adhoc - adhoc_43bf24de.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: 445 s
total steps: 255

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 right of the left gripper in the overhead view (left of table centre); the pot is on the right side. Flying the left arm to hover above the brick estimate with the gripper open.

move_to

left_x0.3600left_y-0.1800left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6014, -0.379, -0.0166, -0.0341, 0.9983] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983 state[joint_eff]: [-0.4308, -1.5111, 10.1265, 1.8242, -0.0366, 0.2076, -0.0562, -0.6496, -1.306, 10.3179, 1.9267, -0.0659, 0.1832, -0.1978] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1.0}, "note": "The black brick sits ahead and to the right of the left gripper in the overhead view (left of table centre); the pot is on the right side. Flying the left arm to hover above the brick estimate with the gripper open."})

tool

executing move_to over 17 steps (1.7s)

step 17

assistant

agent noteThe brick is centred in the left wrist view with empty space below it and angled up-right, so it is a few cm beyond the fingertips and slightly left. Advancing, shifting left a bit, yawing clockwise to align the jaws across its width, and lowering to 6 cm.

move_to

left_x0.3900left_y-0.1500left_z0.0600left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7113, 1.4315, 0.8299, -0.1608, -0.5648, -0.4618, 0.9996, -0.02, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9981] state[eef_state]: left_x=0.3504 left_y=-0.1724 left_z=0.1329 left_yaw=-0.0192 left_pitch=-0.0535 left_roll=0.0299 left_gripper=0.9996 right_x=0.2928 right_y=0.0006 right_z=0.1746 right_yaw=-0.0039 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9981 state[joint_eff]: [-0.3624, -6.3385, 8.9641, 1.6386, -0.3883, 0.0659, -0.0562, 0.1162, -1.5932, 7.1453, 1.8388, -0.0269, -0.0366, -0.022] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.15, "left_z": 0.06, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The brick is centred in the left wrist view with empty space below it and angled up-right, so it is a few cm beyond the fingertips and slightly left. Advancing, shifting left a bit, yawing clockwise to align the jaws across its width, and lowering to 6 cm."})

tool

executing move_to over 5 steps (0.5s)

step 22

assistant

agent noteThe brick now fills the left of the wrist view, left of the jaw column and slightly ahead; the yaw only reached -0.3 because of rate clamping. Shifting left ~3 cm, forward 2 cm and finishing the yaw before descending.

move_to

left_x0.4000left_y-0.1000left_z0.0400left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.3531, 1.6043, 0.6334, 0.231, -0.0559, -0.0422, 0.9996, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0345, 0.9982] state[eef_state]: left_x=0.3789 left_y=-0.1253 left_z=0.0415 left_yaw=-0.3042 left_pitch=-0.1689 left_roll=0.0252 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0017 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9982 state[joint_eff]: [0.212, -7.4872, 5.9009, 1.8974, 0.1685, 0.1685, -0.0611, -0.0342, -1.2923, 7.0222, 1.7167, -0.0269, -0.0171, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.04, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The brick now fills the left of the wrist view, left of the jaw column and slightly ahead; the yaw only reached -0.3 because of rate clamping. Shifting left ~3 cm, forward 2 cm and finishing the yaw before descending."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe brick is large in the wrist view, centred a bit left of the jaw column and still angled ~35° clockwise from vertical. Shifting left 3 cm, yawing further clockwise to align, and descending to grasp height.

move_to

left_x0.4000left_y-0.0700left_z0.0100left_yaw-0.8000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.181, 1.6531, 0.6712, 0.2424, 0.1642, 0.1486, 0.9996, -0.02, 0.7998, 0.5999, -0.3939, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.3971 left_y=-0.0984 left_z=0.0402 left_yaw=-0.4238 left_pitch=-0.1576 left_roll=0.0193 left_gripper=0.9996 right_x=0.2928 right_y=0.0007 right_z=0.1736 right_yaw=-0.0017 right_pitch=-0.0236 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-1.2923, -6.3385, 7.6103, 1.5507, 0.4567, 0.2076, -0.0562, -0.3214, -1.1419, 7.0222, 1.7118, -0.0122, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.07, "left_z": 0.01, "left_yaw": -0.8, "left_gripper": 1.0}, "note": "The brick is large in the wrist view, centred a bit left of the jaw column and still angled ~35\u00b0 clockwise from vertical. Shifting left 3 cm, yawing further clockwise to align, and descending to grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe brick now sits nearly vertical between the jaw shadows in the wrist view, just slightly left of the jaw column. Finishing the descent to table level before closing.

move_to

left_x0.4000left_y-0.0700left_z0.0000left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0891, 1.7016, 0.6861, 0.2142, 0.2798, 0.2653, 0.9996, -0.02, 0.8024, 0.598, -0.3935, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3959 left_y=-0.0807 left_z=0.0251 left_yaw=-0.4959 left_pitch=-0.1921 left_roll=0.0089 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1721 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [-0.9504, -6.735, 5.4769, 1.79, 0.3883, 0.1245, -0.0562, -0.1162, -1.5248, 7.3504, 1.7118, -0.0513, -0.0757, -0.0073] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.07, "left_z": 0.0, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The brick now sits nearly vertical between the jaw shadows in the wrist view, just slightly left of the jaw column. Finishing the descent to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 30

assistant

agent noteThe descent stalled at z≈0.027, level with the brick's top, though the brick appears between the jaws in the wrist view. Commanding a slight press below table level to see whether the arm is sagging or a finger is resting on the brick.

move_to

left_x0.4000left_y-0.0800left_z-0.0100left_yaw-0.5000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0914, 1.702, 0.6861, 0.2214, 0.3, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3935, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3959 left_y=-0.0851 left_z=0.0269 left_yaw=-0.5187 left_pitch=-0.18 left_roll=0.0042 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [-0.0479, -7.0769, 5.3265, 1.707, 0.2955, 0.2369, -0.0562, -0.212, -1.306, 7.241, 1.7314, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.08, "left_z": -0.01, "left_yaw": -0.5, "left_gripper": 1.0}, "note": "The descent stalled at z\u22480.027, level with the brick's top, though the brick appears between the jaws in the wrist view. Commanding a slight press below table level to see whether the arm is sagging or a finger is resting on the brick."})

tool

executing move_to over 3 steps (0.3s)

step 33

assistant

agent noteThe arm did not move at all on the press command, so the IK seems stalled in this pose. Lifting to 9 cm to unstick it before re-descending onto the brick.

move_to

left_x0.4000left_y-0.0800left_z0.0900left_yaw-0.4500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0914, 1.702, 0.6861, 0.2222, 0.2996, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3931, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3961 left_y=-0.085 left_z=0.027 left_yaw=-0.5183 left_pitch=-0.1794 left_roll=0.0048 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [-0.212, -7.0769, 5.3265, 1.746, 0.2662, 0.2613, -0.0562, -0.2256, -0.9368, 7.2, 1.7216, -0.0415, -0.0659, -0.0122] 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": {"left_x": 0.4, "left_y": -0.08, "left_z": 0.09, "left_yaw": -0.45, "left_gripper": 1.0}, "note": "The arm did not move at all on the press command, so the IK seems stalled in this pose. Lifting to 9 cm to unstick it before re-descending onto the brick."})

tool

executing move_to over 5 steps (0.5s)

step 38

assistant

agent noteThe arm is moving sluggishly (only reached z=0.043) with the tool pitched back 0.2 rad. Continuing the lift and levelling the pitch to get a clean vertical approach.

move_to

left_x0.4000left_y-0.0800left_z0.1000left_yaw-0.4500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0959, 1.6444, 0.7258, 0.1066, 0.271, 0.2478, 0.9996, -0.02, 0.8047, 0.5953, -0.3931, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.3951 left_y=-0.0819 left_z=0.0428 left_yaw=-0.4867 left_pitch=-0.2043 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1703 right_yaw=-0.0017 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9981 state[joint_eff]: [-0.6359, -11.9726, 11.0017, 2.2051, 0.232, -0.0122, -0.0562, -0.1162, -0.9504, 7.241, 1.6874, -0.0611, -0.022, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.08, "left_z": 0.1, "left_yaw": -0.45, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm is moving sluggishly (only reached z=0.043) with the tool pitched back 0.2 rad. Continuing the lift and levelling the pitch to get a clean vertical approach."})

tool

executing move_to over 7 steps (0.7s)

step 45

assistant

agent noteFrom 8 cm up the brick is centred on the jaw column and aligned with the jaws. Descending straight down to table level to grasp it.

move_to

left_x0.4000left_y-0.0800left_z0.0000left_yaw-0.4500left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0799, 1.5169, 0.6651, 0.1783, 0.2916, 0.1864, 0.9996, -0.02, 0.8043, 0.5953, -0.3927, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3944 left_y=-0.0789 left_z=0.0817 left_yaw=-0.4471 left_pitch=-0.0702 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9981 state[joint_eff]: [0.2667, -7.3641, 5.8188, 1.956, 0.2759, 0.0073, -0.0562, -0.1709, -1.2239, 7.0359, 1.7021, -0.0757, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.08, "left_z": 0.0, "left_yaw": -0.45, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "From 8 cm up the brick is centred on the jaw column and aligned with the jaws. Descending straight down to table level to grasp it."})

tool

executing move_to over 6 steps (0.6s)

step 51

assistant

Now at table level with the brick between the jaws. Closing.

agent noteThe gripper is at z≈0 with the brick filling the gap between the jaws in the wrist view. Closing the gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0772, 1.8362, 0.5297, 0.6651, 0.2993, 0.1822, 0.9996, -0.02, 0.8089, 0.5953, -0.3935, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.3977 left_y=-0.0794 left_z=0.0032 left_yaw=-0.4478 left_pitch=-0.0387 left_roll=-0.0069 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1691 right_yaw=-0.0017 right_pitch=-0.037 right_roll=0.0004 right_gripper=0.9981 state[joint_eff]: [0.4034, -5.8188, 2.9607, 0.7497, 0.2564, -0.1538, -0.0562, -0.0068, -1.306, 7.1863, 1.746, -0.0464, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

Now at table level with the brick between the jaws. Closing.

move_to({"targets": {"left_gripper": 0.0}, "note": "The gripper is at z\u22480 with the brick filling the gap between the jaws in the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 61

assistant

agent noteThe close read 0.009 (empty): the jaws shut just short of the brick's near edge, which is visible above the closed jaws in the wrist view. Opening and advancing ~3.5 cm along the tool axis so the jaws straddle the brick.

move_to

left_x0.4300left_y-0.0950left_z0.0000left_yaw-0.4500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0776, 1.8473, 0.5201, 0.6937, 0.2924, 0.1822, 0.0093, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3975 left_y=-0.0784 left_z=0.0012 left_yaw=-0.4424 left_pitch=-0.0327 left_roll=-0.0002 left_gripper=0.0093 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-0.0615, -8.212, 4.8615, 1.4042, 0.1587, 0.0073, 0.7448, -0.0479, -1.3744, 7.2137, 1.707, -0.0708, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.43, "left_y": -0.095, "left_z": 0.0, "left_yaw": -0.45, "left_gripper": 1.0}, "note": "The close read 0.009 (empty): the jaws shut just short of the brick's near edge, which is visible above the closed jaws in the wrist view. Opening and advancing ~3.5 cm along the tool axis so the jaws straddle the brick."})

tool

executing move_to over 10 steps (1.0s)

step 71

assistant

agent noteAfter advancing, the brick fills the wrist view between the open jaws down to the bottom edge, so the jaws now straddle it. Closing to grasp.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1165, 1.9221, 0.6411, 0.6727, 0.2611, 0.1593, 0.9952, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4282 left_y=-0.0924 left_z=0.0048 left_yaw=-0.4429 left_pitch=-0.015 left_roll=0.0064 left_gripper=0.9952 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981 state[joint_eff]: [-0.6496, -6.7624, 5.9692, 1.5018, 0.0611, -0.0611, -0.1343, -0.0615, -1.2103, 7.0496, 1.7314, -0.0659, -0.0122, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "After advancing, the brick fills the wrist view between the open jaws down to the bottom edge, so the jaws now straddle it. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 81

assistant

agent noteEmpty again; the top view shows the brick just beyond the fingertips, so the jaws keep closing at its near edge. Opening, lifting to 5 cm and moving 5 cm further out along the tool axis to come down on the brick's middle.

move_to

left_x0.4750left_y-0.1150left_z0.0500left_yaw-0.4500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1181, 1.9244, 0.6422, 0.6689, 0.2604, 0.1562, 0.0093, -0.02, 0.812, 0.5945, -0.3931, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.4277 left_y=-0.0929 left_z=0.0035 left_yaw=-0.4422 left_pitch=-0.0198 left_roll=0.0027 left_gripper=0.0093 right_x=0.2929 right_y=0.0007 right_z=0.168 right_yaw=-0.0017 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9981 state[joint_eff]: [0.0342, -8.4718, 4.3009, 1.7314, 0.0611, 0.0024, 0.6862, -0.0889, -1.347, 7.0496, 1.7216, -0.0317, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.475, "left_y": -0.115, "left_z": 0.05, "left_yaw": -0.45, "left_gripper": 1.0}, "note": "Empty again; the top view shows the brick just beyond the fingertips, so the jaws keep closing at its near edge. Opening, lifting to 5 cm and moving 5 cm further out along the tool axis to come down on the brick's middle."})

tool

executing move_to over 10 steps (1.0s)

step 91

assistant

agent noteThe brick appears to have been nudged: in the wrist view it now lies angled ~30° clockwise from the jaw axis and left of centre. Yawing clockwise further and shifting slightly left to re-align before descending.

move_to

left_x0.4750left_y-0.0900left_z0.0300left_yaw-0.9000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1577, 1.9224, 0.8658, 0.4065, 0.2302, 0.1299, 0.9948, -0.02, 0.8162, 0.5945, -0.3943, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4648 left_y=-0.1111 left_z=0.0296 left_yaw=-0.4431 left_pitch=-0.0603 left_roll=-0.013 left_gripper=0.9948 right_x=0.2929 right_y=0.0007 right_z=0.1666 right_yaw=-0.0015 right_pitch=-0.0458 right_roll=0.0002 right_gripper=0.9981 state[joint_eff]: [-0.6222, -10.7966, 7.665, 1.7753, -0.0024, -0.0171, -0.1148, -0.1162, -1.6479, 7.0359, 1.7411, -0.0269, -0.0464, -0.0073] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.475, "left_y": -0.09, "left_z": 0.03, "left_yaw": -0.9, "left_gripper": 1.0}, "note": "The brick appears to have been nudged: in the wrist view it now lies angled ~30\u00b0 clockwise from the jaw axis and left of centre. Yawing clockwise further and shifting slightly left to re-align before descending."})

tool

executing move_to over 3 steps (0.3s)

step 94

assistant

agent noteUp close the brick's long axis runs along the jaw-closing axis, so the jaws would have to span its ~9 cm length. Lifting slightly and rotating the tool ~90° so the jaws close across the brick's short side.

move_to

left_x0.4900left_y-0.0800left_z0.0600left_yaw0.9000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [0.0158, 2.0407, 1.1015, 0.1596, 0.5331, 0.4309, 0.9989, -0.02, 0.8192, 0.5945, -0.3985, -0.0162, -0.0345, 0.9981] state[eef_state]: left_x=0.492 left_y=-0.0784 left_z=0.029 left_yaw=-0.6797 left_pitch=-0.0803 left_roll=-0.0071 left_gripper=0.9989 right_x=0.2925 right_y=0.0006 right_z=0.165 right_yaw=-0.002 right_pitch=-0.053 right_roll=0.0004 right_gripper=0.9981 state[joint_eff]: [-0.5128, -10.947, 5.3949, 1.1893, 0.4615, 0.1832, -0.1294, -0.1573, -1.5932, 7.1863, 1.7851, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.49, "left_y": -0.08, "left_z": 0.06, "left_yaw": 0.9, "left_gripper": 1.0}, "note": "Up close the brick's long axis runs along the jaw-closing axis, so the jaws would have to span its ~9 cm length. Lifting slightly and rotating the tool ~90\u00b0 so the jaws close across the brick's short side."})

tool

executing move_to over 11 steps (1.1s)

step 105

assistant

agent noteThe brick now runs vertically along the jaw column in the wrist view and reaches the bottom edge, so it is under the jaws with the short side across them. Descending to table level to grasp.

move_to

left_x0.5200left_y-0.1080left_z0.0000left_yaw0.7000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4458, 2.2215, 1.6077, -0.3988, -0.7792, -0.9932, 0.9989, -0.02, 0.8234, 0.5945, -0.4122, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.5228 left_y=-0.1083 left_z=0.0641 left_yaw=0.6916 left_pitch=-0.0805 left_roll=-0.0984 left_gripper=0.9989 right_x=0.2907 right_y=0.0007 right_z=0.1611 right_yaw=-0.0017 right_pitch=-0.0709 right_roll=0.001 right_gripper=0.9981 state[joint_eff]: [-0.1436, -13.053, 5.7504, 0.5543, -0.6129, -0.0513, -0.1245, -0.212, -1.5385, 6.9949, 1.8144, -0.0317, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.52, "left_y": -0.108, "left_z": 0.0, "left_yaw": 0.7, "left_gripper": 1.0}, "note": "The brick now runs vertically along the jaw column in the wrist view and reaches the bottom edge, so it is under the jaws with the short side across them. Descending to table level to grasp."})

tool

executing move_to over 5 steps (0.5s)

step 110

assistant

agent noteThe descent stalled at z=0.034 — the arm is at its reach limit at x≈0.52. Pulling back 2 cm and pitching the tool slightly forward so the fingertips can still land on the brick's near half at table level.

move_to

left_x0.4950left_y-0.1030left_z0.0000left_yaw0.7000left_pitch0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4507, 2.2612, 1.5608, -0.3515, -0.7853, -1.0317, 0.9989, -0.02, 0.8242, 0.5945, -0.4152, -0.0162, -0.0349, 0.9981] state[eef_state]: left_x=0.5158 left_y=-0.1069 left_z=0.0343 left_yaw=0.7139 left_pitch=-0.0934 left_roll=-0.0909 left_gripper=0.9989 right_x=0.2903 right_y=0.0006 right_z=0.1603 right_yaw=-0.0018 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9981 state[joint_eff]: [0.2803, -12.6564, 6.1333, 1.2674, -0.3541, 0.2076, -0.1294, -0.1026, -1.3333, 7.159, 1.6728, -0.022, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.495, "left_y": -0.103, "left_z": 0.0, "left_yaw": 0.7, "left_pitch": 0.15, "left_gripper": 1.0}, "note": "The descent stalled at z=0.034 \u2014 the arm is at its reach limit at x\u22480.52. Pulling back 2 cm and pitching the tool slightly forward so the fingertips can still land on the brick's near half at table level."})

tool

executing move_to over 9 steps (0.9s)

step 119

assistant

agent noteThe arm is still hung up at x≈0.51, z≈0.025 near its reach limit. Retracting clearly to x=0.46 with a forward pitch so the next descent is within reach.

move_to

left_x0.4600left_y-0.1000left_z0.0400left_yaw0.7000left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.4717, 2.2566, 1.4509, -0.2043, -0.8696, -0.9672, 0.9988, -0.02, 0.8242, 0.5945, -0.4152, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.5066 left_y=-0.1029 left_z=0.0254 left_yaw=0.701 left_pitch=-0.0084 left_roll=-0.0487 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1603 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9981 state[joint_eff]: [-2.0855, -8.0615, 4.588, 0.9158, -0.398, 0.3541, -0.1294, -0.0615, -1.2786, 7.0085, 1.6581, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": -0.1, "left_z": 0.04, "left_yaw": 0.7, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The arm is still hung up at x\u22480.51, z\u22480.025 near its reach limit. Retracting clearly to x=0.46 with a forward pitch so the next descent is within reach."})

tool

executing move_to over 7 steps (0.7s)

step 126

assistant

agent noteThe brick runs vertically down the wrist view to the bottom edge, so its near end is under the jaws; the top view shows the gripper behind the brick. Descending to the table at x≈0.48 with the tool pitched forward to reach its near end.

move_to

left_x0.4780left_y-0.1030left_z-0.0100left_yaw0.7000left_pitch0.2500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5545, 2.1841, 1.1507, 0.0795, -1.0252, -0.9081, 0.9989, -0.02, 0.8249, 0.5945, -0.4187, -0.0166, -0.0345, 0.9981] state[eef_state]: left_x=0.4576 left_y=-0.1015 left_z=0.0163 left_yaw=0.6731 left_pitch=0.1329 left_roll=-0.0022 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1594 right_yaw=-0.0016 right_pitch=-0.079 right_roll=0.0011 right_gripper=0.9981 state[joint_eff]: [-0.2393, -13.7641, 5.2171, 1.3553, -0.7204, 0.0562, -0.1245, -0.1299, -1.4564, 6.9812, 1.7314, -0.0317, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.478, "left_y": -0.103, "left_z": -0.01, "left_yaw": 0.7, "left_pitch": 0.25, "left_gripper": 1.0}, "note": "The brick runs vertically down the wrist view to the bottom edge, so its near end is under the jaws; the top view shows the gripper behind the brick. Descending to the table at x\u22480.48 with the tool pitched forward to reach its near end."})

tool

executing move_to over 4 steps (0.4s)

step 130

assistant

agent noteAt z≈0.005 the brick lies between the two jaws in the wrist view, running toward the bottom edge. Closing the gripper on its short side.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5583, 2.3119, 1.195, 0.2699, -1.1427, -0.8246, 0.9989, -0.02, 0.8295, 0.5945, -0.4198, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4726 left_y=-0.1015 left_z=0.0055 left_yaw=0.7105 left_pitch=0.2536 left_roll=0.0037 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1579 right_yaw=-0.0014 right_pitch=-0.0847 right_roll=0.0009 right_gripper=0.9981 state[joint_eff]: [0.4171, -8.1436, 5.135, 1.243, 0.1929, -0.2564, -0.1294, -0.3487, -1.812, 6.9812, 1.6679, -0.0855, -0.0611, -0.0073] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "At z\u22480.005 the brick lies between the two jaws in the wrist view, running toward the bottom edge. Closing the gripper on its short side."})

tool

executing move_to over 10 steps (1.0s)

step 140

assistant

agent noteThe gripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width. Lifting to 12 cm to confirm the brick comes with the jaws.

move_to

left_x0.4600left_y-0.1000left_z0.1200left_yaw0.7000left_pitch0.1000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5583, 2.323, 1.2022, 0.2985, -1.1622, -0.8043, 0.7536, -0.02, 0.8307, 0.5945, -0.4217, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.475 left_y=-0.1013 left_z=0.0076 left_yaw=0.7175 left_pitch=0.2745 left_roll=0.0035 left_gripper=0.7536 right_x=0.2896 right_y=0.0007 right_z=0.1573 right_yaw=-0.0014 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9981 state[joint_eff]: [-0.1162, -12.588, 4.041, 0.906, -0.2271, -0.2369, 1.033, -0.0205, -1.1692, 6.9812, 1.6532, -0.0708, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.46, "left_y": -0.1, "left_z": 0.12, "left_yaw": 0.7, "left_pitch": 0.1, "left_gripper": 0.0}, "note": "The gripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width. Lifting to 12 cm to confirm the brick comes with the jaws."})

tool

executing move_to over 8 steps (0.8s)

step 148

assistant

agent noteThe brick is gone from the table in the top view and is visible in the jaws, so the grasp held. Lifting high to 27 cm to clear the pot rim before moving sideways to the pot.

move_to

left_x0.4500left_y-0.1500left_z0.2700left_yaw0.7000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5518, 2.0476, 1.3087, -0.3206, -0.9871, -0.9539, 0.7534, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0349, 0.9982] state[eef_state]: left_x=0.4577 left_y=-0.1045 left_z=0.08 left_yaw=0.6713 left_pitch=0.0676 left_roll=0.0457 left_gripper=0.7534 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0014 right_pitch=-0.0892 right_roll=0.001 right_gripper=0.9982 state[joint_eff]: [0.1026, -14.3795, 9.1829, 1.1111, -0.9646, -0.0562, 1.0281, -0.212, -1.3744, 6.9949, 1.6435, -0.0464, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.15, "left_z": 0.27, "left_yaw": 0.7, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The brick is gone from the table in the top view and is visible in the jaws, so the grasp held. Lifting high to 27 cm to clear the pot rim before moving sideways to the pot."})

tool

executing move_to over 13 steps (1.3s)

step 161

assistant

agent noteBrick held high at z≈0.24; the pot is about 25 cm to the arm's right in the top view. Translating sideways to hover over the pot centre near the arm's right-side bound.

move_to

left_x0.4400left_y-0.3800left_z0.2600left_yaw0.7000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6353, 2.1815, 2.2837, -1.3579, -0.9058, -1.1843, 0.7521, -0.02, 0.8345, 0.5945, -0.4225, -0.0162, -0.0345, 0.9981] state[eef_state]: left_x=0.4584 left_y=-0.1608 left_z=0.2429 left_yaw=0.6788 left_pitch=-0.0572 left_roll=0.016 left_gripper=0.7521 right_x=0.2897 right_y=0.0007 right_z=0.1561 right_yaw=-0.0019 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9981 state[joint_eff]: [-0.6769, -12.6701, 8.3761, 0.4762, -1.2821, 0.0611, 1.0281, -0.0479, -1.5658, 7.159, 1.6337, -0.022, -0.0122, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.38, "left_z": 0.26, "left_yaw": 0.7, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Brick held high at z\u22480.24; the pot is about 25 cm to the arm's right in the top view. Translating sideways to hover over the pot centre near the arm's right-side bound."})

tool

executing move_to over 20 steps (2.0s)

step 181

assistant

agent noteThe arm stalled at y=-0.27, z=0.175 — it is at its lateral reach, hovering over the pot's near rim. Pulling x in to shorten the reach so it can get further right over the pot's interior.

move_to

left_x0.3700left_y-0.3600left_z0.2200left_yaw0.7000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8688, 2.4676, 2.5278, -1.5661, -0.9207, -1.5169, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4191 left_y=-0.2723 left_z=0.175 left_yaw=0.646 left_pitch=-0.0785 left_roll=-0.0015 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981 state[joint_eff]: [-0.5265, -13.1214, 6.2838, 0.2955, -1.3114, -0.2466, 1.0281, -0.1162, -1.6752, 7.0085, 1.6581, -0.0464, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.37, "left_y": -0.36, "left_z": 0.22, "left_yaw": 0.7, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The arm stalled at y=-0.27, z=0.175 \u2014 it is at its lateral reach, hovering over the pot's near rim. Pulling x in to shorten the reach so it can get further right over the pot's interior."})

tool

executing move_to over 8 steps (0.8s)

step 189

assistant

agent noteThe arm is sagging (z fell to 0.14) and barely moving right; the shoulder is heavily loaded and the wrist is twisted. Un-yawing the tool to 0 to relieve the wrist and trying to regain height while edging further over the pot.

move_to

left_x0.3800left_y-0.3400left_z0.2000left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9245, 2.4973, 2.4626, -1.56, -0.8829, -1.5909, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3969 left_y=-0.2936 left_z=0.14 left_yaw=0.6383 left_pitch=-0.1182 left_roll=0.0282 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981 state[joint_eff]: [-0.0205, -15.9111, 6.6803, 0.1392, -1.1013, -0.1245, 1.033, 0.0752, -1.4564, 7.0085, 1.663, -0.0611, -0.0806, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.34, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The arm is sagging (z fell to 0.14) and barely moving right; the shoulder is heavily loaded and the wrist is twisted. Un-yawing the tool to 0 to relieve the wrist and trying to regain height while edging further over the pot."})

tool

executing move_to over 8 steps (0.8s)

step 197

assistant

agent noteThe arm freed up: now at y=-0.30, z=0.17 with the brick above the pot's left rim (rim fills the right of the wrist view). Pushing further right toward y=-0.38 to get over the pot interior.

move_to

left_x0.3500left_y-0.3800left_z0.2000left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9932, 2.0701, 1.9137, -1.179, -0.7601, -1.2182, 0.752, -0.02, 0.8379, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3473 left_y=-0.3034 left_z=0.1724 left_yaw=0.3052 left_pitch=-0.2128 left_roll=0.0303 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1552 right_yaw=-0.0014 right_pitch=-0.0957 right_roll=0.0011 right_gripper=0.9981 state[joint_eff]: [1.3197, -13.2855, 8.253, 1.6044, -1.1941, 0.1636, 1.0281, -0.0205, -1.3607, 7.1043, 1.6679, -0.0317, -0.022, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.38, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The arm freed up: now at y=-0.30, z=0.17 with the brick above the pot's left rim (rim fills the right of the wrist view). Pushing further right toward y=-0.38 to get over the pot interior."})

tool

executing move_to over 8 steps (0.8s)

step 205

assistant

agent noteProgress is slow (y=-0.33, z sagging to 0.14); in the wrist view the pot interior is still ahead-right of the brick. Pushing to the right bound and slightly forward, commanding extra height to counter sag.

move_to

left_x0.3800left_y-0.4000left_z0.2200left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-1.0382, 2.1006, 1.8462, -1.0756, -0.7635, -1.1271, 0.752, -0.02, 0.8402, 0.5945, -0.4229, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3382 left_y=-0.3261 left_z=0.1444 left_yaw=0.21 left_pitch=-0.2116 left_roll=0.0923 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9981 state[joint_eff]: [-0.0889, -14.7214, 7.9385, 0.7839, -1.1795, -0.1197, 1.0281, -0.1983, -1.5385, 6.9812, 1.6337, -0.0708, -0.0366, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.4, "left_z": 0.22, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Progress is slow (y=-0.33, z sagging to 0.14); in the wrist view the pot interior is still ahead-right of the brick. Pushing to the right bound and slightly forward, commanding extra height to counter sag."})

tool

executing move_to over 8 steps (0.8s)

step 213

assistant

agent noteAt y=-0.39 the wrist view shows the pot's interior directly ahead with the near rim just beyond the brick. Moving forward ~7 cm at extra height to bring the brick over the water.

move_to

left_x0.4400left_y-0.4000left_z0.2400left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-1.0615, 2.2776, 2.1517, -1.0439, -0.783, -0.8829, 0.752, -0.02, 0.8429, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.3646 left_y=-0.3899 left_z=0.1619 left_yaw=0.0341 left_pitch=-0.1482 left_roll=0.1313 left_gripper=0.752 right_x=0.29 right_y=0.0007 right_z=0.1538 right_yaw=-0.0014 right_pitch=-0.1007 right_roll=0.0012 right_gripper=0.9981 state[joint_eff]: [-0.3761, -15.2274, 10.7556, 1.2137, -1.3016, 0.2515, 1.0281, -0.1709, -1.7162, 6.9949, 1.6435, -0.0708, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.44, "left_y": -0.4, "left_z": 0.24, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "At y=-0.39 the wrist view shows the pot's interior directly ahead with the near rim just beyond the brick. Moving forward ~7 cm at extra height to bring the brick over the water."})

tool

executing move_to over 8 steps (0.8s)

step 221

assistant

agent noteThe pot interior is now straight ahead in the wrist view, with the near rim still a few cm beyond the hanging brick. Advancing another ~6 cm so the brick is over the water before releasing.

move_to

left_x0.4900left_y-0.4000left_z0.2400left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9764, 2.6392, 2.9025, -1.2987, -0.7593, -0.6876, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4248 left_y=-0.405 left_z=0.1904 left_yaw=-0.0133 left_pitch=-0.1132 left_roll=0.1549 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981 state[joint_eff]: [0.8137, -17.0462, 9.3197, 1.5849, -1.072, 0.2466, 1.033, -0.1436, -1.0872, 6.9812, 1.619, -0.0611, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.49, "left_y": -0.4, "left_z": 0.24, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The pot interior is now straight ahead in the wrist view, with the near rim still a few cm beyond the hanging brick. Advancing another ~6 cm so the brick is over the water before releasing."})

tool

executing move_to over 8 steps (0.8s)

step 229

assistant

agent noteThe left arm is at its right-side bound and sagging under load, yet the pot interior is still ahead-right of the brick, so the left arm cannot reach over the pot. Setting the brick down near the table centre line for a handoff to the right arm.

move_to

left_x0.3500left_y-0.3000left_z0.0300left_yaw0.0000left_pitch0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8921, 2.6232, 2.7125, -1.1366, -0.7265, -0.5735, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4639 left_y=-0.3826 left_z=0.1495 left_yaw=-0.0074 left_pitch=-0.1555 left_roll=0.2352 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981 state[joint_eff]: [0.4034, -21.4496, 9.0735, 1.8584, -0.9353, 0.2711, 1.0281, -0.1709, -1.5111, 6.9949, 1.6239, -0.0659, -0.0708, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.35, "left_y": -0.3, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The left arm is at its right-side bound and sagging under load, yet the pot interior is still ahead-right of the brick, so the left arm cannot reach over the pot. Setting the brick down near the table centre line for a handoff to the right arm."})

tool

executing move_to over 9 steps (0.9s)

step 238

assistant

agent noteThe arm did not move at all on the last command (joints unchanged), so the IK is stuck in this stretched pose. Raising z and pulling x in slightly to break the stall before lowering the brick for the handoff.

move_to

left_x0.4000left_y-0.3400left_z0.2500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8482, 0.593, -0.4335, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2883 right_y=0.0007 right_z=0.1496 right_yaw=-0.0014 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9981 state[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1573, -1.853, 7.2137, 1.7607, -0.0317, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). 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": 0.4, "left_y": -0.34, "left_z": 0.25, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The arm did not move at all on the last command (joints unchanged), so the IK is stuck in this stretched pose. Raising z and pulling x in slightly to break the stall before lowering the brick for the handoff."})

tool

executing move_to over 8 steps (0.8s)

step 246

assistant

agent noteThe left arm's joints and effort are frozen at the same values for two commands, suggesting a hold or fault under the high shoulder load. Trying a very small 2 cm retreat to see whether the arm responds at all.

move_to

left_x0.4500left_y-0.3700left_z0.1700left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8501, 0.593, -0.4385, -0.0166, -0.0349, 0.9981] state[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2876 right_y=0.0008 right_z=0.1481 right_yaw=-0.0013 right_pitch=-0.1255 right_roll=0.0017 right_gripper=0.9981 state[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1026, -1.6889, 6.9538, 1.707, -0.0757, -0.0317, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.45, "left_y": -0.37, "left_z": 0.17, "left_gripper": 0.0}, "note": "The left arm's joints and effort are frozen at the same values for two commands, suggesting a hold or fault under the high shoulder load. Trying a very small 2 cm retreat to see whether the arm responds at all."})

tool

executing move_to over 8 steps (0.8s)

step 254

assistant

agent noteThe left arm grasped the brick but stalled/froze at its right-side workspace bound (y≈-0.38, x≈0.47) while carrying it toward the pot; the pot interior lies further right/forward than the left arm can reach, and the arm has since become completely unresponsive (identical joint positions, efforts and wrist image over three commands), so it cannot set the brick down for a right-arm handoff either.

give_up

hindsight1) In this scene the pot sits at roughly left_y ≈ -0.45..-0.5, x ≈ 0.5 (right_y ≈ +0.15..0.2), i.e. beyond the left arm's y bound of -0.4; the black brick (a ~15×7×2 cm power bank) lies at about left_x 0.5, left_y -0.1 (right_y ≈ +0.55, beyond the right bound). Neither arm can do the whole task alone: plan a handoff from the start — left arm grasps the brick, sets it down near left_y ≈ -0.3, and the right arm carries it into the pot. 2) The brick is ~7 cm wide, so a close across its width settles at gripper ≈ 0.75, not the ~0.2 you'd expect for a small brick; its long axis was along the arm's y axis initially, so grasp with yaw ≈ ±0.7..0.9 from start orientation. 3) The wrist cam shows an object reaching the bottom edge as under the fingertips; an object whose near edge stops ~30 px above the bottom is still 3–5 cm short and the closing jaws will just nudge it forward. 4) Carrying the ~power-bank load with the arm stretched past ~0.5 m radial makes the shoulder effort climb to -15..-21 N·m, the arm sags 5–10 cm and lateral progress stops; at -21 the arm froze completely and stopped responding. Keep radial reach under ~0.45 m when loaded, and never combine the y bound with large x. 5) Yaw targets at lateral extension cause IK wandering (x drifted 3 cm on a yaw-only change); set yaw before extending.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8501, 0.593, -0.4446, -0.0162, -0.0349, 0.9981] state[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2866 right_y=0.0007 right_z=0.147 right_yaw=-0.0017 right_pitch=-0.1316 right_roll=0.0016 right_gripper=0.9981 state[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1162, -1.4838, 6.9812, 1.707, -0.0513, -0.0366, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]

assistant

give_up({"reason": "The left arm grasped the brick but stalled/froze at its right-side workspace bound (y\u2248-0.38, x\u22480.47) while carrying it toward the pot; the pot interior lies further right/forward than the left arm can reach, and the arm has since become completely unresponsive (identical joint positions, efforts and wrist image over three commands), so it cannot set the brick down for a right-arm handoff either.", "hindsight": "1) In this scene the pot sits at roughly left_y \u2248 -0.45..-0.5, x \u2248 0.5 (right_y \u2248 +0.15..0.2), i.e. beyond the left arm's y bound of -0.4; the black brick (a ~15\u00d77\u00d72 cm power bank) lies at about left_x 0.5, left_y -0.1 (right_y \u2248 +0.55, beyond the right bound). Neither arm can do the whole task alone: plan a handoff from the start \u2014 left arm grasps the brick, sets it down near left_y \u2248 -0.3, and the right arm carries it into the pot. 2) The brick is ~7 cm wide, so a close across its width settles at gripper \u2248 0.75, not the ~0.2 you'd expect for a small brick; its long axis was along the arm's y axis initially, so grasp with yaw \u2248 \u00b10.7..0.9 from start orientation. 3) The wrist cam shows an object reaching the bottom edge as under the fingertips; an object whose near edge stops ~30 px above the bottom is still 3\u20135 cm short and the closing jaws will just nudge it forward. 4) Carrying the ~power-bank load with the arm stretched past ~0.5 m radial makes the shoulder effort climb to -15..-21 N\u00b7m, the arm sags 5\u201310 cm and lateral progress stops; at -21 the arm froze completely and stopped responding. Keep radial reach under ~0.45 m when loaded, and never combine the y bound with large x. 5) Yaw targets at lateral extension cause IK wandering (x drifted 3 cm on a yaw-only change); set yaw before extending."})

tool

give_up: The left arm grasped the brick but stalled/froze at its right-side workspace bound (y≈-0.38, x≈0.47) while carrying it toward the pot; the pot interior lies further right/forward than the left arm can reach, and the arm has since become completely unresponsive (identical joint positions, efforts and wrist image over three commands), so it cannot set the brick down for a right-arm handoff either.

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 · 32.77 s

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

{
  "content": "Goal: put the black brick into the pot of water",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6014, -0.379, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.5111, 10.1265, 1.8242, -0.0366, 0.2076, -0.0562, -0.6496, -1.306, 10.3179, 1.9267, -0.0659, 0.1832, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f52d7453efecb25c1312fd253a4725d41508335ca17907a21533aade664268a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110ebaf848bccaba572ca63344bf2ade13caf13740266f8de60946f67769de66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:426811cc7ead3c7cb052dc6697d12a3408e52ec030b21fcc559b862c4a120f6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 13.29 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6014, -0.379, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.5111, 10.1265, 1.8242, -0.0366, 0.2076, -0.0562, -0.6496, -1.306, 10.3179, 1.9267, -0.0659, 0.1832, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f52d7453efecb25c1312fd253a4725d41508335ca17907a21533aade664268a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110ebaf848bccaba572ca63344bf2ade13caf13740266f8de60946f67769de66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426811cc7ead3c7cb052dc6697d12a3408e52ec030b21fcc559b862c4a120f6c",
        "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_01NWbUWdBzLx1XbX9wueNPVW",
      "input": {
        "note": "The black brick sits ahead and to the right of the left gripper in the overhead view (left of table centre); the pot is on the right side. Flying the left arm to hover above the brick estimate with the gripper open.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.36,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01NWbUWdBzLx1XbX9wueNPVW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7113, 1.4315, 0.8299, -0.1608, -0.5648, -0.4618, 0.9996, -0.02, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1724 left_z=0.1329 left_yaw=-0.0192 left_pitch=-0.0535 left_roll=0.0299 left_gripper=0.9996 right_x=0.2928 right_y=0.0006 right_z=0.1746 right_yaw=-0.0039 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -6.3385, 8.9641, 1.6386, -0.3883, 0.0659, -0.0562, 0.1162, -1.5932, 7.1453, 1.8388, -0.0269, -0.0366, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ed4b6198b928e15aff8da52bb490d6685e3e3d31a8ecb629e0b60a73170d3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5118a43990f107b72ae10444696d45d19a955b9a485f16ca02e554fa2f6a6601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16b3c78f7477a7eebb0d77560530082701389c36cb7138cf0bbcff7e57bfd045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 13.43 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6014, -0.379, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.5111, 10.1265, 1.8242, -0.0366, 0.2076, -0.0562, -0.6496, -1.306, 10.3179, 1.9267, -0.0659, 0.1832, -0.1978]",
      "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]: [-0.7113, 1.4315, 0.8299, -0.1608, -0.5648, -0.4618, 0.9996, -0.02, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1724 left_z=0.1329 left_yaw=-0.0192 left_pitch=-0.0535 left_roll=0.0299 left_gripper=0.9996 right_x=0.2928 right_y=0.0006 right_z=0.1746 right_yaw=-0.0039 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -6.3385, 8.9641, 1.6386, -0.3883, 0.0659, -0.0562, 0.1162, -1.5932, 7.1453, 1.8388, -0.0269, -0.0366, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ed4b6198b928e15aff8da52bb490d6685e3e3d31a8ecb629e0b60a73170d3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5118a43990f107b72ae10444696d45d19a955b9a485f16ca02e554fa2f6a6601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16b3c78f7477a7eebb0d77560530082701389c36cb7138cf0bbcff7e57bfd045",
        "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_01V4E7TzTjoAaU1ueY59jB3m",
      "input": {
        "note": "The brick is centred in the left wrist view with empty space below it and angled up-right, so it is a few cm beyond the fingertips and slightly left. Advancing, shifting left a bit, yawing clockwise to align the jaws across its width, and lowering to 6 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.39,
          "left_y": -0.15,
          "left_yaw": -0.5,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01V4E7TzTjoAaU1ueY59jB3m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.3531, 1.6043, 0.6334, 0.231, -0.0559, -0.0422, 0.9996, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3789 left_y=-0.1253 left_z=0.0415 left_yaw=-0.3042 left_pitch=-0.1689 left_roll=0.0252 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0017 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [0.212, -7.4872, 5.9009, 1.8974, 0.1685, 0.1685, -0.0611, -0.0342, -1.2923, 7.0222, 1.7167, -0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca468cfaba76b81c19532cda4f3b9864d9c1030ebf7552e0ddbf81d8219e1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f33c00ac40aaf121cb8f3dd194f46f8653f2d84b991aaab83d3ac872930d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23ebc9ce0fbb7e82b1ba18ac1f65466261d68d130919e24cfb23bcdde97b7838",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 11.21 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6048, -0.3805, -0.0227, -0.041, 0.9996, -0.0181, 0.7925, 0.6014, -0.379, -0.0166, -0.0341, 0.9983]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=-0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0012 right_z=0.1794 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9983\nstate[joint_eff]: [-0.4308, -1.5111, 10.1265, 1.8242, -0.0366, 0.2076, -0.0562, -0.6496, -1.306, 10.3179, 1.9267, -0.0659, 0.1832, -0.1978]",
      "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]: [-0.7113, 1.4315, 0.8299, -0.1608, -0.5648, -0.4618, 0.9996, -0.02, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1724 left_z=0.1329 left_yaw=-0.0192 left_pitch=-0.0535 left_roll=0.0299 left_gripper=0.9996 right_x=0.2928 right_y=0.0006 right_z=0.1746 right_yaw=-0.0039 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -6.3385, 8.9641, 1.6386, -0.3883, 0.0659, -0.0562, 0.1162, -1.5932, 7.1453, 1.8388, -0.0269, -0.0366, -0.022]",
      "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]: [-0.3531, 1.6043, 0.6334, 0.231, -0.0559, -0.0422, 0.9996, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3789 left_y=-0.1253 left_z=0.0415 left_yaw=-0.3042 left_pitch=-0.1689 left_roll=0.0252 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0017 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [0.212, -7.4872, 5.9009, 1.8974, 0.1685, 0.1685, -0.0611, -0.0342, -1.2923, 7.0222, 1.7167, -0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca468cfaba76b81c19532cda4f3b9864d9c1030ebf7552e0ddbf81d8219e1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f33c00ac40aaf121cb8f3dd194f46f8653f2d84b991aaab83d3ac872930d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ebc9ce0fbb7e82b1ba18ac1f65466261d68d130919e24cfb23bcdde97b7838",
        "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_01QbdkwMmeM8pWX1cvAyLodT",
      "input": {
        "note": "The brick now fills the left of the wrist view, left of the jaw column and slightly ahead; the yaw only reached -0.3 because of rate clamping. Shifting left ~3 cm, forward 2 cm and finishing the yaw before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": -0.5,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QbdkwMmeM8pWX1cvAyLodT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.181, 1.6531, 0.6712, 0.2424, 0.1642, 0.1486, 0.9996, -0.02, 0.7998, 0.5999, -0.3939, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3971 left_y=-0.0984 left_z=0.0402 left_yaw=-0.4238 left_pitch=-0.1576 left_roll=0.0193 left_gripper=0.9996 right_x=0.2928 right_y=0.0007 right_z=0.1736 right_yaw=-0.0017 right_pitch=-0.0236 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.2923, -6.3385, 7.6103, 1.5507, 0.4567, 0.2076, -0.0562, -0.3214, -1.1419, 7.0222, 1.7118, -0.0122, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c9e2c22185bb746345243edc682f33de7196d040b3ed4628c43d4111df6837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebe7255e562afd792a25e67ec1fb3dad9db86a75b69fe687dd44a95ebc702a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9935e6cb781b021badacda7d2e8f29ec1e967e4dc24f022aee676b44346cc53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 10.23 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]: [-0.7113, 1.4315, 0.8299, -0.1608, -0.5648, -0.4618, 0.9996, -0.02, 0.7975, 0.5999, -0.3923, -0.0162, -0.0311, 0.9981]\nstate[eef_state]: left_x=0.3504 left_y=-0.1724 left_z=0.1329 left_yaw=-0.0192 left_pitch=-0.0535 left_roll=0.0299 left_gripper=0.9996 right_x=0.2928 right_y=0.0006 right_z=0.1746 right_yaw=-0.0039 right_pitch=-0.0198 right_roll=0.0027 right_gripper=0.9981\nstate[joint_eff]: [-0.3624, -6.3385, 8.9641, 1.6386, -0.3883, 0.0659, -0.0562, 0.1162, -1.5932, 7.1453, 1.8388, -0.0269, -0.0366, -0.022]",
      "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]: [-0.3531, 1.6043, 0.6334, 0.231, -0.0559, -0.0422, 0.9996, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3789 left_y=-0.1253 left_z=0.0415 left_yaw=-0.3042 left_pitch=-0.1689 left_roll=0.0252 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0017 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [0.212, -7.4872, 5.9009, 1.8974, 0.1685, 0.1685, -0.0611, -0.0342, -1.2923, 7.0222, 1.7167, -0.0269, -0.0171, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.181, 1.6531, 0.6712, 0.2424, 0.1642, 0.1486, 0.9996, -0.02, 0.7998, 0.5999, -0.3939, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3971 left_y=-0.0984 left_z=0.0402 left_yaw=-0.4238 left_pitch=-0.1576 left_roll=0.0193 left_gripper=0.9996 right_x=0.2928 right_y=0.0007 right_z=0.1736 right_yaw=-0.0017 right_pitch=-0.0236 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.2923, -6.3385, 7.6103, 1.5507, 0.4567, 0.2076, -0.0562, -0.3214, -1.1419, 7.0222, 1.7118, -0.0122, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c9e2c22185bb746345243edc682f33de7196d040b3ed4628c43d4111df6837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebe7255e562afd792a25e67ec1fb3dad9db86a75b69fe687dd44a95ebc702a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9935e6cb781b021badacda7d2e8f29ec1e967e4dc24f022aee676b44346cc53",
        "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_01R7QKNaanCaUXmGQ8kwL4Lh",
      "input": {
        "note": "The brick is large in the wrist view, centred a bit left of the jaw column and still angled ~35° clockwise from vertical. Shifting left 3 cm, yawing further clockwise to align, and descending to grasp height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.07,
          "left_yaw": -0.8,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01R7QKNaanCaUXmGQ8kwL4Lh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0891, 1.7016, 0.6861, 0.2142, 0.2798, 0.2653, 0.9996, -0.02, 0.8024, 0.598, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0807 left_z=0.0251 left_yaw=-0.4959 left_pitch=-0.1921 left_roll=0.0089 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1721 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.9504, -6.735, 5.4769, 1.79, 0.3883, 0.1245, -0.0562, -0.1162, -1.5248, 7.3504, 1.7118, -0.0513, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7ed7c11ca8239672ca0ae3c2e654df7547ce9f2bdc82bb99fa08cd8d7f2519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2faeb4a6079766084b07dc409fa8ece8558128992ec0ac2e68eb4cfcf079ba22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0b5c5356d6b9fc649589320d2ec74dfa5996978f41f72787af297bad4a7f95bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 15.14 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]: [-0.3531, 1.6043, 0.6334, 0.231, -0.0559, -0.0422, 0.9996, -0.02, 0.7986, 0.5999, -0.3935, -0.0166, -0.0345, 0.9982]\nstate[eef_state]: left_x=0.3789 left_y=-0.1253 left_z=0.0415 left_yaw=-0.3042 left_pitch=-0.1689 left_roll=0.0252 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.174 right_yaw=-0.0017 right_pitch=-0.0221 right_roll=0.0001 right_gripper=0.9982\nstate[joint_eff]: [0.212, -7.4872, 5.9009, 1.8974, 0.1685, 0.1685, -0.0611, -0.0342, -1.2923, 7.0222, 1.7167, -0.0269, -0.0171, -0.0073]\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]: [-0.181, 1.6531, 0.6712, 0.2424, 0.1642, 0.1486, 0.9996, -0.02, 0.7998, 0.5999, -0.3939, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3971 left_y=-0.0984 left_z=0.0402 left_yaw=-0.4238 left_pitch=-0.1576 left_roll=0.0193 left_gripper=0.9996 right_x=0.2928 right_y=0.0007 right_z=0.1736 right_yaw=-0.0017 right_pitch=-0.0236 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.2923, -6.3385, 7.6103, 1.5507, 0.4567, 0.2076, -0.0562, -0.3214, -1.1419, 7.0222, 1.7118, -0.0122, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0891, 1.7016, 0.6861, 0.2142, 0.2798, 0.2653, 0.9996, -0.02, 0.8024, 0.598, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0807 left_z=0.0251 left_yaw=-0.4959 left_pitch=-0.1921 left_roll=0.0089 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1721 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.9504, -6.735, 5.4769, 1.79, 0.3883, 0.1245, -0.0562, -0.1162, -1.5248, 7.3504, 1.7118, -0.0513, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d7ed7c11ca8239672ca0ae3c2e654df7547ce9f2bdc82bb99fa08cd8d7f2519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2faeb4a6079766084b07dc409fa8ece8558128992ec0ac2e68eb4cfcf079ba22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b5c5356d6b9fc649589320d2ec74dfa5996978f41f72787af297bad4a7f95bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrgkKEAgRGAI4AUIIdGhpbmtpbmcSDC6dpzwLkwTd3GLqfhoM40ddBiFMD1MP0r4kIjDnR0fkRtyCutM9Ij+bHoOfvYi09+s+di8S0sVdt5JLfZ40ADiGTYxsP2sCYADi3wkqywifneLB7osGlTrY2tQmRTLyxINa0pwNxP2LUCSCheS1d0mcriqcGcQbjnMgpY9K68re4Qke1clImeSbh1U3IKdzT+aBE3iKrx/49xSfbvkMzU9+KgOaQsQwoJ6CcdEJN9UruLtkjlcZz0x7RXMNjVjm9ChJ2UJrVPUvLGAynWZjXwSKsoUbMFL/qM4HaoQTX5AlH9doBVWTrbRmyTFygLxSr5t4frqCQDy+abl7Zcx/0KbziJoVvBTxzeAPgCqLnwhYGtaGa3oMd3U5GcO+oh0GTXBT0PElvshXX6GtxCxsxvHJjZieemnFHcj0F9TTKamdqog+dJX8yfFjSSvUgi5TZWfd4J++o8Wme1b7nuzlrNjKr09IoqKKpcmxaSVzxibpXRpf1RRgg7GvZ/ToCUIfIIgQrcLjeoez37LTFgFVNiueq3DSNcdjw0T1YqgVGkIiXAHpA31BKvFXScBc03tyFZyur9Z3AL++81lWwfLkcMdIcxVqu4UEjBTVo6XFgkkcRfPNkqS61HZzdrdT+Bi2gATZrYsCsANp1oXtODj72EE3K0LDVnSqlYPSMLD0QMFUJoLOz4Lttgor0/7VB6DgTbkTgZ92o1pIHpqYervWOaRYXhLqw1X9Bl4eStMDPUHJMVIvNcwFf3+pkO+HabnCIOmuH4rMArRk1Z+1lxmvtoBu//CQWKaYCE7Xo+EkyVTMYENT6SOW5nbB2a+r5o773LVDSQow+LEN4PdXznV4lLcep2FnEOrV5YqkIrbB9whXXBjYOZo2KW/ctg9lLclpWbOc6HRclli5prh8uYR8h4PXrjH0wxzNRcPgQbX+TDzkqMhe76kqIJg/a6ooqlvSFy8bDd8P4lxo2N9n8hhy7jn2R0MT29Pwux1WfiIf9l1bz/WbgCMt3spxOif0vd4D5p+JTSQlqibQoq8YsdEIP0yZuITRPI6VY/i6uhdwHFGFYCZKFpeyf7oRdU27Hnzz6EPI9a+QWlhRVHCrG6uaXZcn9vMHOc3M/+j7B2S1EihwV5ddgAdSdAfI9f0atcQeCO728llSb6ZT0BfMhtbNx61CSe8wBIvYEMS8fwIw1/ncRAQ4x6UFrN9P03gtBDCZZyEaGHGVQuPqlNhyBaU6fb3wHmwpOdby6w2BGJ4y3gP19x+zQ6OQl1WxuO32CaZFn9Db5s3GplCAh9S/VnBhsK0Rpat7fwKxRn8VZvwKv47mCm2pdMebqQ+m7WymKLKohQEl10ULapuYExuba2GK1gpj1VsbyCeGn9T09CIPHvVnNyetQJQrqP8lLtz4d+1q8QZhT++4uTDhxpz7EU7wLwzWyCi+OHMRPk5EliXU3vgArC3zMfRmqaIPw/0LPsGmviwsHlduEq+K4shrbG2SF9Xgfzu0WlO3142bMrBBZV7tX+WPPEBOL+c/GUu0LmeVlpbnsWic7jtlM6x6SW8aLtSHBsf2gGy5S5/1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WDjpaGL8yKC7DPuGRf4Km9",
      "input": {
        "note": "The brick now sits nearly vertical between the jaw shadows in the wrist view, just slightly left of the jaw column. Finishing the descent to table level before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.07,
          "left_yaw": -0.5,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WDjpaGL8yKC7DPuGRf4Km9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0914, 1.702, 0.6861, 0.2214, 0.3, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0851 left_z=0.0269 left_yaw=-0.5187 left_pitch=-0.18 left_roll=0.0042 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -7.0769, 5.3265, 1.707, 0.2955, 0.2369, -0.0562, -0.212, -1.306, 7.241, 1.7314, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77409d946196f679c86ff2efe2ad27ee3d018fbd97e73beeeb331d5dad713dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3e11807263a6675e70026b62cf6ce7d261350a8d65c5abea40828a65995e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:440fc599b213dd6e11f947a403bd2ee9f83c93c0894f9e8609f6208eeaca419c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.683 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]: [-0.181, 1.6531, 0.6712, 0.2424, 0.1642, 0.1486, 0.9996, -0.02, 0.7998, 0.5999, -0.3939, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3971 left_y=-0.0984 left_z=0.0402 left_yaw=-0.4238 left_pitch=-0.1576 left_roll=0.0193 left_gripper=0.9996 right_x=0.2928 right_y=0.0007 right_z=0.1736 right_yaw=-0.0017 right_pitch=-0.0236 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-1.2923, -6.3385, 7.6103, 1.5507, 0.4567, 0.2076, -0.0562, -0.3214, -1.1419, 7.0222, 1.7118, -0.0122, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0891, 1.7016, 0.6861, 0.2142, 0.2798, 0.2653, 0.9996, -0.02, 0.8024, 0.598, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0807 left_z=0.0251 left_yaw=-0.4959 left_pitch=-0.1921 left_roll=0.0089 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1721 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.9504, -6.735, 5.4769, 1.79, 0.3883, 0.1245, -0.0562, -0.1162, -1.5248, 7.3504, 1.7118, -0.0513, -0.0757, -0.0073]",
      "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]: [-0.0914, 1.702, 0.6861, 0.2214, 0.3, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0851 left_z=0.0269 left_yaw=-0.5187 left_pitch=-0.18 left_roll=0.0042 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -7.0769, 5.3265, 1.707, 0.2955, 0.2369, -0.0562, -0.212, -1.306, 7.241, 1.7314, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77409d946196f679c86ff2efe2ad27ee3d018fbd97e73beeeb331d5dad713dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3e11807263a6675e70026b62cf6ce7d261350a8d65c5abea40828a65995e53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:440fc599b213dd6e11f947a403bd2ee9f83c93c0894f9e8609f6208eeaca419c",
        "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_01P6cRLY49oNKKacNdEzDBSL",
      "input": {
        "note": "The descent stalled at z≈0.027, level with the brick's top, though the brick appears between the jaws in the wrist view. Commanding a slight press below table level to see whether the arm is sagging or a finger is resting on the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.08,
          "left_yaw": -0.5,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01P6cRLY49oNKKacNdEzDBSL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0914, 1.702, 0.6861, 0.2222, 0.2996, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3931, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3961 left_y=-0.085 left_z=0.027 left_yaw=-0.5183 left_pitch=-0.1794 left_roll=0.0048 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.0769, 5.3265, 1.746, 0.2662, 0.2613, -0.0562, -0.2256, -0.9368, 7.2, 1.7216, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4a008768962b544327836387f1ba72c101b702a6243915522060d7540ef725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e159246f6e25a30098ca70d3891520ab72e08f6bb9f58cf56cdbe81608fdbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26b9d5cf7d5d35058176e3f913696eb6cf8632c80b55a3339bae0a33f0e606d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 10.58 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]: [-0.0891, 1.7016, 0.6861, 0.2142, 0.2798, 0.2653, 0.9996, -0.02, 0.8024, 0.598, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0807 left_z=0.0251 left_yaw=-0.4959 left_pitch=-0.1921 left_roll=0.0089 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1721 right_yaw=-0.0015 right_pitch=-0.0278 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.9504, -6.735, 5.4769, 1.79, 0.3883, 0.1245, -0.0562, -0.1162, -1.5248, 7.3504, 1.7118, -0.0513, -0.0757, -0.0073]",
      "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]: [-0.0914, 1.702, 0.6861, 0.2214, 0.3, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0851 left_z=0.0269 left_yaw=-0.5187 left_pitch=-0.18 left_roll=0.0042 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -7.0769, 5.3265, 1.707, 0.2955, 0.2369, -0.0562, -0.212, -1.306, 7.241, 1.7314, -0.0562, -0.0513, -0.0122]",
      "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]: [-0.0914, 1.702, 0.6861, 0.2222, 0.2996, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3931, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3961 left_y=-0.085 left_z=0.027 left_yaw=-0.5183 left_pitch=-0.1794 left_roll=0.0048 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.0769, 5.3265, 1.746, 0.2662, 0.2613, -0.0562, -0.2256, -0.9368, 7.2, 1.7216, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c4a008768962b544327836387f1ba72c101b702a6243915522060d7540ef725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e159246f6e25a30098ca70d3891520ab72e08f6bb9f58cf56cdbe81608fdbe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b9d5cf7d5d35058176e3f913696eb6cf8632c80b55a3339bae0a33f0e606d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0AsKEAgRGAI4AUIIdGhpbmtpbmcSDN8R+OjA4Yo7jhcukBoMxo3ltkfVwUeek7FvIjDvJimUHdAQ4QvW/kFo5g8oaPv0LsTFrkiYOZf+yUVR4AIrR/Xx8HqdaBrJOMC+MxMq7Qoo9sEosQMIqIs3p+62usVSqklRLEVXSmS4M2xyDIrQeCTUObMfgFfl4d0elbASStu1kOEVLWfVz7P12RVjQ06bQS9whfJ7s2uWGVBzmwEImVrqxRYCSTc+jpiqh+Q6UgBzxDvatb/v8sRgXgy6lW/96+RS25h2gxKolbkDFcji2ZRj2vimL8pv49e/VWPAsj2FrEW/5jSPO9wnoxI6wiwFjNWWLIWKBZ/KV6Px69GFdXw7msIYL+INiM1u2EkY3veqo/omX9iPqijkNCROPPzY/QfL3yrxRGm/QK9BTjPFFXum4WMLw2CuchtI/jjYsaOX2r17mWh3rzxcgAwKYEmoB+EBK0bzc98bjKifrcxgi5Ued4UG/tYnnUBvqw7x6xooFxboS9EsgUa5NP4YX6VQPSOCMfe64Da8SydKJMWdODXpdL7IntBrMd3jeO6vbE2fNUyBBkTLAMhpXvfrqCkHvcP4gdHLpJGVFtQeR+CXVPwrXtzx8n7JDzZxHKZCAXY9Llh3tDQMOMAd2IUwewY34zlxba3fwUthSpFKPlz6OM21mjl/5XZo2AJMYQ0yX3J17RbrrYN1CFj2vN3Q5LQn6oAx8iVE4iBiCidRFAa9JI76hVWnF2PrQZqacu9QmIhJMlu8EREpyTnxvhVal8Au9ZreiISQYl4yEMVE8cGy4kexQMkzylcN+gyvN8ySWTOcX2mhZDNEoaglizTS6+R9gLbsC+ZaIEmgYwyjZ5BtaRmlslgUwlfWbt8gB5P6n7fmd4hOf/HO+4+XtUgDjxcP9bc8CKSZYYRxzWPXSuZ+2vRLLMx+7Bd6cMQ4pB6KmcF5Hwb7ienOk3aOBHYihOF5LAJKDu+vjGCQev3l01UmydMwLkiNq7g15sn0ji40LgjaRhf7hwhN7bKgYHz4pWTVSu4DbGpEWBegq5fer5uPfvKc8Z59Nmec6AFpDpIwvpRJYFv8eYStp5VvAGptFr2AgJn7o7eiuFixk2hgiPwq1OjaXU7sBWEqlVbV2drDWgRoHRQ+4GI1RJ4Wg8Hkl3kEJVr6zkXusR8yJ/fd6x7VC+PobmnuL0RVum/L+nKJgQO2FGPP4J1SIK0B5Hy//7uGQK4LHNWUxLoue4yJugOZ/Hx9ySmgZPjp3fLVdiuy+zSJBoalIogC2Xy4vw2O1xYo8kFYfS3ycFSZRT+FBPlJ8jkEe/VGvPihuHUvngx0go3Yilolq+OdXkOZN2h+wtjRYuRN1/A7/2wLH4gO/xJ7gHYsC1bQeFmlwtJILNPMhPm7//974ekdU/pni5whuRC/IpdbQqm2uccWALboga/QeTyKyjR9cr2IbZjl4JCG+rRApXmDersPcHsNqedhySjt2bhxBKPVmMz8nLQRxAvhbn2pqflr7Q5WCXxBTWveQBQCSCiVATntpcJcqr/6ePhA7AQ66mucNb8MsbEc/5QIDEi18nSEnIIFoP+9mn9zQEc7iZdLF0q9hdACQUYoz3zRGdnCVAaWUk9Ab1VNrwfTQgV9ljoLsKCmxtpXt792iPAMyv/cXV82xMKyU0zxBWeK1L6JVeJrrSqIsXrR0LxkqIgS9UHO24ywirInIHH897Z5Pbe5fq2m6sUka+dI/wfg+W/2AqCTcqltLjV3RwyKBbWZrKKM7sozNGFbYID3ehNOGQrWcHUEtwk67O6rMAyisEWVVs1gj3YkS3GfTBimI9pVp+eymskM++NpyO+qEUnifymjU5GmON72B9b55NC5FupC44as95pqtrQe/1JVBcBvw1s7TMMR21K6oAAaKeZ+Xb0KUC3mk/ipAQL30bDr0T6hGdQ7KeIu7IG5MWFh1l2l7D39+b7oik8nhGwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ryzv5wMZbJjF1nyL8EiCr3",
      "input": {
        "note": "The arm did not move at all on the press command, so the IK seems stalled in this pose. Lifting to 9 cm to unstick it before re-descending onto the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.08,
          "left_yaw": -0.45,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Ryzv5wMZbJjF1nyL8EiCr3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0959, 1.6444, 0.7258, 0.1066, 0.271, 0.2478, 0.9996, -0.02, 0.8047, 0.5953, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3951 left_y=-0.0819 left_z=0.0428 left_yaw=-0.4867 left_pitch=-0.2043 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1703 right_yaw=-0.0017 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -11.9726, 11.0017, 2.2051, 0.232, -0.0122, -0.0562, -0.1162, -0.9504, 7.241, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0190a8b0a552cb8b6f3b22f16244ebc029aad433db451d4e1759623ee2ddcb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a0f93b138d5b5bd209fb97b6880911f8b2aba3649906f2af00c4a33fd520a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e766dc97c35082b4c4baa130266358750cff7e96883181978d69dbaa1e4e913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 7.346 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]: [-0.0914, 1.702, 0.6861, 0.2214, 0.3, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3959 left_y=-0.0851 left_z=0.0269 left_yaw=-0.5187 left_pitch=-0.18 left_roll=0.0042 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0309 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0479, -7.0769, 5.3265, 1.707, 0.2955, 0.2369, -0.0562, -0.212, -1.306, 7.241, 1.7314, -0.0562, -0.0513, -0.0122]",
      "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]: [-0.0914, 1.702, 0.6861, 0.2222, 0.2996, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3931, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3961 left_y=-0.085 left_z=0.027 left_yaw=-0.5183 left_pitch=-0.1794 left_roll=0.0048 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.0769, 5.3265, 1.746, 0.2662, 0.2613, -0.0562, -0.2256, -0.9368, 7.2, 1.7216, -0.0415, -0.0659, -0.0122]",
      "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]: [-0.0959, 1.6444, 0.7258, 0.1066, 0.271, 0.2478, 0.9996, -0.02, 0.8047, 0.5953, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3951 left_y=-0.0819 left_z=0.0428 left_yaw=-0.4867 left_pitch=-0.2043 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1703 right_yaw=-0.0017 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -11.9726, 11.0017, 2.2051, 0.232, -0.0122, -0.0562, -0.1162, -0.9504, 7.241, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0190a8b0a552cb8b6f3b22f16244ebc029aad433db451d4e1759623ee2ddcb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a0f93b138d5b5bd209fb97b6880911f8b2aba3649906f2af00c4a33fd520a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e766dc97c35082b4c4baa130266358750cff7e96883181978d69dbaa1e4e913",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7goKEAgRGAI4AUIIdGhpbmtpbmcSDL6MhI7t2eD8PlJjmhoM1Y82Xn3EVDwVXXftIjAsF4TdFt4Fd0jpI/ln7pXu1WhQG6rjhNSJOKEdVKZjO3Jth6lMMedLQsm+NGp5xwcqiwrpZWil3WUzcq4dBA6nXHTffg09TDwpXdlWqUnZPTDeCwwdHlknBAy5QfpsMUaj2iRxVuyFsRXg5uCZbupV50ufw9FYhhWF7xHHM2+rBuBIpK5HPmA3xdAVJScUpk7MNZZ82c+mjYSwuV6lnakhEEw8RAaLCin+QulMg/9roEpIF2L/HLqAOy+e924ES+Dh1Dxis+jEQkMHLjrenb5o/QzQ2pnvQvgDrjVOImtCRLhjMHNsBpEzhzeeesopOFZSei27K6qyY1S93cZhpWSofFbfpzlzMqEO/0HvJoQEfRxgi/VxstbmflbFG0FeIPpJA9fxO+jQyRz9CekRC3xtTK8VWR/V9zGek+r96ZlRiXk7BeM+8SChjHFJ9r+HjpD28DwAkwLtb/7JIrXHkKZ0xlj8+t1ZC8mQbzNWoxf8oZVkZVtCMpA7WIGdg+9eqypDgPmaJOe5sSRmnGyHfXm/OS0+J+tg0CstHrYwBS3AQsaf3OUYSbyfSP5O3XyeNZT84HmQq4oWzDPnZx/OusDnmC0cARignQrkZn49Sv9HL60BgOA0ZuuG7mwUiEUSLlYN/yd8ID55LzInaGaH0D9C2PTfiR73Y0IGVtEa8O9aM10T6WKatTPgiVkM2cbr66NmrtWUo9/CRX1snSEg8D1DxxAvajJLb6Nwf2DVpeg31XgMBSUzi+AVLyCZ+PmmbKljPuenm5pd9N9fUFS1t9NwHKLZt38/egn+yk0jZ6EVziRMUjBPisaqnC10jw3R/VL78Dyf7gHT/v2dnnV50FPuhiuQ3f0pRPisQkIMxFUrbmyIOrudbJED7sxAytLu7MBZ+JQ4sCmbeBPKi77hmPj/NSnLLhVQ5jW6pOV5ixYbFtxvqbKJ1iv5bHWcYATdlEN/ALx3P7v3oQeEiyt2XArgyk6vbjxO3lvjl1RMhKbLJHc7cTOni6m2byUKusxyXTevgmjkoJIFqSmMWIQs0VuIVwLWUk0+OC1NXeOJdI/yjz18W8tAuSXs8udH04gAimOBMVGWkmJwpt3TtEsK4UWK7r49206S2t7bMVpeEPLBFZ77XUCns581IXac1X4p6Fpdnt3dRvrhPwe98pSapJ1+mXA5vXHauY5pElYo8emKGMT8uONR92Kio6pbHaKmP3TDNVUFMomoqLwY2n9rKPypMS3JYqZ/eFR3hAakR14JxwxGTXAjA4J1fiGytxdY7xDlWD4fSyHh2bwcdssfGrWessEOS9Q3G2EYp5QqmjOKdehbUdNB6VJtRrYkb2UQ/ZNtyPv3CllIN8U35tpRnh+8CxwQZtxI/HD+wIr5L4a31OHRCH3rKDQ4PecEgkvWUsaFkA4V/wMRVH3rb19pYEK3FV3/Vod9U3Yn3K/fTj2togFZ9oGuA7eFBUZtUY+KEDKr+GMF6ETs1nTgLH8VEnHFPRmr7F2OWvUfGvki41jtXdMY8RiyETUuOZJybTWoTqJu+5c9ojMdD0ghAcOg8tJ7/ASRAFYpSezsNyj+KIDJ117jr7mH1G5zvxs1QTSQKo4TSmEnt38ZLuMEAXOBgY6rfEDEC03SLfCsskXdBEnIWwotyh+CjrzlIUBqV1K09nUIgRsgMWOAa6rMRwPjQBVospZ08Qnzj0L/YIeemqYqTpHeDO8YkXV15NXvIPQEyoZLzvdUkF69FJOxCwDG91cq5OzDS+U19tLAoxTUb3y813PuWzEOUcZKKqJ5l3NnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AykCB5V8NzvHV6b77YJEfp",
      "input": {
        "note": "The arm is moving sluggishly (only reached z=0.043) with the tool pitched back 0.2 rad. Continuing the lift and levelling the pitch to get a clean vertical approach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.08,
          "left_yaw": -0.45,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01AykCB5V8NzvHV6b77YJEfp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0799, 1.5169, 0.6651, 0.1783, 0.2916, 0.1864, 0.9996, -0.02, 0.8043, 0.5953, -0.3927, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3944 left_y=-0.0789 left_z=0.0817 left_yaw=-0.4471 left_pitch=-0.0702 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -7.3641, 5.8188, 1.956, 0.2759, 0.0073, -0.0562, -0.1709, -1.2239, 7.0359, 1.7021, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abd4c25969ab04221c2f5e637ddfb4f569fbb331f9cab4235842aa3588742f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161b5e2dbf5012b081e13d4bdcb519a43e6d97a1eb38c58fcc17e3ff59e57f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9aeacff0229a6af2f059a8213b604b0571ece73a679b7cd3e414b2bf31770d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 5.146 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]: [-0.0914, 1.702, 0.6861, 0.2222, 0.2996, 0.2733, 0.9996, -0.02, 0.8032, 0.5957, -0.3931, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3961 left_y=-0.085 left_z=0.027 left_yaw=-0.5183 left_pitch=-0.1794 left_roll=0.0048 left_gripper=0.9996 right_x=0.2925 right_y=0.0007 right_z=0.1709 right_yaw=-0.0015 right_pitch=-0.0305 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.212, -7.0769, 5.3265, 1.746, 0.2662, 0.2613, -0.0562, -0.2256, -0.9368, 7.2, 1.7216, -0.0415, -0.0659, -0.0122]",
      "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]: [-0.0959, 1.6444, 0.7258, 0.1066, 0.271, 0.2478, 0.9996, -0.02, 0.8047, 0.5953, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3951 left_y=-0.0819 left_z=0.0428 left_yaw=-0.4867 left_pitch=-0.2043 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1703 right_yaw=-0.0017 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -11.9726, 11.0017, 2.2051, 0.232, -0.0122, -0.0562, -0.1162, -0.9504, 7.241, 1.6874, -0.0611, -0.022, -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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0799, 1.5169, 0.6651, 0.1783, 0.2916, 0.1864, 0.9996, -0.02, 0.8043, 0.5953, -0.3927, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3944 left_y=-0.0789 left_z=0.0817 left_yaw=-0.4471 left_pitch=-0.0702 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -7.3641, 5.8188, 1.956, 0.2759, 0.0073, -0.0562, -0.1709, -1.2239, 7.0359, 1.7021, -0.0757, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7abd4c25969ab04221c2f5e637ddfb4f569fbb331f9cab4235842aa3588742f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161b5e2dbf5012b081e13d4bdcb519a43e6d97a1eb38c58fcc17e3ff59e57f29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aeacff0229a6af2f059a8213b604b0571ece73a679b7cd3e414b2bf31770d0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1gcKEAgRGAI4AUIIdGhpbmtpbmcSDFi65Io5CmaffbAKQRoMQ3IA+z/WJ70s54nRIjBXKEEWaAE6NzUdhZ+Mkp/IfqaH7Ae3Q7CQG+2hEGTdOHdTOAEzo1SjhcqpNi7ANX4q8wbEFSLTqbzv5lBpy/jGpfD0t0WcKs8ualuli234nZK/7vEfC+zRs6LIsC69Xjzu9aqHuOdFzKJP39ZsCPQdht1lu4v18S4OvFUeGdsfO8cyRAiOxoWMPmiSjG5ySAqS+W2rZolPaY8JAVwnFatUiRcA4kD9yXxgvm/rWUGCB8w8Q4zIQnwlgAbsvbYnY77a7xyo6MIznobZn300VrhNYIPsv+eX/7mFVXxQxYqSHMxziX88oxJEXEUgMSfx0PptEK62bX5TGUHWTXfBwQYjbpoJdl582LRnzwqHdwBmS8E/M9PpiFSgPVMrj6LcpHIcCpwGzmSJf6xUk9hzMTNI2M0uQKZgUwLQ6S9tTLG+ze/ZLzN4797X9RzYCKMtkreJK4F8XwOlmqgh2z7QRafFEDlGT5AG4ED2P6QffjCwlKsZAMPIwysC3w1jW7JWv+I0KnA6OB25P3hhk9DJ+fzvX/6RbxNlzeAE+KdmWDIC5VLs8/xjNlhkcYKLewT7jzKD46ZT6q2iEK8QgxMW8YWe6eojts4vCg4oJv1PnbZOy/VRoYLuH9IrpdgMMFfqXtonQJ6nyoJ4QaL1O9+CtYGOhCr2W92NByLKwgXW/chRkJ9PAIb2X0IeO/AXKu3gdaWr4htc6RamW/QC39lsAS5eFPRcckP/7PdSl6DXLS1nzsBkKpja4r+dQblTgPdn3qwEQtdMLxrfHK+LsPNKGbSnIC+Bfk/JZMRRKjGfDawWQhMyRzwFOJzKH4hX4blZdmnC0C19ZosjVWJbYP+byEishU56mp2YBBslKChL82/flCQviohKa2tyYC/KFPpsoZSYa/gvtLnw7UaNRTLaTag6gLBZjpoSI9xyU58fHFSYrohbaju/uWv3e5e4snALHLAEFwtFiJaa5tmB23+ZYIJ/347REQ4lIsfqB4191TjLKfOOdfyHe5nrRIiUztCKs87BHdW9kDQccuaGTYX9+0hBOUsu/DHOJNVx4KXMXewD6KGDpj2lhX0i0uJmoAEwRI27UQCmWOQya0Za0ysaPClzDYUTimC4nvt+3arZ80xPYYKBRdaWbodupVJ7gqNoyYUGKlpQSCWGZozRk8OcHW2N/lYy7Lm+Ui1UogQ+84L8vvS35H/ddztHbOQ3riU2N19MeblWsJQvsQiuef8tXIIVVV0apmDWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017jbYMvadB1Ym3N8xvcLABe",
      "input": {
        "note": "From 8 cm up the brick is centred on the jaw column and aligned with the jaws. Descending straight down to table level to grasp it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.08,
          "left_yaw": -0.45,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017jbYMvadB1Ym3N8xvcLABe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0772, 1.8362, 0.5297, 0.6651, 0.2993, 0.1822, 0.9996, -0.02, 0.8089, 0.5953, -0.3935, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3977 left_y=-0.0794 left_z=0.0032 left_yaw=-0.4478 left_pitch=-0.0387 left_roll=-0.0069 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1691 right_yaw=-0.0017 right_pitch=-0.037 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -5.8188, 2.9607, 0.7497, 0.2564, -0.1538, -0.0562, -0.0068, -1.306, 7.1863, 1.746, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b97f163339df4e471eb609a775349752aacb2eaadf3206f2aa1a18f96aff95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52701a317fe0c4b2290421773943e794820bae966f853377aaf582a75b8fadb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a39a61c010cc964b92cf5e87c79417a24c92470d5270e9787f1186b0497d00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 11.95 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0959, 1.6444, 0.7258, 0.1066, 0.271, 0.2478, 0.9996, -0.02, 0.8047, 0.5953, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3951 left_y=-0.0819 left_z=0.0428 left_yaw=-0.4867 left_pitch=-0.2043 left_roll=-0.0022 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1703 right_yaw=-0.0017 right_pitch=-0.0324 right_roll=0.0003 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -11.9726, 11.0017, 2.2051, 0.232, -0.0122, -0.0562, -0.1162, -0.9504, 7.241, 1.6874, -0.0611, -0.022, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0799, 1.5169, 0.6651, 0.1783, 0.2916, 0.1864, 0.9996, -0.02, 0.8043, 0.5953, -0.3927, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3944 left_y=-0.0789 left_z=0.0817 left_yaw=-0.4471 left_pitch=-0.0702 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -7.3641, 5.8188, 1.956, 0.2759, 0.0073, -0.0562, -0.1709, -1.2239, 7.0359, 1.7021, -0.0757, -0.0708, -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 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0772, 1.8362, 0.5297, 0.6651, 0.2993, 0.1822, 0.9996, -0.02, 0.8089, 0.5953, -0.3935, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3977 left_y=-0.0794 left_z=0.0032 left_yaw=-0.4478 left_pitch=-0.0387 left_roll=-0.0069 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1691 right_yaw=-0.0017 right_pitch=-0.037 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -5.8188, 2.9607, 0.7497, 0.2564, -0.1538, -0.0562, -0.0068, -1.306, 7.1863, 1.746, -0.0464, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05b97f163339df4e471eb609a775349752aacb2eaadf3206f2aa1a18f96aff95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52701a317fe0c4b2290421773943e794820bae966f853377aaf582a75b8fadb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a39a61c010cc964b92cf5e87c79417a24c92470d5270e9787f1186b0497d00e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Now at table level with the brick between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ap9vJNEZQxxqbu1aG4CZqr",
      "input": {
        "note": "The gripper is at z≈0 with the brick filling the gap between the jaws in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ap9vJNEZQxxqbu1aG4CZqr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0776, 1.8473, 0.5201, 0.6937, 0.2924, 0.1822, 0.0093, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3975 left_y=-0.0784 left_z=0.0012 left_yaw=-0.4424 left_pitch=-0.0327 left_roll=-0.0002 left_gripper=0.0093 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -8.212, 4.8615, 1.4042, 0.1587, 0.0073, 0.7448, -0.0479, -1.3744, 7.2137, 1.707, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4ebdd6c5e49d648159af6c6eb7bdb5864312fa72f3c646550ce7a3a48279d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f9443e488ee5cf2a91059c51fbbf1ff0b62ff6cbc21b0b1cbbdeff08e9e527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d82f1498ed0dfbd0d3251fd9a3ed400e900c372fc7b7f401ee9be10d2e97c8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.697 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]: [-0.0799, 1.5169, 0.6651, 0.1783, 0.2916, 0.1864, 0.9996, -0.02, 0.8043, 0.5953, -0.3927, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3944 left_y=-0.0789 left_z=0.0817 left_yaw=-0.4471 left_pitch=-0.0702 left_roll=-0.0107 left_gripper=0.9996 right_x=0.2926 right_y=0.0007 right_z=0.1705 right_yaw=-0.0015 right_pitch=-0.0317 right_roll=-0.0001 right_gripper=0.9981\nstate[joint_eff]: [0.2667, -7.3641, 5.8188, 1.956, 0.2759, 0.0073, -0.0562, -0.1709, -1.2239, 7.0359, 1.7021, -0.0757, -0.0708, -0.0122]\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]: [-0.0772, 1.8362, 0.5297, 0.6651, 0.2993, 0.1822, 0.9996, -0.02, 0.8089, 0.5953, -0.3935, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3977 left_y=-0.0794 left_z=0.0032 left_yaw=-0.4478 left_pitch=-0.0387 left_roll=-0.0069 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1691 right_yaw=-0.0017 right_pitch=-0.037 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -5.8188, 2.9607, 0.7497, 0.2564, -0.1538, -0.0562, -0.0068, -1.306, 7.1863, 1.746, -0.0464, -0.0464, -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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0776, 1.8473, 0.5201, 0.6937, 0.2924, 0.1822, 0.0093, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3975 left_y=-0.0784 left_z=0.0012 left_yaw=-0.4424 left_pitch=-0.0327 left_roll=-0.0002 left_gripper=0.0093 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -8.212, 4.8615, 1.4042, 0.1587, 0.0073, 0.7448, -0.0479, -1.3744, 7.2137, 1.707, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca4ebdd6c5e49d648159af6c6eb7bdb5864312fa72f3c646550ce7a3a48279d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f9443e488ee5cf2a91059c51fbbf1ff0b62ff6cbc21b0b1cbbdeff08e9e527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d82f1498ed0dfbd0d3251fd9a3ed400e900c372fc7b7f401ee9be10d2e97c8b",
        "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_013k4xbUiqg2Rz4PunE4iCnA",
      "input": {
        "note": "The close read 0.009 (empty): the jaws shut just short of the brick's near edge, which is visible above the closed jaws in the wrist view. Opening and advancing ~3.5 cm along the tool axis so the jaws straddle the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.095,
          "left_yaw": -0.45,
          "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_013k4xbUiqg2Rz4PunE4iCnA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1165, 1.9221, 0.6411, 0.6727, 0.2611, 0.1593, 0.9952, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4282 left_y=-0.0924 left_z=0.0048 left_yaw=-0.4429 left_pitch=-0.015 left_roll=0.0064 left_gripper=0.9952 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -6.7624, 5.9692, 1.5018, 0.0611, -0.0611, -0.1343, -0.0615, -1.2103, 7.0496, 1.7314, -0.0659, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcfc74ce06dc276d2583c36b4f0310430b41944b98d2754a27b5ad679e0852c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013c300d57df33654f87ed467a0fa2eeb6c056bb922848906ae3c22d97d7f8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a54d2068667a76b61de20f642474c3a4be6f2261d7ae9124f3766d3f34e6652a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 17.87 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]: [-0.0772, 1.8362, 0.5297, 0.6651, 0.2993, 0.1822, 0.9996, -0.02, 0.8089, 0.5953, -0.3935, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.3977 left_y=-0.0794 left_z=0.0032 left_yaw=-0.4478 left_pitch=-0.0387 left_roll=-0.0069 left_gripper=0.9996 right_x=0.2927 right_y=0.0007 right_z=0.1691 right_yaw=-0.0017 right_pitch=-0.037 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -5.8188, 2.9607, 0.7497, 0.2564, -0.1538, -0.0562, -0.0068, -1.306, 7.1863, 1.746, -0.0464, -0.0464, -0.0122]\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]: [-0.0776, 1.8473, 0.5201, 0.6937, 0.2924, 0.1822, 0.0093, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3975 left_y=-0.0784 left_z=0.0012 left_yaw=-0.4424 left_pitch=-0.0327 left_roll=-0.0002 left_gripper=0.0093 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -8.212, 4.8615, 1.4042, 0.1587, 0.0073, 0.7448, -0.0479, -1.3744, 7.2137, 1.707, -0.0708, -0.0708, -0.0122]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1165, 1.9221, 0.6411, 0.6727, 0.2611, 0.1593, 0.9952, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4282 left_y=-0.0924 left_z=0.0048 left_yaw=-0.4429 left_pitch=-0.015 left_roll=0.0064 left_gripper=0.9952 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -6.7624, 5.9692, 1.5018, 0.0611, -0.0611, -0.1343, -0.0615, -1.2103, 7.0496, 1.7314, -0.0659, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcfc74ce06dc276d2583c36b4f0310430b41944b98d2754a27b5ad679e0852c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013c300d57df33654f87ed467a0fa2eeb6c056bb922848906ae3c22d97d7f8e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a54d2068667a76b61de20f642474c3a4be6f2261d7ae9124f3766d3f34e6652a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QYKEAgRGAI4AUIIdGhpbmtpbmcSDFaj1eso8f6grn+AqBoMqDkCfqTg5YL+BGaeIjD/bppDuji/5CAT7qvLW3qXfKHxEACvAJ4+weFIqGsXOKeK1LXmNC/j5J7Odrh/ToAq9gXH4CzSqrcmSSL1CYQ/2XfmiJl7VIW98Ja430bgIyerveRAX7R+BSBYp0B0r0eqvJa9yINaLt1e4PnEKtK/QDXwEMSGy78YmE2z5G0d035KDOgw2tpwLcNRSWAZac093ke74Wg2x2alxnmgREdoTsF2nUlSIxQVgVK4L6eaTul+8H7gBu5SF4/R2ANIu2kmumwugaKDo/2yJKTHI/ZDE7m2wi8b/Xu+qFwWo4Z1LK+OLSh6Eama1Q5OV6M8YBQQxdtBbRslVitBFpimxXKuluX5mi0RqMyHWx1yLfMfTS+NuX5xQRp3ht1GsF+/Np6rw9mcDZfxxvzK/FwsVr6QkmdkJZd12mUk4nsjLHy/emMANHhJjjzcEsogAqmWGMB199hQLz7UG6UYgmFz47uiTYxBiwhAoPUF26c33m5awgnTcrT9l9ndwMc1nNn3MjWsnRedIsZF3yAgNgvtJi/1ex+cWjhRQ5pc+fsnEmUvR8otqbrVLrpiUjDQw5plNIdjMMU81rsTa0CH7mPzDCqHNw6amUGqaVESKO8GVzuJUiHa4pq8cQvBOepms/s43r4BCrB+v0UluHUYZ6ypLK2vBe7bYWLbLs3E4tzYb1qEYAMGRDpJEfbXpFOV/549DHRHmPnoKq1eeJiUkfAqG/ruEN6peu/e+igifst29zT8/qfRQgM2M3o3gQsmFDbSc43k7pn7fi3qvlUTlpF+HfVdBr37jWYrYaRXp8hVkZ7YjfR4qgGe8YfP2GT1KyTZXY9hAzvm27q2w9mt+dCv9pz82rN4+4efrDTnTuiRoFfr1GBn12Inw6V0FVI73irt0RA4Qq3bRfSw0LcPavLN9hFfdBIVlrwx3DoW6O81JSYSUwcRgzVHAkgU+6QAfkfZUuZI0gBu5YWhrCvsOuGEiXcqOqvlCLBd+ZrnUzJRbXOG0rdgD4XKTnodh/JY0AfwBBnCha7/ooqBGfei2H3wvvmCvxTswYjofSRYrB+ypjR/2Om+DS4+WJkw1xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VNVurxpESEghfmCw4fxyzn",
      "input": {
        "note": "After advancing, the brick fills the wrist view between the open jaws down to the bottom edge, so the jaws now straddle it. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VNVurxpESEghfmCw4fxyzn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1181, 1.9244, 0.6422, 0.6689, 0.2604, 0.1562, 0.0093, -0.02, 0.812, 0.5945, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4277 left_y=-0.0929 left_z=0.0035 left_yaw=-0.4422 left_pitch=-0.0198 left_roll=0.0027 left_gripper=0.0093 right_x=0.2929 right_y=0.0007 right_z=0.168 right_yaw=-0.0017 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -8.4718, 4.3009, 1.7314, 0.0611, 0.0024, 0.6862, -0.0889, -1.347, 7.0496, 1.7216, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dfe5fee4d60e087dc92fddb59e3959754457cadde96b76abf5fc8db8fe4638b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bae19afe5cd51812494f57f2953dd344ef8409b6c3e639899411d8b8bf1d12a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5024fd2e834359a0c4304f68b848781bc37d106ab4f4dade8930b66faa3ade05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 14.07 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]: [-0.0776, 1.8473, 0.5201, 0.6937, 0.2924, 0.1822, 0.0093, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3975 left_y=-0.0784 left_z=0.0012 left_yaw=-0.4424 left_pitch=-0.0327 left_roll=-0.0002 left_gripper=0.0093 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.0615, -8.212, 4.8615, 1.4042, 0.1587, 0.0073, 0.7448, -0.0479, -1.3744, 7.2137, 1.707, -0.0708, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1165, 1.9221, 0.6411, 0.6727, 0.2611, 0.1593, 0.9952, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4282 left_y=-0.0924 left_z=0.0048 left_yaw=-0.4429 left_pitch=-0.015 left_roll=0.0064 left_gripper=0.9952 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -6.7624, 5.9692, 1.5018, 0.0611, -0.0611, -0.1343, -0.0615, -1.2103, 7.0496, 1.7314, -0.0659, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1181, 1.9244, 0.6422, 0.6689, 0.2604, 0.1562, 0.0093, -0.02, 0.812, 0.5945, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4277 left_y=-0.0929 left_z=0.0035 left_yaw=-0.4422 left_pitch=-0.0198 left_roll=0.0027 left_gripper=0.0093 right_x=0.2929 right_y=0.0007 right_z=0.168 right_yaw=-0.0017 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -8.4718, 4.3009, 1.7314, 0.0611, 0.0024, 0.6862, -0.0889, -1.347, 7.0496, 1.7216, -0.0317, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dfe5fee4d60e087dc92fddb59e3959754457cadde96b76abf5fc8db8fe4638b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bae19afe5cd51812494f57f2953dd344ef8409b6c3e639899411d8b8bf1d12a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5024fd2e834359a0c4304f68b848781bc37d106ab4f4dade8930b66faa3ade05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyRgKEAgRGAI4AUIIdGhpbmtpbmcSDKqFsn7jwKKKcYUJAxoM4uS4KYQXAIzRmLnaIjA6CIcfKIkHGNDHkJKWvue8d7GYZeGA1HfO2mSMmBPWY3L08IgCTIws7wumVaWedTUq5hfeQeZcqpGPfrw4JpnHMwvZY8v84IU1upLadt0trcG6uLxvyXLpJgPXfR66qYcQ+WgGzIzgF1ujUaEoUx4RnfL/WhV2riaKLqtILOq6mRJmtoRSaU05Cd2VOSqKQuC94hbo8tsh6hRbDX/rv5X4mR9FXb0enszVgdBEbOrHLQ/QrnOM/A4a30Kd3xS2db0xoIHVOrC3U8TqOvzTn7vQ5G25VJDuETe/FMEILe6I8zH49ESmlAvM8lHSZL+/ARM1EuJ7+fSBh1DfB1LR82EN92fCMqGOSvRLQbMfgIvdEhpm/uO7MohTB7ksY4jwhsiHHovLwZCGGLrkRisH2R2ph08i0thtjCi/Imdai+iNk69e/KGvK97nwu1y+SBLdcEoINKUdjBVejJKlIHaPddD0GgzwCcH6TSgOJJ1gfpYMjif6n4ACMwO56/vXm5A5IbhQehLAbXZ3kOyyAQJgNap3gDcQpxcnTLcrUJyfSWs8H6H0EA4YHv6ufvSXjy2dDnep1pzcsgdQ7NNiDUt4A/s+AfIE6J2FHk3bYRqpT8eVxPrkcKW+ZNeySgMJLgHVAh8/KphmDk1cq+TWfRmcd8vWDiTPUFmKC6T8Wv1yI23hXyvayvnmbVVDZPjKRJcVj1HCYQDobIkSSd6bxYimdTKmcNJ0beExnO9vJuldt/o++jtWg1cRaeapHZEcQmK7uw1KF7ruDpDh2cBMZbR0JTvYxb5kdo0JX/B1y8hdJligtUPok2uWkkfTgKsiti4mlteXO1NYMD+Q9a6rh8sJt2bVsYolOOow22XRLvUyhQnzahbruTX8RkMVSHDQ2pIjjPW2Y44PhPtMSocv4eoYi4UPIETWRmW7ChCTyMN5Jwl8hHh2t2RtNfe1+xXOvUThfNblbegcfeGqjsUICBMnou5WR6Ix6DlMGMNWBO9VASVycFvhe0ANvtfyj+Q05x8nvENwjb2V429biKDAp+31IGJIluNJty/r84mI9evk0+1zpZzCHY+x2njT45rK+KxwEmIDYm/xbK0+UlW82BtWPUXZe4793DEbtncg3UWWHzOsd6XIVd+O+F6gO8TYbRbm0F1wAUiIDwdK2/eaWpVx7F7o04IgtinXtIAkYaMR7FD/6e3/6GtVsJoTT/eGIS3CsTkq5JD3uaB7k7KRgwBS36EyJfxgM0E2vjVPLhG5L5M8qtcREedbsym3I9cKH1ipq84bnqQiqYBQ0T4jveXjX8VNOahF0E38NxkvXigzXNgzPJlPnLYu2lPa84MF75JLOrjT7pUQvYEeHUGgf4RLdtItpwYTm9fP/1nkrSCZSVAeEaoURZFLFbLSA0H3YdVtPMA14tqKvqnch5vPx8/hBFWqb1Hs3dYVVA/XoGPbiVP/m3wh74FuQic8KdqLKZBFWeAxHGTdE6RucGOkWtRWPNEkL1m3Y3xjPVLwPUjOq4N9bvy7bTs16Q9YCM+qBWrYMABml2U3IZ7XkfOYjTaqczMo+HzmwF9byb3f6LYIPXvLaDGthcpsvzE9kpVR+f8iUvMqRmKqvbcf2TqEB8jP54QEL7QWPwIccTyyR1OLvrXoFU6y8+OYFqp4AF3HVxMs/wM4wLjrwRAejfsm9+k/A2O7WARUqlv++37KvnVfIYan1pHnnuJaDPf5mEoBUdlMUKkyQ6efGYSVFEkNwE50IxiXT4M6W5CJ0XjIoAWvteuTesN5tMl27TNwT1IthnXnu7D6iA4fIDYCVnTdYsSVm1izUQR+dkveClm5AaD9aWB9012e0BIqPOULindb44iLSsVckvr13fFueqXp11igildkXpOLP20JCQc8gt8PC6KchhQvPJfRAPS2GcRORssGMp8BnbaAW8If43WFnq5tcIPptZ1yDHugZo2xF1DSz/zFGRYfkPIMSc9fwNlcUuIePc7t+xvB67gqvLMdMptV81m0ICmft0tVDouA9HvAxz7YdaVoe2qoDSGhaLriyRcJ7WMIcIQ0bPC9nI18tIBbcqbt4kyLtCWbUEcqPHsHrg6RO/AHg80SwLpbKCOQPAy4sjTVDYA+Lj0+CzuJUe/qAzbY78+b0yAjh/xQqssJdCnuWJtAcJiHO48fUVgVLUPjJmfslb3F/dFqpQtRciqKSfFLQ2qxUm7okFZNk0h2e9G4f3BK3lmK2Z82xBxVN1MKz0SlsCqDeuPlzA5wyrxV8yzQn3dW0ygMOBsslefWS5RswAv0zPiBjZNp7c7bV7xjckTGlU1sByfWkShzhdcxSxR5V9eU9U0ohseazSK1wwbemyfsPJjd20WnR5azCF6pXQxwFLrn1vsPVyvOxdKxhJdS4iGtIzo2XzkwZ64lbSZp1QhEkaXosURKxkzFz060qtFpsOX+Kv52nwG9axSSbxqTLHqPmZE9RtBwiy03dMvezjptTInJnyvcHKr+rJ3GlZn3B9shNkNqa6MCYQLGSAbDKflNuFVZG2QzKLkrK+Deef8xTYibPztdRtL0YRCyqFIih9q4Hokwe3trBoVge+AXFd7u/l02sra1+0d8DTxVLKzCkZXNqAnFiIw47pcpqxwE7wHeToi74ssuilp3x3UjHTUnYx+R5xKAykOwvKKoAEbmghR4KMKM9mDK83gqmyby5OII5BmpCKCWoy9YKQf8qIf0mghJMNIctaAlLLQvLTPK503JOfzAwjBnE7P1f9MxqpR3c27j93ClSLZ4RiQQBgaH/X9XB6OLUCo/QdP2gi+RnPJeFO7eZKxMaEHrJvIiV4ltBxVe8mkFWWJNzhEVM3Dl42D95bcrPR0JbswP8NM876wUvWO9ZW9Ue/i9wnPMTrFv08B4CDVwPzs0PcISXL4Dh5v2FlESJcQ0xgGHnoVYjrLvHbuafySewmJmlYcCohuph5DtuoD3qpaftMQds2ZLEFN/uVx8gt9ZvlBuWt8te9I+OU/2KK6ANANpCMum+oeIp9TURNVcDkOyvbYdrNd6gsegodPL7m7EXGuX7Q8BVkHrpR6ABKERKZESh0wy9rexG+9FKh1eliEj28Hkt1eWjQMn3a6avZzQRwnbITWXYKR9ohFT6kI8BG7IDJHpAWOhuEiBlTilxAWtm67ePXIO/QIBjZQBMHS7/G8DjuC9uZAJAjHxHGsirSG57aCTXGGCTE7zhCHr7tP9re35BL2KltfFt4yUGLfyMjQWrk7tWGjDUUYZ/h+3JmQbtsXi8q0lidTpwv1yFTpzLLs4rr3sv4GxPRt2VmnypsY/bcKm8yRp3+OEPfM2e3uCDElXfaVNPYSNYzYXkzw53+IZtfd6EPILdDf/DVYu2jGy1UCKENQJ4L6oW92L3DljGrSxCQcaczafEDPAlOd4f2XY7sIXcuV5dVmQ9Acx2dt+x/A9DvW66jycjN2faSouDoYYXySxYPzfvXF1MMtZ41alsCGCWKqiwA6arL5lULIqOQF2jI8Rt+mmBjdTnHjOgwSVMzDPtnPwD+98T+DSt6lbcoHS3CNUHSHhUoDD/hbvI+tNu0f+VaQ7MRIMZXG6aBk/KALeS9UCx/RHTcG+CwhUpajrccP7U/AglYlelTbbIA7j0LAd02ghZkr5iJTnQeUNNBP66v/SgPslQF6sfmq9rRJ3tboFjtfbLbCA3AfIcBQF5xCv2kwVsmx8avc9nJiBYMiGcDJeOPaHwMXGN9Bz9cjXgzK2bLZAXsJ3susvELW5lF493uY9Dfxb+FvQRKB8IZodSlySZp6880I4e1Ds3w/AVXMz0QneOJ8xNXzTTNN/kl87z38cWPG4Jbq5smu3ZDo8y0v12gzXIyxt8o1cqhmlADB9vBgpk3tJACNk9FVWIDRlORWVcYTG4QyqZlqlqNjovdeYUN3BsOGxiFFyz0siRPFQfKvTDMdZeTjgbCkol/MeO0lQgqr5ZKTm9/TfNMkE9DpUNFeoWlgykO1weCYXL3dnxHv4F3Gjrcqqx0nsaeoPN/4GRVRlFcE4uN6YR0r9h9ZtELkKHH7US+J/0+G1T7A8TQGqGEHJRgMFwHNGbO/zJ7SAFBHLuihL9zWhYCitaNsClenn1wFbSct114hrebwKOi0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Fk5DjeNAvc3d2CSM8T6QC",
      "input": {
        "note": "Empty again; the top view shows the brick just beyond the fingertips, so the jaws keep closing at its near edge. Opening, lifting to 5 cm and moving 5 cm further out along the tool axis to come down on the brick's middle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.475,
          "left_y": -0.115,
          "left_yaw": -0.45,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017Fk5DjeNAvc3d2CSM8T6QC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1577, 1.9224, 0.8658, 0.4065, 0.2302, 0.1299, 0.9948, -0.02, 0.8162, 0.5945, -0.3943, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4648 left_y=-0.1111 left_z=0.0296 left_yaw=-0.4431 left_pitch=-0.0603 left_roll=-0.013 left_gripper=0.9948 right_x=0.2929 right_y=0.0007 right_z=0.1666 right_yaw=-0.0015 right_pitch=-0.0458 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -10.7966, 7.665, 1.7753, -0.0024, -0.0171, -0.1148, -0.1162, -1.6479, 7.0359, 1.7411, -0.0269, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c32b291753ce01a897ddcd4e96303c25140d2062b88787009a49ff67d47c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae48138c9f50aa8b9fa07dac478ee2105694917154e00cbbcb24c529655a2975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:caa38e13f309cce070fa26bf6507557c564c62b0cb7fdaccef1729b792b00508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 24.66 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]: [-0.1165, 1.9221, 0.6411, 0.6727, 0.2611, 0.1593, 0.9952, -0.02, 0.8116, 0.5945, -0.3935, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4282 left_y=-0.0924 left_z=0.0048 left_yaw=-0.4429 left_pitch=-0.015 left_roll=0.0064 left_gripper=0.9952 right_x=0.2928 right_y=0.0007 right_z=0.1681 right_yaw=-0.0015 right_pitch=-0.0404 right_roll=0.0001 right_gripper=0.9981\nstate[joint_eff]: [-0.6496, -6.7624, 5.9692, 1.5018, 0.0611, -0.0611, -0.1343, -0.0615, -1.2103, 7.0496, 1.7314, -0.0659, -0.0122, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.1181, 1.9244, 0.6422, 0.6689, 0.2604, 0.1562, 0.0093, -0.02, 0.812, 0.5945, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4277 left_y=-0.0929 left_z=0.0035 left_yaw=-0.4422 left_pitch=-0.0198 left_roll=0.0027 left_gripper=0.0093 right_x=0.2929 right_y=0.0007 right_z=0.168 right_yaw=-0.0017 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -8.4718, 4.3009, 1.7314, 0.0611, 0.0024, 0.6862, -0.0889, -1.347, 7.0496, 1.7216, -0.0317, -0.0171, -0.0122]\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]: [-0.1577, 1.9224, 0.8658, 0.4065, 0.2302, 0.1299, 0.9948, -0.02, 0.8162, 0.5945, -0.3943, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4648 left_y=-0.1111 left_z=0.0296 left_yaw=-0.4431 left_pitch=-0.0603 left_roll=-0.013 left_gripper=0.9948 right_x=0.2929 right_y=0.0007 right_z=0.1666 right_yaw=-0.0015 right_pitch=-0.0458 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -10.7966, 7.665, 1.7753, -0.0024, -0.0171, -0.1148, -0.1162, -1.6479, 7.0359, 1.7411, -0.0269, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c32b291753ce01a897ddcd4e96303c25140d2062b88787009a49ff67d47c67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae48138c9f50aa8b9fa07dac478ee2105694917154e00cbbcb24c529655a2975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa38e13f309cce070fa26bf6507557c564c62b0cb7fdaccef1729b792b00508",
        "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_01RxmvVRUBXvDeJ7s6xB5281",
      "input": {
        "note": "The brick appears to have been nudged: in the wrist view it now lies angled ~30° clockwise from the jaw axis and left of centre. Yawing clockwise further and shifting slightly left to re-align before descending.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.475,
          "left_y": -0.09,
          "left_yaw": -0.9,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RxmvVRUBXvDeJ7s6xB5281",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0158, 2.0407, 1.1015, 0.1596, 0.5331, 0.4309, 0.9989, -0.02, 0.8192, 0.5945, -0.3985, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.492 left_y=-0.0784 left_z=0.029 left_yaw=-0.6797 left_pitch=-0.0803 left_roll=-0.0071 left_gripper=0.9989 right_x=0.2925 right_y=0.0006 right_z=0.165 right_yaw=-0.002 right_pitch=-0.053 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [-0.5128, -10.947, 5.3949, 1.1893, 0.4615, 0.1832, -0.1294, -0.1573, -1.5932, 7.1863, 1.7851, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2973bcbaf53a7f57c1bc03729822afdabb0e0a2d298e720fc87e45ee765f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c349dc72b5330eba44bae6a18df6c9665f6959876394b11b5fab7875e1e8d982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8a572a3bd9d49be0119535d8705dbdd44c53b6fbeb7d126723e4906d0e27a7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 8.636 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]: [-0.1181, 1.9244, 0.6422, 0.6689, 0.2604, 0.1562, 0.0093, -0.02, 0.812, 0.5945, -0.3931, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4277 left_y=-0.0929 left_z=0.0035 left_yaw=-0.4422 left_pitch=-0.0198 left_roll=0.0027 left_gripper=0.0093 right_x=0.2929 right_y=0.0007 right_z=0.168 right_yaw=-0.0017 right_pitch=-0.0404 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [0.0342, -8.4718, 4.3009, 1.7314, 0.0611, 0.0024, 0.6862, -0.0889, -1.347, 7.0496, 1.7216, -0.0317, -0.0171, -0.0122]\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]: [-0.1577, 1.9224, 0.8658, 0.4065, 0.2302, 0.1299, 0.9948, -0.02, 0.8162, 0.5945, -0.3943, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4648 left_y=-0.1111 left_z=0.0296 left_yaw=-0.4431 left_pitch=-0.0603 left_roll=-0.013 left_gripper=0.9948 right_x=0.2929 right_y=0.0007 right_z=0.1666 right_yaw=-0.0015 right_pitch=-0.0458 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -10.7966, 7.665, 1.7753, -0.0024, -0.0171, -0.1148, -0.1162, -1.6479, 7.0359, 1.7411, -0.0269, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0158, 2.0407, 1.1015, 0.1596, 0.5331, 0.4309, 0.9989, -0.02, 0.8192, 0.5945, -0.3985, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.492 left_y=-0.0784 left_z=0.029 left_yaw=-0.6797 left_pitch=-0.0803 left_roll=-0.0071 left_gripper=0.9989 right_x=0.2925 right_y=0.0006 right_z=0.165 right_yaw=-0.002 right_pitch=-0.053 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [-0.5128, -10.947, 5.3949, 1.1893, 0.4615, 0.1832, -0.1294, -0.1573, -1.5932, 7.1863, 1.7851, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be2973bcbaf53a7f57c1bc03729822afdabb0e0a2d298e720fc87e45ee765f89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c349dc72b5330eba44bae6a18df6c9665f6959876394b11b5fab7875e1e8d982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8a572a3bd9d49be0119535d8705dbdd44c53b6fbeb7d126723e4906d0e27a7f",
        "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_01Sk7EPDCMLfdKEKR25RCqru",
      "input": {
        "note": "Up close the brick's long axis runs along the jaw-closing axis, so the jaws would have to span its ~9 cm length. Lifting slightly and rotating the tool ~90° so the jaws close across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.49,
          "left_y": -0.08,
          "left_yaw": 0.9,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Sk7EPDCMLfdKEKR25RCqru",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4458, 2.2215, 1.6077, -0.3988, -0.7792, -0.9932, 0.9989, -0.02, 0.8234, 0.5945, -0.4122, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.5228 left_y=-0.1083 left_z=0.0641 left_yaw=0.6916 left_pitch=-0.0805 left_roll=-0.0984 left_gripper=0.9989 right_x=0.2907 right_y=0.0007 right_z=0.1611 right_yaw=-0.0017 right_pitch=-0.0709 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -13.053, 5.7504, 0.5543, -0.6129, -0.0513, -0.1245, -0.212, -1.5385, 6.9949, 1.8144, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:642393b5f78eaff64749745613703efaf9bff2d3e130540b25c8cc1b37747aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0344112c7e6322e66eb6f431d41dbbc0bc88b6bcf93feb69741705d895de971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9143ed9a6dd7212ee763d518447b8243cc40e1fca35cdaed88b49e2ed9b1ee4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 9.063 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]: [-0.1577, 1.9224, 0.8658, 0.4065, 0.2302, 0.1299, 0.9948, -0.02, 0.8162, 0.5945, -0.3943, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4648 left_y=-0.1111 left_z=0.0296 left_yaw=-0.4431 left_pitch=-0.0603 left_roll=-0.013 left_gripper=0.9948 right_x=0.2929 right_y=0.0007 right_z=0.1666 right_yaw=-0.0015 right_pitch=-0.0458 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6222, -10.7966, 7.665, 1.7753, -0.0024, -0.0171, -0.1148, -0.1162, -1.6479, 7.0359, 1.7411, -0.0269, -0.0464, -0.0073]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.0158, 2.0407, 1.1015, 0.1596, 0.5331, 0.4309, 0.9989, -0.02, 0.8192, 0.5945, -0.3985, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.492 left_y=-0.0784 left_z=0.029 left_yaw=-0.6797 left_pitch=-0.0803 left_roll=-0.0071 left_gripper=0.9989 right_x=0.2925 right_y=0.0006 right_z=0.165 right_yaw=-0.002 right_pitch=-0.053 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [-0.5128, -10.947, 5.3949, 1.1893, 0.4615, 0.1832, -0.1294, -0.1573, -1.5932, 7.1863, 1.7851, -0.0171, -0.0171, -0.0122]",
      "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]: [-0.4458, 2.2215, 1.6077, -0.3988, -0.7792, -0.9932, 0.9989, -0.02, 0.8234, 0.5945, -0.4122, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.5228 left_y=-0.1083 left_z=0.0641 left_yaw=0.6916 left_pitch=-0.0805 left_roll=-0.0984 left_gripper=0.9989 right_x=0.2907 right_y=0.0007 right_z=0.1611 right_yaw=-0.0017 right_pitch=-0.0709 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -13.053, 5.7504, 0.5543, -0.6129, -0.0513, -0.1245, -0.212, -1.5385, 6.9949, 1.8144, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:642393b5f78eaff64749745613703efaf9bff2d3e130540b25c8cc1b37747aa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0344112c7e6322e66eb6f431d41dbbc0bc88b6bcf93feb69741705d895de971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9143ed9a6dd7212ee763d518447b8243cc40e1fca35cdaed88b49e2ed9b1ee4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSjgsKEAgRGAI4AUIIdGhpbmtpbmcSDOjL+qWqcfjY0+O0WRoMZ/nseNxe7Y67FeVlIjABiUT3G8WtfKvHdpPqdOEyx2kCJR7osmzkmHcU81oAdWOJ1kSv+fGe/8U0KmajQJQqqwqOf5lmKLP3HCbF4jFR6tJ602IXpivpcEdAMmFKfY+1E8Md9QK6ijjB8Ozd0K2DmfU/1XeTxzcq1g2/I9pZS4f+yfsPEMmBl45oBtKiR6zzsKoyxuui8zs66kCdo+VE9yaHWnQGzXVquk4Jl4oK/Ps3W8mdJh39WTkpThF64HAj4zxcr4gDe9wXZvsLxgh0nPjuw7Na3AYTpc9P39HNb8g67CjGuZDewRZqBAIe9RgnDuVIw1WSxW8NlN/2wLvGXNawDkwd2LR6j3KlhgKL5n9sdYHHOi/tf7sVEGIqYjqN51Zhaw07Vk8PYCLreLkShKExCh2DGRmH9XWp5jpn5QhoDPpWACxsR3kt2SJoBRgRMysAh16XzF/3JQxoYwIgbG72v0lz1svCtmGCikj+YKNE7Pkib1LfJG0nTFHWTygNG5o3za1teGLHT/2zLL6E8ocVWWSeoEuteNDCQmQGJpX8JQJVltWrjN269u6Kcpf+bgDfqaPbHeAfHQhIF9MNhCO227qZnBLvPQkLQd9fir33lak4osMyeppeR0W0x3VMwhHJ2EIJ4wO7F2fRC5H/WXmn9zTpzOCJkqx094AXJak7dj+DpMEckfPHqEOYwiPN8DBgcHy5F9LfKPGNW/tKCpLR2UiFLabw5N/B+3kMhT7s9+Lu8m8nOJEStkGIOxH8iH0JTWssvknl8R43SXDUHRVqW5Kw79dN0SEvUS4pR9qxk6dWRxAal0waX5SckW+aN1DmaEQYD2jp+bBpdXx4pXsEQCCaDJUOH0/uzNOShSzKUE8wYugbKUI864Wa5AjTW4ldY6GbbYHd87NHJEoG940Azh6ewAhRqbk5PzskIjOMmjHta7ceXfcms5hnogbYdSt3A3DyLBcLvZy1WmPHLxh/3FWTfZcBW/A4EyFQ+9gPfVQOwFTevjhojwY/7sUfJLnmie53EwgbY5l4CWN3zWHrJqnVj6CFM2tY9dl/41diWUjSCcQFFCcVZ9PpQLnSiOOokVNH4CnRRj2oxFVE+DEcwmnfFvjKWd9ps8MkWUB5Z2KIZAOyqo8tZKhX4ArQD1//HBGag4St8ZTZRbBzJ2bP0p7cuz1wLqH+/QU3x2ZqzwrRS+nTWyKeSZw36avYgLwMj/PvhVA+VfnZbBo7D/hcdqkjgwFUZYIYDjTWE9Gx1hPJIoJ/ioPAgO1W0vbFeFaiDIBT4PI4YQur8m0f36IxVstw4FziluHfr58AFrHBKfeRMxEVh9uBS84ekPFtB9hScITEYjRAdHgYcB3msdY9XICMSMm3Uk3VTeY/8W9MvGtJvEFpY7EhCiVoxnOKYfo21uVLHTPxXbZNk7SymybdUs8cKe5xZ/atflokVGqJrPK1sYvKeYCrlVLV+asNlbLIhexUW9y3F0UY8saPhKAvLk1uGUNy1y8386xoj+IFUbskTQw6awlqTieOyg3h38TDQoWa9zlQMYQhM2MA6ZO2q7sd6//IcdIQFcOcbLVg4+k6wSdSMMtoibaW4uq+WKKcRSbDqgDik70mwFu+v5VPSdNZQc45eIUFbEd7kNKxcnrzNfhh4jelESJ6JU2esIWQ0Ep0bJsiBCAB5Ol/28eKQduBNpk9DYgSbkjLtNiuOcqyDYehIA2NPoZc7G+f9WrzUAjZCAZ13RfQnte3LXAgDJ0S9NUP4WV24zmPX280W0hGQ618dLy+2nuY2rhcUBB9PtgYD2gNZ5dR8wFhEEvwSzBOOqeghGREeFGEjMD7fkyt1X47VzRfUQIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W4feYJxvq58NpLctXRiRuk",
      "input": {
        "note": "The brick now runs vertically along the jaw column in the wrist view and reaches the bottom edge, so it is under the jaws with the short side across them. Descending to table level to grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.52,
          "left_y": -0.108,
          "left_yaw": 0.7,
          "left_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_01W4feYJxvq58NpLctXRiRuk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4507, 2.2612, 1.5608, -0.3515, -0.7853, -1.0317, 0.9989, -0.02, 0.8242, 0.5945, -0.4152, -0.0162, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5158 left_y=-0.1069 left_z=0.0343 left_yaw=0.7139 left_pitch=-0.0934 left_roll=-0.0909 left_gripper=0.9989 right_x=0.2903 right_y=0.0006 right_z=0.1603 right_yaw=-0.0018 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -12.6564, 6.1333, 1.2674, -0.3541, 0.2076, -0.1294, -0.1026, -1.3333, 7.159, 1.6728, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b99a433be52e8e078004e245ba0c9b47508306f069d9298a16b470b734ebdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b5b61b001b38c1f8d72b0fd5b6dc6f5710ef529bd11d190f10fa36a21a4c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a22941d27182bfdb451bc13a291f6e6b49c6322d1a6fc0a053158019dcabc2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 8.742 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]: [0.0158, 2.0407, 1.1015, 0.1596, 0.5331, 0.4309, 0.9989, -0.02, 0.8192, 0.5945, -0.3985, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.492 left_y=-0.0784 left_z=0.029 left_yaw=-0.6797 left_pitch=-0.0803 left_roll=-0.0071 left_gripper=0.9989 right_x=0.2925 right_y=0.0006 right_z=0.165 right_yaw=-0.002 right_pitch=-0.053 right_roll=0.0004 right_gripper=0.9981\nstate[joint_eff]: [-0.5128, -10.947, 5.3949, 1.1893, 0.4615, 0.1832, -0.1294, -0.1573, -1.5932, 7.1863, 1.7851, -0.0171, -0.0171, -0.0122]",
      "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]: [-0.4458, 2.2215, 1.6077, -0.3988, -0.7792, -0.9932, 0.9989, -0.02, 0.8234, 0.5945, -0.4122, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.5228 left_y=-0.1083 left_z=0.0641 left_yaw=0.6916 left_pitch=-0.0805 left_roll=-0.0984 left_gripper=0.9989 right_x=0.2907 right_y=0.0007 right_z=0.1611 right_yaw=-0.0017 right_pitch=-0.0709 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -13.053, 5.7504, 0.5543, -0.6129, -0.0513, -0.1245, -0.212, -1.5385, 6.9949, 1.8144, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4507, 2.2612, 1.5608, -0.3515, -0.7853, -1.0317, 0.9989, -0.02, 0.8242, 0.5945, -0.4152, -0.0162, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5158 left_y=-0.1069 left_z=0.0343 left_yaw=0.7139 left_pitch=-0.0934 left_roll=-0.0909 left_gripper=0.9989 right_x=0.2903 right_y=0.0006 right_z=0.1603 right_yaw=-0.0018 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -12.6564, 6.1333, 1.2674, -0.3541, 0.2076, -0.1294, -0.1026, -1.3333, 7.159, 1.6728, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8b99a433be52e8e078004e245ba0c9b47508306f069d9298a16b470b734ebdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b5b61b001b38c1f8d72b0fd5b6dc6f5710ef529bd11d190f10fa36a21a4c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a22941d27182bfdb451bc13a291f6e6b49c6322d1a6fc0a053158019dcabc2db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyAoKEAgRGAI4AUIIdGhpbmtpbmcSDIOjlwG7lXa1nHK+UhoMLCd9utiLSUiRj5thIjCHjAQ5S92C4iPe5s5mkhxKoxOUUCN+7iyvGiAEgzh0Bp9ljdgv2afw+aLDJMb07bQq5QmzuOW3BQ6MrfdEoPGpyakPmJlHmYXqr8grnu5qHJaHQexdTmFzXkc6UZPXRaBrrY6Sm0eGOskp89kab5M3Ryi4dQ2y2/zNEmldIikJYXdmoNtVB3koJSR+GGqosDFZOk5N46qowTmnsFNYUsqByZ/XL0QMYNknpx1IICwTejv+piaifBQxCtnTRM6i1owAEXXHzch+KBTVb+XPsC5p1kHroLqYHOYIN2F85umcz437/pC9INsFTIna3jHPN+Q/euIMi5lG2GOL8jH1upEtL5wGP3O6zTG2ehsfqd53GqG0qyr0FvF9R8yrFC4aEy5w2nhqT4KQlSFadUfddDyW4CW/YFbOSSnrO7JRZh0k7qRVF90ZyBAfjzzV1ScxGlTZnOIRZ1t/FYNhnLBGq6RxxCA8Bq9sIIkXhdHw/rV7bt3nkFhwpx7cQuMlz0kVPEvIvonsgl5hpeU99sgtx37vALYQ+cAZ8yNDbp5rPTkkNgorwaM8WeK5SXMFZnVMO3MFENkERVIHDYkti8Kh0xas8NrE9zZqnvDhKVzzQxz7JoIjQy3pS5XVVsd2+pc4fqVV21/5nmymbbPGLJ4XfTN7hzJdMUU7lFkgKPyA1LVHeft+xcq6sQMooKGo0XgAgYg1ueSQ2Xh2rCpzYVUr9gVuJgdjMRJYf4YhyoL32bnmRa1dbBFc+4yjX7TkrOdTchc83wEa6Jfcw+wtWiD9WG6Jylf/ozLX3isK348Sa1oHLzgGCEOKiP9A4cTKVUX1rfyk9D85sJNxADWvMCC8iJDB6W5NcN3jtht2hliVzvCMT7VyPcMWpR/uxo3UBcCGzVsXGp+DgW883QPQzB/kiYHdF/T3XjpTfja9ACp2hwUgXOHXD+hLnbrWMkfT7duG3qRxT/trKYrBM3/0q+dQB3s/hWaDcxhvVuxCjbrb7tcd2TsI2n77kYRDl2mzSCXXm/xQ1v3epEWUsjzMQbGKt3HA8JRnWm/gh1T2bQN2QOpSPwNHjJu2oRoijC+9rxtD3+aJCVqYvDPdrSapc+bFpCD9xqp9LZQy26hRQACWotS+rBaShiRhHeFJi7D9nGmDahr1GI868V7NJXmvQZXQC0HpgWLpxTBNQWJVwluG/Qs4bTo7J1G5jVZGFeKGseeSs0ubXqVARcEexew+mIth3ERDcq2NKSLJNoimthUZ291iENGS0tEM9OC0dDW37u7NLJGy2pjqk7ch8keFiz7ICAFEtzk8C8KkN2RolVJ/NSBPmNOwaYwbr3pxszwBF4VahXGCq/EYx73YqgI/L3b7onZi/GMTRrl1loqzhj9aqvwm4HE4DReWYISEltg9RzCXdhAoYY20Ke8syLP+jSdg3EiLJuW2EzSCu0LtFXvnNF7zXeFusdJX/Bopx3Eg0+hKqd+Vy7xmflyZwYzV6dPTkUbFKLY5fwQJPrUyEd2vnqYU3B4k9gW++Uu3DWEEKL1osAsEiQAy9CQnYSHKDx6r2S/efgi79uOhF0i6dfl4tuH1MIU/C5DFMRA/sjY/s7qc4PgQ0si13xiLQ8liw5+cbZPSznL3aeaHoOQrz6wDybuNnbLztuP7IHGP+v+0PoDrqHUMJh0jbLp9tX6PjX1SS/C2Vpx7i2lg5MVfCtggaravOg5h9NxmqK1uatq5qrwmk+SS3GKa7BimlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016kU7NjxFrfr6KqR7e3kzxd",
      "input": {
        "note": "The descent stalled at z=0.034 — the arm is at its reach limit at x≈0.52. Pulling back 2 cm and pitching the tool slightly forward so the fingertips can still land on the brick's near half at table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.15,
          "left_x": 0.495,
          "left_y": -0.103,
          "left_yaw": 0.7,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_016kU7NjxFrfr6KqR7e3kzxd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4717, 2.2566, 1.4509, -0.2043, -0.8696, -0.9672, 0.9988, -0.02, 0.8242, 0.5945, -0.4152, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5066 left_y=-0.1029 left_z=0.0254 left_yaw=0.701 left_pitch=-0.0084 left_roll=-0.0487 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1603 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-2.0855, -8.0615, 4.588, 0.9158, -0.398, 0.3541, -0.1294, -0.0615, -1.2786, 7.0085, 1.6581, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ce36b340b6658020def65321a910a08b0e943b8c0da832c1e8add7fc39f3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d2a85ff318a364cb920da38a9f71f7844680810aabc903d65ada924b1fd66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:72b1e82a18175bdf60dfc3ea5214652916c71bd51aed4c81fda78b1d96aff0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 12.28 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]: [-0.4458, 2.2215, 1.6077, -0.3988, -0.7792, -0.9932, 0.9989, -0.02, 0.8234, 0.5945, -0.4122, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.5228 left_y=-0.1083 left_z=0.0641 left_yaw=0.6916 left_pitch=-0.0805 left_roll=-0.0984 left_gripper=0.9989 right_x=0.2907 right_y=0.0007 right_z=0.1611 right_yaw=-0.0017 right_pitch=-0.0709 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1436, -13.053, 5.7504, 0.5543, -0.6129, -0.0513, -0.1245, -0.212, -1.5385, 6.9949, 1.8144, -0.0317, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4507, 2.2612, 1.5608, -0.3515, -0.7853, -1.0317, 0.9989, -0.02, 0.8242, 0.5945, -0.4152, -0.0162, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5158 left_y=-0.1069 left_z=0.0343 left_yaw=0.7139 left_pitch=-0.0934 left_roll=-0.0909 left_gripper=0.9989 right_x=0.2903 right_y=0.0006 right_z=0.1603 right_yaw=-0.0018 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -12.6564, 6.1333, 1.2674, -0.3541, 0.2076, -0.1294, -0.1026, -1.3333, 7.159, 1.6728, -0.022, -0.0513, -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 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4717, 2.2566, 1.4509, -0.2043, -0.8696, -0.9672, 0.9988, -0.02, 0.8242, 0.5945, -0.4152, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5066 left_y=-0.1029 left_z=0.0254 left_yaw=0.701 left_pitch=-0.0084 left_roll=-0.0487 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1603 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-2.0855, -8.0615, 4.588, 0.9158, -0.398, 0.3541, -0.1294, -0.0615, -1.2786, 7.0085, 1.6581, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91ce36b340b6658020def65321a910a08b0e943b8c0da832c1e8add7fc39f3e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d2a85ff318a364cb920da38a9f71f7844680810aabc903d65ada924b1fd66f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72b1e82a18175bdf60dfc3ea5214652916c71bd51aed4c81fda78b1d96aff0fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowoKEAgRGAI4AUIIdGhpbmtpbmcSDPET4AozfiCVo0LSzRoM3FhBcqa/8QcYG6SNIjAy1bIL66A+nnodPzaPW/6YGYcLkgyPyQvhDbbDdejIGiTbQyJOWKtCz7lO/1HTaYAqwAlzT2hu2CtCP+76t6MFX+phL3aslvNEH4ngdZ3P76Fu/o/bOQ0zENLKGAt/+M0+rD0DBbFFKMHRvg0NesBGeWdLmkAJ+2U4fR7lYaCAT1HoGLTvGRfPQZgHlblbFmBC2N4IIic8BSJXJi71YekdaDyKFA8PQaqVvcb5uaFt5z8DPlJd8yjXUnDkV3BpUpbCrfjUzVbtZ/wRzeiB9lyOHv07X0hW98nErt3O2QU4xajdS2rnYaONUiQ1kE/RFngNl493wAFTMqui4XATI+VuUx8mTiWeE3Ufk0WEEY6X/L/vxIff7x6gQQkODj6svM+gmmHkkO9CCiv5Vk88/SOT/cWQ/MPqm++0DEnOhYW+9RS8CZoRLScUwuczKrSHEsBOeP0rqWXWZyyu6YSg7tKH5vbgyOnOcj7uC3MUDY4L9nGQTPNMBIq+xblY14FHnkAhVANfkS7s40pWGjcDl9Nh03WMTIzdsxdHTZSCpiX8sWsuscVsOBewjaNulsY7IR8dh9Tb3WtkYorMn5+0SDd7I5t2NggMH2x7tdFJkgvH0gtp6eYEnwtmmnAAtCRGQ8T/yoOGTN7fIxnDbFNIX+H502zTTCBh80CneczlxDoGGqC2oxa7zn8+I9MQWTkI1osMLJpAON13Xf1t/5UU2tSQ2xQCU2zLgvBKfjwoGDOqItlnZbHD388MjTvRru3ag13ozZ7AEnJW/CeN3Frbh0KLGjrgKM+tkQY4uw0IRFU2QDeQWwdl05Z+XzYktsJm9PwaQLZjM29rIsW5c1vs1W/l/LnBfSNGh4Fsz6+ff8cz3OBZDsGmACc+WZYmkmifyMbxrN+e3bUaZqdem6hx+ETbSWba/jC3/djg+HJYxExiHrFITHYjoJQcqmDi4qddSMwWhJvMBi/OvMI826VBjmA8lwZP+A24DhouE+aqDQhZDCNogYaBNPlUIfOC5XL1ENP86562PChyAS0rVA+6ePkdpcW0PH+5EBJgca4T3jD1vDggO6bxYuxTYOOLb9wFmp66Noy84LV7q+R/5aahbDCP+MoO4qd/yhjkudBAKoNKoP9tVCbWU5GA2wtgcNZg85YC7W/KAHeF9Dcrt580jaRAUZDlA1kBUk7X49+NEuEOsfJGKaHhD/zroI6Nw098+f6IW93TL+gygPDY9UTUp9jweXjxO1OsH74Cj63e0VUG+v5XZKofTlsjT2DCcVHnXM4Qsa1r8oE1KkS5xf4adTN921Oq6bmJJifeo0RvBB3m0v4zxezvDBc+oE7jBAKL6qXweo9IgXvg6jiP0vFDeWJnAEhJ5BBBxMZrYddhAOsMczStlW9gvNBFOxdForRCb4bW4kVGrjFy2Sub/n85OzzxjWPVmQT6KrAyVd2VV+kI+FA2sIWYOdx7Fa5wb4mruBPVXjASNoA8FFLUyZKz5gSlvmd16HvHoh8sxGT5Q7T9nGxCJg++gHGSxBIJN7jeJC97I7jUfHAfSto84RyKlKBiObUl84oXfcXPyt1sB+Q8s8lT4adGLGSvJ0WHX1IZb2rOurfALBDj9i4zW942IpREiCaRtTiS5eZkyy34ZmtGzRUIt/NGJERczfCAMxLE4iG7eWBsviDTZi6xDGX0picjpWOtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01925cCHvTMbZtwFpAxDCfsj",
      "input": {
        "note": "The arm is still hung up at x≈0.51, z≈0.025 near its reach limit. Retracting clearly to x=0.46 with a forward pitch so the next descent is within reach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.46,
          "left_y": -0.1,
          "left_yaw": 0.7,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01925cCHvTMbZtwFpAxDCfsj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5545, 2.1841, 1.1507, 0.0795, -1.0252, -0.9081, 0.9989, -0.02, 0.8249, 0.5945, -0.4187, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4576 left_y=-0.1015 left_z=0.0163 left_yaw=0.6731 left_pitch=0.1329 left_roll=-0.0022 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1594 right_yaw=-0.0016 right_pitch=-0.079 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -13.7641, 5.2171, 1.3553, -0.7204, 0.0562, -0.1245, -0.1299, -1.4564, 6.9812, 1.7314, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5b099b50ca15dba38b33f83e92ad9949b493563f1b6670f384a4e1a030ad04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86d10b6f344ae548291dcb1a2f9380de6398353fa7c1c62c4b30cff62b81e1be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a61b77621b0c3fc45b29bd9c33f0615e08f1131c31e330799f019ae2b37c0ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 7.45 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]: [-0.4507, 2.2612, 1.5608, -0.3515, -0.7853, -1.0317, 0.9989, -0.02, 0.8242, 0.5945, -0.4152, -0.0162, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5158 left_y=-0.1069 left_z=0.0343 left_yaw=0.7139 left_pitch=-0.0934 left_roll=-0.0909 left_gripper=0.9989 right_x=0.2903 right_y=0.0006 right_z=0.1603 right_yaw=-0.0018 right_pitch=-0.0748 right_roll=0.0005 right_gripper=0.9981\nstate[joint_eff]: [0.2803, -12.6564, 6.1333, 1.2674, -0.3541, 0.2076, -0.1294, -0.1026, -1.3333, 7.159, 1.6728, -0.022, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.4717, 2.2566, 1.4509, -0.2043, -0.8696, -0.9672, 0.9988, -0.02, 0.8242, 0.5945, -0.4152, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5066 left_y=-0.1029 left_z=0.0254 left_yaw=0.701 left_pitch=-0.0084 left_roll=-0.0487 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1603 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-2.0855, -8.0615, 4.588, 0.9158, -0.398, 0.3541, -0.1294, -0.0615, -1.2786, 7.0085, 1.6581, -0.0171, -0.0659, -0.0122]",
      "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]: [-0.5545, 2.1841, 1.1507, 0.0795, -1.0252, -0.9081, 0.9989, -0.02, 0.8249, 0.5945, -0.4187, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4576 left_y=-0.1015 left_z=0.0163 left_yaw=0.6731 left_pitch=0.1329 left_roll=-0.0022 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1594 right_yaw=-0.0016 right_pitch=-0.079 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -13.7641, 5.2171, 1.3553, -0.7204, 0.0562, -0.1245, -0.1299, -1.4564, 6.9812, 1.7314, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea5b099b50ca15dba38b33f83e92ad9949b493563f1b6670f384a4e1a030ad04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86d10b6f344ae548291dcb1a2f9380de6398353fa7c1c62c4b30cff62b81e1be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a61b77621b0c3fc45b29bd9c33f0615e08f1131c31e330799f019ae2b37c0ac",
        "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_01HeKkf5qF4hZizF2rLtWcKt",
      "input": {
        "note": "The brick runs vertically down the wrist view to the bottom edge, so its near end is under the jaws; the top view shows the gripper behind the brick. Descending to the table at x≈0.48 with the tool pitched forward to reach its near end.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.25,
          "left_x": 0.478,
          "left_y": -0.103,
          "left_yaw": 0.7,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HeKkf5qF4hZizF2rLtWcKt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5583, 2.3119, 1.195, 0.2699, -1.1427, -0.8246, 0.9989, -0.02, 0.8295, 0.5945, -0.4198, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4726 left_y=-0.1015 left_z=0.0055 left_yaw=0.7105 left_pitch=0.2536 left_roll=0.0037 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1579 right_yaw=-0.0014 right_pitch=-0.0847 right_roll=0.0009 right_gripper=0.9981\nstate[joint_eff]: [0.4171, -8.1436, 5.135, 1.243, 0.1929, -0.2564, -0.1294, -0.3487, -1.812, 6.9812, 1.6679, -0.0855, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d942aa255c25fed329fd3ac29d4dbc18ae7268bf1c60e7363e02bc5d6d8952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2044c66b16db7417392e37975d23df8171cd528d1aa35689cc427255e550b812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c1d36e8192746dbff9cd7345c629121268e61c5bd3ecfdd3a1d8ebac009e422c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 11.55 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]: [-0.4717, 2.2566, 1.4509, -0.2043, -0.8696, -0.9672, 0.9988, -0.02, 0.8242, 0.5945, -0.4152, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.5066 left_y=-0.1029 left_z=0.0254 left_yaw=0.701 left_pitch=-0.0084 left_roll=-0.0487 left_gripper=0.9988 right_x=0.2903 right_y=0.0007 right_z=0.1603 right_yaw=-0.0014 right_pitch=-0.0748 right_roll=0.0007 right_gripper=0.9981\nstate[joint_eff]: [-2.0855, -8.0615, 4.588, 0.9158, -0.398, 0.3541, -0.1294, -0.0615, -1.2786, 7.0085, 1.6581, -0.0171, -0.0659, -0.0122]",
      "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]: [-0.5545, 2.1841, 1.1507, 0.0795, -1.0252, -0.9081, 0.9989, -0.02, 0.8249, 0.5945, -0.4187, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4576 left_y=-0.1015 left_z=0.0163 left_yaw=0.6731 left_pitch=0.1329 left_roll=-0.0022 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1594 right_yaw=-0.0016 right_pitch=-0.079 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -13.7641, 5.2171, 1.3553, -0.7204, 0.0562, -0.1245, -0.1299, -1.4564, 6.9812, 1.7314, -0.0317, -0.0464, -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 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5583, 2.3119, 1.195, 0.2699, -1.1427, -0.8246, 0.9989, -0.02, 0.8295, 0.5945, -0.4198, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4726 left_y=-0.1015 left_z=0.0055 left_yaw=0.7105 left_pitch=0.2536 left_roll=0.0037 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1579 right_yaw=-0.0014 right_pitch=-0.0847 right_roll=0.0009 right_gripper=0.9981\nstate[joint_eff]: [0.4171, -8.1436, 5.135, 1.243, 0.1929, -0.2564, -0.1294, -0.3487, -1.812, 6.9812, 1.6679, -0.0855, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60d942aa255c25fed329fd3ac29d4dbc18ae7268bf1c60e7363e02bc5d6d8952",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2044c66b16db7417392e37975d23df8171cd528d1aa35689cc427255e550b812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1d36e8192746dbff9cd7345c629121268e61c5bd3ecfdd3a1d8ebac009e422c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3AYKEAgRGAI4AUIIdGhpbmtpbmcSDFwA3n76gn2ITxqpPxoMSrPtRMA07r6HrV0AIjAjOa99JeQEa6GgaGdq3Qcyzc2njk50g+NeRPF2+LddNskDk88GKHSKN+YVibXs6J4q+QVyTqyboR4kl/YPeMxqoYr+g1rZ/Xe3p+ghL/r3L0Bz3hFbJ/gl7D6hZH1LbpC8403ewczRsDxVliZaH4VyMYUFGZHEuujT/YhdY9f+73n0dAM8g8LGOcKjXvYqITBZeOgSEyBLsz+H8xCkZ0QkGOJfb+u/fbAzJ6HyMAx80cllu2nI/O1LQp3GE6GwBd+7j3Kj90vBY+BRLvrVtBnApdVUlwI91KSi+2MiFoMLQRjmTONpzLZKbSNyq68UQjhj+Tv1MUQApditNo/QWmh6JdjJpuEtWTJCoHqDsWTg0HZNVWAoLpD6+0IL0GgQmd7kebD/AWxLQN9zeBdiAN1cxiKkEctQDqGSlp7IMRB7enIVJyFa26D1pPgnZj/B4L0IOPXPlW2qDPnAMW9JuQuSxh10xIARdICj50Pg5UeEdd+Y6eZ5mJJDoy200TH5/9Ik++f5iOfqoqB5YqMoMp+ip1PbfPvMkwh9B0mqsmCCEgT++LKYU9pCeZ7XTNrL0ZQEe+ZkDu/D2wvxVuHBEiePy4S0r7hPtRZ1RQIbVbdMSk7HExNZ42nmwl2om+rVE17pTmZFHY7COmW0uePoRKdiZdZEA4zE7d3Ea2VpDJvPPjiPZ/t7n7pv0F8WHZSJvsPa+tNz+/c0yTxT9nXaq8Sr2VQdTU956rUGuujSNMVemRemcV+2jGu5Hcm8xoKp3uu+7Q+IdTxotT1hOaJHBD6ZTq0/aj4EGHuViC75E54nSBEv5hwnnAqgdZiWD202RjGiOBayYJb/AUI3Ju4xaKtYDTuITBmOGcMjqPz9iqlh04OW35tZdd3N33yew2ED/CQTLHAx2YctJvWpPhzak4ybs/lriszMwvs1d/hFQNq10u/oixAO7BJbtSLPOLlhnG7W+5obp4xwW5/nRo2Nd7Org4MIhDIawqOIhywEdlCIfF7OMIa1ALbbOfICXcUAt6z/Nlu6XwL5AqjV7OeXfd9wiD299QLKHRR7Kr+yllEqYY8TSeqeMIb4NpnczhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XbBrdPSxYyBJ5bBr9DZLe4",
      "input": {
        "note": "At z≈0.005 the brick lies between the two jaws in the wrist view, running toward the bottom edge. Closing the gripper on its short side.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XbBrdPSxYyBJ5bBr9DZLe4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5583, 2.323, 1.2022, 0.2985, -1.1622, -0.8043, 0.7536, -0.02, 0.8307, 0.5945, -0.4217, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.475 left_y=-0.1013 left_z=0.0076 left_yaw=0.7175 left_pitch=0.2745 left_roll=0.0035 left_gripper=0.7536 right_x=0.2896 right_y=0.0007 right_z=0.1573 right_yaw=-0.0014 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -12.588, 4.041, 0.906, -0.2271, -0.2369, 1.033, -0.0205, -1.1692, 6.9812, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae822f1bdb776657870050ac441a8ea6a0eebd9b8bbbd1429ccc37b41cafc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88f9a564b498fdf96ce95683c91e8d8c37ac720e017806b752200bda313dd309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b27427d8783385a334f7ce3e69d5543b7486c0647fe82263a78befedf5b7412f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 13 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]: [-0.5545, 2.1841, 1.1507, 0.0795, -1.0252, -0.9081, 0.9989, -0.02, 0.8249, 0.5945, -0.4187, -0.0166, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4576 left_y=-0.1015 left_z=0.0163 left_yaw=0.6731 left_pitch=0.1329 left_roll=-0.0022 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1594 right_yaw=-0.0016 right_pitch=-0.079 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.2393, -13.7641, 5.2171, 1.3553, -0.7204, 0.0562, -0.1245, -0.1299, -1.4564, 6.9812, 1.7314, -0.0317, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5583, 2.3119, 1.195, 0.2699, -1.1427, -0.8246, 0.9989, -0.02, 0.8295, 0.5945, -0.4198, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4726 left_y=-0.1015 left_z=0.0055 left_yaw=0.7105 left_pitch=0.2536 left_roll=0.0037 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1579 right_yaw=-0.0014 right_pitch=-0.0847 right_roll=0.0009 right_gripper=0.9981\nstate[joint_eff]: [0.4171, -8.1436, 5.135, 1.243, 0.1929, -0.2564, -0.1294, -0.3487, -1.812, 6.9812, 1.6679, -0.0855, -0.0611, -0.0073]",
      "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]: [-0.5583, 2.323, 1.2022, 0.2985, -1.1622, -0.8043, 0.7536, -0.02, 0.8307, 0.5945, -0.4217, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.475 left_y=-0.1013 left_z=0.0076 left_yaw=0.7175 left_pitch=0.2745 left_roll=0.0035 left_gripper=0.7536 right_x=0.2896 right_y=0.0007 right_z=0.1573 right_yaw=-0.0014 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -12.588, 4.041, 0.906, -0.2271, -0.2369, 1.033, -0.0205, -1.1692, 6.9812, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae822f1bdb776657870050ac441a8ea6a0eebd9b8bbbd1429ccc37b41cafc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88f9a564b498fdf96ce95683c91e8d8c37ac720e017806b752200bda313dd309",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b27427d8783385a334f7ce3e69d5543b7486c0647fe82263a78befedf5b7412f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqQkKEAgRGAI4AUIIdGhpbmtpbmcSDAlFoG52ZZaAzxnOARoM8XiMZtvEQZ4P8Q7MIjCVitg7pBOSoKQT8IitnhrEZc4N1J/4M5kxQIoQtnHlQQEHnoLaS7LAcgxWqydlJgIqxghaLNBh7Bhiyh/nQubj074O7dZCHnqwxhj3uL/VV4VulNQEJuQojFrrmACynkKixCz07vZTg50bymKTAyrMjsIpzD047St7ZGx6L7TA18x8YExA4l/rlWTR4idFt1Vfnr6uCSDeYne+tt6pERCX9qWuTXinJ2C6k5CDIyikBpKAvGRRzL8VwuWYJjaQF2L1j1M2Ra8dE503R57m0KkzfCSFoqZaIt3lIqHZnr1jxZ6CYR5EQFmoqmf16k7EaI2zcDEh+DkkCBQLp85UNRG2EZDLNP48ujYawOhJTvWWDtzqFamYiMQf4DIqmFs7BBUAf9tqBpCjCqkg0wpfxBanQdkJh1zt7zYDTD9CK1JJe/DzImLetcLqkRnq+GF3V5UssPdZhsCd7VWW6ugN4EjrxKgEN/nRSGI4wHSZmJocWF5PPWkZs5X/yNHnDKpfenccPe2xeQy4VmCJgU7DV5NfhvdF2vHYJhIuIxjttpf98esIPzY1zcbFr780r1kpPORmgtILW8rl3/aDugFJXWhudpeXWdIUCOAIRT9PX7gV2azAnfGoXEWC9Uvev4jdthsjuwzPZPDmKvL9Vb0b60Y52SPe5BZ/VhUAg6gMEvFab54bkqcsvUYNK5yv6y+dMermz/qDf5Kw5Mhk+Z4fX1oVGLu/kUjykUvMRknbrpmph7//wNToF/k02u+s47ITbC4KgeIPWO1dlXL8aPgElv625fDEJ34MdYsUss1wToTDly5qsDR2Sd75UVgc2bb3yv69SGkVBodVhcidnXgQHDTi5T8oV3znwmu7m5YMcEkDLoH4ZHVtumM/oqKTqnUpzE5U3KYQBZmKw18pzoxJgBpPzrFKiSPBuGkOMhhLTCpS4eJjELLTcdId2NZ+ehxFOac1nzKUrwGy50z1uvl11KrCtzjujXr+68WCTbE6LXJ5fFz2AGSADLLuaIWsj/YXTvrmtT3iFAbaLNcp3YW3oQGe4m+uHsQxFjqfDa11LP54eZdWGQ09nfI7dz8kpnlNKRwp1EcVIlx12EvV8LjQu2Zct4o+mO2ujj7uh1FWs/NTUz1mD6V38RD5emvaT8VOCTHlJIibhgUxpdG5w2CzEIywrHfjeKo66rtWbd4kLKLiZg09XGeJ7YtKpkdvGWrPkZCxhe7+LnmHYDhZZczCEl25LFBsx2Go6x4RLoMOIiG/FYlWJYp8BKhX7p3Vpw9k5g94Mc39zlCQLk9wtKPNcMOVRD+G0CKryaSno2GVwRbvI+fWUPahn2cpi/7F39ihQpIiZ3gHbVDlPZzayju9dRnhcmnuEvUgU9CLyRhF7Mdl6Cw2UgXweni8PJh21eTAGc95KeBeWJHAS+aM/UL6rdUHBxoEWO/HhWD5uAsxEHsOzZTh0n17UUCTomT9bYLgjE2xEjEq7+jdmQDRfbzwTVq6MI9s5O7G+aJBqh39OJAkvq0SUfGGrSHEZxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VX3WvN9DEXoq2sYfmyqdg9",
      "input": {
        "note": "The gripper settled at 0.75 (~7 cm), consistent with gripping the brick across its width. Lifting to 12 cm to confirm the brick comes with the jaws.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.1,
          "left_x": 0.46,
          "left_y": -0.1,
          "left_yaw": 0.7,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01VX3WvN9DEXoq2sYfmyqdg9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5518, 2.0476, 1.3087, -0.3206, -0.9871, -0.9539, 0.7534, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4577 left_y=-0.1045 left_z=0.08 left_yaw=0.6713 left_pitch=0.0676 left_roll=0.0457 left_gripper=0.7534 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0014 right_pitch=-0.0892 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -14.3795, 9.1829, 1.1111, -0.9646, -0.0562, 1.0281, -0.212, -1.3744, 6.9949, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3063e4307b2d11f4e9bb411d99e783b97573bc25144f7d30fab179b3964716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3869434038e64e26dc3f82856733782ed55fb5ee3d6c3ff7365c452e72ebfee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06ffd40068abcc176dbd6e80675b486cac3a55de02cb809af540cd15cfa23c02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 8.282 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]: [-0.5583, 2.3119, 1.195, 0.2699, -1.1427, -0.8246, 0.9989, -0.02, 0.8295, 0.5945, -0.4198, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4726 left_y=-0.1015 left_z=0.0055 left_yaw=0.7105 left_pitch=0.2536 left_roll=0.0037 left_gripper=0.9989 right_x=0.2898 right_y=0.0007 right_z=0.1579 right_yaw=-0.0014 right_pitch=-0.0847 right_roll=0.0009 right_gripper=0.9981\nstate[joint_eff]: [0.4171, -8.1436, 5.135, 1.243, 0.1929, -0.2564, -0.1294, -0.3487, -1.812, 6.9812, 1.6679, -0.0855, -0.0611, -0.0073]",
      "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]: [-0.5583, 2.323, 1.2022, 0.2985, -1.1622, -0.8043, 0.7536, -0.02, 0.8307, 0.5945, -0.4217, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.475 left_y=-0.1013 left_z=0.0076 left_yaw=0.7175 left_pitch=0.2745 left_roll=0.0035 left_gripper=0.7536 right_x=0.2896 right_y=0.0007 right_z=0.1573 right_yaw=-0.0014 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -12.588, 4.041, 0.906, -0.2271, -0.2369, 1.033, -0.0205, -1.1692, 6.9812, 1.6532, -0.0708, -0.0757, -0.0122]\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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5518, 2.0476, 1.3087, -0.3206, -0.9871, -0.9539, 0.7534, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4577 left_y=-0.1045 left_z=0.08 left_yaw=0.6713 left_pitch=0.0676 left_roll=0.0457 left_gripper=0.7534 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0014 right_pitch=-0.0892 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -14.3795, 9.1829, 1.1111, -0.9646, -0.0562, 1.0281, -0.212, -1.3744, 6.9949, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a3063e4307b2d11f4e9bb411d99e783b97573bc25144f7d30fab179b3964716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3869434038e64e26dc3f82856733782ed55fb5ee3d6c3ff7365c452e72ebfee6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06ffd40068abcc176dbd6e80675b486cac3a55de02cb809af540cd15cfa23c02",
        "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_01TwGDmR9LoMAm9umHurb3mG",
      "input": {
        "note": "The brick is gone from the table in the top view and is visible in the jaws, so the grasp held. Lifting high to 27 cm to clear the pot rim before moving sideways to the pot.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_y": -0.15,
          "left_yaw": 0.7,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01TwGDmR9LoMAm9umHurb3mG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6353, 2.1815, 2.2837, -1.3579, -0.9058, -1.1843, 0.7521, -0.02, 0.8345, 0.5945, -0.4225, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4584 left_y=-0.1608 left_z=0.2429 left_yaw=0.6788 left_pitch=-0.0572 left_roll=0.016 left_gripper=0.7521 right_x=0.2897 right_y=0.0007 right_z=0.1561 right_yaw=-0.0019 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -12.6701, 8.3761, 0.4762, -1.2821, 0.0611, 1.0281, -0.0479, -1.5658, 7.159, 1.6337, -0.022, -0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a68e1b26fcab0d4387d0292f1d8696a3483c64336b798f223e78b588f40f0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d8b428a8b6dc6820f722e3cac0f1df34726628f299ca951795acaee5000c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfabe192ab1b7fe964d6bb181efb1c83273060c5343cc1e50733a90c7b4357d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 10.65 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]: [-0.5583, 2.323, 1.2022, 0.2985, -1.1622, -0.8043, 0.7536, -0.02, 0.8307, 0.5945, -0.4217, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.475 left_y=-0.1013 left_z=0.0076 left_yaw=0.7175 left_pitch=0.2745 left_roll=0.0035 left_gripper=0.7536 right_x=0.2896 right_y=0.0007 right_z=0.1573 right_yaw=-0.0014 right_pitch=-0.0877 right_roll=0.001 right_gripper=0.9981\nstate[joint_eff]: [-0.1162, -12.588, 4.041, 0.906, -0.2271, -0.2369, 1.033, -0.0205, -1.1692, 6.9812, 1.6532, -0.0708, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5518, 2.0476, 1.3087, -0.3206, -0.9871, -0.9539, 0.7534, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4577 left_y=-0.1045 left_z=0.08 left_yaw=0.6713 left_pitch=0.0676 left_roll=0.0457 left_gripper=0.7534 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0014 right_pitch=-0.0892 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -14.3795, 9.1829, 1.1111, -0.9646, -0.0562, 1.0281, -0.212, -1.3744, 6.9949, 1.6435, -0.0464, -0.0708, -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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6353, 2.1815, 2.2837, -1.3579, -0.9058, -1.1843, 0.7521, -0.02, 0.8345, 0.5945, -0.4225, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4584 left_y=-0.1608 left_z=0.2429 left_yaw=0.6788 left_pitch=-0.0572 left_roll=0.016 left_gripper=0.7521 right_x=0.2897 right_y=0.0007 right_z=0.1561 right_yaw=-0.0019 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -12.6701, 8.3761, 0.4762, -1.2821, 0.0611, 1.0281, -0.0479, -1.5658, 7.159, 1.6337, -0.022, -0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a68e1b26fcab0d4387d0292f1d8696a3483c64336b798f223e78b588f40f0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d8b428a8b6dc6820f722e3cac0f1df34726628f299ca951795acaee5000c42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfabe192ab1b7fe964d6bb181efb1c83273060c5343cc1e50733a90c7b4357d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmggKEAgRGAI4AUIIdGhpbmtpbmcSDP8XuU3TvGYza3ao0BoMJyhITCL+9ah9RE12IjBAiM1Kmq2zAzc69VpTI7IoQApwK0pa7KAXqqwZjMgN0f4umBFBNLaoLe3Mvz+XVmkqtweGQZQutVe4RaSlQo0VjCTBnYFPBDXIdmsJF1/KPS3R+dZFENgfomRsx+MS7r7B9VQR5IDpAXJtr9c0qsweqxelPRln5WWlUDlb6qvwwVS2M0I/KpDgHRSlsKNFnCaAziMMA2k5cOGJqGWugVMYuDJznOqgDisz49A2GMC2/ewgU9VlZDIHJRQtCtEkyplEc+Xt9gGzcE1str9/VG8Hk8fo7YATC4xUwAQ3j8gPgzGhl6AuhxlQEDLDqankjKL7BQNFMbsU3KJgpyDRMyWaOHXQtucbIPwdzuIdC4RiN1FNRYUnH2gJeaLJIi33xCTfPY5iiGj0nVEDytbRdgffqI0MhlJ1jDDpYBb588zSCI2MVWfw7QPXDHm+MsE78u745YSxbG+gRRIWEEE9tU+LSSjICWfvztrER3MZfEBQytW1KJExCSO1364YLnjLrEY6cuHywN5u7hlhDeuh5zmzD36gObQCGHGj2nlUM6NEJhhndVXnQYTbOSLDPgbwREMMdZYAhTs2MXtcurS7/D7ps1CxeHmJoHae57MvgVorcaibjNX0V9D3XqJbNL1350dRxomE/xnSSSsLwgp/amHygvanimA/whXNP/mVRyyzHLttROFM/ntmR+pSpEBKBr0lnASY4jQAZT3/zImQYx1FmR8gbu56eyt8ZYAkUtIS1uDBDl1JlnTiCFfqQYe04Ck7ObMIFihNHBVm8FR3XleqVfZAn6oE4RFA5dDu+RKGW020dTl6kNUYq2l2ae70jSBxS+zeaXQa6noMV8ohRZsTiBUhKKPzE/bx5wo2FMsI1SoUbVnXb1d1EWG1SDVggYDjT4d+KiEsaoB6p5LWCqK+n4tAcgpw1ScRjJX73cbOli1NIEZuxZTjHhvnVzlF4p/AI7F2AR1Y/W+Yh1uKau5Yktm4gBPp0cVpc/VWweXKqmAexDx7fZNkyG9kegxCdoRpO8pIpouJ1y8MZjFWbcyHOrSxQJZz/rcR4faHJJsNqP+eFpdP0OBEvRRGvTKgl7RAXQ3f6rbp4JTIFawT3E+u7AN65U7AH66LadCzqHhcPGzm7ev+Wlw088NHSu8Ng6glO8hcPq+y9fGfSVK5Gj86t0UmcheiC7BZ0GsVztS+ez7vjFgWarLIwH05/a5Thlcoj8IpOpTat4B+EFfYxni0WMDSMMGMm3g2rkRjfQNzFbXiw137A6v2Hhm+NLdW3X3ZPVzMvUdk/L/G7Udgc6dcx7O8f39meoCHlqtb89K3C5Q6U4eJC8VOwi4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ZjTh3RhB3fydgA2iS1GYt",
      "input": {
        "note": "Brick held high at z≈0.24; the pot is about 25 cm to the arm's right in the top view. Translating sideways to hover over the pot centre near the arm's right-side bound.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.44,
          "left_y": -0.38,
          "left_yaw": 0.7,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_017ZjTh3RhB3fydgA2iS1GYt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8688, 2.4676, 2.5278, -1.5661, -0.9207, -1.5169, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4191 left_y=-0.2723 left_z=0.175 left_yaw=0.646 left_pitch=-0.0785 left_roll=-0.0015 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -13.1214, 6.2838, 0.2955, -1.3114, -0.2466, 1.0281, -0.1162, -1.6752, 7.0085, 1.6581, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7469dc1ce31896c0e1135af30d1632cc3df5fbbd9b874eb40c09773e1bac1048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e8b566cc278e946854b7a4456626e6b3f18534b52ac82aeedbd0a8da0a1297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0dfd090abec5bccc8baef5e735465f4a443ba359c4acc5185591146672f78ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 12.31 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]: [-0.5518, 2.0476, 1.3087, -0.3206, -0.9871, -0.9539, 0.7534, -0.02, 0.8314, 0.5945, -0.4225, -0.0166, -0.0349, 0.9982]\nstate[eef_state]: left_x=0.4577 left_y=-0.1045 left_z=0.08 left_yaw=0.6713 left_pitch=0.0676 left_roll=0.0457 left_gripper=0.7534 right_x=0.2895 right_y=0.0007 right_z=0.1569 right_yaw=-0.0014 right_pitch=-0.0892 right_roll=0.001 right_gripper=0.9982\nstate[joint_eff]: [0.1026, -14.3795, 9.1829, 1.1111, -0.9646, -0.0562, 1.0281, -0.212, -1.3744, 6.9949, 1.6435, -0.0464, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.6353, 2.1815, 2.2837, -1.3579, -0.9058, -1.1843, 0.7521, -0.02, 0.8345, 0.5945, -0.4225, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4584 left_y=-0.1608 left_z=0.2429 left_yaw=0.6788 left_pitch=-0.0572 left_roll=0.016 left_gripper=0.7521 right_x=0.2897 right_y=0.0007 right_z=0.1561 right_yaw=-0.0019 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -12.6701, 8.3761, 0.4762, -1.2821, 0.0611, 1.0281, -0.0479, -1.5658, 7.159, 1.6337, -0.022, -0.0122, -0.0171]\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 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8688, 2.4676, 2.5278, -1.5661, -0.9207, -1.5169, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4191 left_y=-0.2723 left_z=0.175 left_yaw=0.646 left_pitch=-0.0785 left_roll=-0.0015 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -13.1214, 6.2838, 0.2955, -1.3114, -0.2466, 1.0281, -0.1162, -1.6752, 7.0085, 1.6581, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7469dc1ce31896c0e1135af30d1632cc3df5fbbd9b874eb40c09773e1bac1048",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3e8b566cc278e946854b7a4456626e6b3f18534b52ac82aeedbd0a8da0a1297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0dfd090abec5bccc8baef5e735465f4a443ba359c4acc5185591146672f78ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2QkKEAgRGAI4AUIIdGhpbmtpbmcSDAlrIHcMej/ddfkRQxoMSUaV1OSn1Ezy19VwIjDhnfBindQcAOD5tYRuiV3jtUR107ud9uWxvcs5eW/la1iCUi99uBfhNaqb/2SL26gq9ghjkJ1TA8SlKxCaxmnqNKvovtKqdGWQ0HO57OyRNbCVh0VPQ8Pagf/vVMWA3W8VwsJlxI33vrPmDsj0XlaOtD3t6LtUJR9qVk36BCm1gq02o9wvsnVsM3aNdHe9KZShSmmeuoPBjJfKsOsXq7XdM/VCla+SnTjlF+O0K5tUS38HqCJ/BP+8HJ7nu1rIcRbIPJAhYzuIKTnzdp27A265AfXZjGx15DfWgA8bOv1njLAHEdl7nrCcxhpSI4MRJQQGQv8vGRiENrJGe0YXSyxqscMBmmps1cNPv7F/pzro5Wa4ppJhpyuN/gMq/Jzm+N/ac9QprRKZKnNv9ZZ/2LaElfRm2pCce7ehCcISA+4nb5z7Y6Xu8Rn4qsWyjBkAUleGV8jfK/TXj3INVky7SvFSJWhLIiiIEGJOqij8fAFtLO3PntXoIn3RqWNsQJJ6DRf3j1b9wIJ0DISPOdOpjGqClx7E0xI5+C8EzKS4FNOXOovvZEM2bnnM+HRrz/bSl2LKhzepx2Qdt38zuHed0uB92+DKoXv4i+y46Bc8D3evgOQ6Dw1hfBE5N/h9C8kEgkEZ8Xme5HJgzDptZlSSqFGPcYrnVhSQ7UowafoR5WFM3P17vIj27Km1DCH4SdnB3lRi5g/P1LodswIRIXKdA933TwhgT/zu+NnUSY9VDl3756c4q2/9qX4AAUt1lMIFo/aIkFnaywgyIyu8AZltLZfK6TjIMfgoToXF6CF7+tgg7V0JfD5gDnM9IEPZLNAEEjR6z+CgZVM7zVbolsfwaa0ut0BdvUVoBoMMluQVfabjKvxoL4pM6MTg+hTmAp1oMJAKsoijysEIWbaUgBm0nvVqR1guLoCo3nmJ53A5S/2FfLwQTRHObcfac+epJsbT1BD3hFRWzwMuKhmXkT3zZf2PlOr4BVegZ9/ahaqnebyiKRA6peZCfajA1/KVnBWP2Nl17GZqsYpmwWxsWa5ZL2lwa3HdG7za6a0c1/MrU1zd52BhT71XORRuYjD/rH9cU4hVWegi5OMSiw+3Ew/ohV2O0AbAICu7tGwRgXnIVlx14OkJN+9MMUgKsobKm5Ap/qZ8t4PsK2IxefwuZdVaYdT2+tigtlBPnjyqXqWBjUXRTNQf8Wu2NkqF1uwBszGa6uVKerN+dC2+EiYMiYMgF7BFqOiflqsE8BCF44kyntXIBm7QfrDF6LZXWUOvcVJvcrt3dS+2+r9klXZNF3mpfgc13HbmhHLwqVe1ftCEEmTIIOLAn3ZzPLzdGUAXu+p17xe9RCapHeFOL8HZHBiHmwxaNZEUg9R5bSy80y3+I7rw18S8p/KJJne1uWtVMOuNz4sJhs4QZfD/D95Ujry61ki2vg4a2sAymlKTWhR4EemxSF/My2qqQdllpd7ebW7FVvIj63WkVKjFAJqsfj9nY1ZyZOeWK29K3GmPu57Wp2NIXIxPDS6de9J3FZ/FdwewtlWAVVWeAOzZwRS3u2Tc2ttYxitKCGBe4HLD3cRklMgs4uBpFjFJCdOj8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WKMoKTGuJ4ZViNZXJ9VjnH",
      "input": {
        "note": "The arm stalled at y=-0.27, z=0.175 — it is at its lateral reach, hovering over the pot's near rim. Pulling x in to shorten the reach so it can get further right over the pot's interior.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.37,
          "left_y": -0.36,
          "left_yaw": 0.7,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WKMoKTGuJ4ZViNZXJ9VjnH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9245, 2.4973, 2.4626, -1.56, -0.8829, -1.5909, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3969 left_y=-0.2936 left_z=0.14 left_yaw=0.6383 left_pitch=-0.1182 left_roll=0.0282 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -15.9111, 6.6803, 0.1392, -1.1013, -0.1245, 1.033, 0.0752, -1.4564, 7.0085, 1.663, -0.0611, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2f57d3ec2a8f5a16a55838381b1e99909142973d84482b2911477e460e9465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c609713e41d11fd7601399b1ef6d7e5bd794870d66ac69aca3f90daa9198cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e368cea99c3e7553da9c7b2f685f6119aa5c7cab59a421a5d14d674ef9f5b5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 7.947 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]: [-0.6353, 2.1815, 2.2837, -1.3579, -0.9058, -1.1843, 0.7521, -0.02, 0.8345, 0.5945, -0.4225, -0.0162, -0.0345, 0.9981]\nstate[eef_state]: left_x=0.4584 left_y=-0.1608 left_z=0.2429 left_yaw=0.6788 left_pitch=-0.0572 left_roll=0.016 left_gripper=0.7521 right_x=0.2897 right_y=0.0007 right_z=0.1561 right_yaw=-0.0019 right_pitch=-0.0923 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.6769, -12.6701, 8.3761, 0.4762, -1.2821, 0.0611, 1.0281, -0.0479, -1.5658, 7.159, 1.6337, -0.022, -0.0122, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.8688, 2.4676, 2.5278, -1.5661, -0.9207, -1.5169, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4191 left_y=-0.2723 left_z=0.175 left_yaw=0.646 left_pitch=-0.0785 left_roll=-0.0015 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -13.1214, 6.2838, 0.2955, -1.3114, -0.2466, 1.0281, -0.1162, -1.6752, 7.0085, 1.6581, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9245, 2.4973, 2.4626, -1.56, -0.8829, -1.5909, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3969 left_y=-0.2936 left_z=0.14 left_yaw=0.6383 left_pitch=-0.1182 left_roll=0.0282 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -15.9111, 6.6803, 0.1392, -1.1013, -0.1245, 1.033, 0.0752, -1.4564, 7.0085, 1.663, -0.0611, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2f57d3ec2a8f5a16a55838381b1e99909142973d84482b2911477e460e9465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c609713e41d11fd7601399b1ef6d7e5bd794870d66ac69aca3f90daa9198cb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e368cea99c3e7553da9c7b2f685f6119aa5c7cab59a421a5d14d674ef9f5b5b",
        "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_016pzcZvgdMumpwSCALpwLMA",
      "input": {
        "note": "The arm is sagging (z fell to 0.14) and barely moving right; the shoulder is heavily loaded and the wrist is twisted. Un-yawing the tool to 0 to relieve the wrist and trying to regain height while edging further over the pot.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.38,
          "left_y": -0.34,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016pzcZvgdMumpwSCALpwLMA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9932, 2.0701, 1.9137, -1.179, -0.7601, -1.2182, 0.752, -0.02, 0.8379, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3473 left_y=-0.3034 left_z=0.1724 left_yaw=0.3052 left_pitch=-0.2128 left_roll=0.0303 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1552 right_yaw=-0.0014 right_pitch=-0.0957 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [1.3197, -13.2855, 8.253, 1.6044, -1.1941, 0.1636, 1.0281, -0.0205, -1.3607, 7.1043, 1.6679, -0.0317, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9407c72a1d94efca4c0b8330164b4d6e3b7caf6c36b5289496a22226e8e94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4e497a73e5cc9075b33f312c723afad059a07d333c854bbd8a58b7dca30477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10d1d4c707e0fe43c250e62d0043ab9930ddfee6ee2dee813808c2c9882b0b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 12.11 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]: [-0.8688, 2.4676, 2.5278, -1.5661, -0.9207, -1.5169, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4191 left_y=-0.2723 left_z=0.175 left_yaw=0.646 left_pitch=-0.0785 left_roll=-0.0015 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.5265, -13.1214, 6.2838, 0.2955, -1.3114, -0.2466, 1.0281, -0.1162, -1.6752, 7.0085, 1.6581, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9245, 2.4973, 2.4626, -1.56, -0.8829, -1.5909, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3969 left_y=-0.2936 left_z=0.14 left_yaw=0.6383 left_pitch=-0.1182 left_roll=0.0282 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -15.9111, 6.6803, 0.1392, -1.1013, -0.1245, 1.033, 0.0752, -1.4564, 7.0085, 1.663, -0.0611, -0.0806, -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 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9932, 2.0701, 1.9137, -1.179, -0.7601, -1.2182, 0.752, -0.02, 0.8379, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3473 left_y=-0.3034 left_z=0.1724 left_yaw=0.3052 left_pitch=-0.2128 left_roll=0.0303 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1552 right_yaw=-0.0014 right_pitch=-0.0957 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [1.3197, -13.2855, 8.253, 1.6044, -1.1941, 0.1636, 1.0281, -0.0205, -1.3607, 7.1043, 1.6679, -0.0317, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9407c72a1d94efca4c0b8330164b4d6e3b7caf6c36b5289496a22226e8e94d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc4e497a73e5cc9075b33f312c723afad059a07d333c854bbd8a58b7dca30477",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d1d4c707e0fe43c250e62d0043ab9930ddfee6ee2dee813808c2c9882b0b5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiQkKEAgRGAI4AUIIdGhpbmtpbmcSDKMumqOFG/V3a/carhoM6cq5ESW7YzSKva/tIjAxy192oXtoBFDGAoCv/lboC34i0LIvAWguE6GMzgL5AyZCL/wq+5k76bHTCP53qRoqpghwbK/Gi64EbEMS8TCM133h2ZNAgUVUZku/HOeyFfP47D/QCzNqVyQJI0NJ4v/ekesqXC93KnAIrhMbKusno0TxpPDIumNTfxdWZ1hJbWJj/kAQfwzMJ+DloLUPpgF4MzTQXYXIATyDkSQq+IjN5W8X3laYT6NU6jzQhcS728ElSkKbj3qBC7GKQEeF0e7bcm/uIT0UZFvqSES3dfxqi2QzgCdVyxu8t3PvrTiSI8bff+a97kPJ9nPrxZtjejMiEAzTW9k9bODMti0a2ajwmOv/cEnR7wocqK+teJsW4T1OxpawPZOi8Ic3iSVokHd73A6JARGHxuO8upAOVhV0ffd7QeJYqbEGCaijje6s72YfvgxTjv6pip1WadPQRrxzNXMvs9PfpirnTcezyhcxlWXS4ycju67ECqdRZdvggNbH7A0utmpc/Lg7HlnAJ8DZQEfDux+fezmLpGPMSwxPc6lVg1QLz0/XiDvAhFyf+o2JS7kvLSEEFT4eFC6NON52SGC7R++QsWHGylAg0Cq2ClyIEXYs3rGLGzfOvQ9FRdUjycJAZO1uwCvqw3IiTgCramAIPHJ+EjMfvqNUmCTxZCdwuFOLoMLfZaKd2Cphez9DeePAOHSmrLcQSex1p1hplMBYZuHuMCZE9gxNhztzMbQsho7rhyRmMEv5ikwgTHBPEbKMVQ35AB3k0z/YWgvV/r7eR8u8lBcyg+D0BOtoj/OGufpNHvscpjkkoOYnqeZODzYH6+FwQvFDuf0whn4IjDUB+B12AuMokTMGNdP9D4McoRpczLYwRRE++32O/1NnQHTiGf8kW88e00oZW2RQCKQF+vebH6ifdCERFZC8VShLv+f0Xj8RZcV+jqHGDhfNGro08wSNJxbSUF4q5hKSdiCBak5WL8chEHn6gOptEjsz3BzZC5pCHln0DRK9gU5YdeTKGjr1yl17tHrGZJenG3QwUbJUoNiGtEWaSyWRKaRfGT1TMooWH4TEJFFlw68hLYS9hJAzb+4g5KZOGlT6i+wixLmmYb7nyfCzs+Jnk+d9pOy5Y4+A/su6kkXF/xGTgYD6ZJG6MP0tgJgc9d7M/6iVzzE7nXmyCPEOA6UT8qzt4DOJF6dTzCXIbhKcSm6SMHcpcz7UhcFsUbAkKXYsEY8MCpvM8FSBB2T+Z7lIdpD4QPTbFYDQaDEPio2dNRFU8zjHd5/qC1JICbpV0npx+n48bnkia7nBEL3nHtSp9/PlRTwico4/aUy3TYyuhtGPepZYwqaJGQnZCcCzRPa71SrFuTh1ztLUl/J7hBLAGxm1GgTVXAlj/ZK6IuAkH5WPgFIVa6YYuWjyQM7NwkmhPWjzFN0FmzwHhrjpyvuXWZ49+Jg5Ve4tUUSGIIi1zqrPxd5q9zdZ4yd041G8pz88ZtHOz8Zz1uwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FZjjUVqDuV9Pi14hia55bt",
      "input": {
        "note": "The arm freed up: now at y=-0.30, z=0.17 with the brick above the pot's left rim (rim fills the right of the wrist view). Pushing further right toward y=-0.38 to get over the pot interior.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.35,
          "left_y": -0.38,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01FZjjUVqDuV9Pi14hia55bt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0382, 2.1006, 1.8462, -1.0756, -0.7635, -1.1271, 0.752, -0.02, 0.8402, 0.5945, -0.4229, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3382 left_y=-0.3261 left_z=0.1444 left_yaw=0.21 left_pitch=-0.2116 left_roll=0.0923 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -14.7214, 7.9385, 0.7839, -1.1795, -0.1197, 1.0281, -0.1983, -1.5385, 6.9812, 1.6337, -0.0708, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78919532f859c36a7bee2460b588df764da4499fbb515143102befd8c11bf98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a15570139273a98c80f102aafc3bd94cc1df9700d8ee21e1a638b42b8f5d76d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ee8a098aa9f38f16fa5fbccf25157c2b8aeeaa8fab06c9ef5404a62a6bc43b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 9.32 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]: [-0.9245, 2.4973, 2.4626, -1.56, -0.8829, -1.5909, 0.7521, -0.02, 0.8371, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3969 left_y=-0.2936 left_z=0.14 left_yaw=0.6383 left_pitch=-0.1182 left_roll=0.0282 left_gripper=0.7521 right_x=0.2898 right_y=0.0007 right_z=0.1554 right_yaw=-0.0014 right_pitch=-0.095 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -15.9111, 6.6803, 0.1392, -1.1013, -0.1245, 1.033, 0.0752, -1.4564, 7.0085, 1.663, -0.0611, -0.0806, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9932, 2.0701, 1.9137, -1.179, -0.7601, -1.2182, 0.752, -0.02, 0.8379, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3473 left_y=-0.3034 left_z=0.1724 left_yaw=0.3052 left_pitch=-0.2128 left_roll=0.0303 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1552 right_yaw=-0.0014 right_pitch=-0.0957 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [1.3197, -13.2855, 8.253, 1.6044, -1.1941, 0.1636, 1.0281, -0.0205, -1.3607, 7.1043, 1.6679, -0.0317, -0.022, -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 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0382, 2.1006, 1.8462, -1.0756, -0.7635, -1.1271, 0.752, -0.02, 0.8402, 0.5945, -0.4229, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3382 left_y=-0.3261 left_z=0.1444 left_yaw=0.21 left_pitch=-0.2116 left_roll=0.0923 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -14.7214, 7.9385, 0.7839, -1.1795, -0.1197, 1.0281, -0.1983, -1.5385, 6.9812, 1.6337, -0.0708, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78919532f859c36a7bee2460b588df764da4499fbb515143102befd8c11bf98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a15570139273a98c80f102aafc3bd94cc1df9700d8ee21e1a638b42b8f5d76d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ee8a098aa9f38f16fa5fbccf25157c2b8aeeaa8fab06c9ef5404a62a6bc43b6",
        "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_01KJtzvo4De9E2ndLUjyQ1sP",
      "input": {
        "note": "Progress is slow (y=-0.33, z sagging to 0.14); in the wrist view the pot interior is still ahead-right of the brick. Pushing to the right bound and slightly forward, commanding extra height to counter sag.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.38,
          "left_y": -0.4,
          "left_yaw": 0.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KJtzvo4De9E2ndLUjyQ1sP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0615, 2.2776, 2.1517, -1.0439, -0.783, -0.8829, 0.752, -0.02, 0.8429, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3646 left_y=-0.3899 left_z=0.1619 left_yaw=0.0341 left_pitch=-0.1482 left_roll=0.1313 left_gripper=0.752 right_x=0.29 right_y=0.0007 right_z=0.1538 right_yaw=-0.0014 right_pitch=-0.1007 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -15.2274, 10.7556, 1.2137, -1.3016, 0.2515, 1.0281, -0.1709, -1.7162, 6.9949, 1.6435, -0.0708, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c308905cb56b33d3c69337c44fef44801d58ec7d2380424dda40269fa7f6fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bf01d6f24eba25cc1533bb9f37b2a44ed9a05efdade7623b1f81a53386e270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9f41a9c226e3484561d3be15f8d79b28364b5469506ab694b830227af42061e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 11.76 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]: [-0.9932, 2.0701, 1.9137, -1.179, -0.7601, -1.2182, 0.752, -0.02, 0.8379, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3473 left_y=-0.3034 left_z=0.1724 left_yaw=0.3052 left_pitch=-0.2128 left_roll=0.0303 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1552 right_yaw=-0.0014 right_pitch=-0.0957 right_roll=0.0011 right_gripper=0.9981\nstate[joint_eff]: [1.3197, -13.2855, 8.253, 1.6044, -1.1941, 0.1636, 1.0281, -0.0205, -1.3607, 7.1043, 1.6679, -0.0317, -0.022, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0382, 2.1006, 1.8462, -1.0756, -0.7635, -1.1271, 0.752, -0.02, 0.8402, 0.5945, -0.4229, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3382 left_y=-0.3261 left_z=0.1444 left_yaw=0.21 left_pitch=-0.2116 left_roll=0.0923 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -14.7214, 7.9385, 0.7839, -1.1795, -0.1197, 1.0281, -0.1983, -1.5385, 6.9812, 1.6337, -0.0708, -0.0366, -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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0615, 2.2776, 2.1517, -1.0439, -0.783, -0.8829, 0.752, -0.02, 0.8429, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3646 left_y=-0.3899 left_z=0.1619 left_yaw=0.0341 left_pitch=-0.1482 left_roll=0.1313 left_gripper=0.752 right_x=0.29 right_y=0.0007 right_z=0.1538 right_yaw=-0.0014 right_pitch=-0.1007 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -15.2274, 10.7556, 1.2137, -1.3016, 0.2515, 1.0281, -0.1709, -1.7162, 6.9949, 1.6435, -0.0708, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c308905cb56b33d3c69337c44fef44801d58ec7d2380424dda40269fa7f6fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bf01d6f24eba25cc1533bb9f37b2a44ed9a05efdade7623b1f81a53386e270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f41a9c226e3484561d3be15f8d79b28364b5469506ab694b830227af42061e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/woKEAgRGAI4AUIIdGhpbmtpbmcSDJhy9OQASpaOaJmPVxoMd3QhTUTFKopVGxaoIjCZvVEOb90S/CBT0ek7RliHmZZU74oZAWga+xwT/r3vxyPhP3Tcgw+r6Ec8wDmrQ9AqnAqUkgH+rkpTxgIn5gp4c/1pUaGk1SOxX/1pStjHSQMZRrrPsJ2ah9bwOcSDkvkBdUBEL2WcqHqj4YDX/zpDwpYDX/6bVwxCnZRqhSjfgxePKiVNILI0qWwAogaVEio2y5G6809nNjQPlKuxL4arx1a4G0CsorytSa5vx+XrMTbwnE7jh0vsLIMnWSUWcUz7R2M5FU8e2KjhLf41ckX/EyWvOrCGGwS5aRStoqnUSMk6IU1hsmw3R/PiO66OQ3l0d8G8gZLs4gUp4h50DSvxmIfC83kiB+0PWG1mnCXracWA2860L8b5yragyC2AdXvwPZfG6ZAgxbG4cWGCeDmGuM0u0tpMja4z5L+F8/646M23IG/bThfJshwv83hz2J/+z2mkdlQTzQZv5Bs5TwY5Rtqiu7gx2kh0aLBC6DqiXoR9yADBfsHHPR1XakxFGVHNs8t8NxCVvC2+W+uoLp41TBGtHxOcuYPso4Spcstv4S6jYzc3gQ0l9m8/fm25vg/t6BlnrwjRAi/EiAZYMmfpUd3rHMkIa/C9GjslgrzCS+T0s2lMhiU2WGFxe654ZyAFOYCUOEJjWs9GI52kSW2uFOv48/aOQijOq94wVessYxu1YDjB19sT45VlzRhXroMXlefuAEMz9wkQ62nvXTvnYSUf3NYvlNc7fS96IV5s4Rn276XeG9xtXR2e78YByED/lpk6MTCKV3ep91ERit9lmsKWmwbsid8Lr+NumZoX5M3Z0qcJ0/mUcsq+MY33Ud5vvkmNhpkHcRIBPQCzHEfb3C2sS5oxWERWLH7Lhoh0GswydNj73kYNWz6Hk1IIP6o2R0HyliumO6lt78+16gRyaAtBdkvs3W1sLpU4GncGOj8TY5pcf5KWRwXdX6LVGlbgyhgh3GmYx8cTVV+iNlLB3CCO8hygfHEus132LW/WkW8bzQ+bx1n7sFhRWphzQQG2Y2zO81Ndpcy5FkAVvBbc/h3v/HVfZU2mY6dgJ73zC4XV0Q5Pxj45TtfCJpLDuIPiBDrAa4f9o+CejS9gBS3zzJBvDNlDYEScBjlGvwX2bmLzew5EBsm2Ty6OJQpmkdFSkng9KYUz4QCbzBRUBN7f/83CN9nE6R8SHsZ2xT8VniYYJxcvz7xWf6N0ukuBQm8Qtek2RWYMwmuczE53NfRKK12/NURnBG66W9Z6E0FJV5qtmTaTIA9HawQHSuc9Dzk1diWRBFA7PveRMBlVtqcIgSn/60kGpSQJfv2+QBe5cKrKIQ0O+jxuV1jH1lwOYWL08tx/cXQceRegvyKvQ+DhT7wrXr9R5H9AEpmerLyDW8oUCdujW9UUPZP4VbBAuUtdkwe3BNjIH5SiQ2GvWKNrKQl55uviJKW1rlGKZo+Lkq1Pe0BOtKZ/+cUg94yBj9cnx4J6fByuC/+TSweFRUc0qADi8vN+3l9fPAVhDzqsI7sMsdru7/WPQ0O/aTq1jTb+VzcozbIcWQNhJ1Dzh35id1uSMvJot8mHM7WqubXhIBotc6Z4J8vcj+mfSaY+gT+eDoclO/vk2uZzAWkNOnXP3GVDdquKm9c19J++WuHp8KUO+K3kfh++jBk1utRyWg51DGnx9CcirYWj7dF6ApwENfTFooZXWKDtsNuBL3JEJE2hlhtVu60KtxjNvExe3nBozEXGA+GF1OZRg76+oWMfAqkND1lvrUe57e6gk0AcrV1MmgdJbJ0LY5TIMXcvc4rdQwg3K9ywfVhf/isHbe4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019h6AWt78yJYiiL2oB5Xv5V",
      "input": {
        "note": "At y=-0.39 the wrist view shows the pot's interior directly ahead with the near rim just beyond the brick. Moving forward ~7 cm at extra height to bring the brick over the water.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.44,
          "left_y": -0.4,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019h6AWt78yJYiiL2oB5Xv5V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9764, 2.6392, 2.9025, -1.2987, -0.7593, -0.6876, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4248 left_y=-0.405 left_z=0.1904 left_yaw=-0.0133 left_pitch=-0.1132 left_roll=0.1549 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.8137, -17.0462, 9.3197, 1.5849, -1.072, 0.2466, 1.033, -0.1436, -1.0872, 6.9812, 1.619, -0.0611, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6330db32d45432a8fc1077be1a605c2687308d0ed0997b2ec9ae4a739b2d6cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a9868aabe61a094e0fe5515efda4cf2e0f66b500a3a4c187bf01b0ef7e88821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4336758a609454c01edcfeb7c9775273d91d8aee0c73a8873ec2da7aae9c2011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 21.04 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-1.0382, 2.1006, 1.8462, -1.0756, -0.7635, -1.1271, 0.752, -0.02, 0.8402, 0.5945, -0.4229, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3382 left_y=-0.3261 left_z=0.1444 left_yaw=0.21 left_pitch=-0.2116 left_roll=0.0923 left_gripper=0.752 right_x=0.2898 right_y=0.0007 right_z=0.1545 right_yaw=-0.0014 right_pitch=-0.0984 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.0889, -14.7214, 7.9385, 0.7839, -1.1795, -0.1197, 1.0281, -0.1983, -1.5385, 6.9812, 1.6337, -0.0708, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-1.0615, 2.2776, 2.1517, -1.0439, -0.783, -0.8829, 0.752, -0.02, 0.8429, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3646 left_y=-0.3899 left_z=0.1619 left_yaw=0.0341 left_pitch=-0.1482 left_roll=0.1313 left_gripper=0.752 right_x=0.29 right_y=0.0007 right_z=0.1538 right_yaw=-0.0014 right_pitch=-0.1007 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -15.2274, 10.7556, 1.2137, -1.3016, 0.2515, 1.0281, -0.1709, -1.7162, 6.9949, 1.6435, -0.0708, -0.0611, -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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9764, 2.6392, 2.9025, -1.2987, -0.7593, -0.6876, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4248 left_y=-0.405 left_z=0.1904 left_yaw=-0.0133 left_pitch=-0.1132 left_roll=0.1549 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.8137, -17.0462, 9.3197, 1.5849, -1.072, 0.2466, 1.033, -0.1436, -1.0872, 6.9812, 1.619, -0.0611, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6330db32d45432a8fc1077be1a605c2687308d0ed0997b2ec9ae4a739b2d6cb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a9868aabe61a094e0fe5515efda4cf2e0f66b500a3a4c187bf01b0ef7e88821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4336758a609454c01edcfeb7c9775273d91d8aee0c73a8873ec2da7aae9c2011",
        "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_01Av1km5BR6B7XMqWQFtSR5E",
      "input": {
        "note": "The pot interior is now straight ahead in the wrist view, with the near rim still a few cm beyond the hanging brick. Advancing another ~6 cm so the brick is over the water before releasing.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.49,
          "left_y": -0.4,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Av1km5BR6B7XMqWQFtSR5E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8921, 2.6232, 2.7125, -1.1366, -0.7265, -0.5735, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4639 left_y=-0.3826 left_z=0.1495 left_yaw=-0.0074 left_pitch=-0.1555 left_roll=0.2352 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -21.4496, 9.0735, 1.8584, -0.9353, 0.2711, 1.0281, -0.1709, -1.5111, 6.9949, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8453d3c232055036173615c416ea943036732219215635dc850a544da48c233a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c060d58d484e97b2eb018bb4d16b4f3ee005e8e93800b2b33bae7508ce5efdb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8e2b3feab668bd6a84ffcafbd17c7a2a4bf0cb876d0ab53e9a9a9fc187c2472",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 11.53 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]: [-1.0615, 2.2776, 2.1517, -1.0439, -0.783, -0.8829, 0.752, -0.02, 0.8429, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.3646 left_y=-0.3899 left_z=0.1619 left_yaw=0.0341 left_pitch=-0.1482 left_roll=0.1313 left_gripper=0.752 right_x=0.29 right_y=0.0007 right_z=0.1538 right_yaw=-0.0014 right_pitch=-0.1007 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [-0.3761, -15.2274, 10.7556, 1.2137, -1.3016, 0.2515, 1.0281, -0.1709, -1.7162, 6.9949, 1.6435, -0.0708, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9764, 2.6392, 2.9025, -1.2987, -0.7593, -0.6876, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4248 left_y=-0.405 left_z=0.1904 left_yaw=-0.0133 left_pitch=-0.1132 left_roll=0.1549 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.8137, -17.0462, 9.3197, 1.5849, -1.072, 0.2466, 1.033, -0.1436, -1.0872, 6.9812, 1.619, -0.0611, -0.0513, -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 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8921, 2.6232, 2.7125, -1.1366, -0.7265, -0.5735, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4639 left_y=-0.3826 left_z=0.1495 left_yaw=-0.0074 left_pitch=-0.1555 left_roll=0.2352 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -21.4496, 9.0735, 1.8584, -0.9353, 0.2711, 1.0281, -0.1709, -1.5111, 6.9949, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8453d3c232055036173615c416ea943036732219215635dc850a544da48c233a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c060d58d484e97b2eb018bb4d16b4f3ee005e8e93800b2b33bae7508ce5efdb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8e2b3feab668bd6a84ffcafbd17c7a2a4bf0cb876d0ab53e9a9a9fc187c2472",
        "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_01Rvp7PhV3aMxpnLVMuY84HR",
      "input": {
        "note": "The left arm is at its right-side bound and sagging under load, yet the pot interior is still ahead-right of the brick, so the left arm cannot reach over the pot. Setting the brick down near the table centre line for a handoff to the right arm.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.35,
          "left_y": -0.3,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Rvp7PhV3aMxpnLVMuY84HR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8482, 0.593, -0.4335, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2883 right_y=0.0007 right_z=0.1496 right_yaw=-0.0014 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1573, -1.853, 7.2137, 1.7607, -0.0317, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e5a163783640e7582efbf192f845735c295d85a09b5a3b5948f9fb73f7e6f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74b39d383ada81ab858f7bcf86a8041f1e71d1916e70f8bfffcd993b921744f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4744c62fe6e8c5bffef08006683a960b72308f330c57664e78f29a74476cf281",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 10.73 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]: [-0.9764, 2.6392, 2.9025, -1.2987, -0.7593, -0.6876, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4248 left_y=-0.405 left_z=0.1904 left_yaw=-0.0133 left_pitch=-0.1132 left_roll=0.1549 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.8137, -17.0462, 9.3197, 1.5849, -1.072, 0.2466, 1.033, -0.1436, -1.0872, 6.9812, 1.619, -0.0611, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8921, 2.6232, 2.7125, -1.1366, -0.7265, -0.5735, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4639 left_y=-0.3826 left_z=0.1495 left_yaw=-0.0074 left_pitch=-0.1555 left_roll=0.2352 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -21.4496, 9.0735, 1.8584, -0.9353, 0.2711, 1.0281, -0.1709, -1.5111, 6.9949, 1.6239, -0.0659, -0.0708, -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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8482, 0.593, -0.4335, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2883 right_y=0.0007 right_z=0.1496 right_yaw=-0.0014 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1573, -1.853, 7.2137, 1.7607, -0.0317, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e5a163783640e7582efbf192f845735c295d85a09b5a3b5948f9fb73f7e6f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c74b39d383ada81ab858f7bcf86a8041f1e71d1916e70f8bfffcd993b921744f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4744c62fe6e8c5bffef08006683a960b72308f330c57664e78f29a74476cf281",
        "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_01UzcNNrCkBtiZjAuTAETBdF",
      "input": {
        "note": "The arm did not move at all on the last command (joints unchanged), so the IK is stuck in this stretched pose. Raising z and pulling x in slightly to break the stall before lowering the brick for the handoff.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.34,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UzcNNrCkBtiZjAuTAETBdF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8501, 0.593, -0.4385, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2876 right_y=0.0008 right_z=0.1481 right_yaw=-0.0013 right_pitch=-0.1255 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1026, -1.6889, 6.9538, 1.707, -0.0757, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4205ddf67bfe0751b4cc3175f835bcc9655f615053ac50ab3f86259736cc793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0da004bd9a856ad206c7cd0e1f8f8e16388e0f6e94608b8ebd569afd054a17ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1b5503421f8b1ed16dfe568288a466015d6176a748648e7d1335a00b884f08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 21.71 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]: [-0.8921, 2.6232, 2.7125, -1.1366, -0.7265, -0.5735, 0.7519, -0.02, 0.8436, 0.5945, -0.4225, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4639 left_y=-0.3826 left_z=0.1495 left_yaw=-0.0074 left_pitch=-0.1555 left_roll=0.2352 left_gripper=0.7519 right_x=0.2901 right_y=0.0007 right_z=0.1536 right_yaw=-0.0014 right_pitch=-0.1015 right_roll=0.0012 right_gripper=0.9981\nstate[joint_eff]: [0.4034, -21.4496, 9.0735, 1.8584, -0.9353, 0.2711, 1.0281, -0.1709, -1.5111, 6.9949, 1.6239, -0.0659, -0.0708, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8482, 0.593, -0.4335, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2883 right_y=0.0007 right_z=0.1496 right_yaw=-0.0014 right_pitch=-0.1186 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1573, -1.853, 7.2137, 1.7607, -0.0317, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8501, 0.593, -0.4385, -0.0166, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2876 right_y=0.0008 right_z=0.1481 right_yaw=-0.0013 right_pitch=-0.1255 right_roll=0.0017 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1026, -1.6889, 6.9538, 1.707, -0.0757, -0.0317, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4205ddf67bfe0751b4cc3175f835bcc9655f615053ac50ab3f86259736cc793a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0da004bd9a856ad206c7cd0e1f8f8e16388e0f6e94608b8ebd569afd054a17ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1b5503421f8b1ed16dfe568288a466015d6176a748648e7d1335a00b884f08f",
        "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_011soKkaEaAeiNSMukgqChzq",
      "input": {
        "note": "The left arm's joints and effort are frozen at the same values for two commands, suggesting a hold or fault under the high shoulder load. Trying a very small 2 cm retreat to see whether the arm responds at all.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.45,
          "left_y": -0.37,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011soKkaEaAeiNSMukgqChzq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8833, 2.6232, 2.7125, -1.1309, -0.733, -0.5571, 0.7519, -0.02, 0.8501, 0.593, -0.4446, -0.0162, -0.0349, 0.9981]\nstate[eef_state]: left_x=0.4683 left_y=-0.3784 left_z=0.1507 left_yaw=-0.0041 left_pitch=-0.1498 left_roll=0.2468 left_gripper=0.7519 right_x=0.2866 right_y=0.0007 right_z=0.147 right_yaw=-0.0017 right_pitch=-0.1316 right_roll=0.0016 right_gripper=0.9981\nstate[joint_eff]: [-0.5675, -21.2855, 9.1692, 1.8193, -0.9451, 0.3541, 1.0281, -0.1162, -1.4838, 6.9812, 1.707, -0.0513, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:193602a37d97147680665c7b14f9a22c100b15e093514d502d22d062b37a37b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11219dfdcfd082c359a9db77cf641a9d21fbdf4a3a8ae90942f2624408e14d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6021f4237e4d8127d492c659171695846e8de811bf4f1a247658cd507ee8a273",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]