adhoc - adhoc_66c528b8.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: 444.8 s
total steps: 285

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 is visible in the right wrist camera slightly left of the jaw column and ahead of the fingertips; the pot is to the left of the table. Moving the right arm forward and slightly left to hover above the brick.

move_to

right_x0.3600right_y0.0400right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3801, -0.0223, -0.0414, 0.9995, -0.0219, 0.7937, 0.6037, -0.3775, -0.0166, -0.0196, 0.9989] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1799 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989 state[joint_eff]: [-0.3214, -1.347, 10.2222, 1.79, -0.022, 0.2955, -0.0611, -0.5402, -1.2923, 10.1812, 1.8926, -0.1001, 0.022, -0.1294] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.04, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick is visible in the right wrist camera slightly left of the jaw column and ahead of the fingertips; the pot is to the left of the table. Moving the right arm forward and slightly left to hover above the brick."})

tool

executing move_to over 5 steps (0.5s)

step 5

assistant

agent noteThe brick now lies along the jaw column but slightly left and ahead of the fingertips. Advancing a few cm forward/left and lowering to 10 cm before descending.

move_to

right_x0.3800right_y0.0600right_z0.1000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0349, 0.9995, 0.1623, 1.1412, 0.606, -0.1432, 0.1036, 0.0536, 0.9989] state[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3407 right_y=0.0409 right_z=0.1246 right_yaw=0.0429 right_pitch=-0.1073 right_roll=-0.0158 right_gripper=0.9989 state[joint_eff]: [-0.1573, -1.4974, 6.8034, 1.7851, -0.0171, -0.0904, -0.0122, 0.1299, -4.7111, 8.8957, 1.9463, 0.1783, 0.1587, -0.1294] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.06, "right_z": 0.1, "right_gripper": 1.0}, "note": "The brick now lies along the jaw column but slightly left and ahead of the fingertips. Advancing a few cm forward/left and lowering to 10 cm before descending."})

tool

executing move_to over 4 steps (0.4s)

step 9

assistant

agent noteThe brick fills the right wrist view centred on the jaw column, so the fingertips are over it. Descending to table level with the jaws open to straddle it.

move_to

right_x0.3700right_y0.0600right_z0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2089, 1.3735, 0.6182, -0.0216, 0.1246, 0.0715, 0.9989] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3587 right_y=0.0573 right_z=0.0747 right_yaw=0.0598 right_pitch=-0.2027 right_roll=-0.0295 right_gripper=0.9989 state[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.6972, -0.0562, 0.0024, -0.0122, 0.1162, -6.0239, 9.7436, 1.9121, 0.1929, 0.1001, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.06, "right_z": 0.0, "right_gripper": 1.0}, "note": "The brick fills the right wrist view centred on the jaw column, so the fingertips are over it. Descending to table level with the jaws open to straddle it."})

tool

executing move_to over 5 steps (0.5s)

step 14

assistant

agent noteThe arm did not descend on the last command (still at z≈0.08); trying a smaller descent step to 4 cm above the table.

move_to

right_x0.3700right_y0.0600right_z0.0400right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.625, 0.0208, 0.1265, 0.0711, 0.9989] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0014 left_pitch=-0.0328 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3671 right_y=0.059 right_z=0.0788 right_yaw=0.06 right_pitch=-0.1716 right_roll=-0.0264 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.3607, 7.2274, 1.8974, -0.0611, -0.0659, -0.0122, 0.0068, -5.8735, 9.5521, 1.8095, 0.1734, 0.1197, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.06, "right_z": 0.04, "right_gripper": 1.0}, "note": "The arm did not descend on the last command (still at z\u22480.08); trying a smaller descent step to 4 cm above the table."})

tool

executing move_to over 3 steps (0.3s)

step 17

assistant

agent noteThe arm is still holding at z≈0.08 with the tool pitched back; the brick is centred under the jaws. Commanding pitch back to 0 and pulling in 1 cm while descending to try to unstick the IK.

move_to

right_x0.3600right_y0.0600right_z0.0400right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.627, 0.0235, 0.1268, 0.0711, 0.9989] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0347 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3681 right_y=0.0591 right_z=0.08 right_yaw=0.0598 right_pitch=-0.167 right_roll=-0.026 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.347, 7.0085, 1.6874, -0.0464, -0.0757, -0.0122, 0.1846, -5.8872, 8.8684, 1.7509, 0.2076, 0.0904, -0.1294] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.06, "right_z": 0.04, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm is still holding at z\u22480.08 with the tool pitched back; the brick is centred under the jaws. Commanding pitch back to 0 and pulling in 1 cm while descending to try to unstick the IK."})

tool

executing move_to over 6 steps (0.6s)

step 23

assistant

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

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0425, 0.9995, 0.2291, 1.5257, 0.3489, 0.3794, 0.1383, 0.0715, 0.9989] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0012 left_pitch=-0.0347 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3249 right_y=0.0544 right_z=-0.0027 right_yaw=0.0676 right_pitch=-0.2216 right_roll=-0.0426 right_gripper=0.9989 state[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.6972, -0.0513, -0.0171, -0.0122, 0.1573, -5.1487, 6.4889, 1.9512, 0.2173, 0.0317, -0.1245] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The arm is now at table level with the brick between the jaws in the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 33

assistant

agent noteThe close was empty (gripper 0.01); the brick sits just beyond the fingertips in the wrist view. Opening, lifting slightly and advancing ~4.5 cm forward to get over the brick.

move_to

right_x0.3700right_y0.0550right_z0.0500right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4152, -0.0227, -0.0494, 0.9995, 0.2329, 1.5352, 0.3355, 0.4042, 0.1406, 0.0639, 0.0106] state[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1701 left_yaw=0.0049 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.323 right_y=0.0549 right_z=-0.0056 right_yaw=0.0737 right_pitch=-0.2196 right_roll=-0.0495 right_gripper=0.0106 state[joint_eff]: [-0.0342, -1.6752, 7.241, 1.7363, -0.0269, 0.0024, -0.0122, -0.3897, -5.7094, 6.1197, 1.2479, 0.0024, 0.0464, 0.862] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.055, "right_z": 0.05, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The close was empty (gripper 0.01); the brick sits just beyond the fingertips in the wrist view. Opening, lifting slightly and advancing ~4.5 cm forward to get over the brick."})

tool

executing move_to over 10 steps (1.0s)

step 43

assistant

agent noteThe brick now lies between the open jaws in the wrist view, near end at the fingertips. Advancing 3 cm more and descending to table level so the jaws straddle the brick's body.

move_to

right_x0.3800right_y0.0530right_z0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.2062, 1.5295, 0.3702, 0.487, 0.1341, 0.0189, 0.9951] state[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1699 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9995 right_x=0.3506 right_y=0.0529 right_z=0.0227 right_yaw=0.0798 right_pitch=-0.0997 right_roll=-0.0615 right_gripper=0.9951 state[joint_eff]: [-0.0889, -1.347, 7.0085, 1.6972, -0.0415, -0.0366, -0.0122, -0.6359, -6.4889, 7.4872, 1.9609, 0.0513, 0.0806, -0.1783] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.053, "right_z": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick now lies between the open jaws in the wrist view, near end at the fingertips. Advancing 3 cm more and descending to table level so the jaws straddle the brick's body."})

tool

executing move_to over 4 steps (0.4s)

step 47

assistant

agent noteThe brick is between the open jaws but the grasp point is still 2 cm above the table; pressing down to table level so the jaws catch the brick's full thickness.

move_to

right_x0.3850right_y0.0590right_z-0.0100right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4198, -0.0227, -0.0498, 0.9995, 0.1925, 1.7706, 0.3901, 0.8673, 0.1112, 0.025, 0.9983] state[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1686 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3876 right_y=0.0592 right_z=0.0211 right_yaw=0.0825 right_pitch=0.0569 right_roll=-0.025 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.4291, 7.1726, 1.7558, -0.0562, -0.0659, -0.0122, -0.6906, -4.4103, 3.4256, 0.442, 0.1587, -0.3053, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.385, "right_y": 0.059, "right_z": -0.01, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick is between the open jaws but the grasp point is still 2 cm above the table; pressing down to table level so the jaws catch the brick's full thickness."})

tool

executing move_to over 3 steps (0.3s)

step 50

assistant

agent noteThe descent has stopped at z≈0.018 (likely fingertips at the table) with the brick squarely between the jaws. Closing the gripper on the brick.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, 0.1951, 1.8526, 0.4, 0.981, 0.0898, 0.0311, 0.9983] state[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.165 left_yaw=0.0051 left_pitch=-0.0701 left_roll=-0.0054 left_gripper=0.9995 right_x=0.396 right_y=0.0658 right_z=0.0178 right_yaw=0.0996 right_pitch=0.0973 right_roll=-0.0052 right_gripper=0.9983 state[joint_eff]: [-0.335, -1.4974, 6.9949, 1.8584, -0.022, -0.0611, -0.0122, -0.335, -4.4513, 3.6308, 0.823, 0.2613, -0.105, -0.188] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The descent has stopped at z\u22480.018 (likely fingertips at the table) with the brick squarely between the jaws. Closing the gripper on the brick."})

tool

executing move_to over 10 steps (1.0s)

step 60

assistant

agent noteEmpty close again: the wrist view shows the brick still starts just beyond the fingertips. Opening, lifting to 6 cm and advancing 4 cm further so the jaws land on the brick's body.

move_to

right_x0.4400right_y0.0650right_z0.0600right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4339, -0.0227, -0.0498, 0.9995, 0.194, 1.8656, 0.4053, 1.0134, 0.0921, 0.0265, 0.0097] state[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0724 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4002 right_y=0.0657 right_z=0.0216 right_yaw=0.0987 right_pitch=0.1221 right_roll=-0.008 right_gripper=0.0097 state[joint_eff]: [-0.0752, -1.1829, 7.1179, 1.7021, -0.0562, -0.0415, -0.0122, -0.4855, -4.6701, 3.0564, 0.9597, 0.1441, 0.0122, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.065, "right_z": 0.06, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Empty close again: the wrist view shows the brick still starts just beyond the fingertips. Opening, lifting to 6 cm and advancing 4 cm further so the jaws land on the brick's body."})

tool

executing move_to over 10 steps (1.0s)

step 70

assistant

agent noteThe brick now extends under the jaws in the wrist view (near end out of frame at the bottom). Descending to table level over the brick's body.

move_to

right_x0.4450right_y0.0650right_z0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4343, -0.0227, -0.0498, 0.9995, 0.1669, 1.7573, 0.6521, 0.5148, 0.0624, 0.0071, 0.9949] state[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1644 left_yaw=0.0051 left_pitch=-0.0728 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4325 right_y=0.0653 right_z=0.0425 right_yaw=0.1079 right_pitch=-0.0222 right_roll=-0.0212 right_gripper=0.9949 state[joint_eff]: [-0.0752, -1.3607, 6.9812, 1.6777, -0.0659, -0.0708, -0.0122, -0.5538, -10.1675, 7.4598, 1.6777, -0.0806, 0.1538, -0.188] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.445, "right_y": 0.065, "right_z": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick now extends under the jaws in the wrist view (near end out of frame at the bottom). Descending to table level over the brick's body."})

tool

executing move_to over 3 steps (0.3s)

step 73

assistant

agent noteAt table level (z≈0.002) with the brick filling the space between the jaws. Closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4377, -0.0227, -0.0498, 0.9995, 0.1654, 1.9324, 0.6544, 0.675, 0.0631, -0.0006, 0.9983] state[eef_state]: left_x=0.2886 left_y=0.0019 left_z=0.163 left_yaw=0.0051 left_pitch=-0.0789 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4398 right_y=0.0657 right_z=0.0021 right_yaw=0.1098 right_pitch=-0.0349 right_roll=-0.0287 right_gripper=0.9983 state[joint_eff]: [-0.0068, -1.0188, 6.9949, 1.7949, -0.0513, -0.0806, -0.0122, -0.7043, -6.3521, 4.5197, 0.4518, -0.1197, 0.0904, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "At table level (z\u22480.002) with the brick filling the space between the jaws. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 83

assistant

agent noteGripper settled at 0.75 (~7 cm), matching the brick's width, and the brick sits between the jaws in the wrist view. Lifting to 17 cm to confirm the grasp.

move_to

right_z0.1700right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4416, -0.0227, -0.0502, 0.9995, 0.1661, 1.9415, 0.6552, 0.7101, 0.0593, -0.0044, 0.7452] state[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1616 left_yaw=0.0054 left_pitch=-0.085 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4437 right_y=0.0674 right_z=0.0057 right_yaw=0.1158 right_pitch=-0.0084 right_roll=-0.0284 right_gripper=0.7452 state[joint_eff]: [-0.0615, -1.5385, 7.0359, 1.7265, -0.0708, -0.0757, -0.0122, -0.2667, -8.9915, 4.3419, 1.3504, 0.0122, 0.0073, 1.033] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.17, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), matching the brick's width, and the brick sits between the jaws in the wrist view. Lifting to 17 cm to confirm the grasp."})

tool

executing move_to over 11 steps (1.1s)

step 94

assistant

agent noteThe brick has left its spot on the table and is held in the right gripper. Raising to 30 cm to clear the pot rim before carrying left toward the pot.

move_to

right_x0.4400right_y0.1000right_z0.3000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4526, -0.0227, -0.0498, 0.9995, 0.1661, 1.5486, 0.8986, -0.0582, 0.0582, -0.0051, 0.7452] state[eef_state]: left_x=0.286 left_y=0.002 left_z=0.1569 left_yaw=0.0052 left_pitch=-0.1033 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4279 right_y=0.065 right_z=0.1153 right_yaw=0.1167 right_pitch=-0.1403 right_roll=-0.0349 right_gripper=0.7452 state[joint_eff]: [-0.0205, -1.6889, 7.2821, 1.7411, -0.0317, -0.0464, -0.0122, -0.3487, -10.6872, 11.1111, 2.4103, -0.0171, 0.0024, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.1, "right_z": 0.3, "right_gripper": 0.0}, "note": "The brick has left its spot on the table and is held in the right gripper. Raising to 30 cm to clear the pot rim before carrying left toward the pot."})

tool

executing move_to over 12 steps (1.2s)

step 106

assistant

agent noteBrick held high at z≈0.26; the pot is to the left near the table's centre line. Carrying the brick left toward the pot in a first half-step.

move_to

right_x0.4600right_y0.2500right_z0.3000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8284, 0.6037, -0.4603, -0.0231, -0.0498, 0.9995, 0.2649, 1.6066, 1.6176, -0.8219, 0.1104, 0.0338, 0.7452] state[eef_state]: left_x=0.285 left_y=0.0021 left_z=0.1545 left_yaw=0.0055 left_pitch=-0.1144 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1007 right_z=0.2606 right_yaw=0.1478 right_pitch=-0.2386 right_roll=-0.0512 right_gripper=0.7452 state[joint_eff]: [-0.1299, -1.6752, 6.9402, 1.7167, -0.0611, -0.0317, -0.0122, 0.212, -8.1846, 11.0291, 2.0195, 0.2173, 0.2955, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.25, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "Brick held high at z\u22480.26; the pot is to the left near the table's centre line. Carrying the brick left toward the pot in a first half-step."})

tool

executing move_to over 13 steps (1.3s)

step 119

assistant

agent noteThe pot rim appears at the left edge of the right wrist view and the top view shows the pot about 13 cm to the left and a bit nearer the base. Moving the brick over the pot's centre.

move_to

right_x0.4100right_y0.3600right_z0.3000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6037, -0.4675, -0.0227, -0.0498, 0.9995, 0.6231, 1.845, 1.8091, -0.7712, 0.374, 0.1993, 0.7452] state[eef_state]: left_x=0.284 left_y=0.002 left_z=0.1518 left_yaw=0.0053 left_pitch=-0.1266 left_roll=-0.004 left_gripper=0.9995 right_x=0.4422 right_y=0.2427 right_z=0.2481 right_yaw=0.1941 right_pitch=-0.1755 right_roll=-0.1167 right_gripper=0.7452 state[joint_eff]: [-0.1846, -1.347, 7.1316, 1.7949, -0.0317, -0.0366, -0.0122, 0.3624, -10.7145, 11.3436, 2.4249, 0.4811, 0.1294, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). 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": {"right_x": 0.41, "right_y": 0.36, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The pot rim appears at the left edge of the right wrist view and the top view shows the pot about 13 cm to the left and a bit nearer the base. Moving the brick over the pot's centre."})

tool

executing move_to over 10 steps (1.0s)

step 129

assistant

agent noteThe pot interior fills the left part of the right wrist view, so the pot centre is still a few cm to the left. Shifting to the y bound (0.40) and lowering to 22 cm, just above the rim, before releasing.

move_to

right_x0.4000right_y0.4000right_z0.2200right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4679, -0.0227, -0.0498, 0.9995, 0.9012, 2.0724, 2.1498, -0.9371, 0.572, 0.3168, 0.7452] state[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1512 left_yaw=0.0053 left_pitch=-0.1285 left_roll=-0.004 left_gripper=0.9995 right_x=0.4007 right_y=0.3579 right_z=0.2568 right_yaw=0.2515 right_pitch=-0.1355 right_roll=-0.1819 right_gripper=0.7452 state[joint_eff]: [-0.0479, -1.4974, 7.1726, 1.6239, -0.0513, -0.0806, -0.0122, 0.1162, -12.6701, 10.7966, 1.873, 0.8181, 0.2369, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.4, "right_z": 0.22, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The pot interior fills the left part of the right wrist view, so the pot centre is still a few cm to the left. Shifting to the y bound (0.40) and lowering to 22 cm, just above the rim, before releasing."})

tool

executing move_to over 8 steps (0.8s)

step 137

assistant

agent noteThe arm stalled at y≈0.36 near its reach; the pot interior is ahead-left in the wrist view with the brick projecting forward from the jaws. Yawing the tool CCW so the brick swings over the pot and lowering slightly toward the rim.

move_to

right_x0.3700right_y0.3800right_z0.1900right_yaw0.7000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4675, -0.0227, -0.0498, 0.9995, 0.9165, 2.1059, 2.0605, -0.9127, 0.564, 0.3145, 0.7452] state[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1503 left_yaw=0.0053 left_pitch=-0.1319 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3936 right_y=0.3639 right_z=0.2086 right_yaw=0.2632 right_pitch=-0.2179 right_roll=-0.2391 right_gripper=0.7452 state[joint_eff]: [-0.1162, -1.7573, 6.9675, 1.6093, -0.0611, -0.0611, -0.0122, 0.3214, -14.7077, 8.3761, 1.8828, 0.5641, 0.0122, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.38, "right_z": 0.19, "right_yaw": 0.7, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The arm stalled at y\u22480.36 near its reach; the pot interior is ahead-left in the wrist view with the brick projecting forward from the jaws. Yawing the tool CCW so the brick swings over the pot and lowering slightly toward the rim."})

tool

executing move_to over 8 steps (0.8s)

step 145

assistant

agent noteThe wrist view now shows the pot interior directly ahead with the brick projecting over it, and the top view shows the gripper at the pot's rim. Opening the gripper to drop the brick into the pot.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.4843, -0.0227, -0.0502, 0.9995, 0.8913, 1.8191, 1.5425, -0.5064, 0.347, 0.0006, 0.7451] state[eef_state]: left_x=0.2815 left_y=0.0021 left_z=0.1467 left_yaw=0.0055 left_pitch=-0.1506 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3609 right_y=0.3569 right_z=0.1923 right_yaw=0.5926 right_pitch=-0.1791 right_roll=-0.2386 right_gripper=0.7451 state[joint_eff]: [-0.253, -1.6068, 6.9265, 1.8291, -0.0855, -0.0757, -0.0122, -0.4171, -9.5521, 8.3214, 2.4689, 0.1978, -0.0269, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1.0}, "note": "The wrist view now shows the pot interior directly ahead with the brick projecting over it, and the top view shows the gripper at the pot's rim. Opening the gripper to drop the brick into the pot."})

tool

executing move_to over 3 steps (0.3s)

step 148

assistant

agent noteThe gripper reading is still 0.745, so the jaws have not opened yet; the brick is still held over the pot. Re-sending the open command.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.841, 0.6029, -0.4873, -0.0227, -0.0498, 0.9995, 0.8944, 1.8347, 1.4609, -0.4698, 0.3107, -0.0399, 0.7451] state[eef_state]: left_x=0.281 left_y=0.0021 left_z=0.1458 left_yaw=0.0054 left_pitch=-0.1548 left_roll=-0.0033 left_gripper=0.9995 right_x=0.3506 right_y=0.3562 right_z=0.1554 right_yaw=0.6441 right_pitch=-0.2501 right_roll=-0.2591 right_gripper=0.7451 state[joint_eff]: [-0.0068, -1.306, 7.0496, 1.6044, -0.0513, -0.0464, -0.0122, -0.5265, -10.6735, 13.012, 2.2295, 0.359, 0.1587, 1.0281] 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": {"right_gripper": 1.0}, "note": "The gripper reading is still 0.745, so the jaws have not opened yet; the brick is still held over the pot. Re-sending the open command."})

tool

executing move_to over 3 steps (0.3s)

step 151

assistant

agent noteThe gripper still reads 0.745 and the arm is sagging toward the rim; commanding a lift back to 20 cm together with the open so the jaws get more steps to release the brick over the pot.

move_to

right_z0.2000right_x0.3500right_y0.3500right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8413, 0.6029, -0.4915, -0.0227, -0.0498, 0.9995, 0.8921, 1.8454, 1.4498, -0.5339, 0.3023, -0.0307, 0.7451] state[eef_state]: left_x=0.2803 left_y=0.0021 left_z=0.1449 left_yaw=0.0054 left_pitch=-0.1594 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3418 right_y=0.3457 right_z=0.1359 right_yaw=0.6376 right_pitch=-0.3335 right_roll=-0.2686 right_gripper=0.7451 state[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6044, -0.0562, -0.0513, -0.0122, 0.1983, -10.6325, 7.9795, 1.9512, 0.1978, -0.1245, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.2, "right_x": 0.35, "right_y": 0.35, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The gripper still reads 0.745 and the arm is sagging toward the rim; commanding a lift back to 20 cm together with the open so the jaws get more steps to release the brick over the pot."})

tool

executing move_to over 12 steps (1.2s)

step 163

assistant

agent noteThe gripper has opened and the brick is no longer in the jaws; the wrist view shows the pot interior. Retracting the right arm to the side so the top camera can confirm where the brick landed.

move_to

right_x0.3000right_y0.1000right_z0.2500right_yaw0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4938, -0.0227, -0.0498, 0.9995, 0.9039, 1.7107, 1.2655, -0.2394, 0.3546, -0.0837, 0.9979] state[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1439 left_yaw=0.0054 left_pitch=-0.1639 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3463 right_y=0.3466 right_z=0.1732 right_yaw=0.6467 right_pitch=-0.0949 right_roll=-0.2814 right_gripper=0.9979 state[joint_eff]: [-0.2667, -1.6479, 6.9128, 1.58, -0.0562, -0.0317, -0.0122, 0.1436, -11.2615, 6.5573, 2.1123, 0.188, -0.0024, -0.0708] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.1, "right_z": 0.25, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The gripper has opened and the brick is no longer in the jaws; the wrist view shows the pot interior. Retracting the right arm to the side so the top camera can confirm where the brick landed."})

tool

executing move_to over 21 steps (2.1s)

step 184

assistant

agent noteThe brick fell short and now lies on the table just right of and nearer than the pot, with its long axis running left-right. Moving above it and starting to yaw the tool so the jaws will close across its width.

move_to

right_x0.2900right_y0.2700right_z0.1500right_yaw0.8000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4942, -0.0227, -0.0498, 0.9995, 0.6895, 1.1065, 1.0157, -0.6601, 0.675, 0.1711, 0.9983] state[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1436 left_yaw=0.0054 left_pitch=-0.1651 left_roll=-0.0031 left_gripper=0.9995 right_x=0.302 right_y=0.1106 right_z=0.2438 right_yaw=0.0452 right_pitch=-0.0227 right_roll=-0.2927 right_gripper=0.9983 state[joint_eff]: [-0.0615, -1.5521, 6.9128, 1.5702, -0.0562, -0.0464, -0.0122, -0.294, -3.9726, 6.8308, 1.5018, 0.4762, 0.2027, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.29, "right_y": 0.27, "right_z": 0.15, "right_yaw": 0.8, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick fell short and now lies on the table just right of and nearer than the pot, with its long axis running left-right. Moving above it and starting to yaw the tool so the jaws will close across its width."})

tool

executing move_to over 14 steps (1.4s)

step 198

assistant

agent noteIn the right wrist view the brick is at lower-left, meaning it lies toward the base and left of the gripper, with its long axis diagonal in the image. Shifting left/back over it and completing the yaw to ~90° so the jaws close across its width.

move_to

right_x0.2500right_y0.3300right_z0.1300right_yaw1.5000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8494, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.8112, 1.2976, 0.7063, -0.0196, 0.2245, -0.2153, 0.9983] state[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.142 left_yaw=0.0054 left_pitch=-0.1708 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2905 right_y=0.254 right_z=0.1406 right_yaw=0.7326 right_pitch=-0.0559 right_roll=-0.2974 right_gripper=0.9983 state[joint_eff]: [-0.0889, -1.8667, 6.9675, 1.5995, -0.0317, -0.0562, -0.0122, 0.3624, -5.1624, 6.8855, 1.9023, -0.0073, -0.0904, -0.1832] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.25, "right_y": 0.33, "right_z": 0.13, "right_yaw": 1.5, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "In the right wrist view the brick is at lower-left, meaning it lies toward the base and left of the gripper, with its long axis diagonal in the image. Shifting left/back over it and completing the yaw to ~90\u00b0 so the jaws close across its width."})

tool

executing move_to over 7 steps (0.7s)

step 205

assistant

agent noteWith the tool yawed ~80°, the brick now runs horizontally across the wrist image, meaning its long axis is along base +x, so the jaws would close along its length. Yawing back toward 0 while centring over the brick's estimated position.

move_to

right_x0.3100right_y0.3200right_z0.1200right_yaw0.6000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8505, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.7063, 1.4723, 0.7334, 0.0605, -0.3813, -0.6201, 0.9983] state[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1417 left_yaw=0.0054 left_pitch=-0.172 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2577 right_y=0.311 right_z=0.1073 right_yaw=1.3541 right_pitch=-0.0776 right_roll=-0.2588 right_gripper=0.9983 state[joint_eff]: [-0.0889, -1.4564, 6.9538, 1.5507, -0.0611, -0.0611, -0.0122, -0.4034, -6.4205, 9.2239, 1.8095, -0.3834, -0.0366, -0.1832] 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": {"right_x": 0.31, "right_y": 0.32, "right_z": 0.12, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "With the tool yawed ~80\u00b0, the brick now runs horizontally across the wrist image, meaning its long axis is along base +x, so the jaws would close along its length. Yawing back toward 0 while centring over the brick's estimated position."})

tool

executing move_to over 5 steps (0.5s)

step 210

assistant

agent noteThe brick is now on the jaw column near the bottom of the wrist view, running diagonally; a yaw of 0 should align its long axis vertically so the jaws close across its width. Yawing to 0 and descending to 5 cm.

move_to

right_x0.3000right_y0.3400right_z0.0500right_yaw0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8528, 0.6018, -0.5056, -0.0227, -0.0498, 0.9995, 0.9493, 1.6009, 0.8062, 0.1287, 0.2146, -0.178, 0.9983] state[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1389 left_yaw=0.0055 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.28 right_y=0.3325 right_z=0.0933 right_yaw=0.8594 right_pitch=-0.1054 right_roll=-0.2662 right_gripper=0.9983 state[joint_eff]: [-0.1436, -1.6068, 7.0359, 1.6679, -0.0611, -0.0415, -0.0122, 0.1573, -8.1573, 8.759, 1.7607, 0.2564, 0.1587, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 210): [image omitted: streamed camera frame] camera 'left_cam' (step 210): [image omitted: streamed camera frame] camera 'right_cam' (step 210): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.34, "right_z": 0.05, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick is now on the jaw column near the bottom of the wrist view, running diagonally; a yaw of 0 should align its long axis vertically so the jaws close across its width. Yawing to 0 and descending to 5 cm."})

tool

executing move_to over 6 steps (0.6s)

step 216

assistant

agent noteThe arm is tracking slowly (yaw only 0.62, z 0.10); the brick sits at lower-left of the wrist view, i.e. slightly left/back of the jaws. Re-sending yaw 0 with a small left/back shift and descent to 5 cm.

move_to

right_x0.2800right_y0.3550right_z0.0500right_yaw0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8539, 0.6018, -0.506, -0.0227, -0.0498, 0.9995, 0.9661, 1.6234, 0.8345, 0.1287, 0.4301, -0.0406, 0.9983] state[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1385 left_yaw=0.0055 left_pitch=-0.1876 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3029 right_y=0.315 right_z=0.1028 right_yaw=0.6248 right_pitch=-0.0511 right_roll=-0.2846 right_gripper=0.9983 state[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.5702, -0.0024, -0.0415, -0.0122, -0.1436, -7.9795, 8.4855, 1.7705, 0.2418, 0.149, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.355, "right_z": 0.05, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm is tracking slowly (yaw only 0.62, z 0.10); the brick sits at lower-left of the wrist view, i.e. slightly left/back of the jaws. Re-sending yaw 0 with a small left/back shift and descent to 5 cm."})

tool

executing move_to over 4 steps (0.4s)

step 220

assistant

agent noteThe arm did not move on the last command (IK stall at yaw 0.62 with roll -0.28). Raising the arm and reducing yaw/roll toward neutral to unstick it before re-approaching the brick.

move_to

right_x0.3000right_y0.3300right_z0.1800right_yaw0.3000right_roll0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8558, 0.6018, -0.5125, -0.0227, -0.0498, 0.9995, 0.9657, 1.6234, 0.8345, 0.1291, 0.4305, -0.0399, 0.9983] state[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1369 left_yaw=0.0055 left_pitch=-0.196 left_roll=-0.0023 left_gripper=0.9995 right_x=0.3031 right_y=0.3149 right_z=0.1029 right_yaw=0.6237 right_pitch=-0.0506 right_roll=-0.284 right_gripper=0.9983 state[joint_eff]: [-0.1436, -1.6889, 7.1453, 1.6435, -0.0562, -0.0513, -0.0122, -0.3077, -7.9795, 8.4581, 1.7363, 0.2613, 0.2076, -0.1832] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.33, "right_z": 0.18, "right_yaw": 0.3, "right_roll": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm did not move on the last command (IK stall at yaw 0.62 with roll -0.28). Raising the arm and reducing yaw/roll toward neutral to unstick it before re-approaching the brick."})

tool

executing move_to over 5 steps (0.5s)

step 225

assistant

agent noteThe arm is unstuck; the brick now sits at the bottom of the wrist view just under the jaws, slightly left. Yawing to 0 to align the jaws across its width and descending to 3 cm.

move_to

right_x0.2900right_y0.3500right_z0.0300right_yaw0.0000right_roll0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8566, 0.6018, -0.5129, -0.0227, -0.0498, 0.9995, 1.0523, 1.6268, 1.0969, -0.1776, 0.5556, 0.3283, 0.9983] state[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1366 left_yaw=0.0055 left_pitch=-0.1971 left_roll=-0.0022 left_gripper=0.9995 right_x=0.2978 right_y=0.3412 right_z=0.1606 right_yaw=0.416 right_pitch=-0.0198 right_roll=-0.072 right_gripper=0.9983 state[joint_eff]: [0.0068, -1.5932, 6.8718, 1.5263, -0.0562, -0.0122, -0.0122, 0.1026, -9.8393, 7.6239, 1.326, 0.4078, 0.1832, -0.188] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.29, "right_y": 0.35, "right_z": 0.03, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm is unstuck; the brick now sits at the bottom of the wrist view just under the jaws, slightly left. Yawing to 0 to align the jaws across its width and descending to 3 cm."})

tool

executing move_to over 9 steps (0.9s)

step 234

assistant

agent noteAt z≈0.02 the brick fills the space between the jaws in the wrist view. Pressing down slightly and closing the gripper on it.

move_to

right_z0.0050right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.5137, -0.0227, -0.0498, 0.9995, 1.1728, 2.046, 1.1095, -0.1043, 0.8349, 0.8143, 0.9983] state[eef_state]: left_x=0.2769 left_y=0.0022 left_z=0.1355 left_yaw=0.0056 left_pitch=-0.2017 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2839 right_y=0.3467 right_z=0.0223 right_yaw=0.0759 right_pitch=-0.0523 right_roll=-0.064 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.853, 6.8718, 1.5507, -0.0659, -0.0611, -0.0122, 0.4034, -9.9761, 7.7333, 0.9841, 0.7839, 0.0659, -0.188] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.005, "right_gripper": 0.0}, "note": "At z\u22480.02 the brick fills the space between the jaws in the wrist view. Pressing down slightly and closing the gripper on it."})

tool

executing move_to over 10 steps (1.0s)

step 244

assistant

agent noteEmpty close: the brick's near edge is just beyond the closed fingertips in the wrist view and the top view shows it ~4 cm ahead of the gripper. Opening, lifting slightly and advancing 4 cm to get the jaws over it.

move_to

right_x0.3300right_y0.3550right_z0.0400right_yaw0.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.514, -0.0227, -0.0498, 0.9995, 1.1763, 2.0621, 1.1042, -0.0254, 0.8471, 0.8112, 0.0095] state[eef_state]: left_x=0.2768 left_y=0.0022 left_z=0.1354 left_yaw=0.0056 left_pitch=-0.2021 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2873 right_y=0.3551 right_z=0.0233 right_yaw=0.0761 right_pitch=-0.0169 right_roll=-0.0199 right_gripper=0.0095 state[joint_eff]: [-0.3077, -1.5111, 6.8581, 1.5751, -0.022, -0.0757, -0.0122, -0.4444, -7.6513, 4.4786, 0.9402, 0.1783, 0.0073, 0.7595] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.355, "right_z": 0.04, "right_yaw": 0.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Empty close: the brick's near edge is just beyond the closed fingertips in the wrist view and the top view shows it ~4 cm ahead of the gripper. Opening, lifting slightly and advancing 4 cm to get the jaws over it."})

tool

executing move_to over 10 steps (1.0s)

step 254

assistant

agent noteThe brick is now between the open jaws at the bottom of the wrist view, slightly right of centre. Nudging 1 cm right, descending to the table and closing on it.

move_to

right_x0.3250right_y0.3400right_z0.0050right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5194, -0.0227, -0.0498, 0.9995, 1.1004, 2.0968, 1.214, -0.0959, 0.8478, 0.7853, 0.9948] state[eef_state]: left_x=0.276 left_y=0.0022 left_z=0.1337 left_yaw=0.0056 left_pitch=-0.2105 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3228 right_y=0.3506 right_z=0.0342 right_yaw=0.0137 right_pitch=-0.0147 right_roll=-0.0378 right_gripper=0.9948 state[joint_eff]: [-0.0068, -1.7983, 7.0085, 1.6337, -0.0513, -0.0366, -0.0122, -0.6222, -9.4838, 8.1162, 1.2674, 0.3883, -0.022, -0.0952] approver: 9 step(s) modified (delta_clamped ×9). 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

move_to({"targets": {"right_x": 0.325, "right_y": 0.34, "right_z": 0.005, "right_gripper": 0.0}, "note": "The brick is now between the open jaws at the bottom of the wrist view, slightly right of centre. Nudging 1 cm right, descending to the table and closing on it."})

tool

executing move_to over 10 steps (1.0s)

step 264

assistant

agent noteThe descent stalls at z≈0.022 (brick thickness) and the close is empty, so the open jaws are landing on top of the brick — it is too wide along y. Opening and yawing the tool 90° so the jaws can close across the brick's narrower dimension.

move_to

right_x0.3250right_y0.3450right_z0.0600right_yaw1.5000right_pitch0.0000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5198, -0.0227, -0.0498, 0.9995, 1.0882, 2.1117, 1.1507, 0.0376, 0.8394, 0.7616, 0.01] state[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1336 left_yaw=0.0056 left_pitch=-0.2109 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3263 right_y=0.3471 right_z=0.022 right_yaw=0.0194 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.01 state[joint_eff]: [-0.0615, -1.5658, 6.9128, 1.5263, -0.0562, -0.0464, -0.0122, -0.2667, -7.8701, 4.588, 1.1306, 0.2466, 0.0366, 0.7643] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 264): [image omitted: streamed camera frame] camera 'left_cam' (step 264): [image omitted: streamed camera frame] camera 'right_cam' (step 264): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.325, "right_y": 0.345, "right_z": 0.06, "right_yaw": 1.5, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The descent stalls at z\u22480.022 (brick thickness) and the close is empty, so the open jaws are landing on top of the brick \u2014 it is too wide along y. Opening and yawing the tool 90\u00b0 so the jaws can close across the brick's narrower dimension."})

tool

executing move_to over 10 steps (1.0s)

step 274

assistant

agent noteTool is yawed ~75° and hovering 6 cm above the brick's spot beside the pot (wrist view is dominated by the pot wall). Descending to the table and closing across the brick's narrow width as a final grasp attempt.

move_to

right_x0.3300right_y0.3400right_z0.0050right_yaw1.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8661, 0.6018, -0.5205, -0.0227, -0.0498, 0.9995, 0.564, 1.9339, 1.0237, 0.1997, -0.5598, -0.4694, 0.9948] state[eef_state]: left_x=0.2758 left_y=0.0022 left_z=0.1328 left_yaw=0.0056 left_pitch=-0.2143 left_roll=-0.0018 left_gripper=0.9995 right_x=0.352 right_y=0.3379 right_z=0.059 right_yaw=1.2742 right_pitch=-0.0189 right_roll=-0.0264 right_gripper=0.9948 state[joint_eff]: [-0.0752, -1.5385, 6.9675, 1.536, -0.0464, 0.0024, -0.0122, -0.2393, -8.759, 6.1744, 1.2283, -0.5104, 0.105, -0.0464] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.34, "right_z": 0.005, "right_yaw": 1.5, "right_gripper": 0.0}, "note": "Tool is yawed ~75\u00b0 and hovering 6 cm above the brick's spot beside the pot (wrist view is dominated by the pot wall). Descending to the table and closing across the brick's narrow width as a final grasp attempt."})

tool

executing move_to over 10 steps (1.0s)

step 284

assistant

Empty close again (0.009) and I am out of LLM budget, so I must stop here.

agent noteRan out of call budget. The brick was grasped once and carried to the pot, but the right arm hit its y-reach limit (~0.36) short of the pot centre and the released brick fell on the table beside the pot. Subsequent re-grasp attempts near the pot (tight, yawed configuration) all closed empty.

give_up

hindsight1) The "black brick" is a ~7 cm wide × ~10 cm long × 2.5 cm power bank; the first grasp across its 7 cm width read gripper ≈0.745. Its length exceeds the 9.5 cm jaw opening in practice: when the jaws land on top of it the descent stalls at z≈0.022 and the close reads empty — that stall height is the tell that the jaw axis is aligned with the long side; yaw 90° before retrying. 2) Wrist-camera radial depth is badly misleading here: an object that looks 'between the jaws' at the bottom of the frame was still 4–8 cm beyond the fingertips in three separate attempts; advance more aggressively (5+ cm) after the first empty close. 3) The pot sits at roughly right_y ≈ 0.38–0.40, x ≈ 0.40; the right arm stalls around y ≈ 0.36 at x ≈ 0.40 (reach/IK limit), so the pot is better handled by the LEFT arm (left_y ≈ −0.27, left_x ≈ 0.40) or by handing over. 4) The IK frequently stalls (readback unchanged, 'delta_clamped') in yawed/rolled poses near y ≈ 0.3+; raising z and returning yaw/roll toward 0 unsticks it. 5) Gripper open commands sent alone (3 steps) did not actuate while the arm was sagging near the pot rim; combining the open with a small lift (more steps) worked. 6) Uncommanded pitch/roll drift of 0.2–0.3 rad accumulates during multi-move sequences; explicitly command pitch=0, roll=0 on each move.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8673, 0.6018, -0.5201, -0.0227, -0.0498, 0.9995, 0.5407, 2.0758, 1.0214, 0.2222, -0.7109, -0.6624, 0.0092] state[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1326 left_yaw=0.0056 left_pitch=-0.215 left_roll=-0.0018 left_gripper=0.9995 right_x=0.3317 right_y=0.3378 right_z=0.009 right_yaw=1.4672 right_pitch=-0.0281 right_roll=-0.0261 right_gripper=0.0092 state[joint_eff]: [-0.0342, -1.6615, 6.8718, 1.5849, -0.0659, -0.0708, -0.0122, -0.5538, -8.6085, 6.5162, 1.3455, -0.3443, -0.0952, 0.7497] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

Empty close again (0.009) and I am out of LLM budget, so I must stop here.

give_up({"reason": "Ran out of call budget. The brick was grasped once and carried to the pot, but the right arm hit its y-reach limit (~0.36) short of the pot centre and the released brick fell on the table beside the pot. Subsequent re-grasp attempts near the pot (tight, yawed configuration) all closed empty.", "hindsight": "1) The \"black brick\" is a ~7 cm wide \u00d7 ~10 cm long \u00d7 2.5 cm power bank; the first grasp across its 7 cm width read gripper \u22480.745. Its length exceeds the 9.5 cm jaw opening in practice: when the jaws land on top of it the descent stalls at z\u22480.022 and the close reads empty \u2014 that stall height is the tell that the jaw axis is aligned with the long side; yaw 90\u00b0 before retrying. 2) Wrist-camera radial depth is badly misleading here: an object that looks 'between the jaws' at the bottom of the frame was still 4\u20138 cm beyond the fingertips in three separate attempts; advance more aggressively (5+ cm) after the first empty close. 3) The pot sits at roughly right_y \u2248 0.38\u20130.40, x \u2248 0.40; the right arm stalls around y \u2248 0.36 at x \u2248 0.40 (reach/IK limit), so the pot is better handled by the LEFT arm (left_y \u2248 \u22120.27, left_x \u2248 0.40) or by handing over. 4) The IK frequently stalls (readback unchanged, 'delta_clamped') in yawed/rolled poses near y \u2248 0.3+; raising z and returning yaw/roll toward 0 unsticks it. 5) Gripper open commands sent alone (3 steps) did not actuate while the arm was sagging near the pot rim; combining the open with a small lift (more steps) worked. 6) Uncommanded pitch/roll drift of 0.2\u20130.3 rad accumulates during multi-move sequences; explicitly command pitch=0, roll=0 on each move."})

tool

give_up: Ran out of call budget. The brick was grasped once and carried to the pot, but the right arm hit its y-reach limit (~0.36) short of the pot centre and the released brick fell on the table beside the pot. Subsequent re-grasp attempts near the pot (tight, yawed configuration) all closed empty.

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 · 25.69 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7948, 0.6044, -0.3801, -0.0223, -0.0414, 0.9995, -0.0219, 0.7937, 0.6037, -0.3775, -0.0166, -0.0196, 0.9989]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1799 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 10.2222, 1.79, -0.022, 0.2955, -0.0611, -0.5402, -1.2923, 10.1812, 1.8926, -0.1001, 0.022, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c74521b40dd821de7020c30889712151534eb4b8b7376a60ef97d507bb68ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0c8b1d92e46da01244cf9b53ed4930c1ca764a79eb35545e5cf649206af46a1",
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    {
      "text": "camera 'right_cam' (step 0):",
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 11.77 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, 0.6044, -0.3801, -0.0223, -0.0414, 0.9995, -0.0219, 0.7937, 0.6037, -0.3775, -0.0166, -0.0196, 0.9989]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1799 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 10.2222, 1.79, -0.022, 0.2955, -0.0611, -0.5402, -1.2923, 10.1812, 1.8926, -0.1001, 0.022, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c74521b40dd821de7020c30889712151534eb4b8b7376a60ef97d507bb68ce7",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
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      "source": {
        "data": "$blob:a0c8b1d92e46da01244cf9b53ed4930c1ca764a79eb35545e5cf649206af46a1",
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    {
      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BHtF3eyiLE9XjHcM97EpS4",
      "input": {
        "note": "The black brick is visible in the right wrist camera slightly left of the jaw column and ahead of the fingertips; the pot is to the left of the table. Moving the right arm forward and slightly left to hover above the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.36,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BHtF3eyiLE9XjHcM97EpS4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0349, 0.9995, 0.1623, 1.1412, 0.606, -0.1432, 0.1036, 0.0536, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3407 right_y=0.0409 right_z=0.1246 right_yaw=0.0429 right_pitch=-0.1073 right_roll=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.4974, 6.8034, 1.7851, -0.0171, -0.0904, -0.0122, 0.1299, -4.7111, 8.8957, 1.9463, 0.1783, 0.1587, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569bb1036c23437e61b4b11f0c2ec84cfb98bea62feddcb541a8d9506b4c5a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4e9823f917082e7204cc021236ade959e439e9eb4382e2a88e0f2ce762c44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b20548f7d228f49228ceff8e084f326229bdcba5f1c64b295b77151990c55748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 8.624 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, 0.6044, -0.3801, -0.0223, -0.0414, 0.9995, -0.0219, 0.7937, 0.6037, -0.3775, -0.0166, -0.0196, 0.9989]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1799 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 10.2222, 1.79, -0.022, 0.2955, -0.0611, -0.5402, -1.2923, 10.1812, 1.8926, -0.1001, 0.022, -0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0349, 0.9995, 0.1623, 1.1412, 0.606, -0.1432, 0.1036, 0.0536, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3407 right_y=0.0409 right_z=0.1246 right_yaw=0.0429 right_pitch=-0.1073 right_roll=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.4974, 6.8034, 1.7851, -0.0171, -0.0904, -0.0122, 0.1299, -4.7111, 8.8957, 1.9463, 0.1783, 0.1587, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569bb1036c23437e61b4b11f0c2ec84cfb98bea62feddcb541a8d9506b4c5a2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b4e9823f917082e7204cc021236ade959e439e9eb4382e2a88e0f2ce762c44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b20548f7d228f49228ceff8e084f326229bdcba5f1c64b295b77151990c55748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSngoKEAgRGAI4AUIIdGhpbmtpbmcSDKkahATjbdGdCx1dTRoMes+Spkfxl7nDKcRhIjC/LBSkGfjHMC4GYkSMSP0LU10IPFUwY9966KjnhXI6nBosP2n5i0WK0KLsQ0WZk9YquwltdchXozZ+te6lhmFpXsFH0eFLWKY5mEb5tdMAg0XSolGjrHCD+WSYBcx0b6kGXR6hw/Scl7x/o+fgzy1p+JhfrtaUlYBlTzNqM9hY+I+/d72E/wFn7+YQntlJfBPZHJ8PCBvZSVDduBHwUNCzUqWadkWpRKxtQZkdsy6fRLHusjeQtER1MMLVTclMmk6Ke7+KV+rlA1pijKzifLGCd3yFZS7Wg2R6Nz0V5lg0wJQzPGzPOfPODEazp0n0dlgQm6hpEXj4XbfGq3L67K1N9BPNCodiXmLQLI6OHPCIeyg2R/VNvdW/A4vwbfTc+Kq7a/77XNCeYe4sZa93x5eLRQT7YWdlQBW2LnS63WEHMicgDoZaAtDPYDRPYEbLrTpZGhijBIip82uidiGUOiyUzVz+BI7UPtECRbpqyvirwkCT5NQkwZJZCJv3I2x3D0LgRVWVYThkBGbF0pC81seAYBCRWfJgkwQVh290M4fPic3XdqKRJbZtmxqofTuNbAhZKQji9ny+7faYomaLF/iSKdDR22nfeyGwCl0+M4NLFG4JThuAIGsAMkiAcHAQxDrDPvpJnzQgbI4nJLtKDr1so885AZJOr2ykalhNTpDZL7bq9XLIf3qwMfrHj9meqBne+Z3fFJBOjUu5cR2TbhFuBHV7WwOevcUNop5v2V1j4sHhqAXZtNIQV5s/bXB/MMds4KlJZyeKJapCDkTCHm3PQ35tsajUasZpfH1dXW6dYSiSeX3fYuy4IwRLPjNX2L2wy3E8mUGVuWUmaSTbCUf0Z8vO/X1USiOfpwXdhfWxkufyEWYHCvd1qfNF98Vo6D2s95CeVIqD4AWicIoaZ7grFfEFHQt1IlAJvOoWD1402r0xADVfrLtCWkU93RjWvzrNOlghhE+QZPAz/CxH4ImoXLay6YUWh+unkEgtd/oezhK+3zo85jHb6Zn5mLBaaooxLPPoBicAfLO/SAu2/z0UWQMhn3NvMRn9DBLM15L1mE3rbPtsKbyCPeMpVEAnBlo02ICwXGcB9cU84tO6gInQw3jrNzrv/vA8v9ptcWqoUFnULnA00QO07z54Wvyrt58ubaoSTaswSIBXqTzt0gVAMi2T7QE7DiJEhY9pkhnctJoH7B8QV77Zuyst7Y0CUtpzV1EoZJmV1O2X6WN5RqLLgt/h+9p/2ER385wSdTz+xE+IZGmn86yyUGNuJXjpFVBa3p174PPGYAU9+n+sW+J4UJRMnPVNRwOCBqAsuhQsV4zy0N2cLURLz1MfzfvX+y2OywRMjUbFBsWvmc1bl6PYrwp493pxuO6tqzrOMG5iJxWLXSQEyibllsCXtJIrFP/BSI4T5WHqeNWSD8VB6wb14ambaE0LLlfWSEZWLqVayJ5HupM2t8mpW7a8AopCsXeTzjWeLFzTk6TSv6Vmm6fOwsX+ixpBpnDaggGPryCAqdhNjfA5Y3rnSfmadFHlQ9EBA6rVo6JhohDktQKDAMzYq4rjag3eQMIGknwFw+NBzcygyAJ0/HnvxarS3OWw2mjrrjjlxv3b7nsGEwvxnLylc30UvYzzqpN98seH0c4joBBdm0Pgf89yCwYHTwGuxFaENaoI2KmjUcPH211sQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016zrK5v2XTHWG4NjAeZ6SEW",
      "input": {
        "note": "The brick now lies along the jaw column but slightly left and ahead of the fingertips. Advancing a few cm forward/left and lowering to 10 cm before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.06,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016zrK5v2XTHWG4NjAeZ6SEW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2089, 1.3735, 0.6182, -0.0216, 0.1246, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3587 right_y=0.0573 right_z=0.0747 right_yaw=0.0598 right_pitch=-0.2027 right_roll=-0.0295 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.6972, -0.0562, 0.0024, -0.0122, 0.1162, -6.0239, 9.7436, 1.9121, 0.1929, 0.1001, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809af187da3118a2bcc7a5d9582b87f729e321a018f5d30f275e9848e7c7fdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b790341dbfc653721be6adc5334d0c84a124acaf5f0f1edefbcca758dda434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56d43e07ef3514d09019ed02084d77807d968e66a6092d1c3e8bd9228aa040e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 6.654 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, 0.6044, -0.3801, -0.0223, -0.0414, 0.9995, -0.0219, 0.7937, 0.6037, -0.3775, -0.0166, -0.0196, 0.9989]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1799 left_yaw=-0.0002 left_pitch=0.0 left_roll=-0.0003 left_gripper=0.9995 right_x=0.2951 right_y=0.0 right_z=0.1804 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9989\nstate[joint_eff]: [-0.3214, -1.347, 10.2222, 1.79, -0.022, 0.2955, -0.0611, -0.5402, -1.2923, 10.1812, 1.8926, -0.1001, 0.022, -0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0349, 0.9995, 0.1623, 1.1412, 0.606, -0.1432, 0.1036, 0.0536, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3407 right_y=0.0409 right_z=0.1246 right_yaw=0.0429 right_pitch=-0.1073 right_roll=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.4974, 6.8034, 1.7851, -0.0171, -0.0904, -0.0122, 0.1299, -4.7111, 8.8957, 1.9463, 0.1783, 0.1587, -0.1294]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2089, 1.3735, 0.6182, -0.0216, 0.1246, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3587 right_y=0.0573 right_z=0.0747 right_yaw=0.0598 right_pitch=-0.2027 right_roll=-0.0295 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.6972, -0.0562, 0.0024, -0.0122, 0.1162, -6.0239, 9.7436, 1.9121, 0.1929, 0.1001, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809af187da3118a2bcc7a5d9582b87f729e321a018f5d30f275e9848e7c7fdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b790341dbfc653721be6adc5334d0c84a124acaf5f0f1edefbcca758dda434",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d43e07ef3514d09019ed02084d77807d968e66a6092d1c3e8bd9228aa040e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wgKEAgRGAI4AUIIdGhpbmtpbmcSDGg4MoDjkT3PFztoRBoMOFAfXbNObUauiBlPIjDBW4U8ty6nfBxeCK0NX9gjnSHglABQA0c+oHOAXZM1mQG2JbcmgczHVxBH3TrSS7cqjAhhIfE5AMFqgIothakNEYpyIJrQIxjteETcFk5OLVBGqRUV4ttLpKAohdA/NhRGkxAX60TzaLriGnbsmbHbwqWOHOgy3FzOWFV4WP7EzGY1WlBn7KK1SWcvGLVj8xkWVfLzv6O6M/tlXGUNYRlFhH0omy1XuF+iUMOj1JzZRUQ4fzWVM+VKOTTj68/x99ythOikryLyDjwev+mMxpgi9uJfRTDNBlwmsFE3yAoIYEIqLdSUWwrviWURmr017J25Q/zx2nSaAagO9kartLxbk/V6IlUl8UWOqDQZ722st9DPYfYnndfOkZZSft1imzNWL5v/1NNX9ZuOqIp3oXBQpTI3UnB2IEtTPnsJisUfl+bsv1wAg13ErTkGvAQuhcL8nqm+0QD3KXNsm3c/9GViW5wvmV+sCPS+nnenGB7cA5kx8WCk3leuakUKnXe74yJCNTFaYWaKKPJyJQNKgIIAb12aWG7nAsAM6cB85M0XPY5lyeDbL5GZsd1uRC+CHI1HHtC4RmckHRWvmhcoCim2T9YtkTLoFVV8rkFcI9H0HkZ2VaTGMRSLcMavJ95gdaUOtdDNp1A/53zcjRjDUs0pIblaDiYUGWDpKpyBZI42WkdKyvHZC/59UorL20vkfZHqwcvpLrcY33dVsL9quRxzHGN5eVwXNkFi/enxoFcGgqy+qsjlEg1kBqUqhPFN5oexq3O5khnpC3XY2G0itkH8ca6xQd5olC6Xamcj8J84SiS+5fL9ouSkuHGcM4NS3R85lMGT4bhtA72D9Xy6cnUlRgorqo+5YsToT7GekoM8LAT4io74sCfUwpxZSmkaAruzC00GFcNQ9tYQibwXgqtgvc7G38eQMM6cOfKhLVO9L+gaR4vFdr5YUdJrMA75cVlh6i530a2Tcd9zeG1E3Ch+DsFMwy8BVfz8kxRoZz77oBTAjQO4Ohqwk8th1OMnhVX5fl8Yc+LoQfC9YUDB9vMXWpezXHjvCUbdbDWccM1EoDefjmwSxtH+yjE6pxTHKyGCF1woFE2+FUAFCMX7JlU2dyYV3j3IvnTKZiXr043pBivLLinnY+deg0QTgnQYC07JaHXk3wH1aD6bKkt4IaxOaFLmiXvI7Bzn8RULe7r7BcEuyXvGb1L6ug8M+4jHXnyB6SMm7I9oF5L9Y3fKWZkvfBMp/S2ZLckqoIC3YOrVRb6TUnpPVdCXfQiZPk/erBUERd/KASu6ntsCH5qzGfmce0Haatxsqsha5hVd3Cy38AmqbT2HcNkz70TkYAFVuFHNZX785sf9MRbJjmt+JDB93UJI8l8NKnl2pEmm39WIoV9847tPkbgTFw03W6rz7jbhiv11FiFBdZR1vixmwwnP55PLCxEPKa03KuGM1j7IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J6wvw2JMY1jX7CejvL5tJQ",
      "input": {
        "note": "The brick fills the right wrist view centred on the jaw column, so the fingertips are over it. Descending to table level with the jaws open to straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.06,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01J6wvw2JMY1jX7CejvL5tJQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.625, 0.0208, 0.1265, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0014 left_pitch=-0.0328 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3671 right_y=0.059 right_z=0.0788 right_yaw=0.06 right_pitch=-0.1716 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.3607, 7.2274, 1.8974, -0.0611, -0.0659, -0.0122, 0.0068, -5.8735, 9.5521, 1.8095, 0.1734, 0.1197, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8fc4499ae4dd769750de2ed9c46fa5ae280ea514851d91325ade2de837056e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9da1bb863e3eac85e07fd5ebf2d815a56f7f4bdc1080e37f9924af2df55680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc6b9295b58166e36d7783773f3e82efc8178789abb24597c722b2962c05bc63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 8.385 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3893, -0.0223, -0.0349, 0.9995, 0.1623, 1.1412, 0.606, -0.1432, 0.1036, 0.0536, 0.9989]\nstate[eef_state]: left_x=0.2944 left_y=0.0017 left_z=0.178 left_yaw=-0.0033 left_pitch=-0.0115 left_roll=0.0053 left_gripper=0.9995 right_x=0.3407 right_y=0.0409 right_z=0.1246 right_yaw=0.0429 right_pitch=-0.1073 right_roll=-0.0158 right_gripper=0.9989\nstate[joint_eff]: [-0.1573, -1.4974, 6.8034, 1.7851, -0.0171, -0.0904, -0.0122, 0.1299, -4.7111, 8.8957, 1.9463, 0.1783, 0.1587, -0.1294]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2089, 1.3735, 0.6182, -0.0216, 0.1246, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3587 right_y=0.0573 right_z=0.0747 right_yaw=0.0598 right_pitch=-0.2027 right_roll=-0.0295 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.6972, -0.0562, 0.0024, -0.0122, 0.1162, -6.0239, 9.7436, 1.9121, 0.1929, 0.1001, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.625, 0.0208, 0.1265, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0014 left_pitch=-0.0328 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3671 right_y=0.059 right_z=0.0788 right_yaw=0.06 right_pitch=-0.1716 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.3607, 7.2274, 1.8974, -0.0611, -0.0659, -0.0122, 0.0068, -5.8735, 9.5521, 1.8095, 0.1734, 0.1197, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e8fc4499ae4dd769750de2ed9c46fa5ae280ea514851d91325ade2de837056e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9da1bb863e3eac85e07fd5ebf2d815a56f7f4bdc1080e37f9924af2df55680f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc6b9295b58166e36d7783773f3e82efc8178789abb24597c722b2962c05bc63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgAgKEAgRGAI4AUIIdGhpbmtpbmcSDATWiDNexUYBiNIv7BoMroxOBP4b6fMVbLPIIjDnXB4+mVw7rewrjgALW9ePUbgywFc1FBN5w9JsxSSIciR+L+Yz+DYXtw28ZVH33sgqnQdd0sOKH+9jU4S+CFZ//r1xzmg2EbNhB5cXhK8zlWgDnFfdwg6GXsz0aIb3iST68v/NURViH+Qiag5JAU6WE+++ig1jdNcxdBUxK4IxTCZPTNcjUP2zODlfVZZ5cDAg2adNE+rKCxrcaJHcesUOiiObH78ZlKOkfiY4YJDwj1qBq3iyv2y5RhPkuHWKRnMxIwhnqfOTKcI/hf2cc7C0kFkGp0oiiT6jGs3ce8KqYQnyv22kGWoPZ1VPW0Ydm8O/TjydZdpreeFs+MiJ7MpXed1sC1jASIaz81ZEZOaZCjtXgbQPDFW8k5VUV7Hrzkq60SM75L88q6wBSE9IrzqW4dM8ZELKi8CbV9JMEJeuYeUnpXmAgJPzxdRGXa45/PBk5rsfTNwbbUxHGbJ7px065vE3otopHlL4sv01KZbGrixguXTCo3v/N4YXaiqNb7lc6Ktu6jTBgIA5IAvdFQ+BIc7/WeJKu7icUJ08fMBpBBTLltNGBE9NuOHTwaCrQoUuX+Vi3M2AQJQIbXSH7cdbu9cE/5APoPDQBQmRq/jtK1stckGbXXKS83ezEPVzJvjqFR9M6M30xWLQUpXoirtm8r4pZnl1iTFE6oefTyu9dRW79n6bZBpDh0l+9KtBtV/oxq1mNDKsP774Tci5uXHB/5R2xM30IVv3YYZ2xc85jKUQmrNA2ojJEgf21/y3DsAJmpiKFnOPVdKii9GNQXALvHuFxwPJ7RwOCqN8KRigTBxKexFksJ+YZdgdDZNirUeiHWJgguqwY/hykIkvptqrlKD0yDLY8xdT6dOUDHtMbdBRsfrwICOP4x26pm5yyZkjqdZ1hzPRwGH2YW5+KflDW1vJsaQ1GfrnJkRZxSuLY66uxiiudQkGr0RL719gK82V4pbgQ62fR5xTX1aeyA95uuhEkwwCHAei0CK85pXi3fYm4a//OA/YYgevnlv7/kU5UBYYt73+P5ir4t/QSJugMxPyx3t26DE0cE2YZyyl7IRhFVDfPjcEOOABnPW69+ASBf+BLMBO2aIv6TCVI3DuMtt6VBFvld5hPx1qPCuCZ7qibHu1oYDpxXEQ/kkx/vB9sScjHzaTnDqk01aymzXWX/RveqXn0xK4Y23UnTiLuVeM0WqoOBe2STNfFgetXdru2tDbEpiBkjzIovEgg6I3o/khqtWZrKi+r3PQvt++KHCd8Cms+c5LzoiY0kRuSZPeNt4TWbkISyL8AKociOVEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCsoTFoXWquxi9b9NhYzjG",
      "input": {
        "note": "The arm did not descend on the last command (still at z≈0.08); trying a smaller descent step to 4 cm above the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.06,
          "right_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_01LCsoTFoXWquxi9b9NhYzjG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.627, 0.0235, 0.1268, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0347 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3681 right_y=0.0591 right_z=0.08 right_yaw=0.0598 right_pitch=-0.167 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.6874, -0.0464, -0.0757, -0.0122, 0.1846, -5.8872, 8.8684, 1.7509, 0.2076, 0.0904, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e17788f3da5ed0916f62414b557e22872e6162b69e5e8dfa3949aaf28332030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da9837985a9d1fd2b3943d0ce97db6624bb523ac90ffd2b72b319effea4639ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d1d97788797b8b78dcb2f6a0d8f6a053aefa27c2386be90d601770d94d1c7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 5.152 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8036, 0.6075, -0.3901, -0.0227, -0.0422, 0.9995, 0.2089, 1.3735, 0.6182, -0.0216, 0.1246, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1769 left_yaw=0.0009 left_pitch=-0.0156 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3587 right_y=0.0573 right_z=0.0747 right_yaw=0.0598 right_pitch=-0.2027 right_roll=-0.0295 right_gripper=0.9989\nstate[joint_eff]: [-0.0205, -1.4017, 7.0769, 1.6972, -0.0562, 0.0024, -0.0122, 0.1162, -6.0239, 9.7436, 1.9121, 0.1929, 0.1001, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.625, 0.0208, 0.1265, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0014 left_pitch=-0.0328 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3671 right_y=0.059 right_z=0.0788 right_yaw=0.06 right_pitch=-0.1716 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.3607, 7.2274, 1.8974, -0.0611, -0.0659, -0.0122, 0.0068, -5.8735, 9.5521, 1.8095, 0.1734, 0.1197, -0.1245]\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]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.627, 0.0235, 0.1268, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0347 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3681 right_y=0.0591 right_z=0.08 right_yaw=0.0598 right_pitch=-0.167 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.6874, -0.0464, -0.0757, -0.0122, 0.1846, -5.8872, 8.8684, 1.7509, 0.2076, 0.0904, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e17788f3da5ed0916f62414b557e22872e6162b69e5e8dfa3949aaf28332030",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da9837985a9d1fd2b3943d0ce97db6624bb523ac90ffd2b72b319effea4639ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d1d97788797b8b78dcb2f6a0d8f6a053aefa27c2386be90d601770d94d1c7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrAkKEAgRGAI4AUIIdGhpbmtpbmcSDP4F7d2ALRd3RcHEARoMHBMGjbaAepLRRaV4IjAlDI5qIqPKwebB7Q6Qq5JOkLFSc29i0Ahb6TnHXHEoUMSnFbiLkkUiEePLhEXaCqsqyQgnG+egjxdB6I+M9dpl3pFyY4lwCnbePZxMNLGjsvAxGsT1ULlZYpl+79oMVcpOonuecRJ7VoFuJ5mw60bQ+89RPp0nAWLhMcCnm83avt+WuG/ZO3RhG+5mij9JkdPU+Mmzj8LOHlrjKNxHuageXHzfjZ8l4JXNtw2KfCag7YtI75A2UgC4M16sV92iRkXaxEOy9+dtEgxP3a/jY9Z6B408pz4CJdNJgkTe6mGA41W3ClNqCDto4bO1v9dgby0acg3qk3g5OsV4UZbZ3cX2Gxm15k4O9KKZbmTRSCrFOFXjJ/9p1L++BXrBGiYy4OJ4nP2gHTwNDDir6TuKn6korLXQJ82NPmdG1plyyD4tZeI8wDCP8pquWYl0vYA49zpeeERmYpG9xitAs3hk/7CCCsUPt82syXPO/C3wwoZQt3JteXkIUcBnmzOtNaKrB1ZsJh+y12QntzTLKkgF6mQqqsviegjlezyMsisuOWbNAiRL2LaT4Y9mFO7LBAXoe07TQDG9VFgbssw9PuiHmpPI+3aD2ukDE02+PW9uXxBQztKkJmDlaaX7+Vyg07+zgRvOlkEUxIE5eamlEcksOInQdGOTsMiVRalGdqy6+eYZTPPqQm3HWDKRdi0Gdp+b3hE6mI58tW9wUGeI0duL79ZrdtFaHOII0DpoqDuOFPI1kgNkkp9D2YZm5DOddZfOb/YWcc4+vM7AdE/0DntguEARwerlUu/J97aInW00SrxGiOl+C0o4W6HvuAW/o5O/ZyOzh11CbZuX+HopMISuEO5Qhr+kS0rLz172JjCpxNXL4SxBNLoil5p3Vzdy1L6HD+0gsjiixPQ36AkzvACe5h8eZSjVu6ZYtpBV2eyUNm/QjSGXw1XBa1KFxjw+Ia5GZKnrO7V+nwa3Uygr0mSsaWDVhoq5+0PeIikt0dOLPSViaLDPq9RQMAUIMXUgtvlEHP7vB29MufOheFaBJTKgNrGpkgmutAQFotXZxcBwXyJ7sTJRrKMaVUOEX7ms7uG8CobV/JY5/cVMzgvmklNyD3l0jV4n9GBZteqQqz43fK2jFZJEKE4lv/+FLGbuCANQQF5jpppAaJEFd1LXrOvq7g9c5MLYfq0BrZodQLDyM3rzkCrVIgKZqpe44iwJkOjryHxQMBXJEitHpuar5Ye1KyD0vixttP439JGptd112zH8XJBbynwZ97CCZCVPp0m+eD53EyxiKFax7F+VN7AgoHRc0ASDtuGNBdudm91GJPx/LSgBMGJAfQcp6LqeTfa+tfeO68TWoX6iSdQ13pD304ND9jDR96FEU8hoMAs1eqzlUKMYNvr4UpQ7bx9BdZosZ41/dhcFOLB5L9IlDgawCGTj3gul1LSUf6YOsxd4EpmHES4UkIT9ScBEqw530vqGEnUJ43AvSX74XvugwPftKJShrqZ0LEjcrBJ4rpdzUTtCaby8V8LQtlsAEq7jcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y5CfMZYtCaXnQp3ZRqWhmR",
      "input": {
        "note": "The arm is still holding at z≈0.08 with the tool pitched back; the brick is centred under the jaws. Commanding pitch back to 0 and pulling in 1 cm while descending to try to unstick the IK.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.06,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Y5CfMZYtCaXnQp3ZRqWhmR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0425, 0.9995, 0.2291, 1.5257, 0.3489, 0.3794, 0.1383, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0012 left_pitch=-0.0347 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3249 right_y=0.0544 right_z=-0.0027 right_yaw=0.0676 right_pitch=-0.2216 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.6972, -0.0513, -0.0171, -0.0122, 0.1573, -5.1487, 6.4889, 1.9512, 0.2173, 0.0317, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68702eaa89465ec5924c6649615ff61b6da279a7105a162a41ac6282971cbc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b02116aa8a66b9f791ea6bdc749d8ab36d69fe7dfff3e54a51e349aa289ee648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47edbf4bc22c306ff6ff2d58d9a6c6ddd15486ef22cdaf4c384e38f21a3e0936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.386 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.4065, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.625, 0.0208, 0.1265, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1733 left_yaw=0.0014 left_pitch=-0.0328 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3671 right_y=0.059 right_z=0.0788 right_yaw=0.06 right_pitch=-0.1716 right_roll=-0.0264 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.3607, 7.2274, 1.8974, -0.0611, -0.0659, -0.0122, 0.0068, -5.8735, 9.5521, 1.8095, 0.1734, 0.1197, -0.1245]\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]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.627, 0.0235, 0.1268, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0347 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3681 right_y=0.0591 right_z=0.08 right_yaw=0.0598 right_pitch=-0.167 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.6874, -0.0464, -0.0757, -0.0122, 0.1846, -5.8872, 8.8684, 1.7509, 0.2076, 0.0904, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0425, 0.9995, 0.2291, 1.5257, 0.3489, 0.3794, 0.1383, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0012 left_pitch=-0.0347 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3249 right_y=0.0544 right_z=-0.0027 right_yaw=0.0676 right_pitch=-0.2216 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.6972, -0.0513, -0.0171, -0.0122, 0.1573, -5.1487, 6.4889, 1.9512, 0.2173, 0.0317, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68702eaa89465ec5924c6649615ff61b6da279a7105a162a41ac6282971cbc37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b02116aa8a66b9f791ea6bdc749d8ab36d69fe7dfff3e54a51e349aa289ee648",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47edbf4bc22c306ff6ff2d58d9a6c6ddd15486ef22cdaf4c384e38f21a3e0936",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0gcKEAgRGAI4AUIIdGhpbmtpbmcSDGNAhtBjr7z017eVwRoMW/tqBCEUD/O3A1IlIjDORDk7bF1LUn6DAXkip3K+dVvXi4xfSzpJvGU/81dqsP2XgDm7BULzDEAIquwqq20q7wbnOhskKf5ao9ZytYA4VLj1rbF19/N1TGUoptBlFFA5gO1JKDcfLg6qoJ/kPVglAA1o+uW0TtZ5Lk5FmCc4hJ8tRz7QUotuLc+Rk/h8YYXX8UJRQvFNLlFvacQZ9rSJFqRuOVIKzmNzhB4NonMY063nsfehEX2y8Q7zxFpGZfzvLBLyySFahk8ChVfWTLUcdGiwrRIMx2mi0DtvImksdG3MQx3AgflEzyrU0a/p11OasILha1ybv5jfsQKAEx4UntIo5scyryQ74Hh5PIxibrDGyRHU3oKwaHTg9FmGRjFOaSjF3EUTUQzXhpyV0qY3aD3OpLgosXu4uLB6iCFGlp7IAFh77kxJBRuJ9tdBxr6BH+Hs8woO2D0ntvVGdd2B+p44m2ikGx4KKrwIFfoPn7cqFbPdCR8VdJqENWaWlCLGdOALdAS/kma4yfvMluDUgaC14IPem4LG69qtK38ndGIv760TSRtp05koCPx+CIoSiJ+ddBqOWgTBsR2nHPa6lsCIyPy91rdIfNWT2H7ezgDJTRU/WKcI6oR1eZC7Rxb4KW7JkcQ5WDfal9L/q59OfCGGCmLvaBkLS4AnTjzHgUrcTllvD/9T/7/iti+Ulis7IhRhsfxgx0P/YJ1hv3LU7SFZVN5UPyB45MLUph6PKXfzA88FYlYOVcRnKwrsSR/3JkwigNQv7dmw34xPxEWgP0mvqoZvKJuiJrDDPZ/Sw5KcVMQIcmv5FhgGouKXubrepH6U+P/bJlI/2wie/y/czto/ppHsw1/8u1OwUP5enB4/sqLlCgh8MT6imY4+4cSQyjEpptJiRa104OmjQKZbbRh15GFPwNplyp5dPFZtZdMekRUyieQZP9Za28HX2Whaqy7yQPdY70r9bu7kTuqOyhjxG0FmCx3DhB0KJo6cVdA6P4VUkJwdMIFfy7Wevzf40CT5eAuissv56cByf/vNf8x7C53NzNY+dOtbtDelqNCJkFVpEL4BqqK2LX0SRvddQzzvHahtb8G9Se+PEOk0nbpRHL5AuK6CVrkTnHRBVZZ0ACPX6rrkpHcVKkJDXgqRsMlvffibar0KGbrZEHF1wCNY23/hRW4eZvrFGEwAr1ZR/NtqdiQVKxuq05pSOqEC+y+F3S4mh/0GyVCAhFJi5T5NA/l2ojde6LEeZJWDnrIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VRBqVihrBpgPbji2QBa69a",
      "input": {
        "note": "The arm is now at table level with the brick between the jaws in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VRBqVihrBpgPbji2QBa69a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4152, -0.0227, -0.0494, 0.9995, 0.2329, 1.5352, 0.3355, 0.4042, 0.1406, 0.0639, 0.0106]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1701 left_yaw=0.0049 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.323 right_y=0.0549 right_z=-0.0056 right_yaw=0.0737 right_pitch=-0.2196 right_roll=-0.0495 right_gripper=0.0106\nstate[joint_eff]: [-0.0342, -1.6752, 7.241, 1.7363, -0.0269, 0.0024, -0.0122, -0.3897, -5.7094, 6.1197, 1.2479, 0.0024, 0.0464, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576db1921404312ce53e68d8b63085984f789ee9db83f5d599be86995a78de82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ac99847aee73b0a2ec8a99e7bd105351a161ac6a1f1c6fac237105d4d78da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d6d79dc8c0787ae06d58ffef8843c00d71611bf1eb9df7880ba0036a798c8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 5.884 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0429, 0.9995, 0.2096, 1.3914, 0.627, 0.0235, 0.1268, 0.0711, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0014 left_pitch=-0.0347 left_roll=-0.0007 left_gripper=0.9995 right_x=0.3681 right_y=0.0591 right_z=0.08 right_yaw=0.0598 right_pitch=-0.167 right_roll=-0.026 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.347, 7.0085, 1.6874, -0.0464, -0.0757, -0.0122, 0.1846, -5.8872, 8.8684, 1.7509, 0.2076, 0.0904, -0.1294]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0425, 0.9995, 0.2291, 1.5257, 0.3489, 0.3794, 0.1383, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0012 left_pitch=-0.0347 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3249 right_y=0.0544 right_z=-0.0027 right_yaw=0.0676 right_pitch=-0.2216 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.6972, -0.0513, -0.0171, -0.0122, 0.1573, -5.1487, 6.4889, 1.9512, 0.2173, 0.0317, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4152, -0.0227, -0.0494, 0.9995, 0.2329, 1.5352, 0.3355, 0.4042, 0.1406, 0.0639, 0.0106]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1701 left_yaw=0.0049 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.323 right_y=0.0549 right_z=-0.0056 right_yaw=0.0737 right_pitch=-0.2196 right_roll=-0.0495 right_gripper=0.0106\nstate[joint_eff]: [-0.0342, -1.6752, 7.241, 1.7363, -0.0269, 0.0024, -0.0122, -0.3897, -5.7094, 6.1197, 1.2479, 0.0024, 0.0464, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:576db1921404312ce53e68d8b63085984f789ee9db83f5d599be86995a78de82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97ac99847aee73b0a2ec8a99e7bd105351a161ac6a1f1c6fac237105d4d78da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d6d79dc8c0787ae06d58ffef8843c00d71611bf1eb9df7880ba0036a798c8bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgQsKEAgRGAI4AUIIdGhpbmtpbmcSDALVtD1l6LeFh/1vdxoMx+PT18XE38PYk0bEIjCJwIuX6iJQifvpPBNBhOPn2XOysdfqpRThjX7X80hoe0ONEQB7GD2b0/d6JHPZuBgqngqP//Jjzt1tiipV170ETN81BInOAd2Bm8qXmf3lqgz93QE9AX5rLMeN+89CgBndEiRf/DFJQaoxOZ6waIeJz0W59iWls39mJBvOmHJKC0F8PXicw83VOYrq2eOt8VBECRCibFpKNsH2g0nAaEPE1JPbVJ6WSSLR4DUe+Xs8MJllqlpcSb4Vk2FCRI08EpyoPoU7XnP5zsWbxDg5rsp2VaShulScokd0Fda6yeO2G+60V4YJPUY1kmD9o9EgFcisUfmcmf1D2LuSxIEAcaEh0XEu/9mQtglIDKmtNTf/LXXSWdHLPRWtwrzR59/4HLhS7d8tPZjbp2c6Q1xqzi009fD9TN+e0Uvx0jMpGuSFvap091sDOnLcSxnlOU0HX+5ui2yn1PtAi0xyQcKArOJaiWTU17a1s4+hEbrJ6FH4fLoicoI21bPFhZc7MVsymknoQDTJt7kIUIsjjNtIJzoJ/HsHBHIWQOTrAFB2XlgA+KIl/rRKh7k37o+Mb2JzBy58tx1A34oE3q7sQJ9Qro7AOQq/q6qtqB1i6MJiInJj7iTOMNBZpkCU8pixgQ/j6SZC1pkhs5zUnTrPaJun/Yn4XxFCdVt9E9OOyJkoM/twcClAJKdaNkaaLLXA5qFbc5dHkbIZeAMjm/5tLFs5dQLjKLnrD2QPS9QzYjqKbH1GcJLQYNmtKDaDSd80RMoM0DUF20UIwXO4CqdxTFKZVCEmyPxt+GLcXLqCa6AmnFMX0kKMdyVP0tGvZkecZ3kFtIxpGvKPKWTTl3h9jzmoSirPT0fDyf28CVFZoxrCdbkI+UCSN6tzZ/onltCoglerjOanHY0Of6ZoH5yv1iPHMSGZ9xCMKuQ9ru7n+80KACSRbmNXoHZEuOGVjsipsZv0/9AnhxNh5pRT3Wxk+JNN4rzCFbjc57J/5RjPuiaxV7H1xJZwTXqHAdTkhlRIwq2Obi1u5cHImOsXMdW1087Go/Z9itIGrwal8adR6XgdJBvAMyvluU7e5Gb01IqrDJq7VnOGVNwLgEkLNwwxrkXwKxBkINyJAuU8IzudFEzLCLHwQ5li+Mk5VsPCixZzVH+shUTkrLcZb1Hs7XTXalKEgVfKTOtct04ZINKYw0WZnOahMjg0w5w/qRDLqcQ5iUvGSIwtr4AT3jyr7wCSE7OZJQToisa6+AsG8JwFbpSgDDEtXZTI47Tv50ua6YWm8jdZsVL02/7O0Jb9g/uqa8ERh6RjYIFBQVoxYEut+etVm+OcbgnQdRe/946sEAQ9N3OSCRaMOGD3GazicFw14afbG5iYsdpOAXwYFwjv60xr3qM0VObPCwYsLKbjab5pxI2lO9xcfwj6usdWD7Q3fa81Kby8nJaKY2fvlVIn+vf1fM5hDTtY28VD0Fzrnyabbv2FhzBYK8iKeNgwedMxm58K9QdJw5GW5Yj0fs3s15eLTjUMl2k97UDoSIXMA2vekxj5eqsNBj3IlEPOrNqnan2DoWt99qYV+PlZNPiMg6Ux+fhlU3/Jdz7he5pWW0o2DM1uA1jcm33bDcg0YoPgsoPvGuRLyG53nW+atPkDpS5VLituGRQ02MgaudE3uORWq/zdGjAipon3iFJbhzzZSsYdawg9YzJzzXH9s88Tcrev8W/Zd2+HQTKg7uIIC0yQ4vaxvG6uEQhWiCT5ULNPERttvl2UgPFASmJeXSd99P7QzB6nRwuEKB0uPakZ8HRAvX+ZaJzwuAOSXEUoFqxy+qL4V73g0BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Etxt3NSNWC2b4aNeyRxuAg",
      "input": {
        "note": "The close was empty (gripper 0.01); the brick sits just beyond the fingertips in the wrist view. Opening, lifting slightly and advancing ~4.5 cm forward to get over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.055,
          "right_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_01Etxt3NSNWC2b4aNeyRxuAg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.2062, 1.5295, 0.3702, 0.487, 0.1341, 0.0189, 0.9951]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1699 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9995 right_x=0.3506 right_y=0.0529 right_z=0.0227 right_yaw=0.0798 right_pitch=-0.0997 right_roll=-0.0615 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.6972, -0.0415, -0.0366, -0.0122, -0.6359, -6.4889, 7.4872, 1.9609, 0.0513, 0.0806, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecb9b4cee62ef34d1e97ab8ee4b295d911d9d7120a71bf98203870b4edaa07e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f600d3b24c6aa8bffbb8fa75a83e3ea0cbb614302210066bafe14dfdc2f9783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:730c769bcfa6b7266d2787e5830d4dead0a195e6eb31d23d5400f6ea1f6965fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 8.102 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0425, 0.9995, 0.2291, 1.5257, 0.3489, 0.3794, 0.1383, 0.0715, 0.9989]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0012 left_pitch=-0.0347 left_roll=-0.0004 left_gripper=0.9995 right_x=0.3249 right_y=0.0544 right_z=-0.0027 right_yaw=0.0676 right_pitch=-0.2216 right_roll=-0.0426 right_gripper=0.9989\nstate[joint_eff]: [-0.0068, -1.2923, 7.0085, 1.6972, -0.0513, -0.0171, -0.0122, 0.1573, -5.1487, 6.4889, 1.9512, 0.2173, 0.0317, -0.1245]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4152, -0.0227, -0.0494, 0.9995, 0.2329, 1.5352, 0.3355, 0.4042, 0.1406, 0.0639, 0.0106]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1701 left_yaw=0.0049 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.323 right_y=0.0549 right_z=-0.0056 right_yaw=0.0737 right_pitch=-0.2196 right_roll=-0.0495 right_gripper=0.0106\nstate[joint_eff]: [-0.0342, -1.6752, 7.241, 1.7363, -0.0269, 0.0024, -0.0122, -0.3897, -5.7094, 6.1197, 1.2479, 0.0024, 0.0464, 0.862]\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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.2062, 1.5295, 0.3702, 0.487, 0.1341, 0.0189, 0.9951]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1699 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9995 right_x=0.3506 right_y=0.0529 right_z=0.0227 right_yaw=0.0798 right_pitch=-0.0997 right_roll=-0.0615 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.6972, -0.0415, -0.0366, -0.0122, -0.6359, -6.4889, 7.4872, 1.9609, 0.0513, 0.0806, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecb9b4cee62ef34d1e97ab8ee4b295d911d9d7120a71bf98203870b4edaa07e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f600d3b24c6aa8bffbb8fa75a83e3ea0cbb614302210066bafe14dfdc2f9783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:730c769bcfa6b7266d2787e5830d4dead0a195e6eb31d23d5400f6ea1f6965fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwcKEAgRGAI4AUIIdGhpbmtpbmcSDEv3fV5fWPyiW6e0choMl90pn/Nz91kfOYvIIjCzfJPfQkqxbc4ZtewAnnm58LZ0NL122EOfnulRZaL1AZ25We9aXn32cpYm1C8yF+MqoAaaBy8iFxulNIg5+rs+WbXcT9nA1re7BBqQoR9218vbAgndMJ7uJYaJ7ohm5F9v2xPIO4nuGQt0QcXj4HJfX8FOY7/0DaZcwMfXeLue9Ec087HwLxiiHIA9XZsKb4feY1DdkGRAmFGPbtD4AgHSbPq/iAtzA61yImf0ZVbMJKLS+/95xCVfmzohlQMyD4JVDnHudR/BNtOiBkVIJg2H8fYWxAN6O/EPtHgdJKUtpS6KXlxpXXCX80U2vgYuWh6TAqfJ0SUuTDE5tVpkrDeo1QU6STcG/Av0jtzkRz0aop2A9TMwEun3fsyIesgvpGDxhSg3TywvGzF6NITi36FG5S/VjM+8wUoI003G/WGu3zsjqQIi8yDOOghJcBsiae7qlheFkIwvjjvYxNJs+dR3C+eZziueaJg5deR3bij49/chX8toPNzz/Nwb8vaZ7zXtGZAOpYHQgqE4mstVV9X5Bi1ufVoI+MvzKYX+wUp1DX/ixiGtoUkvB2LacsFkib0a7YA9chN9/J3bUiMeMPiZmp3+0JT/VmwxYT9bkkUjl/zFDpJMmdciFeCEzvtNldA23nwJ5VIDcPDA+Vx2NXG86s28mVQjnmSu2BN+AUr4ECKMM/6/wiODQoyEtes3Ao3pnQjN15O5fK0bJPSWPpoLp0t+gFa3SbwqKk3OnYiPE/RyxvWStzzIk4bTXbq1VzDgxPrvl0jym4A2sDsKY/geCkM7L8dUlm5WHtSQYNvTzIHaAiAQatU//c+leI/qzR3wI3xaJWRNb5tEnPncn0b68krkgj/CKivribpbi6tjZ53jxkwPRa8mTHcfo16ySRA1n1qcVQ/lUNjaFmJ/jJ1Bk4WiZMaSSfIof3qcd5PZLFX4hpmYvgvUzbO1voJFlcJh8CmVfr+jCsVynvZqBemu0Zclfu+WDsrLq1MBEiaeIoj694sgEhv9oC6L7rQmK/EndTQRM2eXmXwx39qPJeKYvRZVefdRAZ4H5zLuDoPtM3lXzQAuuofwTfWEsTdCXkxXKcSNnKVWAPIHl1RWuKQyp5bR1OlkOy8ch0pR6Yr/0noJ9hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019fvoZfKQpkJniam7aLSK8V",
      "input": {
        "note": "The brick now lies between the open jaws in the wrist view, near end at the fingertips. Advancing 3 cm more and descending to table level so the jaws straddle the brick's body.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.053,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019fvoZfKQpkJniam7aLSK8V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4198, -0.0227, -0.0498, 0.9995, 0.1925, 1.7706, 0.3901, 0.8673, 0.1112, 0.025, 0.9983]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1686 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3876 right_y=0.0592 right_z=0.0211 right_yaw=0.0825 right_pitch=0.0569 right_roll=-0.025 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.4291, 7.1726, 1.7558, -0.0562, -0.0659, -0.0122, -0.6906, -4.4103, 3.4256, 0.442, 0.1587, -0.3053, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f297efadc412a62628a564371e9c2ee7925a51c4cc8b4c7cddf262bd0401178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483670ae49483675f8f2248a54cf7f17a14e4dfe4ba40befdbca6af0d96a06ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5dda604210e54af0c72ccaf9f40f1f68132a14d49e6ebf3df939849785b92005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 6.108 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8097, 0.6075, -0.4152, -0.0227, -0.0494, 0.9995, 0.2329, 1.5352, 0.3355, 0.4042, 0.1406, 0.0639, 0.0106]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1701 left_yaw=0.0049 left_pitch=-0.0469 left_roll=-0.0057 left_gripper=0.9995 right_x=0.323 right_y=0.0549 right_z=-0.0056 right_yaw=0.0737 right_pitch=-0.2196 right_roll=-0.0495 right_gripper=0.0106\nstate[joint_eff]: [-0.0342, -1.6752, 7.241, 1.7363, -0.0269, 0.0024, -0.0122, -0.3897, -5.7094, 6.1197, 1.2479, 0.0024, 0.0464, 0.862]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.2062, 1.5295, 0.3702, 0.487, 0.1341, 0.0189, 0.9951]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1699 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9995 right_x=0.3506 right_y=0.0529 right_z=0.0227 right_yaw=0.0798 right_pitch=-0.0997 right_roll=-0.0615 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.6972, -0.0415, -0.0366, -0.0122, -0.6359, -6.4889, 7.4872, 1.9609, 0.0513, 0.0806, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4198, -0.0227, -0.0498, 0.9995, 0.1925, 1.7706, 0.3901, 0.8673, 0.1112, 0.025, 0.9983]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1686 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3876 right_y=0.0592 right_z=0.0211 right_yaw=0.0825 right_pitch=0.0569 right_roll=-0.025 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.4291, 7.1726, 1.7558, -0.0562, -0.0659, -0.0122, -0.6906, -4.4103, 3.4256, 0.442, 0.1587, -0.3053, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f297efadc412a62628a564371e9c2ee7925a51c4cc8b4c7cddf262bd0401178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483670ae49483675f8f2248a54cf7f17a14e4dfe4ba40befdbca6af0d96a06ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dda604210e54af0c72ccaf9f40f1f68132a14d49e6ebf3df939849785b92005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrQoKEAgRGAI4AUIIdGhpbmtpbmcSDFbYYwxt21/3K7JybxoMxVj655CbrRRckUS9IjDmUReuYJuFex2qlybn3lNw1W8sjTXwAHMnY9ZbCpqxvqdmydwIaDb1Kz2rTFlw+fYqygkxFFCJC5Bt/JFxSRA6qDaZAjtVw9NtQub9qqig2hFe4C9tGlLUfAxKsi4jsJnInXPHP9uHtpx4uCS6jWQL8y/LqjCZJl0jbeAqQz64I4QsJ8ZPo76JYo9k2zsqNsUzEw3H7T2kt4ejdwLREEWJV74V1WAP+3rDt8AXoGvkiizqVTB7BI49IKuZfJPI/g3k2l5pRyvuj4OrtJRHJs+/v6AoUr1d+n52O4tdSMFAlnKslPsbjXvzbkI09nUbdUMp3MRdrTpD/phEzSfb5tpz1JvF80BHeH5Z8oeds6Ns+JJjgy9ywq5M0kQ6q/GFgAE5TAbCtHvt52WgKjJ4CQ9WBKFPhNH03vwkXRjTj5TtPVZrrLUVKoiR7tbmIoxjC04MBUTQ33I89/aU5CPgW1YdVNr2nc2APEz6PsPk/HDUgLv0DXFvagu3WRuhVxzKplnJjFqTAcqc+2cgfA5Z+hFEmlv1taEIGMbwfQv+4DXJ4eJNYCAMstDvD+pBUpanUtAHk4ld6z8inrJ7aMkqe2GEDIXRa4YLKXi33Fyl4BpvhAAo2ROZPp/o0hC6EpKyQ/FVAYXZ0jdjDo22ClpscD2MDkd8g8EGtbdfCPtIVLgjxD7M1vFY41Bekh2o1Fd2+XQqg9Bf4IoEHKdkFKVMOGQ0slmqXCTU2T0vTdK4+iuVq6gMFWLAJGlpG4UR+4zvzz5TBeEZhI8B3JHE/sFf3OB1OErwT5javYQAWTURl2yIT0aakTy+KuMkuKfcnlwu4XsxVh5sE8I7HRFQfc6gaqg3oaSqQv0Cwo12Du6zX9qfEWVzJ+ISVjQfBQy6jxxWL+Kd5T7AHsdys86vkrDLxEvtkq/j0AFHNDko+j0oeNvsazdGlSOYb2eC7FYd1EEnJy+O1toy4aTKSgkQ/EzE/+F+qw6TjYS3EPZ3iim8J3Tedy+kuC9FBO2gqJQ2OyUUAhgM2OdsSYll7t9aOIClVnglebjmjlMuintcfkj4YdYcWdrFLm/MusyCggKLCxorIFEBahy0yGXTyQ84HyLbdfahWp0sUSh/SSaKBGja9lOTraEWShdjtNb94n+LhL2ou+AU4Mxv5r9H5JfrRXtbkHTtJWGbVUZO6eqSIeu3qxOkko9Ai20OOjr/2MonYVStTOq9RgOm3O+wcmJOWOk5GJato7jyJ6s4+Ci3DPXGaw90OBwnmIeXJ4q7Zcwd0a9yeTeKiv4tjJMuHNS8pobn7UQqtUffPB6+26NUjvFMYCM8EFN7PCVyWZgiO+IT1NzeSLFcUvnYIPssq0OHfYeLXF2+vMinfKPmPsvsxundftVWzMVeac6m16RrHuxw0RAjJ96sZZ4vtXUFxpJoZ/Fcl0hPPqbRU5PPN8jtNtIVyi5Dg8Yr14rI7nXGqUGB7YYlADz9mpMt6Wi1eCBelT0pQOLlcCRnPvQ18k6k4ZTMBZTA/4DGiG1winPeztjf+NPmSw12wXyUCcpefWVJv2ODEPu7d2ebNWR4uC4RciCjEF5r+aiqeKvKMzG7u5dd5wnki/GzWgXu3/KJZFYE3VDlEYnX4VZ1gne4DKhmhKg5kcF+fpNnHpVB/6cCWtBg7GgeX63QU1cD3ELyWvoyh45PTiSFlRp3/IyVcbqryWpm2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014VZEikdM5JyChTeT2asPpd",
      "input": {
        "note": "The brick is between the open jaws but the grasp point is still 2 cm above the table; pressing down to table level so the jaws catch the brick's full thickness.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.385,
          "right_y": 0.059,
          "right_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_014VZEikdM5JyChTeT2asPpd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, 0.1951, 1.8526, 0.4, 0.981, 0.0898, 0.0311, 0.9983]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.165 left_yaw=0.0051 left_pitch=-0.0701 left_roll=-0.0054 left_gripper=0.9995 right_x=0.396 right_y=0.0658 right_z=0.0178 right_yaw=0.0996 right_pitch=0.0973 right_roll=-0.0052 right_gripper=0.9983\nstate[joint_eff]: [-0.335, -1.4974, 6.9949, 1.8584, -0.022, -0.0611, -0.0122, -0.335, -4.4513, 3.6308, 0.823, 0.2613, -0.105, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf462563c02c43a6845091ecfd08ff7969095a728af96ad6098813ffc996e4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5247b3ac1a359714e22d33f5a501877df129d35e26971c5c7701173a8295d951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f099f332c58bdd935fa23cf7a74d40a167e256f189746232e4a278419281787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 11.03 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4156, -0.0227, -0.0498, 0.9995, 0.2062, 1.5295, 0.3702, 0.487, 0.1341, 0.0189, 0.9951]\nstate[eef_state]: left_x=0.2913 left_y=0.0019 left_z=0.1699 left_yaw=0.0051 left_pitch=-0.0476 left_roll=-0.006 left_gripper=0.9995 right_x=0.3506 right_y=0.0529 right_z=0.0227 right_yaw=0.0798 right_pitch=-0.0997 right_roll=-0.0615 right_gripper=0.9951\nstate[joint_eff]: [-0.0889, -1.347, 7.0085, 1.6972, -0.0415, -0.0366, -0.0122, -0.6359, -6.4889, 7.4872, 1.9609, 0.0513, 0.0806, -0.1783]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4198, -0.0227, -0.0498, 0.9995, 0.1925, 1.7706, 0.3901, 0.8673, 0.1112, 0.025, 0.9983]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1686 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3876 right_y=0.0592 right_z=0.0211 right_yaw=0.0825 right_pitch=0.0569 right_roll=-0.025 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.4291, 7.1726, 1.7558, -0.0562, -0.0659, -0.0122, -0.6906, -4.4103, 3.4256, 0.442, 0.1587, -0.3053, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, 0.1951, 1.8526, 0.4, 0.981, 0.0898, 0.0311, 0.9983]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.165 left_yaw=0.0051 left_pitch=-0.0701 left_roll=-0.0054 left_gripper=0.9995 right_x=0.396 right_y=0.0658 right_z=0.0178 right_yaw=0.0996 right_pitch=0.0973 right_roll=-0.0052 right_gripper=0.9983\nstate[joint_eff]: [-0.335, -1.4974, 6.9949, 1.8584, -0.022, -0.0611, -0.0122, -0.335, -4.4513, 3.6308, 0.823, 0.2613, -0.105, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf462563c02c43a6845091ecfd08ff7969095a728af96ad6098813ffc996e4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5247b3ac1a359714e22d33f5a501877df129d35e26971c5c7701173a8295d951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f099f332c58bdd935fa23cf7a74d40a167e256f189746232e4a278419281787",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4AYKEAgRGAI4AUIIdGhpbmtpbmcSDJN1MAWlhie4QeAOJBoMAMrlRo71mzg2YfVcIjAp9j3/PHtPmJ68HO6oJnasab8tFSwQYl1VbIXWHMfq7m0h/ZzyIOz6rxrVKf0wtOsq/QVIjWWaZV1TCN0b2j4t+2rmdb2RCJGY+H/QCgmBlKW0h5WeYJY07YtGgLrSXjcN/u3CkzbYim9+j/+l1m9lh6I4Z6ija5R2KH2wfBj6vu1CzUEHz3k0hvuQ6eM7Rys+X4ZmzVYSaDaf0xaGDpbJEMADnDGFpnzpCjK2r1xEN4XGav4EgzxcX95H1GM3Yej45PgZbPEVFLKzDPs2Pj68oRAMBZQ8EZzt3KVSwqOLDj6coh/ELJPIedX0xXQmL4rH7oyc66usNRFUow2tguZNZ2eQVAZXgciG2w21ki1uh19opcJnbcC5QZQZ+ryESfR3Yo5+rVK4QWvA8y25kPVBNZPkI0hhruocxLZg8DnAB9vEeM6lQwlU8l5c22ql+0p95ZBf0WNpDonN/eeJuPkq8tLSpbr6mD4ofgYibckR8p5qQB75nwS5ffrK4mjLtn62FjRaeSi0XWXLzpwwn8sOK5rqVJs10i9kNQB5sQx2+TWOeLkCp941tJwyRqFZN37XUdaQlrjDqefLM3SOWI2u4qKUMenpB1yHgUI/Qk6tDb6EcljqysKPZ9JcQdHUiZr1k4wa5tzSfOO6Ep+KJwHEK5keDmdoUrWlBQhzvxeD/IvGZa3Urx+VW/0apgIN5vxL64O9J6pfOR0+E/14jB/qsY+4OfWeUPMIpp4+WYyJbWHp61nmmUvliglnR2Eh+BxNL6XNqGv7e98Ta0tciGlYtJAVAq0ijdwQjXU4Wlb/JmM2xLAlqOh3PnchfIA79cQr4GuJ4yIHOat29lI39XQzdL6WlLDDXO9PlHbQcI9vJXUAAhBI5ZS8YoF+pTnSBsYFxHz0WxG8NlTvZrrwpJhBM/69JVpDSs8yJ2sWO3WgcOcNH3XHW9TQsu4AvK0Hl7wPAp2GD0zra0DEKYlK0U0WzBud345xr3xZCE0mVgrcoWAhS+ZTm6NpSFWxJ/WLhOsprn45CPCRNNN8cUCAlo5a9FbYP3O/giQkgFXtP/yzFzl7riksIKQD+uxgektpZBkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019BpsZi77KP1eA3kHM4fyNF",
      "input": {
        "note": "The descent has stopped at z≈0.018 (likely fingertips at the table) with the brick squarely between the jaws. Closing the gripper on the brick.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019BpsZi77KP1eA3kHM4fyNF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4339, -0.0227, -0.0498, 0.9995, 0.194, 1.8656, 0.4053, 1.0134, 0.0921, 0.0265, 0.0097]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0724 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4002 right_y=0.0657 right_z=0.0216 right_yaw=0.0987 right_pitch=0.1221 right_roll=-0.008 right_gripper=0.0097\nstate[joint_eff]: [-0.0752, -1.1829, 7.1179, 1.7021, -0.0562, -0.0415, -0.0122, -0.4855, -4.6701, 3.0564, 0.9597, 0.1441, 0.0122, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e986a7e0f6661a31fd7912f2f613c996f8b164530ad1a83f705e5ce26471c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1001515f46bed10665edb142ee2a7e4d854aa6c8f885d20add19ab8490cf4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58fd396818c06fce4ba385f18acede78cebef711d1eae48bbcd14623b5002610",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.1 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.4198, -0.0227, -0.0498, 0.9995, 0.1925, 1.7706, 0.3901, 0.8673, 0.1112, 0.025, 0.9983]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1686 left_yaw=0.0051 left_pitch=-0.0534 left_roll=-0.0059 left_gripper=0.9995 right_x=0.3876 right_y=0.0592 right_z=0.0211 right_yaw=0.0825 right_pitch=0.0569 right_roll=-0.025 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.4291, 7.1726, 1.7558, -0.0562, -0.0659, -0.0122, -0.6906, -4.4103, 3.4256, 0.442, 0.1587, -0.3053, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, 0.1951, 1.8526, 0.4, 0.981, 0.0898, 0.0311, 0.9983]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.165 left_yaw=0.0051 left_pitch=-0.0701 left_roll=-0.0054 left_gripper=0.9995 right_x=0.396 right_y=0.0658 right_z=0.0178 right_yaw=0.0996 right_pitch=0.0973 right_roll=-0.0052 right_gripper=0.9983\nstate[joint_eff]: [-0.335, -1.4974, 6.9949, 1.8584, -0.022, -0.0611, -0.0122, -0.335, -4.4513, 3.6308, 0.823, 0.2613, -0.105, -0.188]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4339, -0.0227, -0.0498, 0.9995, 0.194, 1.8656, 0.4053, 1.0134, 0.0921, 0.0265, 0.0097]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0724 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4002 right_y=0.0657 right_z=0.0216 right_yaw=0.0987 right_pitch=0.1221 right_roll=-0.008 right_gripper=0.0097\nstate[joint_eff]: [-0.0752, -1.1829, 7.1179, 1.7021, -0.0562, -0.0415, -0.0122, -0.4855, -4.6701, 3.0564, 0.9597, 0.1441, 0.0122, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e986a7e0f6661a31fd7912f2f613c996f8b164530ad1a83f705e5ce26471c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1001515f46bed10665edb142ee2a7e4d854aa6c8f885d20add19ab8490cf4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58fd396818c06fce4ba385f18acede78cebef711d1eae48bbcd14623b5002610",
        "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_01U4GdnExyUuUFECzWZ1MvZ9",
      "input": {
        "note": "Empty close again: the wrist view shows the brick still starts just beyond the fingertips. Opening, lifting to 6 cm and advancing 4 cm further so the jaws land on the brick's body.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.065,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U4GdnExyUuUFECzWZ1MvZ9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4343, -0.0227, -0.0498, 0.9995, 0.1669, 1.7573, 0.6521, 0.5148, 0.0624, 0.0071, 0.9949]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1644 left_yaw=0.0051 left_pitch=-0.0728 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4325 right_y=0.0653 right_z=0.0425 right_yaw=0.1079 right_pitch=-0.0222 right_roll=-0.0212 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.3607, 6.9812, 1.6777, -0.0659, -0.0708, -0.0122, -0.5538, -10.1675, 7.4598, 1.6777, -0.0806, 0.1538, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e2a436e06939781772f66f40f9a982f07b11db9e6beb1e443f17c95b1a9696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d462df647b7b5cf0267612e468d8a3de3885c2441e3c1ad9f53997152e05ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cebd46b649114253a117ccea1ec5de7b6df357889fd1733b3f1cba63cf475bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 6.615 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8162, 0.6075, -0.432, -0.0227, -0.0498, 0.9995, 0.1951, 1.8526, 0.4, 0.981, 0.0898, 0.0311, 0.9983]\nstate[eef_state]: left_x=0.2892 left_y=0.0019 left_z=0.165 left_yaw=0.0051 left_pitch=-0.0701 left_roll=-0.0054 left_gripper=0.9995 right_x=0.396 right_y=0.0658 right_z=0.0178 right_yaw=0.0996 right_pitch=0.0973 right_roll=-0.0052 right_gripper=0.9983\nstate[joint_eff]: [-0.335, -1.4974, 6.9949, 1.8584, -0.022, -0.0611, -0.0122, -0.335, -4.4513, 3.6308, 0.823, 0.2613, -0.105, -0.188]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4339, -0.0227, -0.0498, 0.9995, 0.194, 1.8656, 0.4053, 1.0134, 0.0921, 0.0265, 0.0097]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0724 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4002 right_y=0.0657 right_z=0.0216 right_yaw=0.0987 right_pitch=0.1221 right_roll=-0.008 right_gripper=0.0097\nstate[joint_eff]: [-0.0752, -1.1829, 7.1179, 1.7021, -0.0562, -0.0415, -0.0122, -0.4855, -4.6701, 3.0564, 0.9597, 0.1441, 0.0122, 0.7839]\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]: [-0.0196, 0.8165, 0.6075, -0.4343, -0.0227, -0.0498, 0.9995, 0.1669, 1.7573, 0.6521, 0.5148, 0.0624, 0.0071, 0.9949]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1644 left_yaw=0.0051 left_pitch=-0.0728 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4325 right_y=0.0653 right_z=0.0425 right_yaw=0.1079 right_pitch=-0.0222 right_roll=-0.0212 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.3607, 6.9812, 1.6777, -0.0659, -0.0708, -0.0122, -0.5538, -10.1675, 7.4598, 1.6777, -0.0806, 0.1538, -0.188]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e2a436e06939781772f66f40f9a982f07b11db9e6beb1e443f17c95b1a9696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d462df647b7b5cf0267612e468d8a3de3885c2441e3c1ad9f53997152e05ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cebd46b649114253a117ccea1ec5de7b6df357889fd1733b3f1cba63cf475bb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqgcKEAgRGAI4AUIIdGhpbmtpbmcSDFBfSJZUfJxVAf7ZNBoMhxDsX8xWPejdATP9IjAKQxmcmxtjWMq5+y0sY5YRGEJz3QYKyoxoSOq1plRM5FDoeUTtzddZ1JLQAdJj6EwqxwYTcTLN/lBQqeHzMj6t/hdTOgnAIAJy1hIgVL+4GCEAF2oQNrn0n8pi1N93wVOtxCA+PYEPrDhs6eM4JJhAl1xujZFKvuWhYaD+9Fds+9/mEKYKZ1bp3FexXAK2D8ecUZFpEUHVwHLLu7QQfaDYZXESDAvBh4DPYARmadM4i/MPasqNmL0tZK9FJZXINDjSBMZzkR/QZsp9rkRnQFZTUu3mVMDA6674hjTAtl3DiqN0vGWyGZBwdGrTU30eYEfL2aKU43mqaKZj1gWGpxEiHtV93jVzeTmOpqQj1gOXnd9sRUfz1Z3/1vxRY/NKqNWOEZGR8ookvBblzkkkq66nCFNWaqm5p7GW34ZXjUEDaKBx0Xa4UjsQK8jVrPQOKC9pmKH9oH/95h2Zw9yvWrfUnkcFQ/b0ABp4Aj51LaTnbrxXsr44m/Po5o3MjL3j+pw886MIs19WPuv05LhegcqO9neL8w3zApIL5WmOdaRmZZU6ol3xLS+zFiO6jDVQ8I7Ew6gvvH5Q7bZmFO3zKno0ZKZ/ps6r1VXYD1BNsfJymsQ+B9VWqoG59/Erq8p0Dv94kfyOAjPnCB0DwHFBUz5IntYNEaec97lcGqEUIElwO7x4sBJSRCQwohRR04a4kM7d0d6W7quSaDJDORPqpQbF6b4Y4lR8+aIluLKge6cFCHkbl0yhb81ydqPXz4QmX7GyT8TOCbgBwyXgOq3xjKZbRc7SFp0jbbcA8qT+gHl0eKuuxtaUZ+XvCjGDY15qjAbCJIhYotbGYO6bEci5lXJhojjAByha+KldYrihnjOMzL9zj78y4KKTWgAs7q9tYdn+QxHt4+838Jj3yXi8Tq5aZMOC03sLEBMiMZ+liev/QJAtOOpDFiBAsCeBJPRcS5qhU0vU9GRvzecDpbdOpGN8QIRkeV6bQiL8arnTYuFUI1YWbWRBv2/n1nNpQzi7eOi+18XC8NuzC7LiE3AuuZGlQ0Gp4irn5BZfpYnmKPbPSE+GlNoX+OT95jDAOv+6A3vAymJLBI6JwLoSH4cQTb+l1pRlSiQycGwpHIbEbESljyX8vOYFnNlIq9R/h/42PZdk5MwVCwU/yQ7DnpAar0i2+ndVW2B9IUuMRhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UoLjzvyaRRtKRGbXtBxjYM",
      "input": {
        "note": "The brick now extends under the jaws in the wrist view (near end out of frame at the bottom). Descending to table level over the brick's body.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.445,
          "right_y": 0.065,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UoLjzvyaRRtKRGbXtBxjYM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4377, -0.0227, -0.0498, 0.9995, 0.1654, 1.9324, 0.6544, 0.675, 0.0631, -0.0006, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=0.0019 left_z=0.163 left_yaw=0.0051 left_pitch=-0.0789 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4398 right_y=0.0657 right_z=0.0021 right_yaw=0.1098 right_pitch=-0.0349 right_roll=-0.0287 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.0188, 6.9949, 1.7949, -0.0513, -0.0806, -0.0122, -0.7043, -6.3521, 4.5197, 0.4518, -0.1197, 0.0904, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf097a5946b0de3d808f4276d086e7c9bdb87957c4d612ab92e65b4a76e55fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ad01e68a6b0282ea4779752a952338bcb43fc016f033255624292e3976d36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6be9e6620ccb5c5454fc894fe067edf2c51779c5ed7de0a46a689d285fc02ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 5.85 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4339, -0.0227, -0.0498, 0.9995, 0.194, 1.8656, 0.4053, 1.0134, 0.0921, 0.0265, 0.0097]\nstate[eef_state]: left_x=0.289 left_y=0.0019 left_z=0.1645 left_yaw=0.0051 left_pitch=-0.0724 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4002 right_y=0.0657 right_z=0.0216 right_yaw=0.0987 right_pitch=0.1221 right_roll=-0.008 right_gripper=0.0097\nstate[joint_eff]: [-0.0752, -1.1829, 7.1179, 1.7021, -0.0562, -0.0415, -0.0122, -0.4855, -4.6701, 3.0564, 0.9597, 0.1441, 0.0122, 0.7839]\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]: [-0.0196, 0.8165, 0.6075, -0.4343, -0.0227, -0.0498, 0.9995, 0.1669, 1.7573, 0.6521, 0.5148, 0.0624, 0.0071, 0.9949]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1644 left_yaw=0.0051 left_pitch=-0.0728 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4325 right_y=0.0653 right_z=0.0425 right_yaw=0.1079 right_pitch=-0.0222 right_roll=-0.0212 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.3607, 6.9812, 1.6777, -0.0659, -0.0708, -0.0122, -0.5538, -10.1675, 7.4598, 1.6777, -0.0806, 0.1538, -0.188]\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]: [-0.0196, 0.8192, 0.6075, -0.4377, -0.0227, -0.0498, 0.9995, 0.1654, 1.9324, 0.6544, 0.675, 0.0631, -0.0006, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=0.0019 left_z=0.163 left_yaw=0.0051 left_pitch=-0.0789 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4398 right_y=0.0657 right_z=0.0021 right_yaw=0.1098 right_pitch=-0.0349 right_roll=-0.0287 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.0188, 6.9949, 1.7949, -0.0513, -0.0806, -0.0122, -0.7043, -6.3521, 4.5197, 0.4518, -0.1197, 0.0904, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf097a5946b0de3d808f4276d086e7c9bdb87957c4d612ab92e65b4a76e55fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ad01e68a6b0282ea4779752a952338bcb43fc016f033255624292e3976d36d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6be9e6620ccb5c5454fc894fe067edf2c51779c5ed7de0a46a689d285fc02ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmegfKCraDMQN7XQxaEAE8",
      "input": {
        "note": "At table level (z≈0.002) with the brick filling the space between the jaws. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SmegfKCraDMQN7XQxaEAE8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4416, -0.0227, -0.0502, 0.9995, 0.1661, 1.9415, 0.6552, 0.7101, 0.0593, -0.0044, 0.7452]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1616 left_yaw=0.0054 left_pitch=-0.085 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4437 right_y=0.0674 right_z=0.0057 right_yaw=0.1158 right_pitch=-0.0084 right_roll=-0.0284 right_gripper=0.7452\nstate[joint_eff]: [-0.0615, -1.5385, 7.0359, 1.7265, -0.0708, -0.0757, -0.0122, -0.2667, -8.9915, 4.3419, 1.3504, 0.0122, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b038b04e5eae80fba6e016f5ce1e8e468ab9b5d5df19fc227c5fc65b6f8c694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c186b282420f8c1c3f0d9296a7156dca4551b7c6d3fe1c24fb50c8b3849e203f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d879e8ac2dd58d36452ed739fe7dfc3dafcc032b27a95dd1f82746503d6468d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 14.45 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8165, 0.6075, -0.4343, -0.0227, -0.0498, 0.9995, 0.1669, 1.7573, 0.6521, 0.5148, 0.0624, 0.0071, 0.9949]\nstate[eef_state]: left_x=0.2889 left_y=0.0019 left_z=0.1644 left_yaw=0.0051 left_pitch=-0.0728 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4325 right_y=0.0653 right_z=0.0425 right_yaw=0.1079 right_pitch=-0.0222 right_roll=-0.0212 right_gripper=0.9949\nstate[joint_eff]: [-0.0752, -1.3607, 6.9812, 1.6777, -0.0659, -0.0708, -0.0122, -0.5538, -10.1675, 7.4598, 1.6777, -0.0806, 0.1538, -0.188]\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]: [-0.0196, 0.8192, 0.6075, -0.4377, -0.0227, -0.0498, 0.9995, 0.1654, 1.9324, 0.6544, 0.675, 0.0631, -0.0006, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=0.0019 left_z=0.163 left_yaw=0.0051 left_pitch=-0.0789 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4398 right_y=0.0657 right_z=0.0021 right_yaw=0.1098 right_pitch=-0.0349 right_roll=-0.0287 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.0188, 6.9949, 1.7949, -0.0513, -0.0806, -0.0122, -0.7043, -6.3521, 4.5197, 0.4518, -0.1197, 0.0904, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4416, -0.0227, -0.0502, 0.9995, 0.1661, 1.9415, 0.6552, 0.7101, 0.0593, -0.0044, 0.7452]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1616 left_yaw=0.0054 left_pitch=-0.085 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4437 right_y=0.0674 right_z=0.0057 right_yaw=0.1158 right_pitch=-0.0084 right_roll=-0.0284 right_gripper=0.7452\nstate[joint_eff]: [-0.0615, -1.5385, 7.0359, 1.7265, -0.0708, -0.0757, -0.0122, -0.2667, -8.9915, 4.3419, 1.3504, 0.0122, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b038b04e5eae80fba6e016f5ce1e8e468ab9b5d5df19fc227c5fc65b6f8c694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c186b282420f8c1c3f0d9296a7156dca4551b7c6d3fe1c24fb50c8b3849e203f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d879e8ac2dd58d36452ed739fe7dfc3dafcc032b27a95dd1f82746503d6468d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpQcKEAgRGAI4AUIIdGhpbmtpbmcSDHg59j5PDrPWGMWE/RoMrUQkcWZMp7pVdcQiIjAZMqyqoFph8T/F99MH1rbyd8LswXocKGX/GbiZhOqoic0G6bgKIdhp6GzYi3F6OcUqwgY8Krl4wdwjo4USC/5aS95purw/MFtaUckzVDwWQb7RTTdD/gAsV6IPApkquxc2zVy8CgLdlr64teqTHhkLRj9p0nC5wvIm3Bv4BLwzFXejRmLfeKvVuOX3iVVgZrmIdkEerjNtwvbcG52tu9LZwYL3MHorN6Ec0tZONflUsxWtnJyZ9q5fWW9gXEiJiWCNJWrKloLXKpJymRORtDOVdHqkMUoiuR5E/8tAUU/3IBDwDhgQGkzMQQuDzCkYy18c/EuJrDhV8tMHNFeChO+0RCfhU+ySqcKi+lz4GB5RwI8fUIA9GtWdOG7FtdzWxlVPWAfaJffuLYabbxitY+jv72n/HfkVggYxk/mwtk972+XbGSOGtBui6eqwhzeLcRxfuSTWaT3pVz1Ju83u6+aHY8z5l1Cxsvbo1halhYY4RVE37Qp7GXfcrsP1n/bMMpOlubYQJyomVWPe640ENEWpFtNpu43Ke1BnkMeCGd6Ehq4C/l+HnrT+29s4V/QgJLBxhjQDyJrV4jS8p2W1bSDjHG/dShaiKu1oDh+OjHLPh8jwwfYrMKSRNrfKFcPZ2Bbh8Q6JxUfUZUAK/mnOjvVgcmiJSmvr2Z98dtGA7icPJ+UPUsGTDilOL3pF3GLFnTxkmiNZk/N5txRPQS1RnZB/VbVlRq71J7Z8Ra1UxPh8vkGSZScMGMj18NMJBjPyOUozT3bLc13UheOIhz0mb0zlk+tt/hl+fbeuKmoLUXNoVpXSORX9OmSQBvCBHilVUzCL2seznsNw9RwIfuPRIR6/kOhChzY1OJGDcK+4cb5HzMoSeVTQnbutNYfwY2CJ2CixaWV3kXGCYDjFLGlsNz9aYSQb3mlNcsxbHXeQjgzgH3W442MpSigyevKroJj16YrTlT4S1ri+vKYzMWVMOUDvD7HBojLqoYTHAM8SUHjCBndX+sUeECzQyrICxy4mxpcVgoI1ckwkvfq1bSN+bGMjOeIk5k85G55qlXfWQVnan01iwk0ir5itdqQTa9LaTzYK65krSECwpkxScR1uObbM/o4BZeMZgEgYUJcY+GtqIWIw0hLGoYUTVCgFZ7reuYehQmhvxvgI1HhHE+AVP3xSqdq9mDcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KKexRV189x4mqs8gVjPeDz",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), matching the brick's width, and the brick sits between the jaws in the wrist view. Lifting to 17 cm to confirm the grasp.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01KKexRV189x4mqs8gVjPeDz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4526, -0.0227, -0.0498, 0.9995, 0.1661, 1.5486, 0.8986, -0.0582, 0.0582, -0.0051, 0.7452]\nstate[eef_state]: left_x=0.286 left_y=0.002 left_z=0.1569 left_yaw=0.0052 left_pitch=-0.1033 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4279 right_y=0.065 right_z=0.1153 right_yaw=0.1167 right_pitch=-0.1403 right_roll=-0.0349 right_gripper=0.7452\nstate[joint_eff]: [-0.0205, -1.6889, 7.2821, 1.7411, -0.0317, -0.0464, -0.0122, -0.3487, -10.6872, 11.1111, 2.4103, -0.0171, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb2e08e0fbcb3bbf37e6bd14f57c522447730875c7c43ec8d44df5050badab86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce791206a43f7020d86fbba407fce117951cc6412db33fbc7f104ca018fe744c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:270c1d46fbfa5823dcb47f0e2149918ff12f40543cc0e71f64c293bace5242d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 4.927 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6075, -0.4377, -0.0227, -0.0498, 0.9995, 0.1654, 1.9324, 0.6544, 0.675, 0.0631, -0.0006, 0.9983]\nstate[eef_state]: left_x=0.2886 left_y=0.0019 left_z=0.163 left_yaw=0.0051 left_pitch=-0.0789 left_roll=-0.0052 left_gripper=0.9995 right_x=0.4398 right_y=0.0657 right_z=0.0021 right_yaw=0.1098 right_pitch=-0.0349 right_roll=-0.0287 right_gripper=0.9983\nstate[joint_eff]: [-0.0068, -1.0188, 6.9949, 1.7949, -0.0513, -0.0806, -0.0122, -0.7043, -6.3521, 4.5197, 0.4518, -0.1197, 0.0904, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4416, -0.0227, -0.0502, 0.9995, 0.1661, 1.9415, 0.6552, 0.7101, 0.0593, -0.0044, 0.7452]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1616 left_yaw=0.0054 left_pitch=-0.085 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4437 right_y=0.0674 right_z=0.0057 right_yaw=0.1158 right_pitch=-0.0084 right_roll=-0.0284 right_gripper=0.7452\nstate[joint_eff]: [-0.0615, -1.5385, 7.0359, 1.7265, -0.0708, -0.0757, -0.0122, -0.2667, -8.9915, 4.3419, 1.3504, 0.0122, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4526, -0.0227, -0.0498, 0.9995, 0.1661, 1.5486, 0.8986, -0.0582, 0.0582, -0.0051, 0.7452]\nstate[eef_state]: left_x=0.286 left_y=0.002 left_z=0.1569 left_yaw=0.0052 left_pitch=-0.1033 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4279 right_y=0.065 right_z=0.1153 right_yaw=0.1167 right_pitch=-0.1403 right_roll=-0.0349 right_gripper=0.7452\nstate[joint_eff]: [-0.0205, -1.6889, 7.2821, 1.7411, -0.0317, -0.0464, -0.0122, -0.3487, -10.6872, 11.1111, 2.4103, -0.0171, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb2e08e0fbcb3bbf37e6bd14f57c522447730875c7c43ec8d44df5050badab86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce791206a43f7020d86fbba407fce117951cc6412db33fbc7f104ca018fe744c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:270c1d46fbfa5823dcb47f0e2149918ff12f40543cc0e71f64c293bace5242d5",
        "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_01GFvzGYtEfhvTMhAQ4v8gJt",
      "input": {
        "note": "The brick has left its spot on the table and is held in the right gripper. Raising to 30 cm to clear the pot rim before carrying left toward the pot.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.44,
          "right_y": 0.1,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01GFvzGYtEfhvTMhAQ4v8gJt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6037, -0.4603, -0.0231, -0.0498, 0.9995, 0.2649, 1.6066, 1.6176, -0.8219, 0.1104, 0.0338, 0.7452]\nstate[eef_state]: left_x=0.285 left_y=0.0021 left_z=0.1545 left_yaw=0.0055 left_pitch=-0.1144 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1007 right_z=0.2606 right_yaw=0.1478 right_pitch=-0.2386 right_roll=-0.0512 right_gripper=0.7452\nstate[joint_eff]: [-0.1299, -1.6752, 6.9402, 1.7167, -0.0611, -0.0317, -0.0122, 0.212, -8.1846, 11.0291, 2.0195, 0.2173, 0.2955, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9e189aa60ef5efd10354a0221b975dcaab4d0a208109b0a2f22e773963071e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d09f965b0b50b3d67d94238edd7bd4a4031af54bc1a00c3a3de55fc4557a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84fe8b2f92da39fc5d2a9be212038b1d724a7bc5d74a91a907157fe2587257df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 10.54 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6071, -0.4416, -0.0227, -0.0502, 0.9995, 0.1661, 1.9415, 0.6552, 0.7101, 0.0593, -0.0044, 0.7452]\nstate[eef_state]: left_x=0.288 left_y=0.0019 left_z=0.1616 left_yaw=0.0054 left_pitch=-0.085 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4437 right_y=0.0674 right_z=0.0057 right_yaw=0.1158 right_pitch=-0.0084 right_roll=-0.0284 right_gripper=0.7452\nstate[joint_eff]: [-0.0615, -1.5385, 7.0359, 1.7265, -0.0708, -0.0757, -0.0122, -0.2667, -8.9915, 4.3419, 1.3504, 0.0122, 0.0073, 1.033]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4526, -0.0227, -0.0498, 0.9995, 0.1661, 1.5486, 0.8986, -0.0582, 0.0582, -0.0051, 0.7452]\nstate[eef_state]: left_x=0.286 left_y=0.002 left_z=0.1569 left_yaw=0.0052 left_pitch=-0.1033 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4279 right_y=0.065 right_z=0.1153 right_yaw=0.1167 right_pitch=-0.1403 right_roll=-0.0349 right_gripper=0.7452\nstate[joint_eff]: [-0.0205, -1.6889, 7.2821, 1.7411, -0.0317, -0.0464, -0.0122, -0.3487, -10.6872, 11.1111, 2.4103, -0.0171, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6037, -0.4603, -0.0231, -0.0498, 0.9995, 0.2649, 1.6066, 1.6176, -0.8219, 0.1104, 0.0338, 0.7452]\nstate[eef_state]: left_x=0.285 left_y=0.0021 left_z=0.1545 left_yaw=0.0055 left_pitch=-0.1144 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1007 right_z=0.2606 right_yaw=0.1478 right_pitch=-0.2386 right_roll=-0.0512 right_gripper=0.7452\nstate[joint_eff]: [-0.1299, -1.6752, 6.9402, 1.7167, -0.0611, -0.0317, -0.0122, 0.212, -8.1846, 11.0291, 2.0195, 0.2173, 0.2955, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d9e189aa60ef5efd10354a0221b975dcaab4d0a208109b0a2f22e773963071e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d09f965b0b50b3d67d94238edd7bd4a4031af54bc1a00c3a3de55fc4557a21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84fe8b2f92da39fc5d2a9be212038b1d724a7bc5d74a91a907157fe2587257df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ChGgz6NbUdnuqFMZGb7ioN",
      "input": {
        "note": "Brick held high at z≈0.26; the pot is to the left near the table's centre line. Carrying the brick left toward the pot in a first half-step.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.25,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01ChGgz6NbUdnuqFMZGb7ioN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6037, -0.4675, -0.0227, -0.0498, 0.9995, 0.6231, 1.845, 1.8091, -0.7712, 0.374, 0.1993, 0.7452]\nstate[eef_state]: left_x=0.284 left_y=0.002 left_z=0.1518 left_yaw=0.0053 left_pitch=-0.1266 left_roll=-0.004 left_gripper=0.9995 right_x=0.4422 right_y=0.2427 right_z=0.2481 right_yaw=0.1941 right_pitch=-0.1755 right_roll=-0.1167 right_gripper=0.7452\nstate[joint_eff]: [-0.1846, -1.347, 7.1316, 1.7949, -0.0317, -0.0366, -0.0122, 0.3624, -10.7145, 11.3436, 2.4249, 0.4811, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513d6609052aea32abef834591891e006748b1a3c4bfa479f5405d5bb1b81014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324d712bef886b78dec5d3e31d0850d6db07e7471174d89c33deb7d703475f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3012d1ac8defc5500328fe937f0167053f97e029b62aef051a97274a413069c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 13.86 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6037, -0.4526, -0.0227, -0.0498, 0.9995, 0.1661, 1.5486, 0.8986, -0.0582, 0.0582, -0.0051, 0.7452]\nstate[eef_state]: left_x=0.286 left_y=0.002 left_z=0.1569 left_yaw=0.0052 left_pitch=-0.1033 left_roll=-0.0046 left_gripper=0.9995 right_x=0.4279 right_y=0.065 right_z=0.1153 right_yaw=0.1167 right_pitch=-0.1403 right_roll=-0.0349 right_gripper=0.7452\nstate[joint_eff]: [-0.0205, -1.6889, 7.2821, 1.7411, -0.0317, -0.0464, -0.0122, -0.3487, -10.6872, 11.1111, 2.4103, -0.0171, 0.0024, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6037, -0.4603, -0.0231, -0.0498, 0.9995, 0.2649, 1.6066, 1.6176, -0.8219, 0.1104, 0.0338, 0.7452]\nstate[eef_state]: left_x=0.285 left_y=0.0021 left_z=0.1545 left_yaw=0.0055 left_pitch=-0.1144 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1007 right_z=0.2606 right_yaw=0.1478 right_pitch=-0.2386 right_roll=-0.0512 right_gripper=0.7452\nstate[joint_eff]: [-0.1299, -1.6752, 6.9402, 1.7167, -0.0611, -0.0317, -0.0122, 0.212, -8.1846, 11.0291, 2.0195, 0.2173, 0.2955, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6037, -0.4675, -0.0227, -0.0498, 0.9995, 0.6231, 1.845, 1.8091, -0.7712, 0.374, 0.1993, 0.7452]\nstate[eef_state]: left_x=0.284 left_y=0.002 left_z=0.1518 left_yaw=0.0053 left_pitch=-0.1266 left_roll=-0.004 left_gripper=0.9995 right_x=0.4422 right_y=0.2427 right_z=0.2481 right_yaw=0.1941 right_pitch=-0.1755 right_roll=-0.1167 right_gripper=0.7452\nstate[joint_eff]: [-0.1846, -1.347, 7.1316, 1.7949, -0.0317, -0.0366, -0.0122, 0.3624, -10.7145, 11.3436, 2.4249, 0.4811, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513d6609052aea32abef834591891e006748b1a3c4bfa479f5405d5bb1b81014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324d712bef886b78dec5d3e31d0850d6db07e7471174d89c33deb7d703475f61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3012d1ac8defc5500328fe937f0167053f97e029b62aef051a97274a413069c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsAoKEAgRGAI4AUIIdGhpbmtpbmcSDMkd14Bz73z64OL33hoMeOfU+c7aETmH3zXoIjDNOI7vrxpvE16Z9JTvcZbMyxK5MNN71CQVm2pF5of7GBVfJnai+NZ7ED2IRL2w7loqzQlsr271/gzT0dQQKRDDq6U5uNLwHq+48tfQPcTzm8g9VW+zQJQ61uUKrQKsUJTJc5Qxp5Ij+i492zvVtY9jQNJQVL/8yakn7xSsHDGlEMZs4fyMPtk0GhC5GUH4DE7sec3Z1f4ytQ7pI8YhalnA/nJsxo9eSiOLw4n1rhWMkBwcJzsT51mlCFq5u/pvO8F2PJNF0JGrIsAyGZJIcAxG1MoBcvny2+bbsEDdTpF92izDYcMsCbwaNaIFqkiKvWISgZ4bUw9IQUEB7JtKUBvx9Wq63epR9gR+QMds9nz86okVEosU8zyDgOOp+kwyoZVn9a0U0xJYee5QT/nj9X6QVcw0NzFrrIr11zpnP0dpmtHg7KiskiJD5pt7n4ZerbhXMOlK3BTAZm7KNCs7z6zFvLhEjAshaT2BRYbYKitzV4P+wNXSK9YoGjTdyf2zCQISmaEuA2P8nuLYya1ADXDH2PUxUsSViNysuivqKRgdT9lm+Y46Cpnv07qT3dCCyCsL+F6paaLR3j+xj8GprmIsOAIvnhcDmBvCsuaCNVqL0xvXm7eKcFfQ12+iyKJgT/QA44DmfY1/V3KAmGWOadBdUhy14J4O+1kE3s8I0mYp4k+GsTkfXhc7eM120Z1Z9ClTzzeD0DTX17Gdte+Iwr5m/+Cg3jtGS6de5x8+/EP+HyqCuCAUHfKeXPNbRrrEuNiQdqZbdTINub/3QiYL7ACyr6DtYygSZOTisnUig5tJ2WAImcVTH5gx0DXQcanjuHvdvNns+gjcelrDz512iv1NPWXuazFOD4/a2Z6tjBFjvpu5+DUGbQ/fu4PLsocrO8q+j/6bkxV6wgOsFaNM4FY0rLFOaR35yJfR3DysM5x3Xhv3kdF3sQqBYb0kbSOL3Afy7JS4RpczKbkpxYLQTwTeNGzc4byHtd8KppfXVWtPqGAexauaY5qfSpkkqqVgGUCVG4ui4bMoakE5JMJlMIh/5nGCVdqMzXIM/9iCkd9Kuxpp51JbXhXFxRRpyENDPz36YjqS2VogqL1bllV2yt1ikkEXsewEpljs9nbGnqpc7Fqhx5cB9JGMH+DpSCoEeyAONwfRqnHdbS6AeTFxhCecMx2t/p+0ih4H6m8eaLThmg7yrOeg7TSVPWxEKvLNc19mNaIQpCQfKEg0b/rtbx2HoVtcObAWiuhzycltZNkQ1DC4m0jjTK82D5s3zVdpfeNt2itwawlpIxLDy7CmXYS7/YyNcfEUIDclHUL6/CXotPwkLFuYfxGbAms0x8/EF2uMUXlesQPoo4AD37sO1QGHFf9ZKMCFJoL/8p9FoTgfzVTKn3+rloBrKWL/T/E0UXMXjMuceTaiPd6eWDZMzqwXiXtWDKHCQPWOQxcDimqwr5NaCbljGxABCAysKTnoNBkYdi9MJrOnmYs/DaPmPxwMYGJ3woOPfiW6YSxU9Wsrvz7O4xgD8Bn9LcCdoxlf3/YcEC9YU2mo5wdfhXzdOdQIeBno8iTPfyc0xH20hHcdIRV+tD7+e8gyvyQ5M8Q7tDhZYlH3++M4Mj5eNbSUZp2PEhjJoEomHt75EXql44l1DcwlPZs+uhDdcbhlYdyzXdTp3yuQbpK78hovmOQV/EGmRttt+7xyMM8RBXUczP5JWRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VaHVZzYepNcyb6SRKqAHyL",
      "input": {
        "note": "The pot rim appears at the left edge of the right wrist view and the top view shows the pot about 13 cm to the left and a bit nearer the base. Moving the brick over the pot's centre.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.36,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VaHVZzYepNcyb6SRKqAHyL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4679, -0.0227, -0.0498, 0.9995, 0.9012, 2.0724, 2.1498, -0.9371, 0.572, 0.3168, 0.7452]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1512 left_yaw=0.0053 left_pitch=-0.1285 left_roll=-0.004 left_gripper=0.9995 right_x=0.4007 right_y=0.3579 right_z=0.2568 right_yaw=0.2515 right_pitch=-0.1355 right_roll=-0.1819 right_gripper=0.7452\nstate[joint_eff]: [-0.0479, -1.4974, 7.1726, 1.6239, -0.0513, -0.0806, -0.0122, 0.1162, -12.6701, 10.7966, 1.873, 0.8181, 0.2369, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ca8db425eef4ea61bfbbd93985e4180eb2d97e9e1362e039849da080a8ae69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb043eefc3ee5d835810d5c152451e69f4f4c73a5f4d8279381ca25162639118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70a6cb7d86df2573e5f1c5e6f62fbffc42b316442c31aee8bb065f2855ce2152",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 23 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6037, -0.4603, -0.0231, -0.0498, 0.9995, 0.2649, 1.6066, 1.6176, -0.8219, 0.1104, 0.0338, 0.7452]\nstate[eef_state]: left_x=0.285 left_y=0.0021 left_z=0.1545 left_yaw=0.0055 left_pitch=-0.1144 left_roll=-0.0041 left_gripper=0.9995 right_x=0.4318 right_y=0.1007 right_z=0.2606 right_yaw=0.1478 right_pitch=-0.2386 right_roll=-0.0512 right_gripper=0.7452\nstate[joint_eff]: [-0.1299, -1.6752, 6.9402, 1.7167, -0.0611, -0.0317, -0.0122, 0.212, -8.1846, 11.0291, 2.0195, 0.2173, 0.2955, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6037, -0.4675, -0.0227, -0.0498, 0.9995, 0.6231, 1.845, 1.8091, -0.7712, 0.374, 0.1993, 0.7452]\nstate[eef_state]: left_x=0.284 left_y=0.002 left_z=0.1518 left_yaw=0.0053 left_pitch=-0.1266 left_roll=-0.004 left_gripper=0.9995 right_x=0.4422 right_y=0.2427 right_z=0.2481 right_yaw=0.1941 right_pitch=-0.1755 right_roll=-0.1167 right_gripper=0.7452\nstate[joint_eff]: [-0.1846, -1.347, 7.1316, 1.7949, -0.0317, -0.0366, -0.0122, 0.3624, -10.7145, 11.3436, 2.4249, 0.4811, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4679, -0.0227, -0.0498, 0.9995, 0.9012, 2.0724, 2.1498, -0.9371, 0.572, 0.3168, 0.7452]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1512 left_yaw=0.0053 left_pitch=-0.1285 left_roll=-0.004 left_gripper=0.9995 right_x=0.4007 right_y=0.3579 right_z=0.2568 right_yaw=0.2515 right_pitch=-0.1355 right_roll=-0.1819 right_gripper=0.7452\nstate[joint_eff]: [-0.0479, -1.4974, 7.1726, 1.6239, -0.0513, -0.0806, -0.0122, 0.1162, -12.6701, 10.7966, 1.873, 0.8181, 0.2369, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43ca8db425eef4ea61bfbbd93985e4180eb2d97e9e1362e039849da080a8ae69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb043eefc3ee5d835810d5c152451e69f4f4c73a5f4d8279381ca25162639118",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a6cb7d86df2573e5f1c5e6f62fbffc42b316442c31aee8bb065f2855ce2152",
        "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_01Dh57acbEztd6DKe2Abqp2M",
      "input": {
        "note": "The pot interior fills the left part of the right wrist view, so the pot centre is still a few cm to the left. Shifting to the y bound (0.40) and lowering to 22 cm, just above the rim, before releasing.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.4,
          "right_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_01Dh57acbEztd6DKe2Abqp2M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4675, -0.0227, -0.0498, 0.9995, 0.9165, 2.1059, 2.0605, -0.9127, 0.564, 0.3145, 0.7452]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1503 left_yaw=0.0053 left_pitch=-0.1319 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3936 right_y=0.3639 right_z=0.2086 right_yaw=0.2632 right_pitch=-0.2179 right_roll=-0.2391 right_gripper=0.7452\nstate[joint_eff]: [-0.1162, -1.7573, 6.9675, 1.6093, -0.0611, -0.0611, -0.0122, 0.3214, -14.7077, 8.3761, 1.8828, 0.5641, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565e86c129c1a8cf6fedfef4569ea7cebad9c452a10bdbbabde79d8eb884740e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73fd38ca35aa763fe338e948f80c763578c33f6a2cb8453b4e37dbd70c75622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:704ef40d71f2a3e798707309117079121ff1418621b3e2bdb0af44366bcc664b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 9.285 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6037, -0.4675, -0.0227, -0.0498, 0.9995, 0.6231, 1.845, 1.8091, -0.7712, 0.374, 0.1993, 0.7452]\nstate[eef_state]: left_x=0.284 left_y=0.002 left_z=0.1518 left_yaw=0.0053 left_pitch=-0.1266 left_roll=-0.004 left_gripper=0.9995 right_x=0.4422 right_y=0.2427 right_z=0.2481 right_yaw=0.1941 right_pitch=-0.1755 right_roll=-0.1167 right_gripper=0.7452\nstate[joint_eff]: [-0.1846, -1.347, 7.1316, 1.7949, -0.0317, -0.0366, -0.0122, 0.3624, -10.7145, 11.3436, 2.4249, 0.4811, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4679, -0.0227, -0.0498, 0.9995, 0.9012, 2.0724, 2.1498, -0.9371, 0.572, 0.3168, 0.7452]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1512 left_yaw=0.0053 left_pitch=-0.1285 left_roll=-0.004 left_gripper=0.9995 right_x=0.4007 right_y=0.3579 right_z=0.2568 right_yaw=0.2515 right_pitch=-0.1355 right_roll=-0.1819 right_gripper=0.7452\nstate[joint_eff]: [-0.0479, -1.4974, 7.1726, 1.6239, -0.0513, -0.0806, -0.0122, 0.1162, -12.6701, 10.7966, 1.873, 0.8181, 0.2369, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4675, -0.0227, -0.0498, 0.9995, 0.9165, 2.1059, 2.0605, -0.9127, 0.564, 0.3145, 0.7452]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1503 left_yaw=0.0053 left_pitch=-0.1319 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3936 right_y=0.3639 right_z=0.2086 right_yaw=0.2632 right_pitch=-0.2179 right_roll=-0.2391 right_gripper=0.7452\nstate[joint_eff]: [-0.1162, -1.7573, 6.9675, 1.6093, -0.0611, -0.0611, -0.0122, 0.3214, -14.7077, 8.3761, 1.8828, 0.5641, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565e86c129c1a8cf6fedfef4569ea7cebad9c452a10bdbbabde79d8eb884740e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e73fd38ca35aa763fe338e948f80c763578c33f6a2cb8453b4e37dbd70c75622",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704ef40d71f2a3e798707309117079121ff1418621b3e2bdb0af44366bcc664b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2woKEAgRGAI4AUIIdGhpbmtpbmcSDHfSgiu1EbB6gQsxlxoMmuvew29xzkavc/VeIjB2q3bD5ZMe0eeE/Kws1g1j9ir0YNar+gvUNXwONaAXEHCdY1n29o7h0AQFRZgCyKwq+AlMvmT443sJH3mL5hmYk7rJJUhjlj1xoHVZdSgNa3dGXnXwFnGyHLyMwRxP/CbKQk/BIBLHbJxKBqnLmSyvpaW/+UH9GA1fgUkpVcqMzka/sFQhLdkINjlvohM0ZVcwSlISKMsCONtHgk3sCZunaXPNVD5K9uMzPxvNEw+W3Rv8z00MCTxB7pFGIyuu5m4884sP9ICtVr7yYSiTJ78mpCFuFDjsQjxjovCKl2LGrNd3GZokI9/uUYrA+3ca2uyzsody4S7ALbPWmKYD+UgCV7pt51Q0wR1ve35E+W7KONpl+EZN0oJ+n+/95cMHTX8RaMmgG4JFrSJXDNm+Jw0pQw9aqBiTazkga4bHutqU3kaQQ5EDHcjkhDcUK5GE+CHFE1upvafYtCX0jVRfgHBhtltVNehpjlOwM9t3ailqiWUg5qX8m8DDvx/ZggovX15E9515OOQ3mfvOIreUR7jMrPfKayRhvupjOyIyNkn7vRfD5LPC1eRcN6ghEGgbJqwC3HYImmjx+BOo5ZQD5l8fXVdxtCrdoFbXZzgHBeUSjC8coNcQs9G5ME9JgayaZl8U5Ebtv7QCLjE2YsUBZKFFN7Gmq1lM8OFEw3pqSCWfPspryh1q1IT8SVcqW13j0Inr4OYl6uzG7eGrarweGr8jxlMMZCka7M8q51V4MKLncW0sE1djz1R48FXSCJDj13EQrfKJAZBbXvEG7v+yHkvpFsZkQJP7vTtoXkAoiosI8YOGXYtgKgt4zcuulhXrqCfdbCwTnJgMShes8nAh5D7AJOswVRZs2e0CnJkzEHiBPvyQJX+7m6YbDpurr2YcGJGZtzV49J6JodNzA/a7FN+SjBqvQbvR+f054m785eKmddupm3bT7ZY6ShXtMzZhvEE1DNZjiaQGV5X8l/YmM3NOWlgnadKMbQfzNWD+HedqLMFwB96Dl5cm/HXw169Qc85t+ZrwrXaUFcqvmGZFhWb6cuM8oh9zxsMjA7ndN7ZqVC+GQqAlzuoZIHEMsuuk9MuKAyB9IJ3sNFo9sEh7xxxl6SFgKfbb/7lxccnDJw1sAK6bXx/Wpo16HaoyUSf62x685wygsJ7UgG3wFI/vxxHWVxqePW1oy2DiIzOp4vF+vKo0XoX12FWoS4tKaRfoHwe48Aa8Kk1q/Sk/eMtEceE9SX2DUqfqZ6rtXXT7UI35gLD5peNW3dhuDxMQEp69JJc07feP9iUyJFEwCkZVR7ZxWsrj+rb8Fw/g9RyO2Of2Y3lFbcBx8eBxQyNqONS0yFJlVb95sQkU3rnyiFEDTP+27KCLpbuHgtNa2EdOAFM4WXdnkVQT5DlHsu+Uv60Bvz0SF19cC7HILbZAUZF8+W6JSSAAn8UdHCfc4VoqoMl3aty3v0znYsH83Z5UEG/QxJWQxW1EaEyHaoVedfxuVvdE1iGLRktDMn8yI1p4rMYCRCxc1lYrP5raHQtKkP/MBlCdw4OHORzWe2mx3+Nrw4+D7spzt4JEPiGaP5UtyH9+Bk1BvcxOO21cmryDHjqdtpKPKBr/yqBooIEKwrmeyJJeNWTEia5lBBWlZhZvDdZz7cCDiZXlIfMyuMCa/eeWsKXYHlG6zRBJbGfzsygOUENNQaMEk9UdHSzZWDJatPfwsbUzIosSL29pr1AYbOVKfLdayn6ZACVkyWuxvZNjl2y2tgYonnzFsCgKM+IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P32HLvBRfdCkkCp5SWmYHr",
      "input": {
        "note": "The arm stalled at y≈0.36 near its reach; the pot interior is ahead-left in the wrist view with the brick projecting forward from the jaws. Yawing the tool CCW so the brick swings over the pot and lowering slightly toward the rim.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.38,
          "right_yaw": 0.7,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01P32HLvBRfdCkkCp5SWmYHr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.4843, -0.0227, -0.0502, 0.9995, 0.8913, 1.8191, 1.5425, -0.5064, 0.347, 0.0006, 0.7451]\nstate[eef_state]: left_x=0.2815 left_y=0.0021 left_z=0.1467 left_yaw=0.0055 left_pitch=-0.1506 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3609 right_y=0.3569 right_z=0.1923 right_yaw=0.5926 right_pitch=-0.1791 right_roll=-0.2386 right_gripper=0.7451\nstate[joint_eff]: [-0.253, -1.6068, 6.9265, 1.8291, -0.0855, -0.0757, -0.0122, -0.4171, -9.5521, 8.3214, 2.4689, 0.1978, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a063e1dc733748985375d1a0fed788d390b660b46123d73e12afaf0383afa213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65372f545b5e17e53ed3555b2530b74dd8123c9f0f9242b1fc77ee3d361db7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6dab419a0c83b81e117c777c743a2d4fc357148392083713dfb10f4fcf653c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 5.928 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6029, -0.4679, -0.0227, -0.0498, 0.9995, 0.9012, 2.0724, 2.1498, -0.9371, 0.572, 0.3168, 0.7452]\nstate[eef_state]: left_x=0.2839 left_y=0.002 left_z=0.1512 left_yaw=0.0053 left_pitch=-0.1285 left_roll=-0.004 left_gripper=0.9995 right_x=0.4007 right_y=0.3579 right_z=0.2568 right_yaw=0.2515 right_pitch=-0.1355 right_roll=-0.1819 right_gripper=0.7452\nstate[joint_eff]: [-0.0479, -1.4974, 7.1726, 1.6239, -0.0513, -0.0806, -0.0122, 0.1162, -12.6701, 10.7966, 1.873, 0.8181, 0.2369, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4675, -0.0227, -0.0498, 0.9995, 0.9165, 2.1059, 2.0605, -0.9127, 0.564, 0.3145, 0.7452]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1503 left_yaw=0.0053 left_pitch=-0.1319 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3936 right_y=0.3639 right_z=0.2086 right_yaw=0.2632 right_pitch=-0.2179 right_roll=-0.2391 right_gripper=0.7452\nstate[joint_eff]: [-0.1162, -1.7573, 6.9675, 1.6093, -0.0611, -0.0611, -0.0122, 0.3214, -14.7077, 8.3761, 1.8828, 0.5641, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.4843, -0.0227, -0.0502, 0.9995, 0.8913, 1.8191, 1.5425, -0.5064, 0.347, 0.0006, 0.7451]\nstate[eef_state]: left_x=0.2815 left_y=0.0021 left_z=0.1467 left_yaw=0.0055 left_pitch=-0.1506 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3609 right_y=0.3569 right_z=0.1923 right_yaw=0.5926 right_pitch=-0.1791 right_roll=-0.2386 right_gripper=0.7451\nstate[joint_eff]: [-0.253, -1.6068, 6.9265, 1.8291, -0.0855, -0.0757, -0.0122, -0.4171, -9.5521, 8.3214, 2.4689, 0.1978, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a063e1dc733748985375d1a0fed788d390b660b46123d73e12afaf0383afa213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65372f545b5e17e53ed3555b2530b74dd8123c9f0f9242b1fc77ee3d361db7f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6dab419a0c83b81e117c777c743a2d4fc357148392083713dfb10f4fcf653c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvgsKEAgRGAI4AUIIdGhpbmtpbmcSDALFdEv4dzora9pmHRoMle/07kfO575Kmn4vIjDTm0whxRAGo4Pfntr4MTEMvntAYuoSc79dTQ7zds3x+TdTpKWMZZvgU5NHZ7sKv5Qq2woCsBGE2tvBU7YSdXWECZCS22VWCYMMXHIrCa0hMnoJkCGaKi+asUaeNcs8mh0GxMBRw70ocr5OdWPjixTt90qNeU1PZ1Tu6hcbwTghScXbukgh2lNgxtp27Ijf/Ts/pDiHUyHbd2gSb+F8uu8nWsb52sZ3+/3CoiEWKjgi7p6Mhmz8xyn9uHatFi2lotyF6jNr+AnIVzCS8osXvnxuD5wvpwdPqyOFY75IWj3GC1Ucqw994UCh7/CNcwseL0FvbP35Khjhfj/86f/5V6yfikIFuKkgGLoOWlUregKxPALrP30CZw/N5N1Rvko3axvQAK1YG6DyFveVv32U+/cKxh8z8ivp5o8XNBSyKOks4VeJRwdAPM8AJHF9B79ylVLzZLQEaezhQSjmoWz7aERPKkNiYcT+gyUkh9fk7oA8pLY3LKi5liyoZKFI91zwGHoN7+hCZIE154K/weCAW6dmP1Ot3WWoZrZE7uCx8AtO9WZJa+SOOY3XNrwECCLA6PCQOB/qy3VHHGVTVlndgyyBxzqwa9ZCseXgqdS8zNM2wxBV6KvS9FxGYq9LA1X6TtXH4m9nqFjtb2vZB1dt4IYpMoXZZBF2cKQKc/4zRiQy3/AWQNjJ/rjRf4gmtIMF2Wgo/mQH68FVWLTxJ2EyxjNxqVU8T7oNiAoae1MIxNnu3cztWJNkf4mBBIB5gehI0OX9Lp5uO34aEq1vY49Ht+bem9T+M0FztKOLkeePziSah9bXvZ4VO3SNj1HtrW7WM8TVujRlyeiOueTCk8k7pxzzQV9YPeb1dF6gPiEU8ACaJaitaDzVEJZyGkvjLmUVep3+RgorvcMgtsA7aiKpXNnUCWRvCNfIbpAyD1edkflFV2N0nWecffM82m3w0R4SlU/hRadS28oI6cXtOXA/a7AYEwVJo6cbkVSspr9/FfookXE2AGFi6E3FHnDp0yf8bPF0WwMVdR0ieypc/rausFwbRnqEarMmuH5c6dufzjgXV28JjgN9EZrjxnl/pr587G/dCPjFoMHietSH+wQIrEO9uYjELNdfuyZyURa87cTy576We9gJbudnVc+LqpajuzecrZWST9FN9sC9tIbuI73gehsaUr5QjoGpbLvlCZvsbSQmbSsyB5SrBBAGVaGKtdUVR160HfR9F2gLhmvCjVldj5a6EznDj49XKjowfknmf7ajdafFjy7pjlxYjbF98Fn1LRefmEK6jJe41Tk55qePwf73B29lke4AnK5tVYXVR5xAvFSSzV4CxC6DH0DIDG1jejSGYzGuO2xyuchXPgl+ijlGbjcIagPfYO3pNeacfBsBLcThkqtzVxNTTpu13FxEMY2ZThxMQwSEZHb5pIfn/ai3IaSdbUqk/iRuzTeof2LqKgBERWnuQM0aMbk6f+xmShOBw+dB1TRun+rhadEie9doMleD77MjU2Lx4BQL9ml+4URRtiKIUnRRI/zkjBbYaoXyXmuVnQRgoJyiu+Uj3F7IYNtHKqad9XfDemil7bGYMWs8PxTfF85ZaEC2YFiVXRytR2WjPMImQBW8+lVPkkONQ5cicEII/hLKcjt4VzDQdLb6GkRUFxROGsB3lQgMOEIIy+9sXwrm0W7Uq3DwtQ9PBXyjDtfdKYL7BSMTNplJhF4a2Veg6ZPxdag7Sedtkxg/E3yIvMwZl0xrMGaTW+sZbJKMo8hd4QANFNZzSxBKA4eMINaryLEqId6nHl4a5Tiz1b/Wavn3fyW3/F4zWkwj+IQk+yEnNrcrKW4qk4rxwvtAvSpLYK3AfbWZCKV9OngtJbWEz9YA/dQaUzwN3YwJiT5CDHq90DDopOkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Sd5VWMGPEThFwhgZeZkZi",
      "input": {
        "note": "The wrist view now shows the pot interior directly ahead with the brick projecting over it, and the top view shows the gripper at the pot's rim. Opening the gripper to drop the brick into the pot.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017Sd5VWMGPEThFwhgZeZkZi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.841, 0.6029, -0.4873, -0.0227, -0.0498, 0.9995, 0.8944, 1.8347, 1.4609, -0.4698, 0.3107, -0.0399, 0.7451]\nstate[eef_state]: left_x=0.281 left_y=0.0021 left_z=0.1458 left_yaw=0.0054 left_pitch=-0.1548 left_roll=-0.0033 left_gripper=0.9995 right_x=0.3506 right_y=0.3562 right_z=0.1554 right_yaw=0.6441 right_pitch=-0.2501 right_roll=-0.2591 right_gripper=0.7451\nstate[joint_eff]: [-0.0068, -1.306, 7.0496, 1.6044, -0.0513, -0.0464, -0.0122, -0.5265, -10.6735, 13.012, 2.2295, 0.359, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf51d99b79fffd8fecb628ae1207905be526dfe40dfeaf59250b0591e0680f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10347b6ee0cce86fa0973fcf37da3d18a3ec1c1c2cabf7c72a3c2e82b5a9150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf189bfb0b420af7e2a67bc58ff92b176a238010fffbd3d07d4a105d94ae6937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 9.012 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8379, 0.6029, -0.4675, -0.0227, -0.0498, 0.9995, 0.9165, 2.1059, 2.0605, -0.9127, 0.564, 0.3145, 0.7452]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1503 left_yaw=0.0053 left_pitch=-0.1319 left_roll=-0.0039 left_gripper=0.9995 right_x=0.3936 right_y=0.3639 right_z=0.2086 right_yaw=0.2632 right_pitch=-0.2179 right_roll=-0.2391 right_gripper=0.7452\nstate[joint_eff]: [-0.1162, -1.7573, 6.9675, 1.6093, -0.0611, -0.0611, -0.0122, 0.3214, -14.7077, 8.3761, 1.8828, 0.5641, 0.0122, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.4843, -0.0227, -0.0502, 0.9995, 0.8913, 1.8191, 1.5425, -0.5064, 0.347, 0.0006, 0.7451]\nstate[eef_state]: left_x=0.2815 left_y=0.0021 left_z=0.1467 left_yaw=0.0055 left_pitch=-0.1506 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3609 right_y=0.3569 right_z=0.1923 right_yaw=0.5926 right_pitch=-0.1791 right_roll=-0.2386 right_gripper=0.7451\nstate[joint_eff]: [-0.253, -1.6068, 6.9265, 1.8291, -0.0855, -0.0757, -0.0122, -0.4171, -9.5521, 8.3214, 2.4689, 0.1978, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.841, 0.6029, -0.4873, -0.0227, -0.0498, 0.9995, 0.8944, 1.8347, 1.4609, -0.4698, 0.3107, -0.0399, 0.7451]\nstate[eef_state]: left_x=0.281 left_y=0.0021 left_z=0.1458 left_yaw=0.0054 left_pitch=-0.1548 left_roll=-0.0033 left_gripper=0.9995 right_x=0.3506 right_y=0.3562 right_z=0.1554 right_yaw=0.6441 right_pitch=-0.2501 right_roll=-0.2591 right_gripper=0.7451\nstate[joint_eff]: [-0.0068, -1.306, 7.0496, 1.6044, -0.0513, -0.0464, -0.0122, -0.5265, -10.6735, 13.012, 2.2295, 0.359, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf51d99b79fffd8fecb628ae1207905be526dfe40dfeaf59250b0591e0680f8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e10347b6ee0cce86fa0973fcf37da3d18a3ec1c1c2cabf7c72a3c2e82b5a9150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf189bfb0b420af7e2a67bc58ff92b176a238010fffbd3d07d4a105d94ae6937",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9QYKEAgRGAI4AUIIdGhpbmtpbmcSDOU/b01WUbCLsCnhzBoM7Bmm3eR2SH+CLCjJIjA4FxUStJQSloK7LCDESR0W7rJpMzVeqI9K6FKdY2wWkqeBcR1JauHz+HgeC7CcqBYqkgbtxScevD3FmUPMH08MjsgOwqCiD4JEqDayN7cI82oQux3/RPC+DEYux59Xtsij6mVd6kzAr6Ob0qgDYNZDjNPoJiKM4we7Il2eDWLXbCsp3517EKxwzusSZJhxmmTedwmxE21Qd1G3l3vNG7NgWbuUUDagk7RqO9ZQhslg2nJC4wwP7mnqb/oGwFx3fKGX40KjOQTCzB/ee98n4xiaa6L/9gpCN0uuaynhvRTKKOx894mdYQyBxOId0lP2YnBlau09MTffk2vSoP0dogB5GTkde8GXHlMZk75mnulyw4WnUilLRDUcrxIlC9DCu5mQ6WK+SlWiav3n9RjlJw9vurrmGYTcU2DJ3ynvjbQEAk/IlFvzgDG4f8DnWVFShwKBubYvnQ8Lz994tJxgZwN2ILiS0HQ/e2Lb9zhkTf7SECFWKx1sARjQ0JFrT8XpuOlUpXvwfqzy7h4NXiZtltl35T+1UxH2rRIEeBIYAH+zaT2AzYoMpvb2V2wsHxkBi8IOkIVnnrCZJlXTRLU0OJQdvZHspQQpc+07hscm97eNzs3TEerfbc8rpFUwhElgNpwLbI6r0h0NSZtfVsl4elF93gbxbt7Fdsli1C7zbqykeYcjLuHR6BLJhfKC7kdzy+GilNohYGEvu1gyLEaZUTOMS//fmkWmCR4yhCM8+ZL7F96swUUjdF4Gpy9HVTImBHzF8vTbK3DI9akEZiTYRozyGQeNPwjp7v7lIwrN77g7qZ9it/xvNnCAWpUWhyIQ4dp1ORhvnIImvTgqO52Kr5gfGAn7Drl1GxomM0pvvqAyuQVB30PLTVLS4v5nr+R0xil0ReikxrZpt3UGlOLsiT0D/loWsPK7KJzLXg8q6APZ4z1f36jGBRuG6K1apalIpsQF8xAknEbiplo+TjszquQHsWADpJ0WaiSgTZiK13VbkhGTYr99+sv1bGN415DrL/34nvqqR/vI9vI0GScATNmiHObCGjVb8TK/BmPPSkRRW/bypEVPsTLSiyd/evn0E0QgeJ9BPI2DmKPFYQnFov1AFUFNzWUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pv5hp1pESC8prWquyEkEfz",
      "input": {
        "note": "The gripper reading is still 0.745, so the jaws have not opened yet; the brick is still held over the pot. Re-sending the open command.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Pv5hp1pESC8prWquyEkEfz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8413, 0.6029, -0.4915, -0.0227, -0.0498, 0.9995, 0.8921, 1.8454, 1.4498, -0.5339, 0.3023, -0.0307, 0.7451]\nstate[eef_state]: left_x=0.2803 left_y=0.0021 left_z=0.1449 left_yaw=0.0054 left_pitch=-0.1594 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3418 right_y=0.3457 right_z=0.1359 right_yaw=0.6376 right_pitch=-0.3335 right_roll=-0.2686 right_gripper=0.7451\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6044, -0.0562, -0.0513, -0.0122, 0.1983, -10.6325, 7.9795, 1.9512, 0.1978, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c1b9f93b57ea73fc95406e896b63bbced36b1246aef926dbe8f8c1b11220ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7459acc2f677499c4bbcba9151e1afd44f83cf07eed8ccf333246b4613bd6504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:213c024774eedcae6a6a4d1912d1cc97ce107d92feffdb0ddda187efaff328f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 7.917 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8398, 0.6029, -0.4843, -0.0227, -0.0502, 0.9995, 0.8913, 1.8191, 1.5425, -0.5064, 0.347, 0.0006, 0.7451]\nstate[eef_state]: left_x=0.2815 left_y=0.0021 left_z=0.1467 left_yaw=0.0055 left_pitch=-0.1506 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3609 right_y=0.3569 right_z=0.1923 right_yaw=0.5926 right_pitch=-0.1791 right_roll=-0.2386 right_gripper=0.7451\nstate[joint_eff]: [-0.253, -1.6068, 6.9265, 1.8291, -0.0855, -0.0757, -0.0122, -0.4171, -9.5521, 8.3214, 2.4689, 0.1978, -0.0269, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.841, 0.6029, -0.4873, -0.0227, -0.0498, 0.9995, 0.8944, 1.8347, 1.4609, -0.4698, 0.3107, -0.0399, 0.7451]\nstate[eef_state]: left_x=0.281 left_y=0.0021 left_z=0.1458 left_yaw=0.0054 left_pitch=-0.1548 left_roll=-0.0033 left_gripper=0.9995 right_x=0.3506 right_y=0.3562 right_z=0.1554 right_yaw=0.6441 right_pitch=-0.2501 right_roll=-0.2591 right_gripper=0.7451\nstate[joint_eff]: [-0.0068, -1.306, 7.0496, 1.6044, -0.0513, -0.0464, -0.0122, -0.5265, -10.6735, 13.012, 2.2295, 0.359, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8413, 0.6029, -0.4915, -0.0227, -0.0498, 0.9995, 0.8921, 1.8454, 1.4498, -0.5339, 0.3023, -0.0307, 0.7451]\nstate[eef_state]: left_x=0.2803 left_y=0.0021 left_z=0.1449 left_yaw=0.0054 left_pitch=-0.1594 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3418 right_y=0.3457 right_z=0.1359 right_yaw=0.6376 right_pitch=-0.3335 right_roll=-0.2686 right_gripper=0.7451\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6044, -0.0562, -0.0513, -0.0122, 0.1983, -10.6325, 7.9795, 1.9512, 0.1978, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c1b9f93b57ea73fc95406e896b63bbced36b1246aef926dbe8f8c1b11220ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7459acc2f677499c4bbcba9151e1afd44f83cf07eed8ccf333246b4613bd6504",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213c024774eedcae6a6a4d1912d1cc97ce107d92feffdb0ddda187efaff328f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3QoKEAgRGAI4AUIIdGhpbmtpbmcSDIPQC1MOJXyuIMlXvRoMgKAPjjGgajZbaBJTIjCS2s1tCLH6chqOk+xAVvoxyxfcuB540ZUtVErkj8AiZMHRnhNK6G9y0jwyHIFDsQoq+gnzIh1NfjGe/rOHGhj1P8RBvUtNMCumJTSbnJjh12dXjI3upTN9l0qFvb332H7jzm5eHMg3eLaZgi4B8Cls3DRMcFlNKS/VF1+RO9v00oZBFvjp+fnH9lQ0rjLPz4NF0p2Fg01otBMg2XyjLLrHfqWUz0rcb6+ILOyX8JpwfpCU457Qsv3JZevzJf8zSyxcJ349njOMf77eJeJEibhsi4QSPVRj6farizr9y8DTZE1UXspDorX7kxHcZ+ZW0twG2b1bDUd5aX94jj55d1FxEyfvdncaXDmAoha0JA2PigEljWRR1uwexsqsmSfBjvU3fxI1NTWahanYueKdMv+6yLDFehecWu0xHpw16+i8SD8OG8H4qtZlucgPbgGvJM0G4YQ8RPyzELHy4DZA8bOdFrQ2bV89lqzs1ujg/TQL87a48S58LFFZJSNEqANSIeR5AIqjBrNbrqMDwWTiR1julJ3RGAmmTYuxtIWfPIAlwpcjAq+2bJ+wIi3mnsiVlfCAOl2vPlZRc6EJ8GgJdsIfdwkD7CufYOuj+YWay9dFQlz3M7iPyADXMJ1MsyKWANGIVIaOSUmlyp/EMs1lZZ4VwCKb+hV6as607EAmfj+DD3BHlBCu6t68AEAJ7ZJYFNr50dSiFjSq0x0fiEKlsudhWyUbVHyYrFcGIetqcu5EggxAMeAMsEZvEeUlBZG9bnrytJNoGTXM8XqF0nXzn0PbPFR+Z7zgBLBs1apAb9a/wnkCYc+43T1crNaWx9uAtz8D0Lmsa3hnzmE3FOueTa1jMN+VU5eqykwiqBa25xgDAY02wv3uuAqdYbZ/ZB4756nL4paO17sDxDFWo7i2A0Xwu1tZCCtD5ezHmHQ2ZL3Nq5MsbrPrwcsIAK/cNYP5O7YL/yQlGQQj7FyAZWan+9vnLnzCLg4Ekk5+F4uTQ66KxHnvy+RpegV/lNhcv6ogiby2ebTLq72nqigrVuPvBXfdFQ8ViXtAeuSCH2BQEW8OFtmC1+Pq78kyvcn7vCOiQZHrcqeBEzEsqBPPPIeVC3/lfPk7+vX3j75hwwrBCKR7h3ZTWVj29fHIezdB5zWCZuOg5J26V09Ddf2DpH3sQNtpmmjE9+aqfpOVKBv6GINjD98lneSLV0SPIBXsGY++CDZDilVaxEPE7lMibFi0dpouCATUmQj65AgyXEaWPFY5MPm3T/EWe6pIRg7NXtIX1xW6OVaatGSe+hPjGwIHOojNZZBaukaLFa5lsFux+sjif3n1TcepudIaIS1bSkUSSPobZOJco8+vxnrH89VERT6vzt10nYkCF1C3WYs+K3DZnTIEGqz8W870YCdxh7l+eKYJjJShK4myu8ueAfwIp0PTw7nlRVTmARbNG1JY4IVTHgC4YpeokLWPD4PrfNMHS8jRsRt/3jduOEWPBOSsXvIuGEAlOAPrZecXIjiynE7GlSPTnMb8LhNJ4g+KPnFxGostKFoc6mc53XmX1kZ5VzLK1d5mEsNkTnL+C+/dSD5cvA3JZ/uyWttcoKOwpjxDP13Zq7c9Z73IEuNUHYkbyccyKYnndnpSwSi1GHKn4I/fVIez/PdZO/rwjkLjJWfrXVbNK2GS3rMEZphw0DX95mGwFNEmnQVLEee1sYl7leSsQZPwf2Ql9TC5rT04lYl9aaX4bsmjiBgTAAsWKA8gpdSGkDT6q2Biqst47bjwYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVTXPZF34nv2VoWSrFb4AR",
      "input": {
        "note": "The gripper still reads 0.745 and the arm is sagging toward the rim; commanding a lift back to 20 cm together with the open so the jaws get more steps to release the brick over the pot.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.35,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01LVTXPZF34nv2VoWSrFb4AR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4938, -0.0227, -0.0498, 0.9995, 0.9039, 1.7107, 1.2655, -0.2394, 0.3546, -0.0837, 0.9979]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1439 left_yaw=0.0054 left_pitch=-0.1639 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3463 right_y=0.3466 right_z=0.1732 right_yaw=0.6467 right_pitch=-0.0949 right_roll=-0.2814 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6479, 6.9128, 1.58, -0.0562, -0.0317, -0.0122, 0.1436, -11.2615, 6.5573, 2.1123, 0.188, -0.0024, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e7affaecb572df440f40b2796e9d4b6ecfe8da6583abb8dfe3a8a6ab988faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4986c0a4e8176cd5c4729f74610b9486262aee9dc1e183351123becec1ff685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f8c7c51898bf5154d8608fe28fd77f57074c1a3972108a27ae429c404ceebb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 15.75 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.841, 0.6029, -0.4873, -0.0227, -0.0498, 0.9995, 0.8944, 1.8347, 1.4609, -0.4698, 0.3107, -0.0399, 0.7451]\nstate[eef_state]: left_x=0.281 left_y=0.0021 left_z=0.1458 left_yaw=0.0054 left_pitch=-0.1548 left_roll=-0.0033 left_gripper=0.9995 right_x=0.3506 right_y=0.3562 right_z=0.1554 right_yaw=0.6441 right_pitch=-0.2501 right_roll=-0.2591 right_gripper=0.7451\nstate[joint_eff]: [-0.0068, -1.306, 7.0496, 1.6044, -0.0513, -0.0464, -0.0122, -0.5265, -10.6735, 13.012, 2.2295, 0.359, 0.1587, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8413, 0.6029, -0.4915, -0.0227, -0.0498, 0.9995, 0.8921, 1.8454, 1.4498, -0.5339, 0.3023, -0.0307, 0.7451]\nstate[eef_state]: left_x=0.2803 left_y=0.0021 left_z=0.1449 left_yaw=0.0054 left_pitch=-0.1594 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3418 right_y=0.3457 right_z=0.1359 right_yaw=0.6376 right_pitch=-0.3335 right_roll=-0.2686 right_gripper=0.7451\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6044, -0.0562, -0.0513, -0.0122, 0.1983, -10.6325, 7.9795, 1.9512, 0.1978, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4938, -0.0227, -0.0498, 0.9995, 0.9039, 1.7107, 1.2655, -0.2394, 0.3546, -0.0837, 0.9979]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1439 left_yaw=0.0054 left_pitch=-0.1639 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3463 right_y=0.3466 right_z=0.1732 right_yaw=0.6467 right_pitch=-0.0949 right_roll=-0.2814 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6479, 6.9128, 1.58, -0.0562, -0.0317, -0.0122, 0.1436, -11.2615, 6.5573, 2.1123, 0.188, -0.0024, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e7affaecb572df440f40b2796e9d4b6ecfe8da6583abb8dfe3a8a6ab988faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4986c0a4e8176cd5c4729f74610b9486262aee9dc1e183351123becec1ff685",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f8c7c51898bf5154d8608fe28fd77f57074c1a3972108a27ae429c404ceebb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzgoKEAgRGAI4AUIIdGhpbmtpbmcSDCIYL6MdtenBYNyLhRoMtsRFiA8KdWHaBx2RIjAv93+2Ma2+IAgpkHNKhplJgJPoLVw+mFpYNgi3HyeEC32Fe/REqJ5MlgMnBcpghk0q6wlWrGaDw8RVSzhaX6KExLuw7IhR7mKcQbwS+hwA6GUtkQD6giIXboOi0Ne/6kj7Qy7VlB4ZpYoqg6qrOPJRMAkmy3C43E8w78m8a3jaoJ/jiN1rIPmOVcs5aigkfdi+1W9+XHInNj/qhAieco1JF/30cxXjep8d6iAfBP+T8E7bikRLefij1WYjl/f7Wysw1Kng1aM+QrSek7X/00tsumJVeDuHGSu0edGpbXD1Q4TkbRFFEZojMyqx7c0jp4SU/8XehxyyooFK9C/hJIktvsSUzvApPKHs5wsq+KqxsHRZekmtubxDB8F71yLxSG2iEw/1Xo2xGEtkozxwNDxcGz4u3Au9Mo+dDiGuHqYwzyov0C9frUCl7B9Q7Okumasnu4Nxxt87ceRfM6Ghbpifm7bKkYZYgNFkQ0fnfxtUdpt2oeEfGW8tj+wE09JEZkFeef9LLiq5Wda0XyxspV14YVCRdlhgulcZX7hMF+oVoeLPnyWLK51YTz8Do4OTTGGDO7ntPrXKCyWDBPwOoBUJVzqDBLKYcFXQFeIuPV4THeHiI2g0JnJ1LtwWEoa+sbVctQZAEgk5Pw0A4cssmu3754v7WCFm8lY8xPPwgJgeWCRWix/B2SI9csJjmkVNTu43TkPZl3tUSnsZYyDc3n4JKkOhTkcEoRBv+HnHUIFPcTVA5YxEgxfH1VrSHrkwkUMCub+KxtBQEQVqBj8Et1uFgs4kgewBAZh/cf7rXeMGtKVxhi9j23R0XNRQfcw2e/PpXUiDk/xpxeVY72dE4PcGWIM3s+cSDBcLHhx8w7qJ4H9p/rdl4rP+kKzPBK8mflm6wDN8aJgf+eqOuslzLNSSLYHPWEUZcfyXsBfGOpd88Yb+2gs/to2yryJ52MSCdJXvGlqfUUEuHxKt5jfJliYIRscQSwMCv40g07U8G+uRsjTAg5ZJns2nA8N0oT4zQl8TuAUkrBuNDOFLlGVK2NwQHriZkNrWNhNwK3AZ6R7Kz+xV3u5dwecYsgmfWXASVYGVjY/bKbGtssfa4WhxUnUEbOC9/cjkiH8VF/V/fUJjcBEu1oboryUA92iYlQvLUeOS/18ofRlDenlFNxSoV9L/2qhV7uVAC6nsHxgGTi9ARHpbXjemZc6+NBS81wT6NTRIiDJK2BTshzirR5TCXpvG9XfSDa2Ku0SGA5Y4QQKIioFSCyjjBHSRs4eQVW2bgP2zcHm49RAdp1SGpLibABY+omvZ6fRnp7U/P9ysoBWBpyXpTVJKLYYV/FWzkxtppGjFija2Z2nXi3SGmj9jKMstLA0VOxIfm76x+YTytXeceu3Gqvavf2JvZv1Vitc0wrH3yGplrGAEyn6QmiyEQkiGUDwM4LSkXtkYMnArqfAPMYszkuxMxvD34InzmfYB3ZXFMb03r0KgovvYAfZBnmVrCe4g78JuIHgzYYcK1ZZY0bw42QPvXtXLA86KgZN9vHmx54lXHxn1vpOcuP0r9VfLLefjVArlg15F9nfKZZHqiuhHsbfrU20b/uXlRnDXJl8/5Lhn1DfubFmLmOgYZFyVm2B237/MkAoKiEkTJ/KGt6BQmmxhdspxCKFQegAUeDabcIl7nqJEIDMeuiqV8lbuR0ST/0YH9ym15bXrJ0WkLkkl82T7DE/SvTlXNRi2dtj1E1jHeYO+HunW74a24xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016x6xioFjzTr8F45Gx4pnyz",
      "input": {
        "note": "The gripper has opened and the brick is no longer in the jaws; the wrist view shows the pot interior. Retracting the right arm to the side so the top camera can confirm where the brick landed.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_yaw": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_016x6xioFjzTr8F45Gx4pnyz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4942, -0.0227, -0.0498, 0.9995, 0.6895, 1.1065, 1.0157, -0.6601, 0.675, 0.1711, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1436 left_yaw=0.0054 left_pitch=-0.1651 left_roll=-0.0031 left_gripper=0.9995 right_x=0.302 right_y=0.1106 right_z=0.2438 right_yaw=0.0452 right_pitch=-0.0227 right_roll=-0.2927 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5521, 6.9128, 1.5702, -0.0562, -0.0464, -0.0122, -0.294, -3.9726, 6.8308, 1.5018, 0.4762, 0.2027, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6146087816844a16b8fc779ba3f88838653e975eb12786904558a9dc78cc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0500226454994d2b7681a62f570f12cc3590b69c10f3024978d0b1864307a9de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a788376427892a4f4e43f7dace8806b9b2dc483376fbdf4bc2c06d7a5d761d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 18.96 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8413, 0.6029, -0.4915, -0.0227, -0.0498, 0.9995, 0.8921, 1.8454, 1.4498, -0.5339, 0.3023, -0.0307, 0.7451]\nstate[eef_state]: left_x=0.2803 left_y=0.0021 left_z=0.1449 left_yaw=0.0054 left_pitch=-0.1594 left_roll=-0.0032 left_gripper=0.9995 right_x=0.3418 right_y=0.3457 right_z=0.1359 right_yaw=0.6376 right_pitch=-0.3335 right_roll=-0.2686 right_gripper=0.7451\nstate[joint_eff]: [-0.1026, -1.4427, 6.9675, 1.6044, -0.0562, -0.0513, -0.0122, 0.1983, -10.6325, 7.9795, 1.9512, 0.1978, -0.1245, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4938, -0.0227, -0.0498, 0.9995, 0.9039, 1.7107, 1.2655, -0.2394, 0.3546, -0.0837, 0.9979]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1439 left_yaw=0.0054 left_pitch=-0.1639 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3463 right_y=0.3466 right_z=0.1732 right_yaw=0.6467 right_pitch=-0.0949 right_roll=-0.2814 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6479, 6.9128, 1.58, -0.0562, -0.0317, -0.0122, 0.1436, -11.2615, 6.5573, 2.1123, 0.188, -0.0024, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4942, -0.0227, -0.0498, 0.9995, 0.6895, 1.1065, 1.0157, -0.6601, 0.675, 0.1711, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1436 left_yaw=0.0054 left_pitch=-0.1651 left_roll=-0.0031 left_gripper=0.9995 right_x=0.302 right_y=0.1106 right_z=0.2438 right_yaw=0.0452 right_pitch=-0.0227 right_roll=-0.2927 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5521, 6.9128, 1.5702, -0.0562, -0.0464, -0.0122, -0.294, -3.9726, 6.8308, 1.5018, 0.4762, 0.2027, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea6146087816844a16b8fc779ba3f88838653e975eb12786904558a9dc78cc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0500226454994d2b7681a62f570f12cc3590b69c10f3024978d0b1864307a9de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a788376427892a4f4e43f7dace8806b9b2dc483376fbdf4bc2c06d7a5d761d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5RIKEAgRGAI4AUIIdGhpbmtpbmcSDHSsUcp+TSawoZSXExoMYN7T/XRCwziw/F6FIjALXTQt91rNw7imwfusD5vMPXpAXuVzQOr5P39u/+1E6GU9l9dPWRDU5LNkE5XPQeIqghI4vThuD2575MyS2ZXSnVVRgezRpWGPedvXex3+EN0y1OGW08XhhW1JQ7U3979FbBXzjMhQpL0JFedzL/ZA2r4t/+z/WsMofKMqse28Kwc4idEJ1XOr8LiZgomY6/AAWUba6iHrzuwJj2gyuH58PqztKeUFytn9lhY6QJ1HmvGXdzacD5+bIJGZPE22jpPOBXm/Wu00p1mW4QlfzgKaPwbYcLFf4gkEiCgycH7R7cAiePXl9VTYsb15/0IZSp0RaDliS5LYiivV/Nrxth7aueKX24yfjpaYTOEo+Pc4ojQ9sBGFacIBdXjoExCyyIt8/5SkuBFw0orm2e6SYatLmIKcF/xdER3+ngwUyHB7uK/wkJdwTm60l2CaINzbO/gpbqy0nzlVIep9dblWxHOQfHmLWSdsGQrgGSY5kmKc/fTGw2ZVHc0KYxFi1YMiXkljKJLhBYCFY2VfnNLv/DfGOkh1si1tzg49G41kf4wiqYHwu/eoES7GODy12Gzlas4xpA4S3lt6Q6YUiDtzbtwFGbTYzox4Oe2DVPQabqASumSzrY+XXf61axRD3t0V4WLkrGouboN+gX/KneVaFw6pqVYWEe1Ol04Yl+rWdtiMeos2jh8orpWBaLgWG+zqggVY57mzME6IQlwY7xQELi4ccCT/n6YsI4BYguel1VhO2og415GnslIB/rwplBxbJLYOysjlt5b9CSmKFbBnWWCFTIJfhElHKFnL5JzPkm3U+pfkJlLm02FuhF6hdg/kr5/Ifn+tifjVEC73xk2m6JnWgIyAoUpOF5nZ2/NKztU+AXTlvAMlBbJOEpfa3p3Xzloc+9e5THKCNAw4Wxr5Ar9/UqDfF1/ooaGtDqq0+5pJ3sIPknorE7KUJjEn3LUQB/eBShdw/zgM3NDN37oYIv4uRpyV8oo5lwdBOQ/zZ2MPC3mm7xGrbDtnQR9YLDovsLSbSE7smUd7MvUcBzKS1qr3ej17MEdQAc8Iz/DW5nf7AaCL6UmTTFmgib1z9BnY6Ze/kLhLuFxhJuW0sDSn9SCa8PjeqG/TSEhl9dCewGbmrBBUAjCyxT7qhpfXVUN7XcWqYtO8Y9pKzLaGws45U8VwB1ZQpAr0ZyQDilh30NWsJYPIFiiDiJ5eID/6EMrqLM1QIROiGuKT8pAQ1fR+8IZ04xV7XzbdT1POr+CFfbBz4dmRggKBf2AkL4Panm4l0kHhZnEAJW51qweKoYtjAVB7kIQ1lgXZhSgrIUN9iXCrHXS//9yxNg8wvfp53xJx9CfGKtCx1qj47LknSWOZRCiWSPpqoSOVNUA4baRVtLu6u/5XljhFuXgVxVpAjlwvHHnd84d+87e6ldgqgEnnF0+r3yH5ydegn8S5tNn39AoGwk+9+kY9iOIMcZ8ekAsklbbW9EOkZn9+bpIJRuIP0KMIJfkQNBEK2bZ/5RezPpYCS8OVdGgKOHkd+qgLX8UGtv7pXvn876gr5MP4nwW7lo1fUmndjs9hcmRP9aFIXcWHN3xrLeKnr6F+6yLuzt6ZhZC1jY6NlHWRCMDd1EqhC63BECKVQb4tYf6UY9gP7ILl+WFh0AQ7vKqZbmAwW5W5M6rprZqygErO07x5w5xD70gkzTuQBz8N8RneYy+F0HCfqGPaM3pFtsjI1cWNqvtO0EJ2aQ5msNsHlA7qSRCsJO81mIP06zt4Os0ogVEba7/LTyUQf8k/hZoLF/Ez7pfoYHWhzJjVNnaa3nHq6yQYPOJLpW81ZTBHFap8uR3IKJPMUaJ7GIVOYJjJF+iDhEko7u65sxiJ0/08Av+em0BNuaKY5fnxUYuT5VrWABggLBv3jo2u343V6sKwPj2JxYUsfKhuMHzwyPr77dzDn3VZ+9lVE0CnZVDvRvBLRGJRIVyIO5QWdtRGwjxy8vdjqrh3A/d7c/6ISql6pCjyHGStNqphXs3USfngSd7gqX/wUqzt//MyMhHCobYT8YMG5ySEp3mwLqfNGr58fR5dJJ1UudgHqV0ZXGF6A1ep4yREfVPECkX70RfgSHJIpLMXJ+bEuODtj1C+USW6AvPFcAAGTr9Q29OLeNrlbmlfEf0b9wMdl2onoxeOzv9ncu6NwIMzseQJStlfAqNYFU2gYLkZ1LZU841/JzbHoWpAcSkc4PSVluiD2bn9p0RQ79dUtpIfsdgElbFcXaB7byM8tNPbFVzWwfbkezQsGWm9JFhEeG1G9jcQYXzwZ8TWqtVEERg98ESvatIZvs3de2OrQ83Qw4UeNSWBzGp28Pv20yiJKXrL619xTTHOo/+FqGZYmTNZUhIqnrJurkyiODuqCdLC3AGpJWKR2IQmcripUSJ8iIMp7IgMqiDAlrcBoqerjqEgdnl3wxGt8cZRqoD2RfcNTlg5na7QZ4vFI7RwLOQcHG1otW53VpanSzyrbtCNTs4D4j833GwTjLXFTnPZp9oOnpHJQp7pYC7fUhMVCNL+Unbf8i6kZs63WqfDMb/SHi1rQApqAFJj4IdZZUVL4bOAxYw9KR7I8JHgh4cZRjJZJp4KNMwf56CtH+6hzUvfSS6DCn5mLjynmbO0DKcGl+M/HMFbLvoQ/SI4nBrcBGmAMycU/MJrxI1HPSZK+UIut/PBPh1Z1yMNvCfpoeLpvvrzHadfAEdwZcBb5J2noNR38XYWiVX6ca/NBRJMQ9B0/XBVBU6VhB337wMqh/KV74kpofVIxavYG+afs95Pm0aeh9AWcIFsdD++EKop+/mUZza0BV0lmAL7yHfdNINPj/VoF1XkIG0rLG/ChqDMt59xtyWVLqlCXOQxd0O9nSXyN09TayjSrJ7JLuJawq3WlPEvKHzihtji28sbNclTeBOBFXq75HW7EEy8pSNGeYC6RtyN4gtbGfOEusnvfpk5v+QHJlXlf+VkmJSvr0UrGX/srRkE2dLtFYtOtR8h0CBwpdRAklA6+zRdCpL75Iitz0XQCm6yRPm8N8tl5jgLwjmRT+/m/m3/ueZh4/tJ/8AvROVvs5BalM6twgAYDVutjAbl7GB6V/ctA8OiAGrIVVP8J/u+T+JJkY0iuxYkoh3XpzW8ld6mAsjxURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EZXJy3E6wVz2aV6in7CNpP",
      "input": {
        "note": "The brick fell short and now lies on the table just right of and nearer than the pot, with its long axis running left-right. Moving above it and starting to yaw the tool so the jaws will close across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.29,
          "right_y": 0.27,
          "right_yaw": 0.8,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01EZXJy3E6wVz2aV6in7CNpP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8494, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.8112, 1.2976, 0.7063, -0.0196, 0.2245, -0.2153, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.142 left_yaw=0.0054 left_pitch=-0.1708 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2905 right_y=0.254 right_z=0.1406 right_yaw=0.7326 right_pitch=-0.0559 right_roll=-0.2974 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.8667, 6.9675, 1.5995, -0.0317, -0.0562, -0.0122, 0.3624, -5.1624, 6.8855, 1.9023, -0.0073, -0.0904, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49250cf806cf4b0a747736f072084f3a81b81bda83b45ae5064506eb8d3a3bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330acb6a8d995e68178a749375b876c6a77b1071292f2b9ab5c9bad74ebe51b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64e850f36c5edf46a47ef8bc6178a7e1aa9fb194ff981cc7c6d9e578424a05a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 28.09 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6029, -0.4938, -0.0227, -0.0498, 0.9995, 0.9039, 1.7107, 1.2655, -0.2394, 0.3546, -0.0837, 0.9979]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1439 left_yaw=0.0054 left_pitch=-0.1639 left_roll=-0.0031 left_gripper=0.9995 right_x=0.3463 right_y=0.3466 right_z=0.1732 right_yaw=0.6467 right_pitch=-0.0949 right_roll=-0.2814 right_gripper=0.9979\nstate[joint_eff]: [-0.2667, -1.6479, 6.9128, 1.58, -0.0562, -0.0317, -0.0122, 0.1436, -11.2615, 6.5573, 2.1123, 0.188, -0.0024, -0.0708]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4942, -0.0227, -0.0498, 0.9995, 0.6895, 1.1065, 1.0157, -0.6601, 0.675, 0.1711, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1436 left_yaw=0.0054 left_pitch=-0.1651 left_roll=-0.0031 left_gripper=0.9995 right_x=0.302 right_y=0.1106 right_z=0.2438 right_yaw=0.0452 right_pitch=-0.0227 right_roll=-0.2927 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5521, 6.9128, 1.5702, -0.0562, -0.0464, -0.0122, -0.294, -3.9726, 6.8308, 1.5018, 0.4762, 0.2027, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8494, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.8112, 1.2976, 0.7063, -0.0196, 0.2245, -0.2153, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.142 left_yaw=0.0054 left_pitch=-0.1708 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2905 right_y=0.254 right_z=0.1406 right_yaw=0.7326 right_pitch=-0.0559 right_roll=-0.2974 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.8667, 6.9675, 1.5995, -0.0317, -0.0562, -0.0122, 0.3624, -5.1624, 6.8855, 1.9023, -0.0073, -0.0904, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49250cf806cf4b0a747736f072084f3a81b81bda83b45ae5064506eb8d3a3bad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:330acb6a8d995e68178a749375b876c6a77b1071292f2b9ab5c9bad74ebe51b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64e850f36c5edf46a47ef8bc6178a7e1aa9fb194ff981cc7c6d9e578424a05a5",
        "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_011Pwcv1Uktpwr7EvVQ62gu6",
      "input": {
        "note": "In the right wrist view the brick is at lower-left, meaning it lies toward the base and left of the gripper, with its long axis diagonal in the image. Shifting left/back over it and completing the yaw to ~90° so the jaws close across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.25,
          "right_y": 0.33,
          "right_yaw": 1.5,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_011Pwcv1Uktpwr7EvVQ62gu6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8505, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.7063, 1.4723, 0.7334, 0.0605, -0.3813, -0.6201, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1417 left_yaw=0.0054 left_pitch=-0.172 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2577 right_y=0.311 right_z=0.1073 right_yaw=1.3541 right_pitch=-0.0776 right_roll=-0.2588 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.4564, 6.9538, 1.5507, -0.0611, -0.0611, -0.0122, -0.4034, -6.4205, 9.2239, 1.8095, -0.3834, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bae40a20bdd9d3492606cc7e385a2b7d85140ff1b186f4511aab592cc3b85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3b82444996831456ec56cc176a7c770bba5f5feaa3685721fade23c0435a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77303289f9005f57bfb1bd58a24032c298a30d8a793626391c311bfd048a5dcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 10.61 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8444, 0.6029, -0.4942, -0.0227, -0.0498, 0.9995, 0.6895, 1.1065, 1.0157, -0.6601, 0.675, 0.1711, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1436 left_yaw=0.0054 left_pitch=-0.1651 left_roll=-0.0031 left_gripper=0.9995 right_x=0.302 right_y=0.1106 right_z=0.2438 right_yaw=0.0452 right_pitch=-0.0227 right_roll=-0.2927 right_gripper=0.9983\nstate[joint_eff]: [-0.0615, -1.5521, 6.9128, 1.5702, -0.0562, -0.0464, -0.0122, -0.294, -3.9726, 6.8308, 1.5018, 0.4762, 0.2027, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8494, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.8112, 1.2976, 0.7063, -0.0196, 0.2245, -0.2153, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.142 left_yaw=0.0054 left_pitch=-0.1708 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2905 right_y=0.254 right_z=0.1406 right_yaw=0.7326 right_pitch=-0.0559 right_roll=-0.2974 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.8667, 6.9675, 1.5995, -0.0317, -0.0562, -0.0122, 0.3624, -5.1624, 6.8855, 1.9023, -0.0073, -0.0904, -0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8505, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.7063, 1.4723, 0.7334, 0.0605, -0.3813, -0.6201, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1417 left_yaw=0.0054 left_pitch=-0.172 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2577 right_y=0.311 right_z=0.1073 right_yaw=1.3541 right_pitch=-0.0776 right_roll=-0.2588 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.4564, 6.9538, 1.5507, -0.0611, -0.0611, -0.0122, -0.4034, -6.4205, 9.2239, 1.8095, -0.3834, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bae40a20bdd9d3492606cc7e385a2b7d85140ff1b186f4511aab592cc3b85e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3b82444996831456ec56cc176a7c770bba5f5feaa3685721fade23c0435a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77303289f9005f57bfb1bd58a24032c298a30d8a793626391c311bfd048a5dcd",
        "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_015mtU8UekDQRCqV97Bjxpr9",
      "input": {
        "note": "With the tool yawed ~80°, the brick now runs horizontally across the wrist image, meaning its long axis is along base +x, so the jaws would close along its length. Yawing back toward 0 while centring over the brick's estimated position.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.31,
          "right_y": 0.32,
          "right_yaw": 0.6,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015mtU8UekDQRCqV97Bjxpr9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8528, 0.6018, -0.5056, -0.0227, -0.0498, 0.9995, 0.9493, 1.6009, 0.8062, 0.1287, 0.2146, -0.178, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1389 left_yaw=0.0055 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.28 right_y=0.3325 right_z=0.0933 right_yaw=0.8594 right_pitch=-0.1054 right_roll=-0.2662 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6068, 7.0359, 1.6679, -0.0611, -0.0415, -0.0122, 0.1573, -8.1573, 8.759, 1.7607, 0.2564, 0.1587, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68eb3f53f6d95a5872b059465ee3214972a37dababa332171cb5e70319d4f297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b989bbf5430419603b3ef29f8303653643678ee210639e0c70c02731daf6dcd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c4a492e84267c25fe845e3d48f40968609d5b5e3097ceb27f4667e106578025",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 10.13 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8494, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.8112, 1.2976, 0.7063, -0.0196, 0.2245, -0.2153, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.142 left_yaw=0.0054 left_pitch=-0.1708 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2905 right_y=0.254 right_z=0.1406 right_yaw=0.7326 right_pitch=-0.0559 right_roll=-0.2974 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.8667, 6.9675, 1.5995, -0.0317, -0.0562, -0.0122, 0.3624, -5.1624, 6.8855, 1.9023, -0.0073, -0.0904, -0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8505, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.7063, 1.4723, 0.7334, 0.0605, -0.3813, -0.6201, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1417 left_yaw=0.0054 left_pitch=-0.172 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2577 right_y=0.311 right_z=0.1073 right_yaw=1.3541 right_pitch=-0.0776 right_roll=-0.2588 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.4564, 6.9538, 1.5507, -0.0611, -0.0611, -0.0122, -0.4034, -6.4205, 9.2239, 1.8095, -0.3834, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8528, 0.6018, -0.5056, -0.0227, -0.0498, 0.9995, 0.9493, 1.6009, 0.8062, 0.1287, 0.2146, -0.178, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1389 left_yaw=0.0055 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.28 right_y=0.3325 right_z=0.0933 right_yaw=0.8594 right_pitch=-0.1054 right_roll=-0.2662 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6068, 7.0359, 1.6679, -0.0611, -0.0415, -0.0122, 0.1573, -8.1573, 8.759, 1.7607, 0.2564, 0.1587, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68eb3f53f6d95a5872b059465ee3214972a37dababa332171cb5e70319d4f297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b989bbf5430419603b3ef29f8303653643678ee210639e0c70c02731daf6dcd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 210):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c4a492e84267c25fe845e3d48f40968609d5b5e3097ceb27f4667e106578025",
        "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_01APEShxwoubDnbSD5RhMGSo",
      "input": {
        "note": "The brick is now on the jaw column near the bottom of the wrist view, running diagonally; a yaw of 0 should align its long axis vertically so the jaws close across its width. Yawing to 0 and descending to 5 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.34,
          "right_yaw": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01APEShxwoubDnbSD5RhMGSo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8539, 0.6018, -0.506, -0.0227, -0.0498, 0.9995, 0.9661, 1.6234, 0.8345, 0.1287, 0.4301, -0.0406, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1385 left_yaw=0.0055 left_pitch=-0.1876 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3029 right_y=0.315 right_z=0.1028 right_yaw=0.6248 right_pitch=-0.0511 right_roll=-0.2846 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.5702, -0.0024, -0.0415, -0.0122, -0.1436, -7.9795, 8.4855, 1.7705, 0.2418, 0.149, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b07b8020c633cb830c4190f85f054ede20df452474576c4839ec0d05ff3726b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4d7dd33c42df1c0eed13f12346b9c1fb84fc48f92a296d73b07dbedf089179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21fef9970a69a63fdf6433b876c5334dfe014b95b03e38953e1db9f0f0556d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 9.911 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8505, 0.6022, -0.4942, -0.0227, -0.0498, 0.9995, 0.7063, 1.4723, 0.7334, 0.0605, -0.3813, -0.6201, 0.9983]\nstate[eef_state]: left_x=0.28 left_y=0.0021 left_z=0.1417 left_yaw=0.0054 left_pitch=-0.172 left_roll=-0.0029 left_gripper=0.9995 right_x=0.2577 right_y=0.311 right_z=0.1073 right_yaw=1.3541 right_pitch=-0.0776 right_roll=-0.2588 right_gripper=0.9983\nstate[joint_eff]: [-0.0889, -1.4564, 6.9538, 1.5507, -0.0611, -0.0611, -0.0122, -0.4034, -6.4205, 9.2239, 1.8095, -0.3834, -0.0366, -0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8528, 0.6018, -0.5056, -0.0227, -0.0498, 0.9995, 0.9493, 1.6009, 0.8062, 0.1287, 0.2146, -0.178, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1389 left_yaw=0.0055 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.28 right_y=0.3325 right_z=0.0933 right_yaw=0.8594 right_pitch=-0.1054 right_roll=-0.2662 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6068, 7.0359, 1.6679, -0.0611, -0.0415, -0.0122, 0.1573, -8.1573, 8.759, 1.7607, 0.2564, 0.1587, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8539, 0.6018, -0.506, -0.0227, -0.0498, 0.9995, 0.9661, 1.6234, 0.8345, 0.1287, 0.4301, -0.0406, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1385 left_yaw=0.0055 left_pitch=-0.1876 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3029 right_y=0.315 right_z=0.1028 right_yaw=0.6248 right_pitch=-0.0511 right_roll=-0.2846 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.5702, -0.0024, -0.0415, -0.0122, -0.1436, -7.9795, 8.4855, 1.7705, 0.2418, 0.149, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b07b8020c633cb830c4190f85f054ede20df452474576c4839ec0d05ff3726b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4d7dd33c42df1c0eed13f12346b9c1fb84fc48f92a296d73b07dbedf089179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21fef9970a69a63fdf6433b876c5334dfe014b95b03e38953e1db9f0f0556d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSzAoKEAgRGAI4AUIIdGhpbmtpbmcSDMOy2EcQuZFn1aXQuRoMCYy8K16ujAVILOupIjAYZ8X4lJdEnI3uZ6/OyvdyfXFO5djb43Rmafsj7pg9KiTQq7U6GAnna0rBp5kHXbwq6Qlm/exfnyhVlb2utLp7cTvxxTqk3uj6q39Si1VRIxgMyTzkRwBfH/sPFBSbI0no/pxvWUdzNYKcRM9Hhe6ic1O+xyaulRbzHgLoLYPX8ZMZspLkVCgUHwnNsQOrNtL1gGk7UX8En9cN2py2GWiL84SWeCoAikBCqmkphJ3v7RwOpimXTIJswVKMu2FAIzILN4vxkR2UAxR15kZCDZCI2bqjZoryNxrXaETce7lR8rso5I0Xf/W9VXGA9jqphWNhOqWjOSn5wqx1VqdYjHEvm6YKGNSDFD+BYXYM1/e6ZJODpx7Ijy3mGMecuM3zNwh9ep0O7h+6YcECndH8X08mTF1PM3NgPmUh6lH+6cXy5+j076XPOWQIRTSPMs2bsktMC5dSVr2dYR9048VFLOdSCZbTzsecal7vGANhplQnyKtjnUktCSgN2Hj+48LC+X3cp9Fs4+wE2DTA++hRdfYW4QfpDCj0p6h8CWVj65ovaOBrUwIVB39LKwoG9kaV0MfEIkCV7Q1NeI652RbHN9q1Vd7djCCnIxb4FQYsCGgqkCdIL5AuyAoseQItjiw29WISoKfI9whkvXh1lsXE3afGFYg5bbp3dVxBRGZ/gLoU/kQI1gtb1T3H08VNYZ0Dh7hkzagkwh+nR3rNUQ54zgSBWUmBEEi7aMNKLJNeR1b1AbV340KmWGHkUI0uHrPrubBrFpwFmrbBiydORtORJUbcLY5mN6La32ahRqV6qezssbl3V+6mXZ75YOsbXrdWZ4KHQcYozjIjEiCkqgJgNlS7FUpo7zQHR2ac0+M4oVHgY/dPaQ4Gizu7hRtS+/6rW0e6YQd0PPR8QTK7ssnb7YaopzPpVXiZNCpKSD5PalS4nYShBt9e5QWY1BLszIjeMTrnCA9ekBsmRE41ts83HKULx/4lQyauMXOmRZ+PNb04L3AnTQ/wM9K2eKbi9yovNP+pBQ5EuxHxnm7xsxkQQY/NLFgVhx/TaHXI82/3qqCFMS2tTN12KJHr1voK6rgoQmGZwffDvaWHKXvel0ZjYgi3JBlpSh3A8K329AiunKtMd9W2DXv9za0uN+y1aJ10xuvrTCVb6p9fD+rUo6vaQ5QjWdXPUUGKpv23BIcZaATe+VoTtdOY18jI06mQTdiyTIcUEdhrJOS9lWnYVuvols21LRK1Z6Hf957VgmMLr/pE0hitSDt+nY1fzRPG18Euz5j2b6A6QYHeNbsrZbRg8AV/qd8bwYYTrCQ9ACAojQGbaps7/0CyuwAty63By17wl/tM7emhnOb6cG9PGgAlHcdEEahSRDJ+jJ8bAqtU4oqfRX1A2i1tdxSYr4bR1Grh8VmgCheyZFS4FbpeqGSR85pUQfFu2w8xk6MzBqrxc+eKKcfI8VrAVYufWT18Q0kvKr/29Y5J3LYUoBv5SEFNA2S5T9GooFWLMk7i7onuBlmW+Vxg5eZFY1gqmESKmRJ7LKzXaD+78JxqttCPskn7QOaBsyi/SbB1tusC/LUNvThCpXZXmY1RtIQTnJ9nlQ9CBoSHYJmFG0j+6dIDs+TGYZBuDZGghEthVqqzfuFe6BXAEPSjIpsMwWdUWUH2ro7Bown7Hozes3zxukH5MqB02DcXQdGqP5+GqukKbGb342FBzCQsJABhAj5DE0KcyGsxjXnMrKaSzmrHNdsQnC8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6aZkdic1kSWDZJ7rAojUY",
      "input": {
        "note": "The arm is tracking slowly (yaw only 0.62, z 0.10); the brick sits at lower-left of the wrist view, i.e. slightly left/back of the jaws. Re-sending yaw 0 with a small left/back shift and descent to 5 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.28,
          "right_y": 0.355,
          "right_yaw": 0.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01G6aZkdic1kSWDZJ7rAojUY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6018, -0.5125, -0.0227, -0.0498, 0.9995, 0.9657, 1.6234, 0.8345, 0.1291, 0.4305, -0.0399, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1369 left_yaw=0.0055 left_pitch=-0.196 left_roll=-0.0023 left_gripper=0.9995 right_x=0.3031 right_y=0.3149 right_z=0.1029 right_yaw=0.6237 right_pitch=-0.0506 right_roll=-0.284 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6889, 7.1453, 1.6435, -0.0562, -0.0513, -0.0122, -0.3077, -7.9795, 8.4581, 1.7363, 0.2613, 0.2076, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e203485813ce7d9b6d9562b8b7b5c467d428b5525ca68c07c536a660fb0baff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f580b6482ef52a2a647cdfba2cd10ae4a0a0abf865247ca2fc8e8eaef342cb11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5da662a8e2e2c91c1fd4c8d7ce609783bec07d7256277f29e7085253129f777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 10.25 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8528, 0.6018, -0.5056, -0.0227, -0.0498, 0.9995, 0.9493, 1.6009, 0.8062, 0.1287, 0.2146, -0.178, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1389 left_yaw=0.0055 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.28 right_y=0.3325 right_z=0.0933 right_yaw=0.8594 right_pitch=-0.1054 right_roll=-0.2662 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6068, 7.0359, 1.6679, -0.0611, -0.0415, -0.0122, 0.1573, -8.1573, 8.759, 1.7607, 0.2564, 0.1587, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8539, 0.6018, -0.506, -0.0227, -0.0498, 0.9995, 0.9661, 1.6234, 0.8345, 0.1287, 0.4301, -0.0406, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1385 left_yaw=0.0055 left_pitch=-0.1876 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3029 right_y=0.315 right_z=0.1028 right_yaw=0.6248 right_pitch=-0.0511 right_roll=-0.2846 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.5702, -0.0024, -0.0415, -0.0122, -0.1436, -7.9795, 8.4855, 1.7705, 0.2418, 0.149, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6018, -0.5125, -0.0227, -0.0498, 0.9995, 0.9657, 1.6234, 0.8345, 0.1291, 0.4305, -0.0399, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1369 left_yaw=0.0055 left_pitch=-0.196 left_roll=-0.0023 left_gripper=0.9995 right_x=0.3031 right_y=0.3149 right_z=0.1029 right_yaw=0.6237 right_pitch=-0.0506 right_roll=-0.284 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6889, 7.1453, 1.6435, -0.0562, -0.0513, -0.0122, -0.3077, -7.9795, 8.4581, 1.7363, 0.2613, 0.2076, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e203485813ce7d9b6d9562b8b7b5c467d428b5525ca68c07c536a660fb0baff9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f580b6482ef52a2a647cdfba2cd10ae4a0a0abf865247ca2fc8e8eaef342cb11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5da662a8e2e2c91c1fd4c8d7ce609783bec07d7256277f29e7085253129f777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwggKEAgRGAI4AUIIdGhpbmtpbmcSDLB+YepG7pvB2KoYDhoMdKqJkwFcXnwXzMmNIjD9qJZzCfhwdDpvuRzNZxOxvsB4yxC6nKxpMNI3gP3TkZhC9mqqJwDa2OFb25wTogkq3wf5sOV+DvUcHbav2W84ClmkwqGreJ5xrwe2Zj/uEeCLPbkMokNoOR4rYxGGt5rT/Sr9M47l9q0bg+o1tIf+0xPkZVk+jHC0WEKrOkyOhxizfjUexgHvJLY++SCfxH6vsMqY0wdxY1ewPfMaALKwHWTZmdClmw/Zcf90ed+pj9fTTApDThX0+RIFzPBwGuuwhppySS36C66uVdB5+sfKYomDknYEq7XYpK1/XoZV6g9iII3rOOv6jP+KqLXE74eoFXwnEO7h7D098TOzwe6vsZiz7pN7QFhoBpTSwCxwxjabc5iOWTyRamDz5g3XfsXhuJfaHD/4dF/XvjDWBqJOVDxeoplVNLBmchmI4IpeyMOZ2D+Lg+PJjOIReiwA8LdD3LMdhSED55rO89Xeg0oi15TgUh+vOqWPd5eSQUQ6pgdmFqe4sg0WwHLMThCpHpSchrLaNcECTI7bH577WIzrf7tn0HiCMe7yR2WJ4kjgCa2qbeV89xvWXBTfkDI7dURtZAfQ2i0jzfVcRVidR7DpfDMB459apgprXyI0q8sUAm/SRiwyVFT6c+h81vjPWaPuZtLUQPfSihRxvdhYPRnp2T/vbNWVIZJespRE4GD6FJguf/OAJJBw5AJnyHvetYEkaopO62/OwjB9xSqcO+Zrf/5yFdl4fJjILlLLa2MjNUODT7MULWubhZ2CWDq1QQy7zHASbfCqjNB9t2oSwq1MQS7syu9rhC9MoP1Z+Dc3WvBwGCiAhBh3dNbWoFbNGtppYAhNauk+F0lbohR2E8b7Cibb8Pn2GEcNTnPYIAt7O7i1G7RbHXyPLlG/j/A+b/fRHFW9L/6qnPsiKYGaKkz/hpXwU1lr9y4kmnLw0d8wtE9CCqGKByZ4MJuWZnqeD1KmBAE/uFb62lmpDJaZu4AbMfN7/PA3CVeWoB/o/nXZZCVEz2L3FQuyNGVqSgT/A+RVgxyrKhcoJ4Z6gpvHM2u1Ru/JXVBZ7alNkScw85ZC+otEyaBJmTw8j6h/JlRyqIBAngXwTA6OqtVObH13mPx0jRhXkc42JZLKcu4Ceaq2OWWJzgEni61v0LtWLjAviTexoFlfWKAElBN2vfsRzb99ALhV7d5zX7c9NegkUexQ7vaIgvg2Tnf1A+7jX9dBNuKUnxZj+47U1MRazznkuNyI25St3oxglCWB/eFeJOo+OG42T7ucyHeAru/osDzuI2sw4rUD8U95K1HAjVrGDFhlZ7RZNnlnKw4pZZqt7JfoMBA0aeX6TxgpsUDvQobTcAM8FqWISjchf4uJ/36NbRi1MBIHd5e49DryQnbKX8jEyu1oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KkAPKJr9y79crDHofJh22w",
      "input": {
        "note": "The arm did not move on the last command (IK stall at yaw 0.62 with roll -0.28). Raising the arm and reducing yaw/roll toward neutral to unstick it before re-approaching the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.33,
          "right_yaw": 0.3,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KkAPKJr9y79crDHofJh22w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8566, 0.6018, -0.5129, -0.0227, -0.0498, 0.9995, 1.0523, 1.6268, 1.0969, -0.1776, 0.5556, 0.3283, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1366 left_yaw=0.0055 left_pitch=-0.1971 left_roll=-0.0022 left_gripper=0.9995 right_x=0.2978 right_y=0.3412 right_z=0.1606 right_yaw=0.416 right_pitch=-0.0198 right_roll=-0.072 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -1.5932, 6.8718, 1.5263, -0.0562, -0.0122, -0.0122, 0.1026, -9.8393, 7.6239, 1.326, 0.4078, 0.1832, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a880de24745435521eec38849f1860fa8ada37c2c4ba20988c45c85f9dedfea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:297953e606938cff3ac0cd3618a0b063e51c74f510c971b4e97a5761549e10e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dcaab0a347d5dc079496fec03165c28ca64debc1f186a9ae75db7c64051fafa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 7.727 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8539, 0.6018, -0.506, -0.0227, -0.0498, 0.9995, 0.9661, 1.6234, 0.8345, 0.1287, 0.4301, -0.0406, 0.9983]\nstate[eef_state]: left_x=0.2781 left_y=0.0021 left_z=0.1385 left_yaw=0.0055 left_pitch=-0.1876 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3029 right_y=0.315 right_z=0.1028 right_yaw=0.6248 right_pitch=-0.0511 right_roll=-0.2846 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.6342, 7.0222, 1.5702, -0.0024, -0.0415, -0.0122, -0.1436, -7.9795, 8.4855, 1.7705, 0.2418, 0.149, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6018, -0.5125, -0.0227, -0.0498, 0.9995, 0.9657, 1.6234, 0.8345, 0.1291, 0.4305, -0.0399, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1369 left_yaw=0.0055 left_pitch=-0.196 left_roll=-0.0023 left_gripper=0.9995 right_x=0.3031 right_y=0.3149 right_z=0.1029 right_yaw=0.6237 right_pitch=-0.0506 right_roll=-0.284 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6889, 7.1453, 1.6435, -0.0562, -0.0513, -0.0122, -0.3077, -7.9795, 8.4581, 1.7363, 0.2613, 0.2076, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8566, 0.6018, -0.5129, -0.0227, -0.0498, 0.9995, 1.0523, 1.6268, 1.0969, -0.1776, 0.5556, 0.3283, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1366 left_yaw=0.0055 left_pitch=-0.1971 left_roll=-0.0022 left_gripper=0.9995 right_x=0.2978 right_y=0.3412 right_z=0.1606 right_yaw=0.416 right_pitch=-0.0198 right_roll=-0.072 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -1.5932, 6.8718, 1.5263, -0.0562, -0.0122, -0.0122, 0.1026, -9.8393, 7.6239, 1.326, 0.4078, 0.1832, -0.188]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a880de24745435521eec38849f1860fa8ada37c2c4ba20988c45c85f9dedfea9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:297953e606938cff3ac0cd3618a0b063e51c74f510c971b4e97a5761549e10e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcaab0a347d5dc079496fec03165c28ca64debc1f186a9ae75db7c64051fafa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0goKEAgRGAI4AUIIdGhpbmtpbmcSDITNeyNy/mpLDATSoRoMCp5m8w/NRWTk7my2IjD1+vkBGg3FyqyL6Vf205uknXvEdErMhogRXE9VEHhsDDs6RzkNSdaZnQby/vCLE5Iq7wkDhI03+67APRwphFl+Z63DuWQW0WRWcu9+q0Ppauv+xqCFbARz1wiJFQS6msf1eqG+NauninK8PTG34cymlKRNqtR/FuRkoOBrR1TxTLNcQGT2Uy+oL3li/9pwGmy00of3aWxgnwAgwa2IFwQgPeXr+vg5WUsm0yK+3XlhpcGsf/xxMd2O+9dnTB3f7UFsCHJlKpR5YiNsYduDY48h+lRahIyy4KI2Nw+zz941FgK4SpgjyEEy2V+QTREGB0zhE40+3XKYPqN9NEgNU7BnrJvumXhtsBt1We0+mIjOkaf44nQU7fQ65hOLOHpScRmftqxl08kRPgqHALr3+iG+posyqWwsHUtbKA4WQmEXAGUTniUmU8LsT842YD5wVZRVuW3TrNeNQwJu4BwVGnqbZl2AgfwRNxCojZ7GlBIj0iJGgVOUsIDGF4SKXWbt7TOfGBs7aGGty12zXrlqQzVk0ie5T9CHtlbtJcBEU87OlaFqh84/cDAw8VuK5hi9ujI/sUjg6g/7EPmjCbsnuzQmq7xhcPjSs3PrXmf85WcXo4I8i5mk6NRL4zqIGBcJqkqLoAQAhfZSykEaYj7oj8eiIXuDlNhUDdzLm8Tl+mrsEytiPB3Lw2QI3z0TqQF9BE7TgyNzx0ZFKt8tz8hld9+zMxIfGq3UDfrBSytsfZwQf7FxzzMneEco7B/fsS9daejUHWWZ5omuKcrTrMoOZUIlmouRi12epBBA3UE36LlQtAToMvnXB9NEAZGFh+ngJ3KyZgiHeLce7+s950vPGUGin3K58PQ9wZERlZ0utmCvwduLO67xRrIwOpyfMZ/GvYte69CZ6K6eDT1cJlz6avwphvmqbG0hAZAZEqH93XTID3m1i5MDDjb8z9k1Mo3dtP+aHLDYS5f66I/scDt2BDtAHG5nxmKfvFxWqJeQnI++vo1DGC7DChxN2wYRg6K5m/w9xf3krvX8B9mo315klvZJjc0RScuLEc/DsscBg1Z/ZMER2+Mmjvx2M0UG1DFKvCL8ajd6tfs7RHj8WtX6jVl+pi77Hw4E7bb0+4Dnxzfw/DQBsazcaP/MpD4L7NA2L1JeGx4gBcMBL717+4ZtBwfmBREMxmFKHHwt/90UJaEQBJFg3C+12T0N0utPi8Mg/xE3AAWI18cmQtYcxOt7zrnRFSlzfUNhmBH+aXfD+m5jtiaZ8MDhrrDD0WBFo5ehWCmbaisTyn5otn5F3v8afEiwc1ecHnd16afOj3vrQBu33Irt3H0rVRCZMLIocnUF6PukJAsZR54wcGXFbfcSfb8cexHPg4383FN5Jqmi+9p09yBrEQ2VuiwxOBDA7KDG31j13HsAlqaidDqX0bFX6x2m/LNyjBxIaDffGIqCX8/d3yOzo2BqzkzCsziPEPucddsNRbvHh+v74+qGQSWfLWzjtoTKAdPCZT5aL8jpDxZRxSXOWoIT1Iwaq27YO6UnY/v4dPKR1hw99zfFpXFWCxuTXLt2s8u+uKQ+2LknuT9+vyOzcTuaxrQTNEbm6Apc7PwW/dguDD07b1di0vTmG19IJ4mo86fUwL7kxwE47STP8Mftpbrm/A9CmqYw09I7GaT8Cpr6UWTnemuq0mT66e71B0PJZntYZhaO1yGxIc7CvWMiTWXSOcFetj43jnzGiUEcb3Zr8eaEy+KiAxSSjubybzgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jffpq1bvNbbgiPAFuMf2Cr",
      "input": {
        "note": "The arm is unstuck; the brick now sits at the bottom of the wrist view just under the jaws, slightly left. Yawing to 0 to align the jaws across its width and descending to 3 cm.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.29,
          "right_y": 0.35,
          "right_yaw": 0.0,
          "right_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_01Jffpq1bvNbbgiPAFuMf2Cr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.5137, -0.0227, -0.0498, 0.9995, 1.1728, 2.046, 1.1095, -0.1043, 0.8349, 0.8143, 0.9983]\nstate[eef_state]: left_x=0.2769 left_y=0.0022 left_z=0.1355 left_yaw=0.0056 left_pitch=-0.2017 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2839 right_y=0.3467 right_z=0.0223 right_yaw=0.0759 right_pitch=-0.0523 right_roll=-0.064 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.853, 6.8718, 1.5507, -0.0659, -0.0611, -0.0122, 0.4034, -9.9761, 7.7333, 0.9841, 0.7839, 0.0659, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d99ad6bc6452cb31fa2fe832965755213caf77f2053b1feaaa7d818bdb6317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e30bbc47a8ceb93d054cd2190b2bb70a29ae37930b4efa778019fbdc1cba1829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c61b00c86785b13f0759224e3f55a2d62316a8a8a6d41970a02403069c123e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 22.97 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]: [-0.0196, 0.8558, 0.6018, -0.5125, -0.0227, -0.0498, 0.9995, 0.9657, 1.6234, 0.8345, 0.1291, 0.4305, -0.0399, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1369 left_yaw=0.0055 left_pitch=-0.196 left_roll=-0.0023 left_gripper=0.9995 right_x=0.3031 right_y=0.3149 right_z=0.1029 right_yaw=0.6237 right_pitch=-0.0506 right_roll=-0.284 right_gripper=0.9983\nstate[joint_eff]: [-0.1436, -1.6889, 7.1453, 1.6435, -0.0562, -0.0513, -0.0122, -0.3077, -7.9795, 8.4581, 1.7363, 0.2613, 0.2076, -0.1832]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8566, 0.6018, -0.5129, -0.0227, -0.0498, 0.9995, 1.0523, 1.6268, 1.0969, -0.1776, 0.5556, 0.3283, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1366 left_yaw=0.0055 left_pitch=-0.1971 left_roll=-0.0022 left_gripper=0.9995 right_x=0.2978 right_y=0.3412 right_z=0.1606 right_yaw=0.416 right_pitch=-0.0198 right_roll=-0.072 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -1.5932, 6.8718, 1.5263, -0.0562, -0.0122, -0.0122, 0.1026, -9.8393, 7.6239, 1.326, 0.4078, 0.1832, -0.188]\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]: [-0.0196, 0.8604, 0.6018, -0.5137, -0.0227, -0.0498, 0.9995, 1.1728, 2.046, 1.1095, -0.1043, 0.8349, 0.8143, 0.9983]\nstate[eef_state]: left_x=0.2769 left_y=0.0022 left_z=0.1355 left_yaw=0.0056 left_pitch=-0.2017 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2839 right_y=0.3467 right_z=0.0223 right_yaw=0.0759 right_pitch=-0.0523 right_roll=-0.064 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.853, 6.8718, 1.5507, -0.0659, -0.0611, -0.0122, 0.4034, -9.9761, 7.7333, 0.9841, 0.7839, 0.0659, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5d99ad6bc6452cb31fa2fe832965755213caf77f2053b1feaaa7d818bdb6317",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e30bbc47a8ceb93d054cd2190b2bb70a29ae37930b4efa778019fbdc1cba1829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c61b00c86785b13f0759224e3f55a2d62316a8a8a6d41970a02403069c123e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStgkKEAgRGAI4AUIIdGhpbmtpbmcSDKIR/t2QorBVNP0gyRoMEHQzW8bU48BDlNjwIjD7A9Tj7xdoXR397dSUUjNHR3UTdCiabaexEhddUr8ojPDTquI6aqRS6ZthKqt2s3Eq0wgQHOWQVLRbIC9liK5E2j+FJUBWmYsxr6/JJoMcr9Zn3xtSY+0kuIJA9uiJdPYZCSlNiY2dGtFLRtCCtl4Tx5gAC+A4nNyty8Uuur3AiHSHxtGQlJi9F2HkO7VtdDXNgAPO+tlTPUTTupFtp0ABbeTz9roHoUWKwYBFkeFx2ab07jQ1gzQB4z89Nf0OmI2/esaADu4ilruKW+Y2kDRy5ruUa+7mwKu4sG5ed+tOUePT1KWrltQIezJbiihpAoM4zC3Wn2F3MjKSTMw4ZfaU1usLApfbhKhzgWEIQV0ortX/m7h9V9mqqkMASDz0jLnrykpFGIbHXqLFy/Yw7yqBtCGhkeBEPDy3T4cYIS2wue9aIyiz7nlAu/YKQqTxz1kulQky2kGyz2XCupLJqyF+ow3Rckk2UL2UtddCvVXJ2rX7Wx7ou4VQmbcN0+7w5N4aqYIdjY1rTIAoRpYOdwZpaFc8SQh+9Ajod6U3/O6bHG138EWOwQkXFifE8+KPRMvoRBhaqGqcizDLYsQvQ5Q6CQWsbgVoH9aOgWHtYLc5E/mdeFKbVSwxAnfKSJk1jJao26Xz7w+f0H++233gdrpjGEgRzdGVZhUaoUECeFBruwyIK1ITDFA92291R1SGJEmcfoZkFzI1vBSDjMytCN7H3TQPvzoeyMqkdLk2BmsUwgvvNy8ap6skJcH5u3wJxsY2x7jGqAl9z40h/71FL2/QzI1xlI7+gAknaAdz6bIWNrkqjzoFr3UD0Ap9a3aaXAXstHsOMOxsHR7Qi/kI0gBrfmReGVokm2hZFFQIbp1U4qWBMEt8DKbSla9gXTQvnt8THbX0F0U0kX3VbBQqAvZ7vA5uBWqeh479FTMRhiD5YQRi4KkkqNZdI7bsp09ivHuFZEW7oKzNrxz+XCHGmo8gB3GuOG/Lhql5PwliSSAmDidxtKoIUftQnaxVl+VM45GIs7r6YkLjh6w669IJ5Bj1kpS3N+ji+TBFbkRt3cJEKBhD3+eNRLHEqkp+omU1sF9eEDtMhRf1pj7uvdJOjdHLN0ns1Xf7mMNm17ds+m7GeL5A2kSixIb+/Kb0Fw3JyOngN9DXS54u2x3MLn0ga+y9ZSiocON5W+ZeNLr1vdsDzJyrIi+rq6ZmAQiBix8TugRntUeyuHVYVF4WsDcHc+y87YjeL8PHDxEswcxnGPYyQIDf9a05UqXXEjTYivQi0jsBFMImuZDBRHyWJKnJKlBtz8zOI0LOX3FZrkr9LVnI6VM6tatmc9+v5BBCC5PBaqBz9Cwp/D5CeKL022imzSsvPuBZZSA7IRVcO7/en3ASKf4WEgk4VV6n0jklSv+/fbSKbUHxx5G9GbKjwEncwtFnzsN2IfIfWK62m0FG25wcb1SHyXK0rv6QdD/rWbwV8svnDbAMdnfeMgFX3klhDHcgPMcPoocKV3zBFisuECfE67UWhkL0KqjpJHXhXcAzlmxKpm9whbcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TwosG79dzpSqavz67E1ddQ",
      "input": {
        "note": "At z≈0.02 the brick fills the space between the jaws in the wrist view. Pressing down slightly and closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TwosG79dzpSqavz67E1ddQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.514, -0.0227, -0.0498, 0.9995, 1.1763, 2.0621, 1.1042, -0.0254, 0.8471, 0.8112, 0.0095]\nstate[eef_state]: left_x=0.2768 left_y=0.0022 left_z=0.1354 left_yaw=0.0056 left_pitch=-0.2021 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2873 right_y=0.3551 right_z=0.0233 right_yaw=0.0761 right_pitch=-0.0169 right_roll=-0.0199 right_gripper=0.0095\nstate[joint_eff]: [-0.3077, -1.5111, 6.8581, 1.5751, -0.022, -0.0757, -0.0122, -0.4444, -7.6513, 4.4786, 0.9402, 0.1783, 0.0073, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be24fce37ebfb83307f43860ae6047d35f4848c54806da761a46cde207ceaf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8263d742b9d33fcdb3574f343f260d88e4178e271f2ab98c7e5f2a5ac2076650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25fbe61143309b693c1f74f6245f033ff7f6ccdcba1ace9faa7b1e92e8488708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 7.542 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]: [-0.0196, 0.8566, 0.6018, -0.5129, -0.0227, -0.0498, 0.9995, 1.0523, 1.6268, 1.0969, -0.1776, 0.5556, 0.3283, 0.9983]\nstate[eef_state]: left_x=0.277 left_y=0.0022 left_z=0.1366 left_yaw=0.0055 left_pitch=-0.1971 left_roll=-0.0022 left_gripper=0.9995 right_x=0.2978 right_y=0.3412 right_z=0.1606 right_yaw=0.416 right_pitch=-0.0198 right_roll=-0.072 right_gripper=0.9983\nstate[joint_eff]: [0.0068, -1.5932, 6.8718, 1.5263, -0.0562, -0.0122, -0.0122, 0.1026, -9.8393, 7.6239, 1.326, 0.4078, 0.1832, -0.188]\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]: [-0.0196, 0.8604, 0.6018, -0.5137, -0.0227, -0.0498, 0.9995, 1.1728, 2.046, 1.1095, -0.1043, 0.8349, 0.8143, 0.9983]\nstate[eef_state]: left_x=0.2769 left_y=0.0022 left_z=0.1355 left_yaw=0.0056 left_pitch=-0.2017 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2839 right_y=0.3467 right_z=0.0223 right_yaw=0.0759 right_pitch=-0.0523 right_roll=-0.064 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.853, 6.8718, 1.5507, -0.0659, -0.0611, -0.0122, 0.4034, -9.9761, 7.7333, 0.9841, 0.7839, 0.0659, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0196, 0.8604, 0.6018, -0.514, -0.0227, -0.0498, 0.9995, 1.1763, 2.0621, 1.1042, -0.0254, 0.8471, 0.8112, 0.0095]\nstate[eef_state]: left_x=0.2768 left_y=0.0022 left_z=0.1354 left_yaw=0.0056 left_pitch=-0.2021 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2873 right_y=0.3551 right_z=0.0233 right_yaw=0.0761 right_pitch=-0.0169 right_roll=-0.0199 right_gripper=0.0095\nstate[joint_eff]: [-0.3077, -1.5111, 6.8581, 1.5751, -0.022, -0.0757, -0.0122, -0.4444, -7.6513, 4.4786, 0.9402, 0.1783, 0.0073, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be24fce37ebfb83307f43860ae6047d35f4848c54806da761a46cde207ceaf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8263d742b9d33fcdb3574f343f260d88e4178e271f2ab98c7e5f2a5ac2076650",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25fbe61143309b693c1f74f6245f033ff7f6ccdcba1ace9faa7b1e92e8488708",
        "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_014WZoGuZHc93ddB1dLVQetk",
      "input": {
        "note": "Empty close: the brick's near edge is just beyond the closed fingertips in the wrist view and the top view shows it ~4 cm ahead of the gripper. Opening, lifting slightly and advancing 4 cm to get the jaws over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.33,
          "right_y": 0.355,
          "right_yaw": 0.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014WZoGuZHc93ddB1dLVQetk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5194, -0.0227, -0.0498, 0.9995, 1.1004, 2.0968, 1.214, -0.0959, 0.8478, 0.7853, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0022 left_z=0.1337 left_yaw=0.0056 left_pitch=-0.2105 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3228 right_y=0.3506 right_z=0.0342 right_yaw=0.0137 right_pitch=-0.0147 right_roll=-0.0378 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.7983, 7.0085, 1.6337, -0.0513, -0.0366, -0.0122, -0.6222, -9.4838, 8.1162, 1.2674, 0.3883, -0.022, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bd2b764782a9f1b4a1175292c76173586404dd3a6f6ea16fc24772a6500217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3c52b1efcc762b2dee5d61007a77b9e6021419b46045d7caa056cd5e5bae9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f896a55d639450b8081c60e9c3b352a6f3e102801235106f91d5fa84c9c4c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 11.7 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.5137, -0.0227, -0.0498, 0.9995, 1.1728, 2.046, 1.1095, -0.1043, 0.8349, 0.8143, 0.9983]\nstate[eef_state]: left_x=0.2769 left_y=0.0022 left_z=0.1355 left_yaw=0.0056 left_pitch=-0.2017 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2839 right_y=0.3467 right_z=0.0223 right_yaw=0.0759 right_pitch=-0.0523 right_roll=-0.064 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.853, 6.8718, 1.5507, -0.0659, -0.0611, -0.0122, 0.4034, -9.9761, 7.7333, 0.9841, 0.7839, 0.0659, -0.188]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.514, -0.0227, -0.0498, 0.9995, 1.1763, 2.0621, 1.1042, -0.0254, 0.8471, 0.8112, 0.0095]\nstate[eef_state]: left_x=0.2768 left_y=0.0022 left_z=0.1354 left_yaw=0.0056 left_pitch=-0.2021 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2873 right_y=0.3551 right_z=0.0233 right_yaw=0.0761 right_pitch=-0.0169 right_roll=-0.0199 right_gripper=0.0095\nstate[joint_eff]: [-0.3077, -1.5111, 6.8581, 1.5751, -0.022, -0.0757, -0.0122, -0.4444, -7.6513, 4.4786, 0.9402, 0.1783, 0.0073, 0.7595]\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 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5194, -0.0227, -0.0498, 0.9995, 1.1004, 2.0968, 1.214, -0.0959, 0.8478, 0.7853, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0022 left_z=0.1337 left_yaw=0.0056 left_pitch=-0.2105 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3228 right_y=0.3506 right_z=0.0342 right_yaw=0.0137 right_pitch=-0.0147 right_roll=-0.0378 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.7983, 7.0085, 1.6337, -0.0513, -0.0366, -0.0122, -0.6222, -9.4838, 8.1162, 1.2674, 0.3883, -0.022, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94bd2b764782a9f1b4a1175292c76173586404dd3a6f6ea16fc24772a6500217",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e3c52b1efcc762b2dee5d61007a77b9e6021419b46045d7caa056cd5e5bae9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f896a55d639450b8081c60e9c3b352a6f3e102801235106f91d5fa84c9c4c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSgwkKEAgRGAI4AUIIdGhpbmtpbmcSDPVCF8/Kf3BDT2WwsRoMoLxwhGKg/h5vJOpBIjCPFDRH4AoNqQfljRFzb4dkHeW/dph7wY71LaW+pCISZEw0ZJRWCelumh2+ZU2MVe8qoAhyWLz1s/NTlgGz0uYzAY3RfXhEGx3wft+5XC2EVYhneGWhWSt2d5hZKd937vDx0keDWkXgMtFTealzfLOzI3//FWkiQ2ItX/yYc8WWwWPu49HnhTlDRVWAcCh68y0+SAw4MRjMSdD0KALyfNxsvGnRjzP0fCeIWp1f2aHGsmjniZJsROo2iuzk1f3OMRgr/LsJnDAxLUnxRffHfje6JGoLYTwN6jfOo+BIJFHgNaN4LL0KMlip37YTkU1ujc+EITgmsz5WKW6AoWmHjPy9DC+T+Zbt1MmJRUH+V0kpUNoWuf/+wpdQ9nUxCG7Cyt8aBMghb6+u3OYhVlXFbWAIX9uvuqTlxj88o1bGD+MvYKPwumwt/1o50UYEdSBOCps5Bj15Wh2n12kXbpRlVa/Rb9xlWLMQxGMQlYCc7PTmCRdYZBOSX+TiEAi00YuQKDA2sDqjoAUeplxPo/7nBXIWjIqwMTqxcmGS5UMDiZ9cwbIBQepgwkAyzuYOsedxQd1MyG+MQTbjC9XxlQOr5C8yO+xF3YgLOGMF85DNPM0CVcmentUPtwKnmEiia09zaRbWMwjnrF1rxsfMyby8oIN5Y6ai6e+7FXrMnxvKLLkHlDhiegNDilqqEAHxJr6+K1/V4KQeYdJpYFqmxrv7UJk/eqlPfwyo8oiG1PXNYYeU8N7lcIkPcMuhlIJZu3X02wJsCpby25euJO4/Q9vV04dVfGqH08wGEfr93uqluDbocb9pIxJKb9ykHx+M9lICsCt2voyObatqABKH9LSp4xFW5jnwOMoBlHixreLnG9Cn9vJnIOSheSpO7RCIw738PtJi+ES5X8+QMBQjY0PRq5IJKVjLWPFIYgr0wPucx/yNJOqc2KdD0OiKcTs5tEQKbmV9mJxYwDMcMPHZkXWLOa57VRs2oLYYY86GfTKsf9YO7Mw2s9Pt5qQbPVMi+xIL12m7UdreHyTwXypJMu9vMzatyu52+sft8kPSmDe//5+2hkXE/5Li5FzePdThmk4JIxaUeWtlTMRrZt0RKlfGKmACWqjrX7rU9wtQY58h0t9c70Q+jXwewpbnX8iqqpKQWdhXOWfXWsthEOJrXxWN/pM8L+p2r5Ou1FAAW5TCQz2B3YiLR0jcz1xmWIoyX7leySvj6wTdkGikiuFnX/cwvds+LMPwjz6/V4N5fT8SGqcrQnwU/MSx0tYRIH4Mf8Et7y1exvWH13IrOUsHbTm4H19N5zfW9S+RFcFOUL2xwaRXyZhA42VkaGdpfSNDkxy4CyjOUPig/8AzCAti+tOCCXXjNEGfZ4a8NeBvMFKOxOk0teEf3kh95kIfBOC1kPCPpBSWYvumHlK/gn9iNCDBGmmrtuM8hIpnS5R7RUnUzK50OXq8wLxXPxL6vKWG4v4FnS96sHgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H3SvmqYKtGseRvzyrSqSAW",
      "input": {
        "note": "The brick is now between the open jaws at the bottom of the wrist view, slightly right of centre. Nudging 1 cm right, descending to the table and closing on it.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.325,
          "right_y": 0.34,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H3SvmqYKtGseRvzyrSqSAW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5198, -0.0227, -0.0498, 0.9995, 1.0882, 2.1117, 1.1507, 0.0376, 0.8394, 0.7616, 0.01]\nstate[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1336 left_yaw=0.0056 left_pitch=-0.2109 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3263 right_y=0.3471 right_z=0.022 right_yaw=0.0194 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.5658, 6.9128, 1.5263, -0.0562, -0.0464, -0.0122, -0.2667, -7.8701, 4.588, 1.1306, 0.2466, 0.0366, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca07e5abe99597592a598e092c3a7918949e36d178539399d614fd4d259725f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601aba0f9147339d677fb8caa363396c0b14a52d750d92a8c1fe5a34b60c8f62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7bed6e96f142ab19c8c7e5b7398d9b31033b47c376678de93e382903ad44df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 10.54 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8604, 0.6018, -0.514, -0.0227, -0.0498, 0.9995, 1.1763, 2.0621, 1.1042, -0.0254, 0.8471, 0.8112, 0.0095]\nstate[eef_state]: left_x=0.2768 left_y=0.0022 left_z=0.1354 left_yaw=0.0056 left_pitch=-0.2021 left_roll=-0.0021 left_gripper=0.9995 right_x=0.2873 right_y=0.3551 right_z=0.0233 right_yaw=0.0761 right_pitch=-0.0169 right_roll=-0.0199 right_gripper=0.0095\nstate[joint_eff]: [-0.3077, -1.5111, 6.8581, 1.5751, -0.022, -0.0757, -0.0122, -0.4444, -7.6513, 4.4786, 0.9402, 0.1783, 0.0073, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5194, -0.0227, -0.0498, 0.9995, 1.1004, 2.0968, 1.214, -0.0959, 0.8478, 0.7853, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0022 left_z=0.1337 left_yaw=0.0056 left_pitch=-0.2105 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3228 right_y=0.3506 right_z=0.0342 right_yaw=0.0137 right_pitch=-0.0147 right_roll=-0.0378 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.7983, 7.0085, 1.6337, -0.0513, -0.0366, -0.0122, -0.6222, -9.4838, 8.1162, 1.2674, 0.3883, -0.022, -0.0952]\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 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5198, -0.0227, -0.0498, 0.9995, 1.0882, 2.1117, 1.1507, 0.0376, 0.8394, 0.7616, 0.01]\nstate[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1336 left_yaw=0.0056 left_pitch=-0.2109 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3263 right_y=0.3471 right_z=0.022 right_yaw=0.0194 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.5658, 6.9128, 1.5263, -0.0562, -0.0464, -0.0122, -0.2667, -7.8701, 4.588, 1.1306, 0.2466, 0.0366, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca07e5abe99597592a598e092c3a7918949e36d178539399d614fd4d259725f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:601aba0f9147339d677fb8caa363396c0b14a52d750d92a8c1fe5a34b60c8f62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 264):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7bed6e96f142ab19c8c7e5b7398d9b31033b47c376678de93e382903ad44df2",
        "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_01BpW4xAv2jtJhyKUpegLFbB",
      "input": {
        "note": "The descent stalls at z≈0.022 (brick thickness) and the close is empty, so the open jaws are landing on top of the brick — it is too wide along y. Opening and yawing the tool 90° so the jaws can close across the brick's narrower dimension.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.325,
          "right_y": 0.345,
          "right_yaw": 1.5,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BpW4xAv2jtJhyKUpegLFbB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8661, 0.6018, -0.5205, -0.0227, -0.0498, 0.9995, 0.564, 1.9339, 1.0237, 0.1997, -0.5598, -0.4694, 0.9948]\nstate[eef_state]: left_x=0.2758 left_y=0.0022 left_z=0.1328 left_yaw=0.0056 left_pitch=-0.2143 left_roll=-0.0018 left_gripper=0.9995 right_x=0.352 right_y=0.3379 right_z=0.059 right_yaw=1.2742 right_pitch=-0.0189 right_roll=-0.0264 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.5385, 6.9675, 1.536, -0.0464, 0.0024, -0.0122, -0.2393, -8.759, 6.1744, 1.2283, -0.5104, 0.105, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29279019f1119af42b3e05bff25c1799e8f216c9f8cb65189980ae4f628106cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00be9898c00cf488f5845461f760800f9e6e6819a7315edd8eb50662347504a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5f31a6a18fe95ee27c49e1a42b2d9c171fa1594112532fb9f90b7136f2922b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 20.73 s

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

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5194, -0.0227, -0.0498, 0.9995, 1.1004, 2.0968, 1.214, -0.0959, 0.8478, 0.7853, 0.9948]\nstate[eef_state]: left_x=0.276 left_y=0.0022 left_z=0.1337 left_yaw=0.0056 left_pitch=-0.2105 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3228 right_y=0.3506 right_z=0.0342 right_yaw=0.0137 right_pitch=-0.0147 right_roll=-0.0378 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -1.7983, 7.0085, 1.6337, -0.0513, -0.0366, -0.0122, -0.6222, -9.4838, 8.1162, 1.2674, 0.3883, -0.022, -0.0952]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8635, 0.6018, -0.5198, -0.0227, -0.0498, 0.9995, 1.0882, 2.1117, 1.1507, 0.0376, 0.8394, 0.7616, 0.01]\nstate[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1336 left_yaw=0.0056 left_pitch=-0.2109 left_roll=-0.0019 left_gripper=0.9995 right_x=0.3263 right_y=0.3471 right_z=0.022 right_yaw=0.0194 right_pitch=0.0051 right_roll=-0.0057 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.5658, 6.9128, 1.5263, -0.0562, -0.0464, -0.0122, -0.2667, -7.8701, 4.588, 1.1306, 0.2466, 0.0366, 0.7643]\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 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8661, 0.6018, -0.5205, -0.0227, -0.0498, 0.9995, 0.564, 1.9339, 1.0237, 0.1997, -0.5598, -0.4694, 0.9948]\nstate[eef_state]: left_x=0.2758 left_y=0.0022 left_z=0.1328 left_yaw=0.0056 left_pitch=-0.2143 left_roll=-0.0018 left_gripper=0.9995 right_x=0.352 right_y=0.3379 right_z=0.059 right_yaw=1.2742 right_pitch=-0.0189 right_roll=-0.0264 right_gripper=0.9948\nstate[joint_eff]: [-0.0752, -1.5385, 6.9675, 1.536, -0.0464, 0.0024, -0.0122, -0.2393, -8.759, 6.1744, 1.2283, -0.5104, 0.105, -0.0464]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29279019f1119af42b3e05bff25c1799e8f216c9f8cb65189980ae4f628106cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00be9898c00cf488f5845461f760800f9e6e6819a7315edd8eb50662347504a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5f31a6a18fe95ee27c49e1a42b2d9c171fa1594112532fb9f90b7136f2922b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9AgKEAgRGAI4AUIIdGhpbmtpbmcSDKaMPV5p5iV8Vk87RRoMJdpQ21WnP8I76N24IjBWcMKXbf6QRJEi5rCWv20+jEWEiJKZDZ7PyyfGxein+1JD7XZUwoWpB+KqqcyN2HAqkQhrEM3e+VapFIiZzvmY7MJ0RWfCDX9GXqtUVmQaboTdUwmgOBs2dGrzKJUn/1TGKNFIoLW29zZvsONw5AOAjG4bZrc6N7/P8PlnLeNCyUZQXPW7FqXXXojbV93Z3uZQ8WsqR/wMgfi6B5IgkD2efExEFL4p7ws2AlgtnVS9oqJCnP2zeQDXj4+E626ygya19n9/+D2atdFwWKakM0MVs7xRYlXe6+YNG/9AHFyomoFHIy6S+8QVlb9VvQHDByBO5yKSKTq7MFPiASRKXZMNmkiyt+w4P531GdBL1iQDEMk595qL1IaNZ0xaG9A42lasVo8Zw5eB59CQ3GV6dwizNSSSKL0ZaWk0uoXoMBelPnOX1zRNw8H2OKGR1GBeVENt0wM90koNoIYFzgwm3s0EJjvQAYvYnmkAsdkgvCIzUPkR9CEsUBubOUECZ6IkezBQchwkpDWX1/t4ws4N+oATkJAL0stTWa/0GFm7SwuZf6H7eXAs6v7wUv76/LZ94T16F/bbvlPzaH4MIjo9/t8Mvz93T2eL5peKAuCUXhJz4dq/vg1+7XBxW71s0VLdzwVyn1IrdSxu7z4qMG34Ap6Q4xMVTlkUgTtzItoFNKb8Ci9md1IW/aX2pmVkIatj3Sdy7FkiGj4rPdVQuIPWQu1gaqyi2BpApHwOibLFd2UnhYlDA4nnegGL/8CRxlBJUDhAbm0lDxeK8xQUbmaUoFqhSNF5g4T3xeDG45xEf13ttQ4GNxTNiI+q3wdAm6sCTKJwWWKiTEFYTIJbLk5YRd492VDfYSmpQigJjMcw4ADr/uoQzX9i5QmDk5S+3T8oDnkOWEr/db6znmo/HUTIw/PAmwZZ31pxYFhDwQJ6nGa9LYfz63Ymx82VJ6v5C9x/7AKaBNbA2yr1AZLsMYB00atOylM8H5cxcRwuNkRfcpjaXVUD6VpxUypiVFhLRg771KbWy195oncW9N3Zc/eOel4CIOf1fBSqLh4xqJYKvGsRXDwihOMx2OIOgMcnm2YkVT97DAzriEJ68IRGi6SBKdM4GBbWM2bOTb2o2EZvuEMQAJJrgcTSgpckOL4FPPqyaTARGeOXRyxmhFt/nL0n6WSf9Z3SM//uGjmWGGvNm8t76e398OXRsFPc0sNwfj5BMEKcf4WbJyQXvlm96YZDzxUq4WzhhL5ActnA3vg2TVIvKakp7rzfPfxLvn8DLq3GH6GX5Nsg8fAfMCeBozhuDpJBxgUCvnczMGJ8q6XiZ6cxdQlG+e6qufSLtT9xpIYD3w+6iWKj9vzoi/bMMxNdh7eGugD7ImY5DW6qB3Ovtm4VKMOO04Fj157/zWhOXcagi1JUZksYLp0NC5UL6YOg2TA67DLvAUa6IMnWgCMpXdqT/rhbBacYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LiH8vgm5HMKPwh9bRhZVh2",
      "input": {
        "note": "Tool is yawed ~75° and hovering 6 cm above the brick's spot beside the pot (wrist view is dominated by the pot wall). Descending to the table and closing across the brick's narrow width as a final grasp attempt.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.33,
          "right_y": 0.34,
          "right_yaw": 1.5,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LiH8vgm5HMKPwh9bRhZVh2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8673, 0.6018, -0.5201, -0.0227, -0.0498, 0.9995, 0.5407, 2.0758, 1.0214, 0.2222, -0.7109, -0.6624, 0.0092]\nstate[eef_state]: left_x=0.2759 left_y=0.0022 left_z=0.1326 left_yaw=0.0056 left_pitch=-0.215 left_roll=-0.0018 left_gripper=0.9995 right_x=0.3317 right_y=0.3378 right_z=0.009 right_yaw=1.4672 right_pitch=-0.0281 right_roll=-0.0261 right_gripper=0.0092\nstate[joint_eff]: [-0.0342, -1.6615, 6.8718, 1.5849, -0.0659, -0.0708, -0.0122, -0.5538, -8.6085, 6.5162, 1.3455, -0.3443, -0.0952, 0.7497]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2507b944ae7a08c33b3708ef58f1330236a4f59b0438537c312c1fd5eaba49b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2adb04d6d3b5d5f8946c99eb38e1020f6d7ce4b8e054b93152dfb4eb79f0cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbdf56d832298a45d5d66554af41751ddb250f5d28848a02edd5eb1b5699bf43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]