y=0.0038 right_z=0.172 right_yaw=0.0266 right_pitch=-0.0387 right_roll=0.0686 right_gripper=0.9978\nstate[joint_eff]: [1.0051, -11.5761, 7.3368, -0.4274, -0.5006, -0.4029, -0.0562, -0.4034, -2.1402, 6.7077, 2.1026, 0.0513, 0.149, -0.0269]",
      "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]: [-0.9817, 2.5267, 2.1696, -1.565, -0.857, -2.0621, 0.9996, -0.0669, 0.8082, 0.5991, -0.4149, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3484 left_y=-0.2747 left_z=0.0608 left_yaw=0.8791 left_pitch=-0.0924 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2901 right_y=0.004 right_z=0.1674 right_yaw=0.0278 right_pitch=-0.0523 right_roll=0.0689 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -11.9726, 6.2974, -0.4762, -0.359, -0.3492, -0.0562, -0.335, -0.9641, 7.5009, 1.7265, -0.105, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de95ca5aba48f5b78e62bd43011a2c49f38e7b03da4caa4c117c08847558af1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:293a0aea1f7c76955109e175801df205f7dd0b1936805671279a11da8b504847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:022a3a55b65d3cc8a2bfc8cc9e8804c3d098895ecfb61e6405e6d80b3723772b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuQ8KEAgRGAI4AUIIdGhpbmtpbmcSDKInbcwTm++MFInOyhoMc0ZuLym9Le6CDzJXIjDx9RO8qsY8Rsm7HhIqA8OJeb++EeYtmfBVNOhyG4kjJDnwSBXgZyfUi0LC9GOz1I0q1g5iGoFY8xMXn50ilBm7ukcBk+cnQ0yyQfEUS1Rf5lWuDJy9fEch6WV7I2qINSgJqZQtPNBvRt/ciDoA/lagrrSa0FDEYVUrDAIipglJzMQkZwwIOeGZ2ldw2FCtvTbK1G34X22jpel750FGDYbASbcHuwhoL0cPcQbRT4c0qvFuXBh0kA+sPJ0F9p32NoRxPsoT0t0Zaj6z84o+g0r+dyo2Lgr2DLUam78S3fJ05e0Fadz0Yvf6gvEq4Ib9hw7ZNTX1ORXQbnFO0x4UDiAImqiZbrPrS1waJktZZR5CmIg5hF3oAESWPEk6mDKz0Lfmy4USZi5cz3A/p8G52ZjUVDp3wJ8xOucF6jiY59qIJNV9VMOubG/9tiaMsZ7hElugCqcona4t/UGSnyizJV0XkM0Y9qv/97w7+TKgdf7dKeVIVbVGQBgwxtNmlReYog0BQu/MTpFWEkEXJ40TjBJLIqkYFq0s/DK18feSOdDAqNt1hiVA7KpoIYJStSgxBqf88YoDOgeYGTNq2EerPOiCy+DTPLymsX40aqwpDr1EoK2K5Rn58YX7+uN64z5Ocq3A6vk3/shC7x+uHnGivi6XbDG0psEajJ10cTHuRt+9y2hM9cORxdyHhgFOu9iFkXZxpPNDnkOG9h2u+rzWVEg1qLxnqtw/MN5CEvWlfMC74F4cUVNcGUQPgZyYZYi1yogh9t6fF2w/gN27fcH/OaoM0XEk3pmTeZXeF7H8n+2x0CFMVaDt70SGsU3Sl9tq9lVEJdqvBy8PJZ3GSt4/uVSB0UTf6sucq0fLjdcdH9o1uZjUYPJ+QFHxqD5H5I3tp94dhbxEmgz67iP2spfeuNBAfvEBhIX+KUQPpKWOnoiC6B7EabmAuI4krkFPymKQHyhwhCuGeiWK4himSh85ubOD9xye57zx5lxVPuTjXWF3nG8H0T8t5I51gQ4QT1lmpzOcPShOmRqmgZPD8Wk2Pm/CDkBLmadXU5r3wO3r30/OglFYAuyzzBdViD1+KbTZAdZlSd9+v9RshvRoOwKFZ0uwjh7ycAbC0ac1HfpUaL9soH30BLp61DWSgw16X/zGVTP2zPiUvA73Gz75CNi4dBxl+deArtqUXACpa5homQ9OCiehQlXycmBZNA4pkeqhjmYphqROI6Tgn8fk5HxJJv8lr2iGQt338pPglYqCvJC8QZn32mkHR4O5TtlK76mRVHsAsQiqFcRSdF09B+E68zaV0g4b6i9+fXAANkaSV2OZKOvVrehIZcPDHq/hE1ZQ9vdevXE3BKjWG0l8gPuTIFkDA4UMa9GWM6Ak0+dCWo+v7xLn4o4BLVNhfj7oN5vHf5LRmR/qw3eaBYPXT+K97QaXpTEKOZ9+Qq7zKSQ3c6cFNqj83C98GM6eDxWMrDdEMvX5VMY6j8VL9pPI2GOLUTqkPSBA46+Fu9HIrwDe9jSVKvmQxmo09HrAS9hGBnfGnzjFWy1pVV849jDYccYboxBzx7DG8BfSYkShOZcqaGG3eMxzbASoHnqcKT/KtOVLYy5+dvEbDwubidbG9uH+BJ0RU6cHrdpjkYIcr1rfAeYqDEJnFLD7Xzlbv3qX1rP08puU1HkoOxjINhD8BQYqDD0jL2O5KiA0CCtZnzXs2HzpsEnnBW0dXhMeKO4YaxWsXF898z+v0j3E8mrFXbEbEtBeSdPIx+EOGWuPyK3A7o8OweSDLBKTVBTWSPLWs5QWCVeFngVO87MLC6vJLa1vk0TCeNQK5iCPOL6CjYBVrIqM3BrmSwAsIPbIpujj84MDTXKwINXwT15hMKDImWvI7c1bxffc1d+tLotn03v6ygkpj5bR9LEkSfL9N9DhJIzSdaSFpjXBXcfM/hrXWvlczkfRNQSWcOHSphQ228hf0FaPqbsLuqDMPJ5K+m2A87UkWz2YBNAolimhozmDz1JM75HSp0fKpq8F5rl8Mktg0yNHKNKAMArTJxIQgy1aV4h11jZVJxMgSWQl8HoqeIyc+x679oK07b68koHoj4XaOEURcdEuBhTfWw/OxyHgIsF6P8ZdZEzmiDvlRvP3QOT87n1DF46ZCFXeDfQ8QAh0tUTn9ZVs1JRDovwFdrcdslcgW5aeubH16mW21R0+vKu3+DZCJwUl5UyRj75O2qDd94gBogCD84agRRqYIKFV5gALGiKuabpOBR3a7ZHA+oPCmd/zx6XnMbSeInEFymFwGf3lNz4XkNwmG98DUETkeDBcb4pqqJEx8NZQ877N4ijqSuQyyTXf2lHSddv6WUTVm49wIUx90Dh8ogGAmhhjd75KOSwNMZZfs3xi5GZhj91zmZ3KaBgcR+BKZMpsnLQUK9zOJ5g7zGTPbAUuhxoG0yTTzBXhkGerID9pnh0Qjaa7pISaRJVPKXlrWd/irEsf5bK/b8A4RNiOCukWzdQ5KV+/rl1u+eKWn8XP9CGj8UQCzbdzila+EG5m1gV4jwRUy6hXL5aPXg5t9ZOtypJAH1MJa08lR0mxNzUrYFQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BauH34mKDNHywxcEa8KhDg",
      "input": {
        "note": "The brick now appears left of the jaw column and tilted ~30° in the left wrist view. Shifting ~3 cm toward it, reducing yaw to straighten the brick along the image vertical, and descending to 2 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.25,
          "left_yaw": 0.45,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BauH34mKDNHywxcEa8KhDg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.5991, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.2902 right_y=0.0038 right_z=0.1669 right_yaw=0.027 right_pitch=-0.0542 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -14.188, 6.4752, -0.4957, -0.4567, -0.3443, -0.0562, -0.0752, -1.3333, 7.0632, 1.6777, -0.1148, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578647b2cd45db0a8c68c8cd89f53022eadcba52edc10aed3a5c2abf3e9db968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f9d0badc47a9a6bffb76594879cc285b79942fb43857b74376e3f2a408b16e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:030f8981c431be6fc9f90844e8af1768a2bb90512bd851ee802180798f74f868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 11.43 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]: [-0.9855, 2.4081, 2.0373, -1.5578, -0.8627, -2.0617, 0.9996, -0.0669, 0.8055, 0.6056, -0.4103, -0.112, -0.0177, 0.9978]\nstate[eef_state]: left_x=0.3364 left_y=-0.2583 left_z=0.0829 left_yaw=0.8735 left_pitch=-0.0855 left_roll=-0.0057 left_gripper=0.9996 right_x=0.2915 right_y=0.0038 right_z=0.172 right_yaw=0.0266 right_pitch=-0.0387 right_roll=0.0686 right_gripper=0.9978\nstate[joint_eff]: [1.0051, -11.5761, 7.3368, -0.4274, -0.5006, -0.4029, -0.0562, -0.4034, -2.1402, 6.7077, 2.1026, 0.0513, 0.149, -0.0269]",
      "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]: [-0.9817, 2.5267, 2.1696, -1.565, -0.857, -2.0621, 0.9996, -0.0669, 0.8082, 0.5991, -0.4149, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3484 left_y=-0.2747 left_z=0.0608 left_yaw=0.8791 left_pitch=-0.0924 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2901 right_y=0.004 right_z=0.1674 right_yaw=0.0278 right_pitch=-0.0523 right_roll=0.0689 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -11.9726, 6.2974, -0.4762, -0.359, -0.3492, -0.0562, -0.335, -0.9641, 7.5009, 1.7265, -0.105, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.5991, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.2902 right_y=0.0038 right_z=0.1669 right_yaw=0.027 right_pitch=-0.0542 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -14.188, 6.4752, -0.4957, -0.4567, -0.3443, -0.0562, -0.0752, -1.3333, 7.0632, 1.6777, -0.1148, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:578647b2cd45db0a8c68c8cd89f53022eadcba52edc10aed3a5c2abf3e9db968",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f9d0badc47a9a6bffb76594879cc285b79942fb43857b74376e3f2a408b16e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:030f8981c431be6fc9f90844e8af1768a2bb90512bd851ee802180798f74f868",
        "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_01HZGJRSqULrcf7YBrNQkcqg",
      "input": {
        "note": "The left arm barely tracked the yaw change (still 0.88) but the brick now sits nearly vertical between the jaws in the wrist view, slightly left of centre. Descending to table level with a 1 cm leftward nudge to grasp it as-is.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.338,
          "left_y": -0.27,
          "left_yaw": 0.88,
          "left_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_01HZGJRSqULrcf7YBrNQkcqg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0189, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.0268 right_pitch=-0.0553 right_roll=0.0695 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.1333, 6.5436, -0.486, -0.486, -0.3541, -0.0562, -0.1846, -1.2513, 7.0769, 1.6825, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b6a08b2c9ad2e70870452290a65db19bb9612e733653875269c39c7f7f8a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71725f31a795371819963375ff7da6008508a47ebfe08feafc7b82eac8cbb172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4abcfdaa4c8feb58a161ff84495fc3c7ca94fd852b0961f30c0fc20d8dc9a623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 7.621 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]: [-0.9817, 2.5267, 2.1696, -1.565, -0.857, -2.0621, 0.9996, -0.0669, 0.8082, 0.5991, -0.4149, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3484 left_y=-0.2747 left_z=0.0608 left_yaw=0.8791 left_pitch=-0.0924 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2901 right_y=0.004 right_z=0.1674 right_yaw=0.0278 right_pitch=-0.0523 right_roll=0.0689 right_gripper=0.9978\nstate[joint_eff]: [-0.212, -11.9726, 6.2974, -0.4762, -0.359, -0.3492, -0.0562, -0.335, -0.9641, 7.5009, 1.7265, -0.105, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.5991, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.2902 right_y=0.0038 right_z=0.1669 right_yaw=0.027 right_pitch=-0.0542 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -14.188, 6.4752, -0.4957, -0.4567, -0.3443, -0.0562, -0.0752, -1.3333, 7.0632, 1.6777, -0.1148, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0189, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.0268 right_pitch=-0.0553 right_roll=0.0695 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.1333, 6.5436, -0.486, -0.486, -0.3541, -0.0562, -0.1846, -1.2513, 7.0769, 1.6825, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b6a08b2c9ad2e70870452290a65db19bb9612e733653875269c39c7f7f8a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71725f31a795371819963375ff7da6008508a47ebfe08feafc7b82eac8cbb172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abcfdaa4c8feb58a161ff84495fc3c7ca94fd852b0961f30c0fc20d8dc9a623",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8w0KEAgRGAI4AUIIdGhpbmtpbmcSDNS9rTHH3/sinxnkChoMDLXqNjdgHKOnJ/DqIjDdXBKnS91w931/3R/xT0FH8jaN1ioO7IJRnfmu+yEv40RKgs1XZsK2dKkooqqpLJAqkA33D/C3XBumyg2h1JouJQS43X+yP6G3f7N4XBN0KyAiZ1rqIQv1+qLYtImhWvPJSRXcPeoyg4q/vXiKFPJQobQOV6aIXsBRNBE7x6UevDu+H2RIMp/udApzqGq1V0lM3oj+KpEalImuyBwLfywxhpK1hKmWv+/MSrZ2AprXv/LfIDfBfRgOZXN+EiUq8ycEz6EVzpSmPp8LsmmktuiEla5P45D9ZP/e/TmIvk+fpi9DNR/dAIhVgrEf4Mrm0dq1zdP8kIcQCTlejShoPXwG4qQMf9O+nUffZDqfoLRq74Uz2ZRS1R1jbpIVgjq2mwBchKD6LBVFSNIjaevLtifn403bvAWBqzfQ36+M8f+UFSyci7XacwLfXIrpfJ4FTqVOmsgPim3FHUwINKPNjlv9kKd0m3jdwIQXw5CfIAVxHYf3b3WN7Rsa8s6JbpnyRprMRcALKdemGCdW5HUc0+7UnC0tVWnWBjVIbiVonaAsfpUMl0K+LZ7Ia3X/eBe2U1SgFdLj0kv7JFE8NHSEWvyQ3nhjznJPooDkUC1Lz//UJNh2PLmzZjFM2j4wCXMwaRBEnjfHEMd7G5HwiZoPFkxt+USDGSZJDfVtO88YcblNf2j2+jGtUYk+QlLTZ+0wY3iG8+XLeki5qJfeVRk824YsGw44asWmZ8VQRErCR2nG+SlfE3naYDnMkmuGt4y5UgO3HlFXJ6L4oIBQaB2Plr9VH8neZMpZXVR40OsTkm/FrsR98tCM1sBIfUJd338/jF6ym8f4n1fO8mHo11/EVuqjscSww14CS+k+W87qqa7ptyl9rQiImgifmzLJGqikfcpDFpZcNoRKspU3Co4Mm7J1fw9/RHn83akkvkqT9/obwimK5WQzTe8EDXKj1isT2n+Z/TTKjEjiNTL941oZhCWCzM4GdHGnWLJheY5UDdQbCfPCkiZrYwZxCf5eKWScL2rzwHHVDQ2NABMEi5nQ9QAx5No9ZVxdDp7S9G4tRUa4YIHd2QkaS2LQblaOe1rNQ/hAiXUZFB5KWxujUHO0Oc26Rao3z1/0s+V80NMrvrMv3thlNgTosvBDDAiVP53TOTVOpQDXLWR5qXMYfejU2oKGmlHyYXy5pif/VKov9NtrEDtGCdzCUPJ56a4p+HYAnqnTCm8+h38sBOPgeWDjIqEnAqHImk41BkwanmU9nMf29SCLs441dtTjMli3zLh9o8H1PAj851b0bh2AhczlhKqfMpQffTG9GYVsrrLCwPWLlezQSVZjhDg7ncHa2EliTEId22NEKY/Q2MYORblPjx3ZOeiXTQzwxGDikxUoK5KzcLCM7aAXSpmVmavZVcLtMmg2vBiztxJftlPHc97selB/PY9m6vusRJm2r1J9E1W3LVlSc3J8b8oK6uDdC9x6kX9osZPqiOdlQG5RE98CzCaNBp2aKZ/+HgpR80ak0AzJbAOxbEepfPLdPI/10C06SFLYWr0eHpneyKZHibtH2tIdzU/8WJc46foJR2raosU5p+K8kdFOyymrJTQUeVWrOho/W7kg59M9NR94n/EyRrKOQmTZFeadyez9q0jdDkcoIoWmfgeuYRnnw8BJGfC9KWT2ZgGwciYj/ya88Z1BGA2UjGaXp8lp1/vE/vZAue2zoHR81hkA0SJc0mYcr8mo/9twXX3SwoqkCOHdFvOzy4/Aljfj4vAZSAGKPJ8Rze6vM8udL0JnLtAUgNc13ta3rcKq/zdfkGugO5TZBuhW7Qi4ClA6/eLLXyM16j2qiFOIxxxTBOk5gT9mH1hAgTHTk+YIBQFCiA+Kk1o61PzctOGkvo4Qo4SfU2GE8j//Tib3o0RqKU401KutaxQgm/8YdlrQIFpsQAPpDPhSoWRGPVO6tVjYQrWlEmZDuWokgSEnGacrwVZKGNmyml9weNPbhoXqyNrlKh5pNRa0LnHkfFo/QGBWpw/QZmwgJw+iNYJiq1zmKnWMCyL8e+TqIIJENSClV9fBxzTkNz8PMyAlJQ8BTIdJJ+q9CFH/WdkmD6rcWqdRN0k8QbMqCD0+EeLptuei9CO2ywjNrbxaAECchUOYwdgYZ/A8rgdh/mGT4UIwKuP3RuYfRs+JwKfuYTlKXKnKPjwLZa6zu3SasaJKXvVZZAj1iCqbXB2TmUc8MseUv3gNcbjgghB1wziT17rQaVDj3Ds2a+7se68ID51PmyGscdD2b9Kt70e0W05PzOLgXupegLhIDOqTFKEmTnO+nifNpjwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CdaRKbrRfjzaNUWrRnnQMw",
      "input": {
        "note": "The descent stopped at 4 cm and nothing moved, so a fingertip is probably resting on the brick's left edge. Lifting to 9 cm and shifting ~2 cm left to re-centre the brick between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.26,
          "left_yaw": 0.88,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CdaRKbrRfjzaNUWrRnnQMw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.027 right_pitch=-0.0553 right_roll=0.0692 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.3248, 6.5983, -0.5104, -0.4762, -0.3443, -0.0562, -0.3761, -1.2923, 7.2137, 1.7265, -0.1148, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847fa7963418f186541b88ee749e8484a9e060bae7c30110986dac9173358525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f55c9aa45d3101f8a618b03f07d96cdcd15e83311bf7fa04a79ba1566789e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b887f6383cea45142350de34fa52ae5414bb240481ef3afb453d284f65f8f64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 14.65 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]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.5991, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.2902 right_y=0.0038 right_z=0.1669 right_yaw=0.027 right_pitch=-0.0542 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [-0.1436, -14.188, 6.4752, -0.4957, -0.4567, -0.3443, -0.0562, -0.0752, -1.3333, 7.0632, 1.6777, -0.1148, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0189, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.0268 right_pitch=-0.0553 right_roll=0.0695 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.1333, 6.5436, -0.486, -0.486, -0.3541, -0.0562, -0.1846, -1.2513, 7.0769, 1.6825, -0.0611, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.027 right_pitch=-0.0553 right_roll=0.0692 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.3248, 6.5983, -0.5104, -0.4762, -0.3443, -0.0562, -0.3761, -1.2923, 7.2137, 1.7265, -0.1148, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:847fa7963418f186541b88ee749e8484a9e060bae7c30110986dac9173358525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68f55c9aa45d3101f8a618b03f07d96cdcd15e83311bf7fa04a79ba1566789e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b887f6383cea45142350de34fa52ae5414bb240481ef3afb453d284f65f8f64e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QcKEAgRGAI4AUIIdGhpbmtpbmcSDCOrBniwVL7kYrc1VhoMk8X0fvB5Z11/jV3FIjAruJUR3QInUySLlYIsOXtmVKq2vLwlavO5bOt418tD58HwQPa46sBhFGqsuh/R8tUq9gacpwBDcDxb3UJ9Z4zMhNEqzSI8LQ6a2zJ3VPwWXh+BYKfMY6BRKwshPUSoMNU9rV8N9gIxXMYGPPBb11yzDsPpNbwonIMY6aKUvtLHQAhu9plMTbZFs8OXhKhDLY8M8Bgd3fcYRcJfd+kW4E2N8UuJ3L8A4CJGrtJJdIpPvic1c6ljhacsDGL38QjlValkbVb00uOgbnxfdCqUQKIAK10OntiwUrynWxLoQihxLOAfJ9ORlL730hUaaEMFgPd2Y3OXYMGHOZ8VU6bgg2ShgWNeBInFyVkGOOwpOIPNCIvzfUUPNI3UkTfsYoOqBE17/tE5JgZMn1rnyk3MESpGDSNbSS8zQc8VYMhVS0/MwsK0NkdRiYw4ue+cwCG7AMi0nIhoFNW94ByLvSNxUL/64oXVH+lgGQldu84VNrUOOG+Ods8C4lu9DEzpzc4/XNLX1DjjU1D78KaBFFD1KnVYV3GqHdxdtQfedYZ3EZJE7yKpHkzLK4CzVRB/rHq/nFmvYQiTXDZBDlGHrk/4Yb9VCYX0rxcC85+HbOTa5/bKEBrEQe9Y5doi8EV6WXMPJNWHT8TkcTDfltMSyFx0jlobd0RA6giGOIN7V/e1U0bbmsdfBS5b8i1TcBS6NyIVZZfe7eAYmpftdb7c0CnOb8T9pQJ/nZjK+hmrYrsLQdsEIwO5VHk00aklzSLKNDC0+X5fvcrkiUVLH4K/36UQqVZv8GKnjghKyvEhzYL3LCYtOfxrPq3fMlJexkIR73O+Y8njbbiF0+9yzxUX5baAdhpIWcSYaBQo3QDNB9A2qOGrbxOWCirsg8pK9iPzw2ObKnUF34r7Fiy4aChkx/gbObKR0E+tgtkePeTtw2zVOZuB0o6WGdyqwsCeIkspaMJGRbMDTK9IWDBM3KP5U+x3X+4H5LfNWDOPRxulbownJxxjdxBRnXZzdrIqtj7jYCu3PhmsDJ2F1IW/rE+FEL+DTwKjgFKERXVkiqWNMhjyiM0KHg3LcrWscV212yhocchD+W0oVl3otODlwJknLd0mTGzmrMTw1sZed4znD+uFcz3oNtHQ9nJXNA+lP8S2sUb2WTnLyqmqtVkbmjwJd8lNqVbtT6Q40Itjpxtk/7Ysy9zN8vcAJbTV3tE0OcupJPR+n21k7Mt8bdNu3dVNH3soRhf1bmjkj8OJilgpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HNNGHhFPeJW1M45rtEtS9n",
      "input": {
        "note": "The left arm is not responding to any nearby target (joints frozen), likely an IK dead-end in this crossed-over pose. Commanding a large retreat up and back toward its home side with yaw 0 to unstick it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.25,
          "left_y": -0.15,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01HNNGHhFPeJW1M45rtEtS9n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9783, 1.1294, 0.9272, -0.7959, -0.7689, -0.8948, 0.9996, -0.0677, 0.8154, 0.5941, -0.4217, -0.1123, -0.0204, 0.9978]\nstate[eef_state]: left_x=0.2534 left_y=-0.1501 left_z=0.1948 left_yaw=0.0995 left_pitch=-0.0792 left_roll=-0.0361 left_gripper=0.9996 right_x=0.2888 right_y=0.0039 right_z=0.1619 right_yaw=0.0278 right_pitch=-0.0712 right_roll=0.0698 right_gripper=0.9978\nstate[joint_eff]: [0.3487, -2.5778, 6.5436, 1.4432, -0.3541, 0.2515, -0.0562, -0.0615, -1.5385, 7.2684, 1.7851, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f109575e754ed71da437e22766309176fc2c276014db7b444e7b69ac2e57fe96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5cb4166e15773be5e8592bad993c4a69d64b9994432f228e33a3c11ebb6393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b08f400ce30ded39821e6449c6488844139d5cf550b9d159d7007ecf0c18374b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 9.372 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]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0189, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.0268 right_pitch=-0.0553 right_roll=0.0695 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.1333, 6.5436, -0.486, -0.486, -0.3541, -0.0562, -0.1846, -1.2513, 7.0769, 1.6825, -0.0611, -0.0415, -0.0122]\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]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.027 right_pitch=-0.0553 right_roll=0.0692 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.3248, 6.5983, -0.5104, -0.4762, -0.3443, -0.0562, -0.3761, -1.2923, 7.2137, 1.7265, -0.1148, -0.0708, -0.0122]\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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9783, 1.1294, 0.9272, -0.7959, -0.7689, -0.8948, 0.9996, -0.0677, 0.8154, 0.5941, -0.4217, -0.1123, -0.0204, 0.9978]\nstate[eef_state]: left_x=0.2534 left_y=-0.1501 left_z=0.1948 left_yaw=0.0995 left_pitch=-0.0792 left_roll=-0.0361 left_gripper=0.9996 right_x=0.2888 right_y=0.0039 right_z=0.1619 right_yaw=0.0278 right_pitch=-0.0712 right_roll=0.0698 right_gripper=0.9978\nstate[joint_eff]: [0.3487, -2.5778, 6.5436, 1.4432, -0.3541, 0.2515, -0.0562, -0.0615, -1.5385, 7.2684, 1.7851, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f109575e754ed71da437e22766309176fc2c276014db7b444e7b69ac2e57fe96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a5cb4166e15773be5e8592bad993c4a69d64b9994432f228e33a3c11ebb6393",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08f400ce30ded39821e6449c6488844139d5cf550b9d159d7007ecf0c18374b",
        "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_0179n5YqvoPWbLF9wR9PiLVq",
      "input": {
        "note": "The left arm is free again and the wrist camera shows the brick ahead-right with its long side along the image-x (jaw) axis, so I need a ~90° yaw. Moving back over the brick at 15 cm while rotating in stages, first to yaw -0.8.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.25,
          "left_yaw": -0.8,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0179n5YqvoPWbLF9wR9PiLVq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5892, 1.3991, 0.8333, -0.2054, 0.0532, -0.0467, 0.9996, -0.0673, 0.8173, 0.5941, -0.4225, -0.1123, -0.0219, 0.9978]\nstate[eef_state]: left_x=0.3216 left_y=-0.2219 left_z=0.1198 left_yaw=-0.6307 left_pitch=-0.2009 left_roll=-0.0535 left_gripper=0.9996 right_x=0.2888 right_y=0.004 right_z=0.1612 right_yaw=0.029 right_pitch=-0.0738 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -6.9128, 9.6752, 1.8632, 0.0904, 0.1734, -0.0562, -0.1299, -1.347, 7.1043, 1.6484, -0.0757, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a002ee8052e81f251b635f04afbe608b7e171b59e1e23dbb35aaf15036c2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e0aa2849e103560fc4e80e96bda7be1dff4572ca31b3edd9f04cb209651942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71f9f3fa105bffaca03359f1e62d30476dee8d44a2a2f0d4bba00fa36789b129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 13.44 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9867, 2.5786, 2.1788, -1.5597, -0.8532, -2.0621, 0.9996, -0.0677, 0.8097, 0.598, -0.4152, -0.1123, -0.0193, 0.9978]\nstate[eef_state]: left_x=0.3464 left_y=-0.2762 left_z=0.0408 left_yaw=0.8788 left_pitch=-0.0851 left_roll=0.0263 left_gripper=0.9996 right_x=0.29 right_y=0.0038 right_z=0.1664 right_yaw=0.027 right_pitch=-0.0553 right_roll=0.0692 right_gripper=0.9978\nstate[joint_eff]: [0.0205, -14.3248, 6.5983, -0.5104, -0.4762, -0.3443, -0.0562, -0.3761, -1.2923, 7.2137, 1.7265, -0.1148, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.9783, 1.1294, 0.9272, -0.7959, -0.7689, -0.8948, 0.9996, -0.0677, 0.8154, 0.5941, -0.4217, -0.1123, -0.0204, 0.9978]\nstate[eef_state]: left_x=0.2534 left_y=-0.1501 left_z=0.1948 left_yaw=0.0995 left_pitch=-0.0792 left_roll=-0.0361 left_gripper=0.9996 right_x=0.2888 right_y=0.0039 right_z=0.1619 right_yaw=0.0278 right_pitch=-0.0712 right_roll=0.0698 right_gripper=0.9978\nstate[joint_eff]: [0.3487, -2.5778, 6.5436, 1.4432, -0.3541, 0.2515, -0.0562, -0.0615, -1.5385, 7.2684, 1.7851, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5892, 1.3991, 0.8333, -0.2054, 0.0532, -0.0467, 0.9996, -0.0673, 0.8173, 0.5941, -0.4225, -0.1123, -0.0219, 0.9978]\nstate[eef_state]: left_x=0.3216 left_y=-0.2219 left_z=0.1198 left_yaw=-0.6307 left_pitch=-0.2009 left_roll=-0.0535 left_gripper=0.9996 right_x=0.2888 right_y=0.004 right_z=0.1612 right_yaw=0.029 right_pitch=-0.0738 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -6.9128, 9.6752, 1.8632, 0.0904, 0.1734, -0.0562, -0.1299, -1.347, 7.1043, 1.6484, -0.0757, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67a002ee8052e81f251b635f04afbe608b7e171b59e1e23dbb35aaf15036c2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6e0aa2849e103560fc4e80e96bda7be1dff4572ca31b3edd9f04cb209651942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71f9f3fa105bffaca03359f1e62d30476dee8d44a2a2f0d4bba00fa36789b129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1AoKEAgRGAI4AUIIdGhpbmtpbmcSDHQYLxNGz3OWo1T5VRoM4PvZXQ5auaefvUoYIjBwvfngQtPRmcX2J+djj+ETuEmV4uTq/Xuc+VNDT4IGNWp3lK1m2XWktS6GihpMrzcq8QnV3h2yWKzUlIg5Dgyxbix/jlL+aNfR4Pb41ztHeyLYLGVgRcNKtIhapiNCmjSA4gdR55Kh4sLXyMDJ9Qdow4+9AonUFjrKUif7ijrRgv9vVprVedg+yQ5lUwQNsm5FK0vENQUt+T410e+Wi8CPX1RA8AUihrb+0S5/r4tjcBvuG0QrxcoZJ+5I0a4gyqYB0fwF15MkrURpP2SAwHCqYYXE8TSz+Moeo0lD74XY2+PSRXjLJEuNqnTa3fSc39n09vyOVzMp6uklvC1+MqrNpEcKKuY5hJ0gvgNjHbkGLWm5SYw9jOqm5K++ot4QA381DDIwwwvYuiC6tut3zibGbATAOA4ZqYVLkHh3R8a0rZpOK+tiRif3OMHEUu/dTqKxZPODcDVQpQ1B6PaeMmaCKjpSHetrHq4gZpSriecc3GaZYsNGV0gtqgnoZgcdW9O/g0XcbIi2CfzMt37IpWNnbzolHCwkwP7RwpqiJ+8am9LDThEqaiZeZ8bh53Lv3VIwsgkGoGPUmlHRxgbZvSIIJwyY0puwE4jXYww7MdUEYdS07OC7XG+yPWqnBHKhsf/xApbLr9JGygEfkC5yWImFIPkwOGNeEO2Z4NJeuCcjvhwRO4uHMZb5NcSoUrd40f13bBq0vHyutLzvhYVTKXx0yHb+DGgo3D3KkNnMcHSIyG+zGim6eL4AnS+g0s14ylZcs+vVQJopjNug/fJ1cQQDT5sBB3jUB2KvjgBt7OsZCFHntLnpC2MLWPbmAMYySuttKCQnWyFeHOC/BtzyyLWN9PkyqcLixf3U8LeRSRVJWil5uohu7sC+JPufMHjSRAO6E9lVEStglvr5zlUsJcCZu8NknRb3An9LvF1VHVEDivheUL6qxZmeeoe2bFWbH2afF8HhKGQPivqC2xYtRotjtW4PYCwX88BqlxtEHRtaYUG/Yzv/TKh0sOoNSLCEhcvT5tcnrZ1pJdj9slH4wA3iT/iZSwL/0faR00lg+ubsuCSJHrh9cTGfRcjdRbfvJfRHPrfaGLv79WJK0TJuoI1fvq3dihJDQanhyg62SUWxfVVZIHj683wEKN1wbpcdT3XJ+OIpZE/lxPd0qBgxllKEJ6wN89yZhuH+rQ593dwFpaaFuHlJjgTLwFTDHaSm9XJ1foj78DGFJn7CD3bpW7MmSYa1aS8ZNvlgR1uvfgZzU/vpuejgZSNGJAC0kRHvmPoqRGyMUJB0BlZe+5WfujEvUuVrWogWC0nI5cuA4RB5ClwTfbaqE/BB4AxQ3BwpX0ZzOxKSfoj8R+6l/hIkM/Wdvj/HDv0a4d9U0CFZud4/VKonZ+troYo3KfzgnNepsuMbnk8y0ZKSlG1N1aFtnZ2ijbjNisygs/N3bdNzEE7BMsnWC+pLVXL2Pw4ywlnEL0fWwBCCIYO3rTCkZT0wDvKGpMPx2AtpmJfwYB9v7V8sG7vMV/zUPCvVHHd45qJwi2VBqvfDV8D/9eMCpRRZNIQ4YYvEtXRiaK6l873UKOh6nwA6guW/a+fJ1wssEGhH3mE9/DjhZjqO9wxW5pkgj1TWYNjJGabyAvgnMQWyfgMGiK4iptjlUG6tF7KWNh23skExPcak892lvSQL39wrBphxLQEJdnB+Nz4X9BoIzupZ+VIvG7WUeoB0YWFfSsUo1Tbma7/wGyD6LQCFOIl+zjWvJtmRlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JA3gP588J5gGQTW4xdvsoD",
      "input": {
        "note": "Yaw reached -0.63 and the brick, now near the jaw column, is diagonal at ~45°. Continuing the rotation to -1.5 so its long side is vertical in the wrist view and the jaws close across its width.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.24,
          "left_yaw": -1.5,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JA3gP588J5gGQTW4xdvsoD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.355, 1.7512, 1.2266, -0.5854, 0.6128, 0.7162, 0.9996, -0.0677, 0.8207, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3456 left_y=-0.2326 left_z=0.1089 left_yaw=-1.3043 left_pitch=-0.2546 left_roll=-0.0827 left_gripper=0.9996 right_x=0.289 right_y=0.0038 right_z=0.1603 right_yaw=0.0288 right_pitch=-0.0772 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -9.1829, 7.2137, 0.8523, 0.5983, 0.232, -0.0562, -0.1846, -1.5932, 6.9538, 1.6435, -0.0708, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9381603a82c3bb8849beff00efc31ab014cff2cbec09884db80addd88eda32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7603273c5de82b6956d2a4691139a0a539cc904488d6bd63576488d56bf351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca03c24a4860d12ff54b41de7b0628b52bf3b68c756167256f4b8ba955e44d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 19.9 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]: [-0.9783, 1.1294, 0.9272, -0.7959, -0.7689, -0.8948, 0.9996, -0.0677, 0.8154, 0.5941, -0.4217, -0.1123, -0.0204, 0.9978]\nstate[eef_state]: left_x=0.2534 left_y=-0.1501 left_z=0.1948 left_yaw=0.0995 left_pitch=-0.0792 left_roll=-0.0361 left_gripper=0.9996 right_x=0.2888 right_y=0.0039 right_z=0.1619 right_yaw=0.0278 right_pitch=-0.0712 right_roll=0.0698 right_gripper=0.9978\nstate[joint_eff]: [0.3487, -2.5778, 6.5436, 1.4432, -0.3541, 0.2515, -0.0562, -0.0615, -1.5385, 7.2684, 1.7851, -0.0952, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5892, 1.3991, 0.8333, -0.2054, 0.0532, -0.0467, 0.9996, -0.0673, 0.8173, 0.5941, -0.4225, -0.1123, -0.0219, 0.9978]\nstate[eef_state]: left_x=0.3216 left_y=-0.2219 left_z=0.1198 left_yaw=-0.6307 left_pitch=-0.2009 left_roll=-0.0535 left_gripper=0.9996 right_x=0.2888 right_y=0.004 right_z=0.1612 right_yaw=0.029 right_pitch=-0.0738 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -6.9128, 9.6752, 1.8632, 0.0904, 0.1734, -0.0562, -0.1299, -1.347, 7.1043, 1.6484, -0.0757, -0.0073, -0.0122]",
      "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]: [-0.355, 1.7512, 1.2266, -0.5854, 0.6128, 0.7162, 0.9996, -0.0677, 0.8207, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3456 left_y=-0.2326 left_z=0.1089 left_yaw=-1.3043 left_pitch=-0.2546 left_roll=-0.0827 left_gripper=0.9996 right_x=0.289 right_y=0.0038 right_z=0.1603 right_yaw=0.0288 right_pitch=-0.0772 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -9.1829, 7.2137, 0.8523, 0.5983, 0.232, -0.0562, -0.1846, -1.5932, 6.9538, 1.6435, -0.0708, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9381603a82c3bb8849beff00efc31ab014cff2cbec09884db80addd88eda32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f7603273c5de82b6956d2a4691139a0a539cc904488d6bd63576488d56bf351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca03c24a4860d12ff54b41de7b0628b52bf3b68c756167256f4b8ba955e44d73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuBAKEAgRGAI4AUIIdGhpbmtpbmcSDE9KqhHf1R8k1XgbCRoMic0XQnImB0I7S9StIjD/zQvX4a3qfitfHlmk9tGuy+yBKRVHagF9Cj4OOR3MqCNiumOO11Lfbv4LUqFaQeQq1Q/IeHihR95CgZTXI6NcfbarmOoXe8rkS1c8MJ3la6nVyMXCrV2bWW3s5Z43EUhfGSp+jV26upDF2YkQMDyuqSaAb3cu3A/4ArSpuqRajMUyd0M0xQ2/bvr25OJ52f0a5cMxvTlhRe7rPBzRMaVcyFyc+ojX39/RCk7FF4GpiNY16JNeQrijpwcemSakLOQoqFYDvdHwHb9LcLix/tiycYGFAysH9DC+EJNSCJCNma3aLF4vV3PiQCmBsiHFbaCrQNhiHEAR/6h7mm818gobxiIXZCRNt1JoF9qeU1Uj6CmOh+dy8Ke25w4dRfRaBUrSuBK7nAIMKukHJD7kemTjdV/yYMDFmcIUFElzm3HccOkgoj7qcNSEOZWOXck+ayDKyAFmikVUcqW4SB7fRCgfmArOvxM2K56AY8+EjQsmYVXjTzm927wFhpO1Cq1xk+vL14Kj7B7rOCdIM5cQhumeviLQle98Mo3WSropRU9mv7k1TTI0tc3/rmX5npCMUV5xCXqnO4VBBWIJo1OUSMv6XXskCbXdRi91O7lTlhEOUXQ67vFcNYMwn397C6PXP8htdXmJaerZQLD+08vbN3P3cURCm/P+NtOUGMtSnogLygzMzIFAGg+4ndsofPni8JxI5ymLl2IRvFGGKS4TuR2CheG4kN3ApIyEVPsSj5WDubzRBkuzUvPsqCrxIh8Lju/AVM+xJa09iPZQVDzl/QRHstrJjUFsH2JGcVJItE6vj3gDY7PLnU16vsCrjADgWpbiWZUs3PVt2kPbYd3VSVB1z1PuSeZQx4oLY3rf7MnS4ZnCIa4PcGB7U3d4b+wsmzXzXNY8QOu3ovFNOozGTf5h5rNNmFSLOfEZuUAES4CqjuQgZqT+YmSD46KPAS1kTWryVwvufUqIxcnhVOgZG0Y7go4IEK07DAIwrwhbCEic1WYCFYAWKtW8GF2C9ACUEjtcEziNnlyZ1OAmiSrsfOIYKrJhIVR3anwKSTJQtXPBRbh/QsLEcYE5WyqIAoo94g9miGlM1+GCkX7jfZTsTPuCT45fcBz9XUls84yl8+bp+/KQur3x6eaKkQuC0z6LhUhO1nq/T4BXNmR8POebPY1318OxenkN0F90DakJtLU/n1K2HAFFLPXd3+F9Lic/wn6k2OWUPQkPcYC4wXlI5Walwun7i0z2lnt+9uHhVqe5HJ/QCAyI7M6Uymzm9Wlop3C4iRPyiJ5NkXycZQ3F+hNJkYnxk+QqU6d4e8ooqrrFxYJ61yLpvotzKp5tnHkxWXUthVszmg3uX89AhQiRyxF6izsCjKEtQOe1DxT4kxA4+5JaDIryNZOuA7gNyyk6uKKD8QVbRmr5M55D7SqlMyR5QBBFC8t1QUPsw/65TKvfLpYNGGEhEG5O0TOWTwxWTwfG6uboL5XfjdcqW9I2Kn+fK/7bCY7rmoNNrHgVRPBObsgrlvEHr/qfmEQWg++RXqIY9jUbqX3IZSEG0/ki8X04GeFrFn88gnwUESF20YpmLx9z77kYx7BthWvZKA3TmmkvvWBHRccH2GClFT8G1S/S5nIme81E8RQxjugY/mRpuOvFxehAg0TZdLu7V6Sp+1YlsrdHXhERR4gqQ3MbQa6Yj+t84OwisFvkZpspxfx2+tprty66xAykWOJ+jyKJihBju5J5LIMf74kwj+xAoEp5oKYqQa15EzlFS6jsWAnSfTHx1aa3N9hILfdGo7cblhdE6b0/2XUmZ0pQ0vguaQ24bc80GbkszgK8xFRUmBf5ZxVGVQZHXyqJrqyKoahNp1R6MfYtfGS/0vCB1he6TF0TmsTFhpKG9TUwCMXcr5wc7LsvSsEvfwOGPFi9f1Zw8p/HDE+LOihM3Wf30d5nPDVzg8g03koMQPX4T4L6K99TB+PvWDHL/14KtDLyCc5K3xe/PYS30w7GHrArLp0s/cWmnOepqPeS7owMVyCBIuBR6i5PfFSoGKXNmBC9EPgrjDuPsU0coZtTX/6YBEV2pxIAaoc/A4ff9l1Oo11JQg7J8L8sdM8b6LjXlJHcee4w0xkg9AJBKaRhxXVWYXJDtMs8Ly1+CKLSszFfApf/gD2o0oneTS0Nl1/sAkhdjBoWOk1iSJlhX4bDleVzhd3dvBZbJKuMjDrG9B1fXVPQKDSlab3kGu483k3srJqOS8h+YvlyQyw1QBPBnjKGSRn1kQWETkrzFe+cFoRJwsmaUYc1e/GMbfoWrgoE4dRFt2vD+d8juIUx7PMGGtc3CcZL1PxnD6Vu4ZRbyvCt8MNXizS99U8EYweQf9ha3zSSlV0Z6XvduF0VlXO62ndh6wkG7fvir4TK5RI/YAwZ92T1v9W9bk5EgZ16m1wo0B9PdlYEs7svDNMTxpT4YU1QgAqwLFg3ecVufGpyly43G+7A0IS6jL9eoD5PmAEI4oBlbvs3Q1sW9MT29QoeGKkjW+LNIRqXilrwttRxzgbl1hw42jgnioARzYYO0a9Aqi3Pqki7TqcuUTehRJ0LezvlGwUyo2ixk1WSBbgKz/eBbtX8MxILCmsaHnaa7sIAqtldJaP/AbDFjYtY2CzF/b+7msZLL8Fy6Aw9EWH/T0z2h7kf27/jpIusS4WMjwkDLQAUiNZz1VZaBPh6Bl4OFJuWBLuUqJB1cifFsSysPyyQh+8ST68wZjTNcWYR53m7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XXqofbCzmoGNxYrR9yMNqd",
      "input": {
        "note": "The brick now appears at the bottom centre of the left wrist view, i.e. close under the fingertips, apparently with its long side pointing toward the base. Descending to 4 cm while finishing the yaw to check alignment before the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.345,
          "left_y": -0.235,
          "left_yaw": -1.5,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XXqofbCzmoGNxYrR9yMNqd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3431, 1.9381, 1.2186, -0.5587, 0.6796, 0.918, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.339 left_y=-0.2352 left_z=0.0436 left_yaw=-1.4779 left_pitch=-0.2757 left_roll=-0.1254 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.5265, -9.306, 5.7778, 0.9011, 0.486, 0.0708, -0.0611, -0.212, -1.4974, 7.1179, 1.6337, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78780821cc500baad481c692d31476c3d779a7b65f91323ca18847f7f55d4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37f74658351f113b0a9f97ed361862714bd71ac77ae037182c71d97acf7d136f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:320db272316969c44496cb11d2f4bf78fa922fff35518f51569a759b6db119c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 13.6 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]: [-0.5892, 1.3991, 0.8333, -0.2054, 0.0532, -0.0467, 0.9996, -0.0673, 0.8173, 0.5941, -0.4225, -0.1123, -0.0219, 0.9978]\nstate[eef_state]: left_x=0.3216 left_y=-0.2219 left_z=0.1198 left_yaw=-0.6307 left_pitch=-0.2009 left_roll=-0.0535 left_gripper=0.9996 right_x=0.2888 right_y=0.004 right_z=0.1612 right_yaw=0.029 right_pitch=-0.0738 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.3077, -6.9128, 9.6752, 1.8632, 0.0904, 0.1734, -0.0562, -0.1299, -1.347, 7.1043, 1.6484, -0.0757, -0.0073, -0.0122]",
      "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]: [-0.355, 1.7512, 1.2266, -0.5854, 0.6128, 0.7162, 0.9996, -0.0677, 0.8207, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3456 left_y=-0.2326 left_z=0.1089 left_yaw=-1.3043 left_pitch=-0.2546 left_roll=-0.0827 left_gripper=0.9996 right_x=0.289 right_y=0.0038 right_z=0.1603 right_yaw=0.0288 right_pitch=-0.0772 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -9.1829, 7.2137, 0.8523, 0.5983, 0.232, -0.0562, -0.1846, -1.5932, 6.9538, 1.6435, -0.0708, -0.0708, -0.0122]\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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3431, 1.9381, 1.2186, -0.5587, 0.6796, 0.918, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.339 left_y=-0.2352 left_z=0.0436 left_yaw=-1.4779 left_pitch=-0.2757 left_roll=-0.1254 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.5265, -9.306, 5.7778, 0.9011, 0.486, 0.0708, -0.0611, -0.212, -1.4974, 7.1179, 1.6337, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f78780821cc500baad481c692d31476c3d779a7b65f91323ca18847f7f55d4b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37f74658351f113b0a9f97ed361862714bd71ac77ae037182c71d97acf7d136f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320db272316969c44496cb11d2f4bf78fa922fff35518f51569a759b6db119c4",
        "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_01JKDfy2onCz25PmZfsPHDF4",
      "input": {
        "note": "At 4 cm the brick spans ~140 px across the bottom of the left wrist view with a straight horizontal edge, consistent with its 7 cm width sitting between the jaws. Descending to table level for the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.339,
          "left_y": -0.235,
          "left_yaw": -1.5,
          "left_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_01JKDfy2onCz25PmZfsPHDF4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5419, 0.6838, 0.9474, 0.9996, -0.0677, 0.823, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3418 left_y=-0.2349 left_z=0.0386 left_yaw=-1.4914 left_pitch=-0.2704 left_roll=-0.1068 left_gripper=0.9996 right_x=0.2891 right_y=0.0038 right_z=0.1597 right_yaw=0.0288 right_pitch=-0.0795 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -9.5932, 5.6, 0.9109, 0.4029, 0.2076, -0.0611, -0.1026, -1.388, 6.9949, 1.6337, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14d0310a5d59fb9e8388a0e41cfc82b4b59258f7e0d6fccb18ca79dabd3134af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebe27d65070b7c5fab0ff6368508efcde9877ff2f7c29d2be43f2f2a0662ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68a9484076bc9c77a9cab2d158a8167a4739c91f2d07dce24902edfd451e0566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 6.418 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.355, 1.7512, 1.2266, -0.5854, 0.6128, 0.7162, 0.9996, -0.0677, 0.8207, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3456 left_y=-0.2326 left_z=0.1089 left_yaw=-1.3043 left_pitch=-0.2546 left_roll=-0.0827 left_gripper=0.9996 right_x=0.289 right_y=0.0038 right_z=0.1603 right_yaw=0.0288 right_pitch=-0.0772 right_roll=0.0688 right_gripper=0.9978\nstate[joint_eff]: [0.4581, -9.1829, 7.2137, 0.8523, 0.5983, 0.232, -0.0562, -0.1846, -1.5932, 6.9538, 1.6435, -0.0708, -0.0708, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "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]: [-0.3431, 1.9381, 1.2186, -0.5587, 0.6796, 0.918, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.339 left_y=-0.2352 left_z=0.0436 left_yaw=-1.4779 left_pitch=-0.2757 left_roll=-0.1254 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.5265, -9.306, 5.7778, 0.9011, 0.486, 0.0708, -0.0611, -0.212, -1.4974, 7.1179, 1.6337, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5419, 0.6838, 0.9474, 0.9996, -0.0677, 0.823, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3418 left_y=-0.2349 left_z=0.0386 left_yaw=-1.4914 left_pitch=-0.2704 left_roll=-0.1068 left_gripper=0.9996 right_x=0.2891 right_y=0.0038 right_z=0.1597 right_yaw=0.0288 right_pitch=-0.0795 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -9.5932, 5.6, 0.9109, 0.4029, 0.2076, -0.0611, -0.1026, -1.388, 6.9949, 1.6337, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14d0310a5d59fb9e8388a0e41cfc82b4b59258f7e0d6fccb18ca79dabd3134af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebe27d65070b7c5fab0ff6368508efcde9877ff2f7c29d2be43f2f2a0662ce9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a9484076bc9c77a9cab2d158a8167a4739c91f2d07dce24902edfd451e0566",
        "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_0189EtHbJxdaDQM9ibuSpyBQ",
      "input": {
        "note": "The descent stalled at ~4 cm, so a jaw is resting on top of the brick, which sits right of the jaw column in the wrist view (image-right is toward the base at this yaw). Lifting slightly and shifting 2.5 cm back toward the base to centre the brick between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.317,
          "left_y": -0.237,
          "left_yaw": -1.5,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0189EtHbJxdaDQM9ibuSpyBQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5411, 0.6838, 0.9466, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3419 left_y=-0.2349 left_z=0.0387 left_yaw=-1.4907 left_pitch=-0.2701 left_roll=-0.1066 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -9.3744, 5.7504, 0.8913, 0.4078, 0.2418, -0.0611, -0.0479, -1.347, 6.9538, 1.6337, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f40155f43f40555cd0b4d038ada919bbfb88d4542f4472c17b88f18d049be525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330061f9a4ea5493686272cefd04524571081be5b3b1b4d6df209cad007041f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d76ec204412bbc9dca64c8b6c5bed0c635902e01d1e0c36ff7fabd928aafa5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 18.65 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3431, 1.9381, 1.2186, -0.5587, 0.6796, 0.918, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.339 left_y=-0.2352 left_z=0.0436 left_yaw=-1.4779 left_pitch=-0.2757 left_roll=-0.1254 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.5265, -9.306, 5.7778, 0.9011, 0.486, 0.0708, -0.0611, -0.212, -1.4974, 7.1179, 1.6337, -0.0757, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5419, 0.6838, 0.9474, 0.9996, -0.0677, 0.823, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3418 left_y=-0.2349 left_z=0.0386 left_yaw=-1.4914 left_pitch=-0.2704 left_roll=-0.1068 left_gripper=0.9996 right_x=0.2891 right_y=0.0038 right_z=0.1597 right_yaw=0.0288 right_pitch=-0.0795 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -9.5932, 5.6, 0.9109, 0.4029, 0.2076, -0.0611, -0.1026, -1.388, 6.9949, 1.6337, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5411, 0.6838, 0.9466, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3419 left_y=-0.2349 left_z=0.0387 left_yaw=-1.4907 left_pitch=-0.2701 left_roll=-0.1066 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -9.3744, 5.7504, 0.8913, 0.4078, 0.2418, -0.0611, -0.0479, -1.347, 6.9538, 1.6337, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f40155f43f40555cd0b4d038ada919bbfb88d4542f4472c17b88f18d049be525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330061f9a4ea5493686272cefd04524571081be5b3b1b4d6df209cad007041f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d76ec204412bbc9dca64c8b6c5bed0c635902e01d1e0c36ff7fabd928aafa5e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgAcKEAgRGAI4AUIIdGhpbmtpbmcSDN+z/BCtdi+LpCvVcBoMolPdC4hKOx4dRlZ5IjCXKqJe84NnmJ1MrKoTzNC/9SZXyOE974iOR7oNtd6gjymlAoLQWwLRVxhcvGSeXTsqnQY2qPHD2K77r3RFKNhm/E4drPznpZBSRJkbNA0iXQXCtnsUKfWXARjlYd3Uq2ZoILDZnpdk6EuBtrfsmD3eNUW3idrcCsqJtqoU43IUiHSE2cQ1kT5Ou1r/srxCiS/zJkOvt07ObYZXaPpkCfMtlG4SRj5iOBng580a5W1X1hca2aRMXkxaXMHFcFPFNuZpMcGNVzWIIe9oPuytLOaM9VRr+v9VPsFnAQ3naRuupnfbw/urYrv2YrPCVuAz0hjF4aOtRqWTVETc0VisAvZ0rfsSmGU8bBwPPTQTPcSa/WcZyXqJDcF94XnuTO2lb0UnnEVZq2X3beWUsiO3Mx3E3NVuE46lqOyMuLxmOwwt8MDK6xFQ2PeiKdRP2y19b28xseGT6vopXZvGoqkSe7FcY3heHrIQ5h1q/oB+GCYHiNtvBaDdi4aMN3oJPgY4A7wXOCNX+3RVTvLXafmONVCIiInZDm91HRIbqHeAHCyBWhUXfAaE5vqZD1kVVG95LDaRIyTUck1Xi9fjC4Tx5rDNpvKxkwhR2kHQyOG79Civ0Ngreyc5CVacrzxJl5f7iA0mvok4X8MXcFcuXqRq09IiIJUMZkOjn+4R5iEOYXZdZgR5hT6sANelxah3TcyrvWYuccN8/BucyXAWbZzVZPwEw2faSXDGN6d2PDSG6sb+UVicCf9P3YP6bFpqJRWucQzN1CB6/lzDCj5hZQf0TFKkkF/TWELFoFVwPcFiOKGud7crgdNsTTpFTk4v2+eGfhC5yVW7JiFylIpg9XcZ4tSu2wTG9eRzzbQkMjpQlLPgP9dkWPqzJ3oy1HGzhEcLK9dZMphA0T2zegx/NoRLk/0b2H80Koabz/zi8erC1qryIEIyd1ffZ4jT4y4b5ZhvhVyZHLo8/qxIsHoEgkXMsgrQ9u1kYvV32HnaZsoCbGRShG7EyP0iHbX8TdRyeCnEYmpWDvyGwsWoRSW7kFVsdGfVIPCfu3aClnq58aJ07JalPiGQ70hZNoOXSUCo8GZqUN9i5eZecqejdHmWtbH6mFs4xIPUXZmaq1KZReUnWKNMXRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119DASWWeHEKBezJPc5VuHW",
      "input": {
        "note": "The left arm has frozen again on a small target (no joint change). Making a larger retreat up and back toward the base to unstick the IK before re-approaching the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.28,
          "left_y": -0.21,
          "left_yaw": -1.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0119DASWWeHEKBezJPc5VuHW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3325, 1.5978, 1.2282, -0.8322, 0.68, 0.9466, 0.9996, -0.0677, 0.8249, 0.5941, -0.4221, -0.1127, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.2976 left_y=-0.2165 left_z=0.15 left_yaw=-1.465 left_pitch=-0.242 left_roll=-0.034 left_gripper=0.9996 right_x=0.2892 right_y=0.0039 right_z=0.1592 right_yaw=0.0294 right_pitch=-0.081 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -3.1932, 6.4342, 0.7643, 0.2466, 0.1929, -0.0562, -0.0615, -1.3744, 6.9949, 1.7216, -0.1148, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101e5da0530f51c71ba3572362e1c2a7d0c859645dbd810bfe5dd7d2217b9a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed90138ba77454d5a0ba7def4a582067abdc3f7b5dd5857876e193b9d6e951ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62253fbed9b5ecdc923e1e14333c9393c408e1ae629d82003b057ea3dbc20081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 19.24 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5419, 0.6838, 0.9474, 0.9996, -0.0677, 0.823, 0.5941, -0.4225, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3418 left_y=-0.2349 left_z=0.0386 left_yaw=-1.4914 left_pitch=-0.2704 left_roll=-0.1068 left_gripper=0.9996 right_x=0.2891 right_y=0.0038 right_z=0.1597 right_yaw=0.0288 right_pitch=-0.0795 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.1026, -9.5932, 5.6, 0.9109, 0.4029, 0.2076, -0.0611, -0.1026, -1.388, 6.9949, 1.6337, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5411, 0.6838, 0.9466, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3419 left_y=-0.2349 left_z=0.0387 left_yaw=-1.4907 left_pitch=-0.2701 left_roll=-0.1066 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -9.3744, 5.7504, 0.8913, 0.4078, 0.2418, -0.0611, -0.0479, -1.347, 6.9538, 1.6337, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3325, 1.5978, 1.2282, -0.8322, 0.68, 0.9466, 0.9996, -0.0677, 0.8249, 0.5941, -0.4221, -0.1127, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.2976 left_y=-0.2165 left_z=0.15 left_yaw=-1.465 left_pitch=-0.242 left_roll=-0.034 left_gripper=0.9996 right_x=0.2892 right_y=0.0039 right_z=0.1592 right_yaw=0.0294 right_pitch=-0.081 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -3.1932, 6.4342, 0.7643, 0.2466, 0.1929, -0.0562, -0.0615, -1.3744, 6.9949, 1.7216, -0.1148, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101e5da0530f51c71ba3572362e1c2a7d0c859645dbd810bfe5dd7d2217b9a82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed90138ba77454d5a0ba7def4a582067abdc3f7b5dd5857876e193b9d6e951ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62253fbed9b5ecdc923e1e14333c9393c408e1ae629d82003b057ea3dbc20081",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+RUKEAgRGAI4AUIIdGhpbmtpbmcSDBwrGzr3+pQ7sj8MvhoMCwJfK+f5024tAJuAIjDMRWuGTG1QZGdZuW+uYYZmnNBWHjnlYZRsUCPjKDh+psUbnhyhRGoM9mTH6YlsA+AqlhX6aU9ABJz3Yte+cby65s+13NqhWaJkNV9ENBjAbwQsXk5WYP4bGIPsEl8CcIQf5ZJJvSWXfArKB1h1K4b9on1G/kU/oU7Mny6/RzJ4uS7c0LKBNgF4K0GC42awiH/uWGYR6BIRGilhoMpUsdK0KgEsaucJXosktTi3tS2ZUycHv4Ikj3iTM++MJSyoiJqaOosDbnu2rdGmx6302NyZh+x5OK4vBBWCc+ObaO+e6NrE2KuWcn+HPgo5fGUMmpJgJzj05B9W2ZFRyYnpZqpKUzIKgXpFNFr8YDpsly02KN++J2oZVg/xgDKEperVFcZXc+Cvb++loCZsLn6A5geJQMeLa8TDEBl04au+RJYhm+Uby1tf794V2S0b7SEImT71ytzUY55Yio0bz204yegdzzlvuBHcBwqlAwN6zp6dqQlx0G2cE6klFuxScuP8S4wIIpTa4ohVjovEvGsVVwf8kJkRuPdDY8DI4LnKBlPkPc2YhRA6Ylk35slEn2zTWb81TorE+goSTC2AUA07cO9YD0YJHem5kPjfh5O4hTUWoI9BxDrCsVhuuwb+pq18go923GuufkV576POIEy2u1+W7HnJcjfsHaeq8MMnbeXkugr52Kj+zGwR6mPBU5JD+REEl+4+ekDpL/o68kGQ0mx3jUlmv32B/4MX4fwnQ3U0wN0htw0ofp3921OyXH4xb0uprlnj1w/xqr8kPJxMwx9RDSKi/Epccxrg90spM3CdeUTW29HrDC9XvOIbDvo9zO5rlqajQdQ+5wPCVp9qqJylOl8XhVpqjN4mfRtsKiOFy3oaBVmczI1q0U55NRKwmSJvOe1LjqtvmlYyZ2nTgdkJ0a7HWfS9nKgIwTM130DzBAUZ0voAUTezo/9wrSCDnkzFBkwMBKXfNXzlEzP4ZJpo3gqT2SObUxwJKC8cadzBqvkhdR80VgVbKU4mKtx4ZmEuzAHR2f1km6q/gwRb31JPfc2ufuh/M2yrgG0MGtWOSsKhNoSoOAry5LpkuU1MnnpV6aPvB5RVo0Ce+KG4UBNZC5oNKuBnuNyiXt1O0XQeLSZsDIDmytU1EJvSxe2wcz8iDRS5G4Gy6lSlGdqS2z9EYWEqn0i8bxGqZsZ2lgDXy+ECvgHzF7aGu92PwGrWe53GqCXmgfZZMc5+DPAJlwOuXJwmMVky576Z5K3jZHe+IcJWQyj6w+ygU7V7N2mKj3ZURr+9fM6EOjTAKpyLEKBLtlU8k692RRqLj5cSGl9WkZJtHdJUtuykN+Hr9BOGLmYsDnuJBGwEA51HA7GYXeeZr+pOt5d9+bkBpdKXzpxmc/t34TKFLlr0oAu8lRo8Z6IN2IyCb3DTjXkZz+8ntrajmY6dLbuewW1Q981l9Dor9O/szsincj028LdKVFZ7InDh+LPtxVKWNkVXTWXSSxUOBVvPnSG2LTVfq9HRMa4thevVDISBqQ55u7UeVZb+J04S6MRqMu4MNktqtY6gZF1Mn5AywM+tHzc4SjjVhzl1MoE4MaoFG/jcDl08n5pYvBXuIJCt/DcIhUDHYDM/XFaKxfokSkux326ymSsrnNMr1YY9vLdcKzJde6Bs6w20dF8nnG+l//bpD0fsFJTS2CKQGOiemuvkd9/XnDgi6dKK6bhaoU6lGHrjyIePga1fIVPVsiu7HH+0q3yMfiAbwai3QAYmVjnHqcum8NlBcrDbTeHzISGwg3idMaQ7Z7hueYeW+NYjauqmbe0rLSV0qTcGz1z57P9+/+2sp5q4lD2WMVrTNaJLXjGDGXUWyjQcVPDWhr7f0q00SyvNN+rAtGPkRZTLHN63tYaLDh0Pio8FgNSeXhX9JZhpQNEcqkuppshw16A/be04aMU2sz39kdNuDca8BD+u4REEsqMR6sOObYwfnjm+m+yO0XLRaAggTPOYb7os7MreHcB9Zz+jxFe2iiRyrba5lG8YaGDS+ioa8jQe+XXlQHvGYvGqPhkMvZLI3jWzWENXKwBWBvaWhDbOidEH/Cd2+lFh44hIRkElyotb07kG7zAh3G4YxmF4ivNAVeb1VB69QNXL+Kc9Kx80RdGV8sKgS6Zj781Gs5BQwQG7POYF2x2y7OX6AMkLuE4bcKH5ygtTzCxLWt5CO1LzHwjfwT7Woo0dq4j7codNnIfK9Grl9B3hqNhSWvX8yob5aJoO8n1St6DNkIrUGN7MMP9P05wsT+/Ljqf3o3nzzFgfbGoho9POreHHUcuaYj79LFEf9sT29bsOplIkNTuZEEz9F2yfpiEbFSJJODAuSP1/KNZrIHKBqhO22/rota47+PxHNn9G3uSqAKkJuxNO4B+YvmE+3jbhvrwWqGGxGgGoAzBFkZFiYtL/usNN0UABiEHBbkbJa1voJ0nrmObofTEg3nSWuzPzDRD+gAcTkVdaN2gZgA+ORbLq/8dFPqeGMiEjY1BbvCm24+Ba58ua6QtHVK/McSV8DBTakr2NYhqv4ThBd1ROvgjBKX8HbwpN7kV9vu7iTubNpIl/iGgJT67LqL6yakdhhzT0UYjC8DLj7VsvnC7CUlxKspIwjig8Pb6sryoKGIMOzZxO51PpzRdSqxna6Q6lR6e3AAJNZQJiORk0wlU4WKWaHKyleQpV0+nSz99E434ayNPMoEe1Ty7aWuN0xR0h3KovvRuxzcD7Xiil9ZjjNn9VfoIw92THjb78/iK0sx6ByAiOQandHLBF20uVKLY7r0sYcJoDVk1h5YvoWyNpsxlkVVDNKng7MK5H2YAASGEKVAQynDFJq2qvSAzRtY5La4nSi8Kc2XLyk9mqmSmeeQHKf5/KjXXaj5iIOv+IjXRFASMmYRb+65yvkpqxTPZY9lndRTYMC9eTytJWho4sLkmz9+P9aQI2JbMn1ZsuFVKXf4AjTGLx+vbHBngk4qKS4jlzrtbamJSNTFCZdMp7BHTbxiaCMtKWuh/ohs7YvIUj1KQoBg0AvnuFC4vGx5Uz7mbVPhAapvVeh2uEi17KgUiKE2lQfyliq85BFXOrvFSKcziEQ/3RHdAvKaDv3+yJ5CwkrO39TMtqnHISVZw5BVfmp+jYI92T2tILNdUoB41EBqgTekaAXDW9GINk3fK3o/vEVYW2LmOFjY0PpPUWJyKk/LqtG8Y7YCNAd1jrLVUWb+StEkifclPp36cj2lOSVby+B6JKlECBbaM3Sji8y/Ifwy/eJLrX62/GEPzMgNAjGBeWIFhsI6Mv1QabgV8S8ib0RKX5p8pn94jpRz8A1G92Pwrsyzyw6gZSEgijC6akBFqfgbNDtLF3yAGqCTf9CGk6xH9a8PrSXZX00pxqMD4zTcYZPRr0LrRyPH0OGcNBSKgqRjinGeQhs6AiBrifQrZwuUyvEWZ7llA5T7VI26Pa/PfLM95jV8hn3mO7qQ0loDqFguat1fNqqx23CwQw39i87wbLfbuc+rVEEJkAlsejDe4C+w9PYElCV9d2JPjRcKJGrDNKJs9ehaTMpBxHidm6gHLWYjgqg8dNsD0OvoXQH1Hgx/RqlNe1a/FIVeKS7t7XfTSI4lDD2lsSiMaZxrBmBxzMqdNBs9a42GpvpuPNcAGjzuUK/Ur/S927Z5OXgC0URy/mNGRoEXfYGjC/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Piwt9ezq1XX2ovhXzfdNj",
      "input": {
        "note": "From 15 cm the whole brick is visible between the jaws but with its long side along the jaw axis, so I was 90° off. Rotating back to yaw 0 and centring over the brick at 12 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.31,
          "left_y": -0.245,
          "left_yaw": 0.0,
          "left_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_017Piwt9ezq1XX2ovhXzfdNj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9051, 1.5787, 1.0389, -0.4614, -0.4171, -0.6025, 0.9996, -0.0677, 0.8299, 0.5941, -0.4229, -0.1123, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.2987 left_y=-0.2587 left_z=0.1067 left_yaw=-0.2176 left_pitch=-0.3091 left_roll=-0.0097 left_gripper=0.9996 right_x=0.2893 right_y=0.0038 right_z=0.1577 right_yaw=0.0291 right_pitch=-0.0867 right_roll=0.0694 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.8838, 8.0342, 0.9695, -0.4127, -0.022, -0.0562, -0.1983, -1.6889, 6.9675, 1.6337, -0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e95f86874dd114e4ee6abd001803cba03c2a320c602d3d03a501296e8eb47bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38d826fde55351cdf2d0aff7f2a8bab7241a70e69b8bfb7d46b50c41c0f87cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:857a39b900779859645571752a8e8dd23608cf280ce43ec44fc79c2e1c890404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 15.86 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3386, 1.9549, 1.2186, -0.5411, 0.6838, 0.9466, 0.9996, -0.0673, 0.823, 0.5941, -0.4221, -0.1123, -0.0223, 0.9978]\nstate[eef_state]: left_x=0.3419 left_y=-0.2349 left_z=0.0387 left_yaw=-1.4907 left_pitch=-0.2701 left_roll=-0.1066 left_gripper=0.9996 right_x=0.2891 right_y=0.0039 right_z=0.1597 right_yaw=0.0292 right_pitch=-0.0791 right_roll=0.069 right_gripper=0.9978\nstate[joint_eff]: [0.1162, -9.3744, 5.7504, 0.8913, 0.4078, 0.2418, -0.0611, -0.0479, -1.347, 6.9538, 1.6337, -0.0757, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3325, 1.5978, 1.2282, -0.8322, 0.68, 0.9466, 0.9996, -0.0677, 0.8249, 0.5941, -0.4221, -0.1127, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.2976 left_y=-0.2165 left_z=0.15 left_yaw=-1.465 left_pitch=-0.242 left_roll=-0.034 left_gripper=0.9996 right_x=0.2892 right_y=0.0039 right_z=0.1592 right_yaw=0.0294 right_pitch=-0.081 right_roll=0.0691 right_gripper=0.9978\nstate[joint_eff]: [0.2803, -3.1932, 6.4342, 0.7643, 0.2466, 0.1929, -0.0562, -0.0615, -1.3744, 6.9949, 1.7216, -0.1148, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9051, 1.5787, 1.0389, -0.4614, -0.4171, -0.6025, 0.9996, -0.0677, 0.8299, 0.5941, -0.4229, -0.1123, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.2987 left_y=-0.2587 left_z=0.1067 left_yaw=-0.2176 left_pitch=-0.3091 left_roll=-0.0097 left_gripper=0.9996 right_x=0.2893 right_y=0.0038 right_z=0.1577 right_yaw=0.0291 right_pitch=-0.0867 right_roll=0.0694 right_gripper=0.9978\nstate[joint_eff]: [-0.2667, -7.8838, 8.0342, 0.9695, -0.4127, -0.022, -0.0562, -0.1983, -1.6889, 6.9675, 1.6337, -0.1148, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e95f86874dd114e4ee6abd001803cba03c2a320c602d3d03a501296e8eb47bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f38d826fde55351cdf2d0aff7f2a8bab7241a70e69b8bfb7d46b50c41c0f87cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857a39b900779859645571752a8e8dd23608cf280ce43ec44fc79c2e1c890404",
        "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_019qTmcz3ds8HzgX1m7oP5N8",
      "input": {
        "note": "The brick is now upright between the jaws in the left wrist view, slightly left and ahead of the jaw column. Low on call budget, so descending onto it with a small shift and closing the gripper in one motion.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.33,
          "left_y": -0.245,
          "left_yaw": -0.4,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019qTmcz3ds8HzgX1m7oP5N8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7471, 1.7557, 0.8108, 0.0978, -0.2687, -0.355, 0.0088, -0.0673, 0.8307, 0.5941, -0.4225, -0.1127, -0.0227, 0.9978]\nstate[eef_state]: left_x=0.3424 left_y=-0.2483 left_z=0.0281 left_yaw=-0.3397 left_pitch=-0.2378 left_roll=-0.0272 left_gripper=0.0088 right_x=0.2894 right_y=0.004 right_z=0.1576 right_yaw=0.0298 right_pitch=-0.0871 right_roll=0.0697 right_gripper=0.9978\nstate[joint_eff]: [0.3487, -4.6154, 3.1932, 0.6422, 0.2076, 0.2759, 0.6569, -0.212, -1.347, 6.9949, 1.6288, -0.1001, -0.0659, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b82d2127d62fedd3d6634aad422581c9ebd4630284714ce73fff4991eec06eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:659aeb770d8daf7ad6c557203055af3a77767e9503823058bfd2a467e44ab53b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:178322033ddef249621bac9167c2856002ea4e811856b9f4f01c54c79fa46e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]