adhoc - adhoc_8ceb16ab.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: 419.9 s
total steps: 248

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

I'll start by flying the right arm above the estimated brick position and checking the wrist camera.

agent noteThe black brick sits right of the pot, left of the right arm's current line in the right wrist view. Moving the right arm to hover roughly above the brick to check alignment.

move_to

right_x0.3800right_y0.1500right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0193, 0.7948, 0.6048, -0.3798, -0.0227, -0.0257, 0.9996, -0.0216, 0.7929, 0.6029, -0.3779, -0.0135, -0.02, 0.9972] state[eef_state]: left_x=0.295 left_y=0.0019 left_z=0.1802 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972 state[joint_eff]: [-0.7043, -1.4564, 10.2085, 1.7656, -0.0366, 0.105, -0.0562, -0.3897, -1.2786, 10.1402, 1.9365, -0.1343, 0.0122, -0.3053] 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

I'll start by flying the right arm above the estimated brick position and checking the wrist camera.

move_to({"targets": {"right_x": 0.38, "right_y": 0.15, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick sits right of the pot, left of the right arm's current line in the right wrist view. Moving the right arm to hover roughly above the brick to check alignment."})

tool

executing move_to over 13 steps (1.3s)

step 13

assistant

agent noteThe brick is visible in the right wrist view slightly left of the jaw column and a bit short, lying diagonally. Advancing a few cm and yawing the tool so the jaws will close across the brick's narrow side.

move_to

right_x0.4000right_y0.1600right_z0.1300right_yaw0.7000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.387, -0.0227, -0.0261, 0.9996, 0.5575, 1.4197, 0.8009, -0.1032, 0.432, 0.2878, 0.9972] state[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1783 left_yaw=-0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3662 right_y=0.1454 right_z=0.1276 right_yaw=0.0413 right_pitch=-0.0768 right_roll=-0.0429 right_gripper=0.9972 state[joint_eff]: [-0.1709, -1.6615, 6.8581, 1.7802, -0.0562, -0.0708, -0.0122, 0.3077, -6.3521, 9.1419, 1.7216, 0.315, 0.0659, -0.3101] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.16, "right_z": 0.13, "right_yaw": 0.7, "right_gripper": 1.0}, "note": "The brick is visible in the right wrist view slightly left of the jaw column and a bit short, lying diagonally. Advancing a few cm and yawing the tool so the jaws will close across the brick's narrow side."})

tool

executing move_to over 5 steps (0.5s)

step 18

assistant

agent noteThe brick is now centred on the jaw column with space below it, still tilted a bit relative to the jaws. Advancing ~3 cm along the tool's forward direction and adding more yaw so the jaws square up to the brick's short side.

move_to

right_x0.4250right_y0.1500right_z0.1100right_yaw0.8000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2535, 1.5181, 0.8581, -0.0635, -0.1558, -0.1951, 0.9972] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0 left_gripper=0.9996 right_x=0.3987 right_y=0.1353 right_z=0.1111 right_yaw=0.4915 right_pitch=-0.1457 right_roll=-0.0355 right_gripper=0.9972 state[joint_eff]: [-0.212, -1.5521, 7.0085, 1.7314, -0.0757, -0.0562, -0.0122, -0.2667, -7.3641, 8.8, 1.58, -0.188, -0.0659, -0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.15, "right_z": 0.11, "right_yaw": 0.8, "right_gripper": 1.0}, "note": "The brick is now centred on the jaw column with space below it, still tilted a bit relative to the jaws. Advancing ~3 cm along the tool's forward direction and adding more yaw so the jaws square up to the brick's short side."})

tool

executing move_to over 3 steps (0.3s)

step 21

assistant

agent noteThe brick sits squarely between the jaw tips on the jaw column in the right wrist view. Descending to table level to bracket it for the grasp.

move_to

right_x0.4320right_y0.1550right_z0.0000right_yaw0.7500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3912, -0.0227, -0.0261, 0.9996, 0.1753, 1.676, 1.0061, -0.1341, -0.3805, -0.4168, 0.9972] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9996 right_x=0.4207 right_y=0.1448 right_z=0.101 right_yaw=0.7242 right_pitch=-0.165 right_roll=-0.0273 right_gripper=0.9972 state[joint_eff]: [-0.3077, -0.9641, 7.0222, 1.8388, -0.0464, -0.022, -0.0122, -0.1709, -9.1829, 8.1573, 1.2772, -0.359, 0.0366, -0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.432, "right_y": 0.155, "right_z": 0.0, "right_yaw": 0.75, "right_gripper": 1.0}, "note": "The brick sits squarely between the jaw tips on the jaw column in the right wrist view. Descending to table level to bracket it for the grasp."})

tool

executing move_to over 7 steps (0.7s)

step 28

assistant

agent noteThe arm barely descended last move (still z≈0.09) though the brick is well framed between the jaws. Retrying the descent in a smaller step to z=0.04.

move_to

right_x0.4300right_y0.1500right_z0.0400right_yaw0.7500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.4011, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972] state[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1734 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.0003 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972 state[joint_eff]: [-0.3624, -1.4291, 7.0085, 1.8046, -0.0464, -0.0366, -0.0122, 0.0615, -9.2239, 8.5402, 1.4628, -0.3834, -0.1245, -0.3053] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.15, "right_z": 0.04, "right_yaw": 0.75, "right_gripper": 1.0}, "note": "The arm barely descended last move (still z\u22480.09) though the brick is well framed between the jaws. Retrying the descent in a smaller step to z=0.04."})

tool

executing move_to over 4 steps (0.4s)

step 32

assistant

agent noteThe right arm has not moved at all for two commands — the IK appears stuck at this yawed pose. Backing up slightly, raising z and reducing yaw to free it before retrying the descent.

move_to

right_x0.4100right_y0.1500right_z0.1200right_yaw0.5000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0385 left_roll=0.0004 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972 state[joint_eff]: [-0.212, -1.3197, 7.1316, 1.7753, -0.0708, -0.0415, -0.0122, 0.0752, -9.1829, 8.5402, 1.4383, -0.3687, -0.1343, -0.3053] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.15, "right_z": 0.12, "right_yaw": 0.5, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The right arm has not moved at all for two commands \u2014 the IK appears stuck at this yawed pose. Backing up slightly, raising z and reducing yaw to free it before retrying the descent."})

tool

executing move_to over 7 steps (0.7s)

step 39

assistant

agent noteThe arm freed up and the brick is centred on the jaw column in the right wrist view, roughly aligned with the jaws. Descending toward table level over the brick.

move_to

right_x0.4200right_y0.1550right_z0.0300right_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, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2604, 1.5623, 0.7952, 0.0921, -0.2424, -0.2058, 0.9972] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=-0.0002 left_pitch=-0.0423 left_roll=0.0005 left_gripper=0.9996 right_x=0.3983 right_y=0.1537 right_z=0.0983 right_yaw=0.5751 right_pitch=-0.0841 right_roll=-0.0032 right_gripper=0.9972 state[joint_eff]: [-0.2256, -1.6068, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122, 0.1299, -8.4308, 6.5709, 2.0, 0.0366, 0.1587, -0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.155, "right_z": 0.03, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm freed up and the brick is centred on the jaw column in the right wrist view, roughly aligned with the jaws. Descending toward table level over the brick."})

tool

executing move_to over 5 steps (0.5s)

step 44

assistant

agent noteThe jaws are at table level with the brick between them but its near edge sits a bit ahead of the fingertips in the wrist view. Advancing ~2 cm along the tool's forward direction to centre the jaws on the brick.

move_to

right_x0.4200right_y0.1580right_z0.0100right_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, 0.8146, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.2279, 1.8366, 0.6918, 0.4229, -0.279, -0.2104, 0.9972] state[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1701 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=0.0006 left_gripper=0.9995 right_x=0.4026 right_y=0.147 right_z=0.01 right_yaw=0.5771 right_pitch=-0.1208 right_roll=0.031 right_gripper=0.9972 state[joint_eff]: [-0.3624, -1.0051, 7.2137, 1.6777, -0.0855, -0.0806, -0.0122, -0.294, -8.335, 5.5043, 2.0, -0.359, -0.1245, -0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.158, "right_z": 0.01, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The jaws are at table level with the brick between them but its near edge sits a bit ahead of the fingertips in the wrist view. Advancing ~2 cm along the tool's forward direction to centre the jaws on the brick."})

tool

executing move_to over 5 steps (0.5s)

step 49

assistant

Now the brick is between the jaws; closing the gripper.

agent noteThe brick now spans the jaw gap in the right wrist view with the jaws at table level either side of it. Closing the gripper to grasp it.

move_to

right_x0.4135right_y0.1540right_z0.0030right_yaw0.6000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9247, 0.6861, 0.5858, -0.3084, -0.2028, 0.9972] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4135 right_y=0.1541 right_z=0.0029 right_yaw=0.5939 right_pitch=-0.0496 right_roll=0.0303 right_gripper=0.9972 state[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.7118, -0.0708, -0.0611, -0.0073, -0.4444, -7.7607, 4.7248, 2.0293, -0.2906, 0.0562, -0.3053] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]

assistant

Now the brick is between the jaws; closing the gripper.

move_to({"targets": {"right_x": 0.4135, "right_y": 0.154, "right_z": 0.003, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick now spans the jaw gap in the right wrist view with the jaws at table level either side of it. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 59

assistant

agent noteThe close was empty (gripper reads 0.01) and the brick still appears just beyond the closed jaws in the wrist view. Reopening and advancing ~3 cm along the tool direction to get the jaws over the brick.

move_to

right_x0.4400right_y0.1720right_z0.0050right_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, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9381, 0.6849, 0.6109, -0.3229, -0.2001, 0.01] state[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4141 right_y=0.1568 right_z=0.0022 right_yaw=0.6042 right_pitch=-0.0366 right_roll=0.0367 right_gripper=0.01 state[joint_eff]: [-0.1983, -1.1829, 7.1043, 1.7265, -0.0708, -0.0317, -0.0122, -0.2256, -8.4308, 4.7521, 2.0098, -0.1001, 0.0122, 0.8083] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.172, "right_z": 0.005, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The close was empty (gripper reads 0.01) and the brick still appears just beyond the closed jaws in the wrist view. Reopening and advancing ~3 cm along the tool direction to get the jaws over the brick."})

tool

executing move_to over 10 steps (1.0s)

step 69

assistant

agent noteThe brick now sits squarely between the open jaws in the right wrist view, and the top view shows the gripper directly over it. Closing to grasp.

move_to

right_x0.4300right_y0.1700right_z0.0000right_yaw0.6000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 1.9995, 0.7612, 0.6109, -0.321, -0.1894, 0.9951] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4304 right_y=0.1701 right_z=0.0007 right_yaw=0.6177 right_pitch=-0.0233 right_roll=0.0391 right_gripper=0.9951 state[joint_eff]: [-0.2256, -1.2513, 7.0359, 1.6923, -0.0806, -0.0415, -0.0122, 0.212, -7.6376, 6.5436, 1.8584, -0.0171, 0.1294, -0.0806] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.17, "right_z": 0.0, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick now sits squarely between the open jaws in the right wrist view, and the top view shows the gripper directly over it. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 79

assistant

agent noteSecond close was also empty; the closed jaws sit just in front of the brick in the wrist view and the top view shows the brick forward-left of the gripper. Opening and advancing ~4 cm more along the tool direction.

move_to

right_x0.4630right_y0.1920right_z0.0000right_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, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 2.0033, 0.7441, 0.6384, -0.3187, -0.1764, 0.0092] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4281 right_y=0.1691 right_z=-0.0013 right_yaw=0.6088 right_pitch=-0.0179 right_roll=0.0463 right_gripper=0.0092 state[joint_eff]: [-0.253, -1.388, 7.1316, 1.7021, -0.0513, -0.0611, -0.0171, 0.4171, -8.2393, 3.9726, 2.0537, 0.0513, -0.0171, 0.7595] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.463, "right_y": 0.192, "right_z": 0.0, "right_yaw": 0.6, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Second close was also empty; the closed jaws sit just in front of the brick in the wrist view and the top view shows the brick forward-left of the gripper. Opening and advancing ~4 cm more along the tool direction."})

tool

executing move_to over 10 steps (1.0s)

step 89

assistant

agent noteThe brick now fills the gap between the two visible jaw tips in the wrist view and the top view shows the gripper over the brick's centre. Closing to grasp.

move_to

right_x0.4570right_y0.1900right_z0.0000right_yaw0.6200right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2817, 2.083, 0.881, 0.6037, -0.2955, -0.1715, 0.9961] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4567 right_y=0.1895 right_z=0.0007 right_yaw=0.6209 right_pitch=-0.0015 right_roll=0.0302 right_gripper=0.9961 state[joint_eff]: [-0.1026, -1.3607, 7.2547, 1.6679, -0.0562, -0.0024, -0.0122, 0.4581, -8.4171, 6.9949, 1.6435, -0.0171, 0.3004, -0.1392] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.457, "right_y": 0.19, "right_z": 0.0, "right_yaw": 0.62, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick now fills the gap between the two visible jaw tips in the wrist view and the top view shows the gripper over the brick's centre. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 99

assistant

agent noteEmpty again — I now see the jaws have been pushing the brick's long side (the brick is wider than the jaw opening across this axis), so the tool is yawed the wrong way. Lifting, opening, and rotating the tool ~90° so the jaws close across the brick's short side.

move_to

right_x0.4700right_y0.2000right_z0.1000right_yaw-0.9000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2813, 2.088, 0.8825, 0.6052, -0.297, -0.1761, 0.0097] state[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4568 right_y=0.1896 right_z=-0.0008 right_yaw=0.6242 right_pitch=-0.0029 right_roll=0.0278 right_gripper=0.0097 state[joint_eff]: [-0.3624, -1.388, 7.0632, 1.6679, -0.0855, -0.0659, -0.0122, -0.0205, -9.9624, 4.6427, 1.7509, -0.0415, 0.0464, 0.7643] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.2, "right_z": 0.1, "right_yaw": -0.9, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Empty again \u2014 I now see the jaws have been pushing the brick's long side (the brick is wider than the jaw opening across this axis), so the tool is yawed the wrong way. Lifting, opening, and rotating the tool ~90\u00b0 so the jaws close across the brick's short side."})

tool

executing move_to over 10 steps (1.0s)

step 109

assistant

agent noteThe IK overshot: the arm stretched to x≈0.51 with the wrist rolled, and the brick now appears lower-right in the wrist view. Pulling back to a safer hover pose above the brick area with the new yaw to re-approach.

move_to

right_x0.4200right_y0.1900right_z0.1300right_yaw-0.9000right_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, 0.8219, 0.6075, -0.4156, -0.0223, -0.0261, 0.9996, 0.6914, 2.439, 1.9236, -0.5213, 0.9306, 1.1637, 0.9951] state[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1667 left_yaw=-0.0005 left_pitch=-0.0603 left_roll=0.0006 left_gripper=0.9996 right_x=0.5145 right_y=0.2466 right_z=0.0631 right_yaw=-0.6396 right_pitch=0.0157 right_roll=0.2051 right_gripper=0.9951 state[joint_eff]: [-0.3624, -1.5658, 6.9949, 1.7705, -0.0024, -0.0464, -0.0122, -0.1983, -12.9026, 4.2188, 0.0708, 0.5201, 0.1685, -0.0317] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.19, "right_z": 0.13, "right_yaw": -0.9, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The IK overshot: the arm stretched to x\u22480.51 with the wrist rolled, and the brick now appears lower-right in the wrist view. Pulling back to a safer hover pose above the brick area with the new yaw to re-approach."})

tool

executing move_to over 8 steps (0.8s)

step 117

assistant

agent noteThe arm is still stretched out (x≈0.49, z≈0.07) and barely tracking; the brick is visible ahead, long axis across the image. Pulling further back and up in a modest step to un-stall the arm before re-approaching.

move_to

right_x0.3700right_y0.1900right_z0.1600right_yaw-0.6000right_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, 0.823, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.7071, 2.418, 1.9369, -0.7326, 0.9607, 1.2819, 0.9969] state[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0614 left_roll=0.0009 left_gripper=0.9996 right_x=0.489 right_y=0.2321 right_z=0.0663 right_yaw=-0.6989 right_pitch=-0.0032 right_roll=0.1262 right_gripper=0.9969 state[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.7021, -0.0464, -0.0611, -0.0122, 0.0205, -14.9538, 6.5573, 0.823, 0.5739, -0.0073, -0.3297] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.19, "right_z": 0.16, "right_yaw": -0.6, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm is still stretched out (x\u22480.49, z\u22480.07) and barely tracking; the brick is visible ahead, long axis across the image. Pulling further back and up in a modest step to un-stall the arm before re-approaching."})

tool

executing move_to over 10 steps (1.0s)

step 127

assistant

agent noteArm recovered to a good hover; the brick now shows its long axis nearly vertical in the wrist view, slightly left of the jaw column and ahead. Moving forward and slightly adjusting yaw to line the jaws up across the brick's short side.

move_to

right_x0.4400right_y0.1800right_z0.1200right_yaw-0.7500right_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, 0.8276, 0.6075, -0.4286, -0.0223, -0.0261, 0.9996, 0.8219, 1.9186, 1.5276, -0.9146, 0.9668, 1.29, 0.997] state[eef_state]: left_x=0.2903 left_y=0.0018 left_z=0.1626 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.001 left_gripper=0.9996 right_x=0.3789 right_y=0.1993 right_z=0.158 right_yaw=-0.591 right_pitch=-0.0126 right_roll=0.0413 right_gripper=0.997 state[joint_eff]: [-0.253, -1.6615, 7.0222, 1.8046, -0.0317, -0.0366, -0.0122, 0.3214, -10.3453, 5.9556, 0.735, 0.6325, 0.1685, -0.3248] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.18, "right_z": 0.12, "right_yaw": -0.75, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Arm recovered to a good hover; the brick now shows its long axis nearly vertical in the wrist view, slightly left of the jaw column and ahead. Moving forward and slightly adjusting yaw to line the jaws up across the brick's short side."})

tool

executing move_to over 5 steps (0.5s)

step 132

assistant

agent noteThe brick is now at the lower-left of the wrist view, about 4–5 cm left of the jaw column and roughly at fingertip range, with its long axis nearly vertical. Shifting the tool leftward and lowering to 6 cm, with a little more yaw to square the jaws.

move_to

right_x0.4650right_y0.2120right_z0.0600right_yaw-0.8500right_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, 0.8314, 0.6075, -0.4339, -0.0223, -0.0261, 0.9996, 0.7044, 2.1765, 1.7317, -0.9649, 0.9638, 1.3128, 0.997] state[eef_state]: left_x=0.2897 left_y=0.0018 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.0881 left_roll=0.0012 left_gripper=0.9996 right_x=0.4304 right_y=0.18 right_z=0.1093 right_yaw=-0.7224 right_pitch=-0.0311 right_roll=-0.0422 right_gripper=0.997 state[joint_eff]: [-0.2256, -1.6752, 7.1316, 1.707, -0.0269, -0.0122, -0.0171, -0.2256, -12.2735, 8.0342, 0.4029, 0.6569, 0.1783, -0.3248] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.465, "right_y": 0.212, "right_z": 0.06, "right_yaw": -0.85, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The brick is now at the lower-left of the wrist view, about 4\u20135 cm left of the jaw column and roughly at fingertip range, with its long axis nearly vertical. Shifting the tool leftward and lowering to 6 cm, with a little more yaw to square the jaws."})

tool

executing move_to over 4 steps (0.4s)

step 136

assistant

agent noteThe arm only moved partway (short 4-step motion); the brick remains lower-left of the jaw column. Continuing the leftward shift and descent toward the brick.

move_to

right_x0.4680right_y0.2150right_z0.0400right_yaw-0.8500right_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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7078, 2.2642, 1.7973, -0.9981, 0.9596, 1.3579, 0.997] state[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4355 right_y=0.187 right_z=0.088 right_yaw=-0.7446 right_pitch=-0.041 right_roll=-0.0595 right_gripper=0.997 state[joint_eff]: [-0.3214, -1.2786, 6.9812, 1.6532, -0.0757, -0.0366, -0.0122, -0.0615, -12.0547, 7.7607, 0.315, 0.5641, 0.0562, -0.3248] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.468, "right_y": 0.215, "right_z": 0.04, "right_yaw": -0.85, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm only moved partway (short 4-step motion); the brick remains lower-left of the jaw column. Continuing the leftward shift and descent toward the brick."})

tool

executing move_to over 4 steps (0.4s)

step 140

assistant

agent noteThe arm is stalled again — the brick at roughly (0.48, 0.22) is near the right arm's reach limit with the tool vertical. Retracting up and back to un-stall, and pitching the tool forward so the fingertips can reach further on the next approach.

move_to

right_x0.4000right_y0.1900right_z0.1400right_yaw-0.8500right_pitch0.5000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7067, 2.2642, 1.7973, -0.9981, 0.9604, 1.3617, 0.997] state[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4358 right_y=0.1864 right_z=0.0881 right_yaw=-0.7479 right_pitch=-0.0401 right_roll=-0.0564 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.4564, 6.9675, 1.6728, -0.0855, -0.0806, -0.0122, -0.253, -12.6017, 7.5282, 0.3394, 0.5641, 0.105, -0.3248] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.14, "right_yaw": -0.85, "right_pitch": 0.5, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm is stalled again \u2014 the brick at roughly (0.48, 0.22) is near the right arm's reach limit with the tool vertical. Retracting up and back to un-stall, and pitching the tool forward so the fingertips can reach further on the next approach."})

tool

executing move_to over 19 steps (1.9s)

step 159

assistant

agent noteArm is un-stalled with the tool pitched forward; the brick sits at the lower-left of the wrist view, ~8 cm to the tool's left, consistent with my estimate of (0.48, 0.22). Moving over the brick at 7 cm height.

move_to

right_x0.4750right_y0.2150right_z0.0700right_yaw-0.8500right_pitch0.5000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4412, -0.0223, -0.0261, 0.9996, 0.7841, 2.4207, 1.8996, -1.549, 1.4212, 2.0602, 0.997] state[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1588 left_yaw=-0.0004 left_pitch=-0.0965 left_roll=0.0013 left_gripper=0.9996 right_x=0.4141 right_y=0.1714 right_z=0.132 right_yaw=-0.8507 right_pitch=0.4365 right_roll=-0.0061 right_gripper=0.997 state[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.7167, -0.0171, -0.0415, -0.0122, -0.4855, -11.959, 4.8068, -0.652, 0.7741, 0.2857, -0.3248] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.475, "right_y": 0.215, "right_z": 0.07, "right_yaw": -0.85, "right_pitch": 0.5, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Arm is un-stalled with the tool pitched forward; the brick sits at the lower-left of the wrist view, ~8 cm to the tool's left, consistent with my estimate of (0.48, 0.22). Moving over the brick at 7 cm height."})

tool

executing move_to over 5 steps (0.5s)

step 164

assistant

agent noteThe arm stalled again with the wrist joints wound up near their limits. Retracting up and back with a less extreme pitch and a bit of roll to find a wrist configuration that can reach the brick, which is near the arm's limit.

move_to

right_x0.4000right_y0.1900right_z0.1500right_yaw-0.8000right_pitch0.2000right_roll0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8352, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.7769, 2.5031, 1.9808, -1.5669, 1.4303, 2.0602, 0.997] state[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.158 left_yaw=-0.0001 left_pitch=-0.0995 left_roll=0.0016 left_gripper=0.9996 right_x=0.4246 right_y=0.1771 right_z=0.1171 right_yaw=-0.8447 right_pitch=0.4456 right_roll=-0.0267 right_gripper=0.997 state[joint_eff]: [-0.3487, -1.6752, 6.9538, 1.6239, -0.0464, -0.0513, -0.0122, -0.0342, -12.6154, 6.2427, -0.4078, 0.4908, 0.0464, -0.3248] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.19, "right_z": 0.15, "right_yaw": -0.8, "right_pitch": 0.2, "right_roll": 0.15, "right_gripper": 1.0}, "note": "The arm stalled again with the wrist joints wound up near their limits. Retracting up and back with a less extreme pitch and a bit of roll to find a wrist configuration that can reach the brick, which is near the arm's limit."})

tool

executing move_to over 9 steps (0.9s)

step 173

assistant

agent noteThe arm tracks sluggishly in this wound-up wrist configuration; the brick is under the wrist in the top view, lower-left in the wrist view. Trying a direct hover above the brick estimate with the tool vertical at yaw -0.8.

move_to

right_x0.4550right_y0.2100right_z0.1200right_yaw-0.8000right_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, 0.8394, 0.6075, -0.4442, -0.0227, -0.0261, 0.9996, 0.8097, 2.2494, 1.6627, -1.3392, 1.264, 1.8378, 0.997] state[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1064 left_roll=0.0018 left_gripper=0.9996 right_x=0.3813 right_y=0.1613 right_z=0.1164 right_yaw=-0.8134 right_pitch=0.2779 right_roll=-0.0939 right_gripper=0.997 state[joint_eff]: [-0.2393, -1.4838, 6.9675, 1.7216, -0.0513, -0.0415, -0.0122, 0.0889, -15.5145, 8.4991, 0.4176, 0.7302, -0.0708, -0.3199] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.455, "right_y": 0.21, "right_z": 0.12, "right_yaw": -0.8, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm tracks sluggishly in this wound-up wrist configuration; the brick is under the wrist in the top view, lower-left in the wrist view. Trying a direct hover above the brick estimate with the tool vertical at yaw -0.8."})

tool

executing move_to over 10 steps (1.0s)

step 183

assistant

agent noteNow the brick is clearly in the wrist view with its long axis vertical, just left of the jaw column and running to the bottom edge. Shifting ~1.5 cm to the tool's left and descending to 4 cm above the table.

move_to

right_x0.4600right_y0.2180right_z0.0400right_yaw-0.8000right_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, 0.8436, 0.6075, -0.453, -0.0227, -0.0261, 0.9996, 0.7368, 2.402, 2.1143, -1.2488, 1.0225, 1.5051, 0.997] state[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9996 right_x=0.4487 right_y=0.2084 right_z=0.1161 right_yaw=-0.8 right_pitch=0.0198 right_roll=-0.012 right_gripper=0.997 state[joint_eff]: [-0.1983, -1.7709, 7.0085, 1.7118, -0.0611, -0.022, -0.0122, -0.8137, -13.094, 7.4735, 0.2515, 0.5934, -0.0806, -0.3199] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.218, "right_z": 0.04, "right_yaw": -0.8, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "Now the brick is clearly in the wrist view with its long axis vertical, just left of the jaw column and running to the bottom edge. Shifting ~1.5 cm to the tool's left and descending to 4 cm above the table."})

tool

executing move_to over 5 steps (0.5s)

step 188

assistant

agent noteThe brick now sits between both jaw tips in the wrist view, centred on the jaw column. Descending the last 4 cm to table level before closing.

move_to

right_x0.4550right_y0.2160right_z0.0000right_yaw-0.8000right_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, 0.8436, 0.6075, -0.4534, -0.0227, -0.0261, 0.9996, 0.7319, 2.5038, 2.0377, -1.0866, 0.9855, 1.491, 0.997] state[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1198 left_roll=0.002 left_gripper=0.9996 right_x=0.4537 right_y=0.2144 right_z=0.0452 right_yaw=-0.7964 right_pitch=-0.0181 right_roll=-0.0389 right_gripper=0.997 state[joint_eff]: [-0.335, -1.5248, 6.9402, 1.6142, -0.0415, -0.0171, -0.0122, -0.1846, -12.9026, 6.065, 0.3687, 0.5934, 0.0366, -0.3199] camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.455, "right_y": 0.216, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The brick now sits between both jaw tips in the wrist view, centred on the jaw column. Descending the last 4 cm to table level before closing."})

tool

executing move_to over 3 steps (0.3s)

step 191

assistant

agent noteThe brick is centred between the jaws in the wrist view; the arm is at z≈2.7 cm, likely still settling. Pressing down to table level and closing the gripper on the brick's short side.

move_to

right_x0.4580right_y0.2150right_z-0.0050right_yaw-0.8000right_pitch0.0000right_roll0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8444, 0.6075, -0.4599, -0.0227, -0.0261, 0.9996, 0.733, 2.5198, 1.9656, -0.9527, 1.0245, 1.5051, 0.997] state[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.152 left_yaw=-0.0 left_pitch=-0.127 left_roll=0.0022 left_gripper=0.9996 right_x=0.4588 right_y=0.2148 right_z=0.0265 right_yaw=-0.8045 right_pitch=0.0227 right_roll=0.0173 right_gripper=0.997 state[joint_eff]: [-0.335, -1.5385, 6.9538, 1.6728, -0.0708, -0.0611, -0.0122, -0.1162, -10.5368, 4.2872, 0.2515, -0.1099, -0.1148, -0.3199] camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.458, "right_y": 0.215, "right_z": -0.005, "right_yaw": -0.8, "right_pitch": 0.0, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The brick is centred between the jaws in the wrist view; the arm is at z\u22482.7 cm, likely still settling. Pressing down to table level and closing the gripper on the brick's short side."})

tool

executing move_to over 10 steps (1.0s)

step 201

assistant

agent noteThe jaws closed just above the brick: the arm can't descend below z≈2.7 cm at this radius (reach limit) and the brick is ~2.5 cm thick. Reopening and pitching the tool forward so the fingertips can get down to the table at this distance.

move_to

right_x0.4600right_y0.2160right_z0.0000right_yaw-0.8000right_pitch0.4000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8448, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.7326, 2.5202, 1.9537, -0.8959, 1.0424, 1.4914, 0.0106] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1519 left_yaw=-0.0 left_pitch=-0.1278 left_roll=0.0022 left_gripper=0.9996 right_x=0.4644 right_y=0.2174 right_z=0.0268 right_yaw=-0.8005 right_pitch=0.0423 right_roll=0.0494 right_gripper=0.0106 state[joint_eff]: [-0.1709, -1.4154, 7.0769, 1.6142, -0.0269, -0.0708, -0.0122, -0.4171, -9.4017, 5.0256, 0.5592, 0.0513, 0.0952, 0.8474] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.216, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.4, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The jaws closed just above the brick: the arm can't descend below z\u22482.7 cm at this radius (reach limit) and the brick is ~2.5 cm thick. Reopening and pitching the tool forward so the fingertips can get down to the table at this distance."})

tool

executing move_to over 12 steps (1.2s)

step 213

assistant

agent noteThe arm still can't get below z≈2.6 cm here (shoulder near its limit). The brick's long axis runs along the tool's forward direction, so I'm pulling the grasp point 5 cm back toward the base to grip the brick's near end where the arm can reach the table.

move_to

right_x0.4300right_y0.2520right_z0.0000right_yaw-0.8000right_pitch0.3000right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8448, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7799, 2.69, 2.0182, -0.9012, 1.4223, 1.6287, 0.9959] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1518 left_yaw=-0.0 left_pitch=-0.1281 left_roll=0.0022 left_gripper=0.9996 right_x=0.466 right_y=0.2203 right_z=0.0257 right_yaw=-0.8247 right_pitch=0.4184 right_roll=0.0701 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6093, -0.0562, -0.0513, -0.0122, 0.1299, -10.5778, 5.7368, 0.0073, -0.2027, 0.0366, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.43, "right_y": 0.252, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.3, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The arm still can't get below z\u22482.6 cm here (shoulder near its limit). The brick's long axis runs along the tool's forward direction, so I'm pulling the grasp point 5 cm back toward the base to grip the brick's near end where the arm can reach the table."})

tool

executing move_to over 4 steps (0.4s)

step 217

assistant

agent noteThe jaws are now down at z≈1 cm flanking the brick's near end, which sits between them at the bottom of the wrist view. Nudging slightly forward and closing to grasp.

move_to

right_x0.4540right_y0.2430right_z0.0000right_yaw-0.8000right_pitch0.3000right_roll0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8547, 2.814, 2.262, -1.2636, 1.3369, 1.8553, 0.997] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4439 right_y=0.2538 right_z=0.0121 right_yaw=-0.7934 right_pitch=0.3406 right_roll=0.0441 right_gripper=0.997 state[joint_eff]: [-0.0342, -0.9778, 6.9538, 1.6484, -0.0464, -0.0464, -0.0122, 0.2803, -12.547, 6.5299, 0.0757, 0.1929, 0.3834, -0.3248] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.454, "right_y": 0.243, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.3, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The jaws are now down at z\u22481 cm flanking the brick's near end, which sits between them at the bottom of the wrist view. Nudging slightly forward and closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 227

assistant

agent noteThe jaws closed just short of the brick's near end again. Opening and advancing ~3 cm along the tool direction with more forward pitch to get the fingertips over the brick.

move_to

right_x0.4730right_y0.2280right_z0.0000right_yaw-0.8000right_pitch0.4500right_roll0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8371, 2.8204, 2.2696, -1.2247, 1.3342, 1.7756, 0.0102] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4515 right_y=0.2497 right_z=0.0093 right_yaw=-0.7801 right_pitch=0.3362 right_roll=0.004 right_gripper=0.0102 state[joint_eff]: [-0.212, -1.1419, 7.1316, 1.5897, -0.0659, -0.0611, -0.0122, -1.5385, -14.3658, 5.2991, 0.1392, 0.1587, -0.0855, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.473, "right_y": 0.228, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.45, "right_roll": 0.0, "right_gripper": 1.0}, "note": "The jaws closed just short of the brick's near end again. Opening and advancing ~3 cm along the tool direction with more forward pitch to get the fingertips over the brick."})

tool

executing move_to over 10 steps (1.0s)

step 237

assistant

agent noteThe brick's near half now lies between the two jaw tips in the wrist view with the tool pitched forward. Closing the gripper.

move_to

right_x0.4700right_y0.2370right_z0.0000right_yaw-0.8000right_pitch0.4500right_roll0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7994, 2.8361, 2.265, -1.1362, 1.4414, 1.7084, 0.9948] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4698 right_y=0.237 right_z=0.0177 right_yaw=-0.7898 right_pitch=0.4396 right_roll=0.0099 right_gripper=0.9948 state[joint_eff]: [-0.2803, -1.5248, 6.9538, 1.6239, -0.0611, -0.0708, -0.0171, -1.4017, -12.0547, 4.7521, 0.3492, 0.525, -0.022, -0.0024] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.237, "right_z": 0.0, "right_yaw": -0.8, "right_pitch": 0.45, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The brick's near half now lies between the two jaw tips in the wrist view with the tool pitched forward. Closing the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 247

assistant

agent noteThe black brick (a ~15×7×2.5 cm power bank) lies at roughly right_x≈0.49, right_y≈0.23 (≈0.54 m from the right base), which is at/beyond the right arm's reach at table level: every close ended with the jaws in front of or above the brick, the arm could not descend below ~2.6 cm or advance further at that radius, and repeated IK stalls consumed the call budget. The left arm cannot reach it either (left_y≈−0.43 is outside its −0.4 bound). The brick needs to be placed closer to the right base for the task to be feasible.

give_up

hindsight1) Check reach before committing: table-level grasps are only feasible within ~0.49 m radial distance of the base (sqrt(x²+y²), not just x). The brick here was at ~0.52–0.54 m and every attempt fell short; I should have given up or reported it early. 2) Identify the object's long axis from the wrist camera before choosing yaw: this 'brick' is ~15 cm long and wider than the 9.5 cm jaw opening across its long side; with the wrong yaw the open jaws push the object forward each time you advance, which looks in the wrist view like the object never gets closer. 3) Large yaw (|yaw|>0.6) combined with pitch/roll at long reach makes the IK stall completely (identical joint readings after a command). Recovery that worked: command a pose with smaller x (~0.37–0.40), higher z (~0.15) and modest yaw, then re-approach; direct hover targets above the object at z≈0.12 with tool vertical tracked best. 4) In the wrist view, an object touching the bottom edge on the jaw column can still be 2–3 cm beyond the fingertips; an empty close with the object still visible above the closed jaws means advance further, not adjust sideways. 5) Pot in this scene is at roughly right_y≈0.35, right_x≈0.45, rim ~15 cm high; the brick was to its right on a charging cable.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.8028, 2.9223, 2.4393, -1.2896, 1.4384, 1.808, 0.0096] state[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1517 left_yaw=-0.0 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9996 right_x=0.4732 right_y=0.2431 right_z=0.0175 right_yaw=-0.8154 right_pitch=0.4377 right_roll=0.0468 right_gripper=0.0096 state[joint_eff]: [-0.2393, -1.5248, 6.9402, 1.619, -0.0269, -0.0464, -0.0122, -0.6359, -11.3162, 5.9009, -0.2808, 0.6178, 0.2222, 0.7595] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]

assistant

give_up({"reason": "The black brick (a ~15\u00d77\u00d72.5 cm power bank) lies at roughly right_x\u22480.49, right_y\u22480.23 (\u22480.54 m from the right base), which is at/beyond the right arm's reach at table level: every close ended with the jaws in front of or above the brick, the arm could not descend below ~2.6 cm or advance further at that radius, and repeated IK stalls consumed the call budget. The left arm cannot reach it either (left_y\u2248\u22120.43 is outside its \u22120.4 bound). The brick needs to be placed closer to the right base for the task to be feasible.", "hindsight": "1) Check reach before committing: table-level grasps are only feasible within ~0.49 m radial distance of the base (sqrt(x\u00b2+y\u00b2), not just x). The brick here was at ~0.52\u20130.54 m and every attempt fell short; I should have given up or reported it early. 2) Identify the object's long axis from the wrist camera before choosing yaw: this 'brick' is ~15 cm long and wider than the 9.5 cm jaw opening across its long side; with the wrong yaw the open jaws push the object forward each time you advance, which looks in the wrist view like the object never gets closer. 3) Large yaw (|yaw|>0.6) combined with pitch/roll at long reach makes the IK stall completely (identical joint readings after a command). Recovery that worked: command a pose with smaller x (~0.37\u20130.40), higher z (~0.15) and modest yaw, then re-approach; direct hover targets above the object at z\u22480.12 with tool vertical tracked best. 4) In the wrist view, an object touching the bottom edge on the jaw column can still be 2\u20133 cm beyond the fingertips; an empty close with the object still visible above the closed jaws means advance further, not adjust sideways. 5) Pot in this scene is at roughly right_y\u22480.35, right_x\u22480.45, rim ~15 cm high; the brick was to its right on a charging cable."})

tool

give_up: The black brick (a ~15×7×2.5 cm power bank) lies at roughly right_x≈0.49, right_y≈0.23 (≈0.54 m from the right base), which is at/beyond the right arm's reach at table level: every close ended with the jaws in front of or above the brick, the arm could not descend below ~2.6 cm or advance further at that radius, and repeated IK stalls consumed the call budget. The left arm cannot reach it either (left_y≈−0.43 is outside its −0.4 bound). The brick needs to be placed closer to the right base for the task to be feasible.

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 · 22.21 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]: [-0.0193, 0.7948, 0.6048, -0.3798, -0.0227, -0.0257, 0.9996, -0.0216, 0.7929, 0.6029, -0.3779, -0.0135, -0.02, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0019 left_z=0.1802 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.7043, -1.4564, 10.2085, 1.7656, -0.0366, 0.105, -0.0562, -0.3897, -1.2786, 10.1402, 1.9365, -0.1343, 0.0122, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29569adfff1631d71153a64546f90a3a4f3a47e7d6de57d469c82c28154e7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e61d7e416bd7f1e195dc776aaa87404ed746596ce33a7122da7441a2ef8b17e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:20644d715090a4fa3d2e954402afbe7c2c94aa43b51f6726fe1a5414273dfac6",
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        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 18.37 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]: [-0.0193, 0.7948, 0.6048, -0.3798, -0.0227, -0.0257, 0.9996, -0.0216, 0.7929, 0.6029, -0.3779, -0.0135, -0.02, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0019 left_z=0.1802 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.7043, -1.4564, 10.2085, 1.7656, -0.0366, 0.105, -0.0562, -0.3897, -1.2786, 10.1402, 1.9365, -0.1343, 0.0122, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c29569adfff1631d71153a64546f90a3a4f3a47e7d6de57d469c82c28154e7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e61d7e416bd7f1e195dc776aaa87404ed746596ce33a7122da7441a2ef8b17e",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20644d715090a4fa3d2e954402afbe7c2c94aa43b51f6726fe1a5414273dfac6",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start by flying the right arm above the estimated brick position and checking the wrist camera.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jo55ubevpiJo7JbZodhFuk",
      "input": {
        "note": "The black brick sits right of the pot, left of the right arm's current line in the right wrist view. Moving the right arm to hover roughly above the brick to check alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Jo55ubevpiJo7JbZodhFuk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.387, -0.0227, -0.0261, 0.9996, 0.5575, 1.4197, 0.8009, -0.1032, 0.432, 0.2878, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1783 left_yaw=-0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3662 right_y=0.1454 right_z=0.1276 right_yaw=0.0413 right_pitch=-0.0768 right_roll=-0.0429 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -1.6615, 6.8581, 1.7802, -0.0562, -0.0708, -0.0122, 0.3077, -6.3521, 9.1419, 1.7216, 0.315, 0.0659, -0.3101]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd1657a7d7cd33b966841439f9daa9c66f149f21d9a102032bf8524089f2115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed604b802e2633edfbb2e514707e3849fa1b4bc8bf4b86cb6c7bb027c29464b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f46e2824dc9a0200a0f07bc819b89192060afff71566de0552d0396c1a974cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 10.01 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]: [-0.0193, 0.7948, 0.6048, -0.3798, -0.0227, -0.0257, 0.9996, -0.0216, 0.7929, 0.6029, -0.3779, -0.0135, -0.02, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0019 left_z=0.1802 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.7043, -1.4564, 10.2085, 1.7656, -0.0366, 0.105, -0.0562, -0.3897, -1.2786, 10.1402, 1.9365, -0.1343, 0.0122, -0.3053]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.387, -0.0227, -0.0261, 0.9996, 0.5575, 1.4197, 0.8009, -0.1032, 0.432, 0.2878, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1783 left_yaw=-0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3662 right_y=0.1454 right_z=0.1276 right_yaw=0.0413 right_pitch=-0.0768 right_roll=-0.0429 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -1.6615, 6.8581, 1.7802, -0.0562, -0.0708, -0.0122, 0.3077, -6.3521, 9.1419, 1.7216, 0.315, 0.0659, -0.3101]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbd1657a7d7cd33b966841439f9daa9c66f149f21d9a102032bf8524089f2115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ed604b802e2633edfbb2e514707e3849fa1b4bc8bf4b86cb6c7bb027c29464b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f46e2824dc9a0200a0f07bc819b89192060afff71566de0552d0396c1a974cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2hIKEAgRGAI4AUIIdGhpbmtpbmcSDEOPH/kbuZMXOVb+WhoM3f5NOBQUTWvLCEsaIjBZgDLyXenP2FlrjUszJNoPn6SN9Ux9f3SVN5xs4uCdIYtjlyhg8CEx5fDweh89WhUq9xF9tF8ZWt9sYWaJKBMteQNzokcFGwFfYYzqffgV1dax18rQsDHjHdAOghJWPtth7DtfSw5lb+WdsoLOe9gg97tveBE7xAxLlKLGjlutlaxWeQ9yYVDIPgjxEBuhVN1k/UdiYWirTlmMWNMD9sQhYSArS3Qz33sz5c3l9e8OB72O1IwtljIGVsx8IDyNnc4t/84fUUB+JRjlz+s8TAtfETCODz1jFTrG3DcLS+RKL3ly/Ne7j+m+IjRjQ8KktUVw6sgNAcUDH+BZ4MbSYRTnZg5LWyXFOg/A3RqvIPeBvyi2wQEBIPJ8q07xDoVoHEgn+LdaHxKswVoV6esP5VR0uGhCS8dHPk1pfyvJrNi7DKbscAw6LpTfmbH0dsaLo3JFhiF7wUwcKtKyAoD6+MGWzo1NOW8WCds0PHnn7YGb3JN5xwWxNVzWeAbElwbJefZOmIBAsydDbXGTQY0lgw12FYvOWlmDULtBrysflWIFJK7BFcQq2WM6er0DXG2BYi+dJFvsQpGP28iLtG/HuZGBEgpmsYKLqVpc5Ss6pmXQx3mrGl6WK35TA2iAhsGbgQ8dSLC2KAlqN+nJxPkTjjgoCxjL7yNIv3a0a6iQSbLXx95iV5OJPmQxQjctja9Y/TUmDW7gxmWw7PkLLExqq6/gY112+NXwBgXBhgXbQCa1EXoEHIxGGsicFy9yOZnX3FOqXwkld68iNC3SdPQWWPXxXyTH5Chl+9+rjd1xLUMnpb6jYPzpu0tICOul6MdSo3xgVq8vw3H4OkAIziiUgnsY2gDYtap65lPdC97c4AxNcLYWElyieOCy4vA4QbWwRW3NnlbCTKJhsrSdHhqYk61e9NDlYLi9SNhrPuvRn226b+vLPB/uKc9+oglKGp/6LByXwLkZ86SVAaHHjlDEmdu6vm3d+V5cpL4zusTA2H/yBZTCCmO728Dnl/tgaBGpkArOkNtQ+cvW1jTwXc4Za3V8H6M4g3NbGUOLhYTwnzn2bvRjzJeKjJMcdfMplmdD+HIz65hB3XMhp3wg1+qsk1eI+U5uZnTBu42Ts3kRHqnS6l0tMynrmH8aoN4ldUMWlwFzfl4p3qnXFx+jzPnmCESicxfWtlo6cpehGBSkk3tnGIPk3j7hQGUwQqrXQOFTaD6OgBwjy1gWvIBkcgqIIhrceO1YT2xpbO9EQc9XxYRO3vk4mrV+ny5YmLcmqCr920x2EwJCfGHftexo/KT6gUkCmzzPqwNwWix8atLXgubq6cbL7igQQM6MBqUWbNAj6IZ8GmHzDjwyBJdWwFnm7guVt9PKr9hVJqfxPApiTjMc/jltTJ21lE/C56nFPDnjLPG/DD7K6/HaqWl9aPfHH7p5AZ10qB5rZ0PMdiGP7/b/gX962QciTwp1JAkiVhCcU+VUJyCjT/hSqQdJ4KO5wsKrZT29Xd2yH+MExjwTfEVtrgryxthCc3xLAPrCCsO6C41EJk/4d+Jz+xvVF20DQbDPPvMQxnIug5UnhDwx4MUjvmd/2s3ezo8ZLNzsida44yg+QrRLKqJbvAdkbZPZX2qtswrqpuOahafOCnmylM+btIW4KOGUmFXUht3NRHUZAQp6BfoP5xox8ZV/1RFGpp1e2aT+xxD+FVZMyRwbZrS4cJaNbxocFZUver4zD9dJuuchCAOHMxGWzVzN3gZfqsYKnYZkf6zTwDCqufIZGtDlQ+Pru2zB+j37U9n4XHRd1fjLvAW7oCwnv/KYN0D2NzBxV3cpUbVyev4xqQ4rQ0YkTYlT010bX5HwUAm5ckmZXwE6oqPObKCI40qRkwU7F3qUQw8d9LPOZBCUwAR6aD5vrEDD6nnPB1eTQCLc3rKR30m21zrD5POqcjvuXMQImVrmavxCiyYeIf5uo56qoNcN9TcEQzEf3/Qer3xpBp8ziygatQwb8zMBXmULoFY35bMDE8oxK92zXyNHV8C1AKFuMFcyDJXSgtUnMkWAjAG0i4Ph3uZz1QOUbbLLwQgRQ8p6cx7KDq7bLOK/CKVVz+eK608rOUN98ZYUo8oNmjtmRqVXMg4A6fLtWVLKExfhvnywJ0oTCdzzXNpAqEXJbwQF5IlOEIpImR5bArC9+cbTnI7RHRVKdCiJoPYhlJcPUnCaNhDdAZn67o3JIVVe4K2inxcQRE30pwy2xkp78QbTqLGEIX18PXB7Fzjmx01uU5QoXzOSrjqnNfPDpyrDio4Zj331Z9Rnszvd5bCwG+ZXyIXlz5HflXebfBEK9I84OVyGsYn96llcOrWWUJ91opL0sOBOjwgZMViZaY30fXqzIVzGrIxpIAC9+rgqT/kaqib1f+jZebh9T4+EEDedka+hnvZSJUYbThDZOBSgN9a1eIJG2mn8qjpA9F+HW3fovhu05TR3sQLfmq25+RdJBraOn22Js5dhR9IaPTGIEaNHdA91UcnKkWgL2qCyV36Aoi7fEfBo48q5qQr2uF3LAp7aqgDsQ7Pzgzn+YkmeG/QHWJrRjMgUlef4ucVee/bllZUWOnRfVrRffVDKXPPwBLkIcvIZwem95Wn+7lbBDjpCwVAV+/R/GqPM/WZ/wloABX/zrCKQpUevvSqhyU+WIKV0Tr17BwNKCyH2jhCcqM9xKTntjLvKhkgyiBP7cFlXttqyRdVjMDyF6hw3YAQPCYTSUCSGtd/W+ZX/v7gRmpbrHcupBCcZNvzYdWl/nnq2oOqXp6l5UfM2kjnRsOzAEdx1ltIEtDzTT00Datgv6Qh2Ok3uMVpd47J3kw1rI94VgUs7iSD8HJ7mNZ8JZkL4rAWKs6ZLq+V6/w02hKFpfDpc+yf6X9/YzGaU9IJpYHPWgE+VH/4/u3kVwxm1hwTcq5h0dBFarVPsNS3oSOGVe47TIAzZNjK5HVyGpreP7jR4/nbMZ/fGZELXSofitvNWMArM7S2QMC95Jo1Ssm7BR5A55Wm88qsRzU2B+yijg0AzdhkC7OZWgKAlc70Of07hVYRQJIVFu3UN2MTulW5lgJjOmAciYAYs/QsJ2JOdwwO0nCOA7Z9v9aE9QwLtPpxAYQeL0qNNWf5PbaEBHpgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014GuJDPJfD9XyKnnG3tWMz1",
      "input": {
        "note": "The brick is visible in the right wrist view slightly left of the jaw column and a bit short, lying diagonally. Advancing a few cm and yawing the tool so the jaws will close across the brick's narrow side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.16,
          "right_yaw": 0.7,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014GuJDPJfD9XyKnnG3tWMz1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.804, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2535, 1.5181, 0.8581, -0.0635, -0.1558, -0.1951, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0 left_gripper=0.9996 right_x=0.3987 right_y=0.1353 right_z=0.1111 right_yaw=0.4915 right_pitch=-0.1457 right_roll=-0.0355 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.5521, 7.0085, 1.7314, -0.0757, -0.0562, -0.0122, -0.2667, -7.3641, 8.8, 1.58, -0.188, -0.0659, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6699333d4b663de41e691d3877ea10bcfb759e8039d660d14042b8358a40c060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cbfce428a1e318aa67fde55ca6f49458786c4f53fa4c8648c55062eb1e77bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:673d74d1543d72e6364226c292c9ce33d80604c99254ef8c459216f320c77ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 9.822 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]: [-0.0193, 0.7948, 0.6048, -0.3798, -0.0227, -0.0257, 0.9996, -0.0216, 0.7929, 0.6029, -0.3779, -0.0135, -0.02, 0.9972]\nstate[eef_state]: left_x=0.295 left_y=0.0019 left_z=0.1802 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2949 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9972\nstate[joint_eff]: [-0.7043, -1.4564, 10.2085, 1.7656, -0.0366, 0.105, -0.0562, -0.3897, -1.2786, 10.1402, 1.9365, -0.1343, 0.0122, -0.3053]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.387, -0.0227, -0.0261, 0.9996, 0.5575, 1.4197, 0.8009, -0.1032, 0.432, 0.2878, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1783 left_yaw=-0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3662 right_y=0.1454 right_z=0.1276 right_yaw=0.0413 right_pitch=-0.0768 right_roll=-0.0429 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -1.6615, 6.8581, 1.7802, -0.0562, -0.0708, -0.0122, 0.3077, -6.3521, 9.1419, 1.7216, 0.315, 0.0659, -0.3101]",
      "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, 0.804, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2535, 1.5181, 0.8581, -0.0635, -0.1558, -0.1951, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0 left_gripper=0.9996 right_x=0.3987 right_y=0.1353 right_z=0.1111 right_yaw=0.4915 right_pitch=-0.1457 right_roll=-0.0355 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.5521, 7.0085, 1.7314, -0.0757, -0.0562, -0.0122, -0.2667, -7.3641, 8.8, 1.58, -0.188, -0.0659, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6699333d4b663de41e691d3877ea10bcfb759e8039d660d14042b8358a40c060",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23cbfce428a1e318aa67fde55ca6f49458786c4f53fa4c8648c55062eb1e77bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:673d74d1543d72e6364226c292c9ce33d80604c99254ef8c459216f320c77ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+AkKEAgRGAI4AUIIdGhpbmtpbmcSDAxRzVyWdY/e98PJCBoMxGYyU9HpS/pn+o8oIjBF/+V3pTVoeM0rMiljPiy4CNzEbAJtarHyFFRNOMb3nZ6XcSh/viTmksAhZ/t6hUEqlQnKx/e/ieNg5bwlxbHwbi2Z5sGwVmVzBA0+nV0+USQ9odmaxLbscEBTwa3DxxueGQOM6DaI3O9KgxvZxIQnZl7F9RLhcfdXxSbY+70cGXaxABZIEFgSeBBHbRmW3K8EpnKq8fqOthpXuhy8LqopMRuOrm0+UzGu3BGdq2+v6VNNkR+5036b1n5s7UR/DwvkUFsduFElpyv0/aK5KyZu9R3ZwA9v0U3m+F6Y+GseNXCBJxxpy+LfGIbW+4TMuHValDOc4XOXOcWhwh4NYAxcx4wy90TKEpFn9Jx2mvAxGz680RGzBIyXx495bxeaOJRgyyxeKqCTzI3XVKH7PoOiCdNNM/RX4qZwDGhDBlqaGKn5IVLhlROmM5pJwPt4Wug/bPoWNrofGWX0JSH0WG4SDxiIQswZZpGRmPzyLj3rTne9WagirziAMn8Ixm0gWluUQ6/FRCY5uO2CByyKazZTRc5R6EVZVxfpfrSP7vhlyI1YAb3XcSNbgFuAQW90JdrBxFjwjUq07WzKP1S2tbJUc1e/aDJol5Na4bblyVBqG6kKAufKtfwTxWrCwXwmvK6qR7aGAhE0FhtLjRRsLZgMgHB3VtOBCWNZxgTTS9S1+f8qSWFfE5/0e2gT5X49sxbkwYcC/BDN0ycmRxPKg0CYKvkuinOhtpaK83NB7ACbnX6dFQ2Urzx+NVVKbakOBdJLEaYJ83rzx1kBOh+Yv5+Q/chiATOK1t9az3OxXaaJts6WqnSosb0SgVwAtsn1Iv0OlKFdYq83g8I2oFW8ykE2lACvu47vtXaR63+K7ocxyArpkLDLbBsDxVmJ82DWMHmALBy9Rh1Bq011oLrkXUcj7FIlWcjMXqC8NGAdPr4Y0Ok3wZOlAUggDZE8UFoJsTUTZzZQ3/7rTolKYGbB4aw+I9Bysfl4+chcSWCxSB5VobzU+8ZIoKMaiS1RoT55h/wo6FFzJ9M0FJguEjxL9EYLqNmGC3WOFUwEfNPxq5Ph1cwqjtgd8Fr+u3U0RlDaKOrmYoLAoMlN1ndgPIIL5bj1zi+SaRvh4/iGfde6Q4qVUHlwtoQUBOoycWPXP8A3FlLj/HcQIfSw4iPAuL7w+lXyVXUKLQze4saZccTXzAdtKwbjkwQOd2KUmfErGVoukr1CSKqHgkGpShW7xYDMVw2nqbIZl+PanZToLGJfB1m9MDh1tjYotnYPj1jnKDhAmKDQBf/0T/v6Mm8AgS8cRMcOI0qq2kG5/lmXptnBJ7k173/QDvAHIq2ox/pryqOu7oZpVtye7fbDOlHuX3uG5qF7VgLS29nd0SFHmRBDAtcyNh3BZ9RYiW7Pz9s90J5akAHyFZyxcngxxH0G8Q+nb4nBZ9+B0CPqnWBVcEizpLXrofYgdh800SSMOOSoKea3emvuk5iignSt46VdB70jJRDL3ilFpFUMoAi5Sc+C1KR3771elW9VSYROS7WeHs3CR81ujK7Rof2CEsBufeUS+OSL+oc7/eMWythrN8fYarDri8y3o0FycT8cEgPvm1yRfN25w93/5yR0tN8COdEKiIYCkrkx82FrcQ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G7NzT2mSw33yA3JzdRRKvd",
      "input": {
        "note": "The brick is now centred on the jaw column with space below it, still tilted a bit relative to the jaws. Advancing ~3 cm along the tool's forward direction and adding more yaw so the jaws square up to the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.425,
          "right_y": 0.15,
          "right_yaw": 0.8,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01G7NzT2mSw33yA3JzdRRKvd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.3912, -0.0227, -0.0261, 0.9996, 0.1753, 1.676, 1.0061, -0.1341, -0.3805, -0.4168, 0.9972]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9996 right_x=0.4207 right_y=0.1448 right_z=0.101 right_yaw=0.7242 right_pitch=-0.165 right_roll=-0.0273 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -0.9641, 7.0222, 1.8388, -0.0464, -0.022, -0.0122, -0.1709, -9.1829, 8.1573, 1.2772, -0.359, 0.0366, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0822aa0966f022fc4d669dbbd1461738e27aee7814018d5f661817940be3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a649f731442e268ec118887b0feb7f80656f138866f9e99b335a076ff9b9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5b339406dd2ab3f155e6ce9769c1047b2dc1216f78a343c5d8063e1a82ca903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 7.487 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8005, 0.6075, -0.387, -0.0227, -0.0261, 0.9996, 0.5575, 1.4197, 0.8009, -0.1032, 0.432, 0.2878, 0.9972]\nstate[eef_state]: left_x=0.2947 left_y=0.0018 left_z=0.1783 left_yaw=-0.0002 left_pitch=-0.0103 left_roll=-0.0001 left_gripper=0.9996 right_x=0.3662 right_y=0.1454 right_z=0.1276 right_yaw=0.0413 right_pitch=-0.0768 right_roll=-0.0429 right_gripper=0.9972\nstate[joint_eff]: [-0.1709, -1.6615, 6.8581, 1.7802, -0.0562, -0.0708, -0.0122, 0.3077, -6.3521, 9.1419, 1.7216, 0.315, 0.0659, -0.3101]",
      "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, 0.804, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2535, 1.5181, 0.8581, -0.0635, -0.1558, -0.1951, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0 left_gripper=0.9996 right_x=0.3987 right_y=0.1353 right_z=0.1111 right_yaw=0.4915 right_pitch=-0.1457 right_roll=-0.0355 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.5521, 7.0085, 1.7314, -0.0757, -0.0562, -0.0122, -0.2667, -7.3641, 8.8, 1.58, -0.188, -0.0659, -0.3053]\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, 0.807, 0.6075, -0.3912, -0.0227, -0.0261, 0.9996, 0.1753, 1.676, 1.0061, -0.1341, -0.3805, -0.4168, 0.9972]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9996 right_x=0.4207 right_y=0.1448 right_z=0.101 right_yaw=0.7242 right_pitch=-0.165 right_roll=-0.0273 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -0.9641, 7.0222, 1.8388, -0.0464, -0.022, -0.0122, -0.1709, -9.1829, 8.1573, 1.2772, -0.359, 0.0366, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e0822aa0966f022fc4d669dbbd1461738e27aee7814018d5f661817940be3ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2a649f731442e268ec118887b0feb7f80656f138866f9e99b335a076ff9b9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b339406dd2ab3f155e6ce9769c1047b2dc1216f78a343c5d8063e1a82ca903",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAkKEAgRGAI4AUIIdGhpbmtpbmcSDGBTx1WDQFiGB4WS6BoM44yPhXG1I3+ruZs/IjDnVx434W+1yTB5KcMgd5rmFOUhudebbeXdz7G8Ii1XwzVa3B27fbtr70g9M18MXskq2QjSTYgHm78mRtCkUuxwgNjFm2PUmbq6dtlxvIStlCuttVohR1tEUrAZHo4vsvpYybIhBPwfkLA9yeXsxUsGMoa82+Tj339y4rqbfQCM+1iZh3UXRSJIjv+1z0plGm/P4c8uSimlAy4Q1dVUgilcV7UeAVulDtpVQ2VH9+YNtD+dsJjn8HE67JxNgiGvfTnrbNVqszEh/1+zlsTurXc80/8qb2p/ZnPPagdqR8wr/H91tg6FoJNWgA6Ku7UgOuORTbENSN5BiKMDQSXmdHLu2zxd1tqL/+A7tJXxd77ibKU7zFMXTM/v7XEWyNRAvpb8vPr98Mk/Cbb9Cw4ZcWAcUy5sGKL0cbBavq+WcZINy3YX+dCwuzdbLNtQZBxEBxB9qfXTLDBrOrwR55vH7PpNk/37qj3/lD29KhLv400RzOllxxvLRQFqglljIhyAcHZ6CGgBE/KDFLonRtsONuKRdW4W8hRzcZ+hH4DiT2Nfa9mWu/T60O9cYOchKNAR5o4iOSBI2LDQHwStl1Ve3cgI8+lmvajXCfMnhOIyU3/MqlPS/oY6zw0UNiqbr9DlXjTi3YMHLa2TnMlzq2o5OJ2capLciAiyWZeUcDsbBXrUTQYxBsx6/UfjKHVJ4pTi5Z13JmT18gKOJKYcOYJq48jExIQPvBkGJ64YiiE0gtfAFAVdqMMtIt7wJj2MQrZ1ZFjr4hmM526Mewc92XaS3VjU5y0wx3ew733jFd4HgSqbstZSw+GhCArzMWVBO/pDknAowzMPVHuUjEHWGP34f0gY/BeNGX7XjCjT/uBikL6iU9FG1qYB55TFOyjm3HU7vZ/JszdKvI3xBTej1elxNe8tOUsEzUEqr7qKUDeJsT1sg1HbBeHAIbYBcLoS6fGwo5aYfzikIgQy7V5mT0BG2Ra1Duvaf58Y4zb/RQQ8deKl9Z7FBKu2esFyW5h2FEIqrq4rElwYqz1dlZh6MmT147+r1nLc2dfPCSXfTUn01Q6Eybm2OlnfuMfRRJXpmLviJp5JP4cqGOvRTijzgQHs9eTmvhwpiHmutNtORmZ4cT85foQWK8A75oAhNVxgFcq/UnWTP+Ztue84PgdO6gnT6jObj4O66qQQIVnAGaiORMqJZQJoQMQkoPkWqZsmHwntGbtJHRCf7Tkcmdm0jtGU1BZ0/QnwF6+HQIp71r4bswaH0YDI/fBlCQsMW2SimB35UhTSobkOSKmX4HYQLkDIGNrRidrGBbu0FuAbUapGv5XpTvL6mlk2tmyXHd1FPj/9W96JUuT2ZrMxHstJjnxNwk4pTnVO2N5eD4StDtdakCwtvkFBptbDBL8puaAV+hhug1BrOdAWTOj7ok/0uDWXGRFqd7t6uMk+ImPBFAuXBT0UYtNCp58Zll6ozau6WPK27q/LW7btfWtzyrdBFtc139WWx3UEXvOxJF8xlDiYUxmQ+vPhgcz062OK12/GM15CZ/segU9e+0UpAHMLrwEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016CSzspFrbgcHSzpCYKY5WY",
      "input": {
        "note": "The brick sits squarely between the jaw tips on the jaw column in the right wrist view. Descending to table level to bracket it for the grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.432,
          "right_y": 0.155,
          "right_yaw": 0.75,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016CSzspFrbgcHSzpCYKY5WY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.4011, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1734 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.0003 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.4291, 7.0085, 1.8046, -0.0464, -0.0366, -0.0122, 0.0615, -9.2239, 8.5402, 1.4628, -0.3834, -0.1245, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa2ecaa6ac76142688092eb5895bb835689f4d693a7adf6322a0bedc9df7aa23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e174bea887c645996c8a19a64a839bac367e26b777ed6fd4770b3891aab03631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1aa3ab95cd10bc7ad14375ca27420bec328ee885f0091836e76e3e92bde18ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 8.199 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, 0.804, 0.6075, -0.3897, -0.0227, -0.0261, 0.9996, 0.2535, 1.5181, 0.8581, -0.0635, -0.1558, -0.1951, 0.9972]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1768 left_yaw=-0.0002 left_pitch=-0.0164 left_roll=-0.0 left_gripper=0.9996 right_x=0.3987 right_y=0.1353 right_z=0.1111 right_yaw=0.4915 right_pitch=-0.1457 right_roll=-0.0355 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.5521, 7.0085, 1.7314, -0.0757, -0.0562, -0.0122, -0.2667, -7.3641, 8.8, 1.58, -0.188, -0.0659, -0.3053]\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, 0.807, 0.6075, -0.3912, -0.0227, -0.0261, 0.9996, 0.1753, 1.676, 1.0061, -0.1341, -0.3805, -0.4168, 0.9972]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9996 right_x=0.4207 right_y=0.1448 right_z=0.101 right_yaw=0.7242 right_pitch=-0.165 right_roll=-0.0273 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -0.9641, 7.0222, 1.8388, -0.0464, -0.022, -0.0122, -0.1709, -9.1829, 8.1573, 1.2772, -0.359, 0.0366, -0.3053]\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, 0.8082, 0.6075, -0.4011, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1734 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.0003 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.4291, 7.0085, 1.8046, -0.0464, -0.0366, -0.0122, 0.0615, -9.2239, 8.5402, 1.4628, -0.3834, -0.1245, -0.3053]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa2ecaa6ac76142688092eb5895bb835689f4d693a7adf6322a0bedc9df7aa23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e174bea887c645996c8a19a64a839bac367e26b777ed6fd4770b3891aab03631",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1aa3ab95cd10bc7ad14375ca27420bec328ee885f0091836e76e3e92bde18ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSiwgKEAgRGAI4AUIIdGhpbmtpbmcSDCX1FAwU8Wb1+qVVSBoMnU2jHrHpJiJqM9mzIjDbV+4KiJJ7Rd+Sn6KTdYa9qOG3UEp3VUul2UYHhfVPqChvPf2PJ0P9wnhx7Pv7oqwqqAf34YX5JI0BrPqwjtl5R8Tx/hqtdz8CJOam6fhY8H0qESLLNy+Hv2I+0ad/wNQVhCwzolVFD8W9DDaHwRTtjYhYYla0iCMtYRa/AtP0ufy9FjX2V474bygc9rsE7l0kgzAOxlFvvmEak591XddPB+VE8mSDmTE4/68ZhofaZPkCVoQZKRUsgkEb1qN6/ahhXdnBY4LzZVANITuIXd+8a1wGgrkAyyZBKoxRFfi2XqHGd7Wy3BD7kLafdAF7/UbmoTct0pBl0r4jgcNDMETC8///9J6TnoADNTU1tv3HQr+0JwYjQGioml0+5gRtb/usq7yG1v7OmjUtwUS91JB9tATp4TX5uNOVYYq+5VaWB2iFYPHyQHW9KMNTK39ZXSogIXKF7ESgVIw8m2ue2SRnLD9/g2J+isdwIm4H3+3sIOEfSaqG8Ol7TEFjWbOrkLmcRqvsAU3wRxjshIdAYTz7mPTSe2UniHQWsRFPFgiqTtbLmNQwcFnZrq9WDp62TxYjSOUIRj1sYi5f6dt7MTo0Y54tFckMoZHUplWoJruU7vUEcfqLPItoND+6DHYWKjM4AoLb+hVqITBikX55qqatJW8WVsD1s9JxZAPxNv3mF2POt16x9ujmYgK3G2EnhlutwCmOeYGEv53Bhsvud8ggsOmSMTlbn4NB0Azx7mr1ws0dCeXoGKLDi8aEy0oY+SHqP2oUc8icnSSYGVZ1jnhLC5SHm14zz6Rfra2gL15UkJIHYWN1bZSA81NEEPhBDl7IgbSnTJip4PvAmHNRUXftwEl0bxKcCc+9SMVALRgOqUpGOANUr+PrqRtjY7t9mcZyRwtYbV9nH68RQN+JQlz4P+mu9Wg2RA1ZqLOJUfNCuO5fjav8KR3i7lcJw2+4JG1BSWmz4Kt0YWb6QtL/GQEBtbAefMiFPXOQhP+9za7c768ds5gwSmwySqzndTrRevyn8nBxQpFjsXlyS2CKx1VR3MYF32R/60+29AxnVKgNSb83P2X1oLfR9pOD38FKaQzKY2JHsVTE/NE8GUsGSbB0Io7eXDw/zLjd9VE/lHjAWsi8piTlu006A7GL1VDyGl2eKatgQTJSkgslyPrSL+9AYG7j7AIgcQWF2F9pzTrfYyUoJ708qxbZUSuJyP4FWqWvPbzRiAbz6or4pZYenanrrg5qpeEQ3+wkjsecxXEiedhxTqjBKrPP5IFVUQG+f9EofJ0VethUEQwwITWrwATLANtXQMJ1aQgv5vgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AXtseVt2AeuiMvEw3TQs5Z",
      "input": {
        "note": "The arm barely descended last move (still z≈0.09) though the brick is well framed between the jaws. Retrying the descent in a smaller step to z=0.04.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.15,
          "right_yaw": 0.75,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AXtseVt2AeuiMvEw3TQs5Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0385 left_roll=0.0004 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.3197, 7.1316, 1.7753, -0.0708, -0.0415, -0.0122, 0.0752, -9.1829, 8.5402, 1.4383, -0.3687, -0.1343, -0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2c1306edfa13264e17409a1fed2dcae21349518b136f75e164e2409cd15953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fef2f5f31ad50e6007f0d65910ed4ef516d66ded731a1d2073c8cf78168bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04c5f3d18760bbbc6046709774b57bf96510958576e6ee20f8a171cc3bbccc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 9.517 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, 0.807, 0.6075, -0.3912, -0.0227, -0.0261, 0.9996, 0.1753, 1.676, 1.0061, -0.1341, -0.3805, -0.4168, 0.9972]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1757 left_yaw=-0.0002 left_pitch=-0.021 left_roll=0.0001 left_gripper=0.9996 right_x=0.4207 right_y=0.1448 right_z=0.101 right_yaw=0.7242 right_pitch=-0.165 right_roll=-0.0273 right_gripper=0.9972\nstate[joint_eff]: [-0.3077, -0.9641, 7.0222, 1.8388, -0.0464, -0.022, -0.0122, -0.1709, -9.1829, 8.1573, 1.2772, -0.359, 0.0366, -0.3053]\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, 0.8082, 0.6075, -0.4011, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1734 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.0003 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.4291, 7.0085, 1.8046, -0.0464, -0.0366, -0.0122, 0.0615, -9.2239, 8.5402, 1.4628, -0.3834, -0.1245, -0.3053]",
      "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, 0.8082, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0385 left_roll=0.0004 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.3197, 7.1316, 1.7753, -0.0708, -0.0415, -0.0122, 0.0752, -9.1829, 8.5402, 1.4383, -0.3687, -0.1343, -0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2c1306edfa13264e17409a1fed2dcae21349518b136f75e164e2409cd15953",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fef2f5f31ad50e6007f0d65910ed4ef516d66ded731a1d2073c8cf78168bfc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04c5f3d18760bbbc6046709774b57bf96510958576e6ee20f8a171cc3bbccc96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywgKEAgRGAI4AUIIdGhpbmtpbmcSDPRbEFB/skii0B+BTxoM5PmkA0OtgH71hQhqIjByFIa96tf/9eDg8H2emw/lAsOnBrHCwrlqRRIhg1WJnMpzEbEn7bOe1g6xDb06jsoq6AeCOeUG53zAJ0AI6um7gvoo+WOCc4mOSwcRszxt9qCTPllR935QJs8tfzCYCIGWOJeKGwxVeABTVekd9t5DeksmUHDPqALybm4awWRz9GDMkZfw5ux0g7TPrjaIN0t7fa9An0ABKwPuxkKv4vq2z2BXsI9C8AFWKI/tZuu7o8d8jnpsNI8+Zqah7ptBgSiyuSySYAtc0x19iQ/8zDwGn0pRTKkh53gXJV+xugSSXPUxAyVxp5Ve2sEJwZZAnqXWHaTKvA9qdpVaosWgv9BTtaoOXOt/fNrSdsPswtES2rBm4/hKkcwBOc4jKGSitYUFDlfI99/lBsOtAsl8ubtscPZ16z8to4qPZbSQC785VB1mP0QsT3pGuqylCx+SCMmRoWH6T4ho0AB6Ty0vVbHnmQWkrnTcPcSBA3mVYqJYFyiTvmUzVmGPPwvfI8YvBB8IcnK/qOYFR64zs7FGor02kQODEgMJIhBuPjyVQdtytp7LUNoHM37mgnmMEGbWrGugDOi5jQ1mIiZNibmxSy6Mlo3xBe8LHxsz6dug2DCN/qpra0sPcE6aHm0vNXTSuxdEWnzd5PkeLkNW45uvTUGCl51bupJahzcGG5EsW8OUboJihGk5WS+jYxpGO0oQ2IxkdvE6GSkVBWqyOxbuCBf24bdijKgp3YD5sEbyiVwqrg2+6Wm/gmPDjyp64e/e61zYydBHM5ksLBRo+UVsqs/ghttu2koMOuNMdM4Tm4/z9K8eaeNQIz61o1IRgJq0eP4sy+BUy/A8xd99fa+YI6R/JaS/QvfvO5GgbTfzisryWkrBE2I7vjtXndPBqzGCv5eTm7ptn9EmJ3r7sD0iFs7gguOGEF/aJ6i3uUjUboqZ+pR6MYGL1W6az5hdkkioCGO1ynDSpGi43oLtxswNx2v66OoYLRjFAgO+rNhQxsHVmpUuu68xn8YaVtT5CSjmz8sJp7D6/W6+REQq/lt0V6YO3pSUSWcNHrMhiJuc59676W3UZ07vfaJoMiB2tqemSS0zxypc0GMoFyf5a5RxsGZaRLFkJE5+eStEYNu9bnsE9yLxH/KLTAugtZsSLz3P2iTaQzro5dvSx6TCe08MevVNuvoeyZw1hR3j8ol7KgSwavTZQuDxj2k7v4QOH5h+3+3bZvF+yff/t1ePG7mf7kckZWoW/aIh3NVRTKZSO119swHlIBxPt3+gfe0XJCTXcfurjslIrS3f4rBgmJdz5LrGM8zvcCm/thOmOz/icXTVylpVtBsuAizCNVJAOrEOJvd0GwLHXTEVAs0XkFGCu6JdGSnvuPhNIqbbiWLSPS0vnWNdYoKaSbhg8ytmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016J2TCk9shgDwL1MaDuGKud",
      "input": {
        "note": "The right arm has not moved at all for two commands — the IK appears stuck at this yawed pose. Backing up slightly, raising z and reducing yaw to free it before retrying the descent.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.15,
          "right_yaw": 0.5,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016J2TCk9shgDwL1MaDuGKud",
      "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, -0.408, -0.0227, -0.0261, 0.9996, 0.2604, 1.5623, 0.7952, 0.0921, -0.2424, -0.2058, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=-0.0002 left_pitch=-0.0423 left_roll=0.0005 left_gripper=0.9996 right_x=0.3983 right_y=0.1537 right_z=0.0983 right_yaw=0.5751 right_pitch=-0.0841 right_roll=-0.0032 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.6068, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122, 0.1299, -8.4308, 6.5709, 2.0, 0.0366, 0.1587, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2caa71393c3f5fb27744cce415345aadd9fdfd4cad20fe4676a9bbe601fc9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0ce1bd207bb047698445e32861e1ddaca13a98444ca690b3c9f963ba49004e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a715c1faf087f3524f61851aca4c8b5252bf9b7b75084c6f5c7b34e4c0ea0b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 9.468 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, 0.8082, 0.6075, -0.4011, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2932 left_y=0.0018 left_z=0.1734 left_yaw=-0.0002 left_pitch=-0.032 left_roll=0.0003 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.4291, 7.0085, 1.8046, -0.0464, -0.0366, -0.0122, 0.0615, -9.2239, 8.5402, 1.4628, -0.3834, -0.1245, -0.3053]",
      "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, 0.8082, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0385 left_roll=0.0004 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.3197, 7.1316, 1.7753, -0.0708, -0.0415, -0.0122, 0.0752, -9.1829, 8.5402, 1.4383, -0.3687, -0.1343, -0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2604, 1.5623, 0.7952, 0.0921, -0.2424, -0.2058, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=-0.0002 left_pitch=-0.0423 left_roll=0.0005 left_gripper=0.9996 right_x=0.3983 right_y=0.1537 right_z=0.0983 right_yaw=0.5751 right_pitch=-0.0841 right_roll=-0.0032 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.6068, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122, 0.1299, -8.4308, 6.5709, 2.0, 0.0366, 0.1587, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2caa71393c3f5fb27744cce415345aadd9fdfd4cad20fe4676a9bbe601fc9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a0ce1bd207bb047698445e32861e1ddaca13a98444ca690b3c9f963ba49004e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a715c1faf087f3524f61851aca4c8b5252bf9b7b75084c6f5c7b34e4c0ea0b97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywoKEAgRGAI4AUIIdGhpbmtpbmcSDILc5nnvfh/1AoNz9RoMlRFFo0NHq5KnCp5TIjA/0TUA5ekxyMIQOzGdoEM9A7jN79Dim19mHZe+P6uZsC5gTm2Ywlom0irJYuNEP2oq6AmWl2oMhT1rlu3zoSmSRJ8IGG5uVFtmStZyH4HmY7J07aTHSd44c98IcwXH7AT92QzOIZnDb/89co05uA17nlCPm7O/5d4KpI+aKsYsks1ecZb83yfTQaGnfbflGH75Dj5q2WPb04fBKKRFbi6Z6dgAiZhdLaEMJdJIK6Gr6NF8mmGWVbEDV82CPhIb45K8s8eRd3wY7vLztuj2bM8q4UjY5Jjv2C5I1Vc3QiLQgDnOkWDnEPe11bkhxBoQgqpjjyBxpF3S5iw/cI3ibP8knbQTS+6T5LUgTpuWpeFi0GGqm1mxdaa6qBPO/Oj7d1HtB+qO3s4tyqmqvXk211iM/QVC7RwVatR57dRgZxNGq4Vfi4BEn8qKOH5XqpEOc0qbhA5SbPSFM8jWvhaL2iACNCSzEK+XiNECVkVLHIEQbDw1G65COo0p7N6IJrE02jncf3xA59tkC9ZyU5FjivQeozFW87gA4Sv0yIWwnkp4T98M70D9c7T3uh8/q0m50bxMROnpub1kT8ZK+A4+H1TzzPhOqeucJ7id2DFd+xjxbF/oNG+balQeZa3qZ+SOZ+tqYLp00fViV0uCqSsnat+IusqqqEbrAyXlWFcGyKhpHt2ApxaHazyS9/aVmckhDOYaVjmGzJkNXddTnKOo2cfQ37GeTDuyCLo9vkz/87M1e5TDNg9uNfj4fmhXnMD3+mhmULXy+Ayjj9ET4al3a8vndpg5FqEIvkTgIicb/s10ImnNC00nuOzBjdm8RsoQeasSvtbyjloKcECw2GO52kz74NXxh2HOmi0kkhzpafr+CYitEcC7y3Qs4lj5284VN4AMlcZCGjXgBMfBjOapqaJOICG1U7TUMIUA0Tg0xnMJIZ+EG+J8qE639ruY6yuW2Eqv+fA5el8Yiuz7sfx5uH8xyYWfBNgbsDpNFuTbB2IXEbLCp/RnXZx5yM7kgOSOSgxqAQArsLhRPhWafRqdYwIriTzi3GO8bd24aSDbKY7xRaddH/h4ja7D7hf6Ijh7fksVlxZ0vPpp+dfViBPGtU88miX6Q+oS3zUSxkuXPKO5E01aFCCCrtvsr3QXZ2Qtq3LuZ12nHs1N6ihUSmXqhral+JdS8xjx8yWrKAAZf29ufsGTNOWHOMY9OXttf4yOM9wwQ9ofDbghS+HaortB1hNdi8UbD1iaL0Mf4Z79fmeR1sy1zciBinAVP1qgnb7R0Mo47Se9W16I6n7FvqXAtOLbTO9yHekTmN41DpAA0axHp43nBoVyUXDTXQ9PebS4auUcKY5R8BXF3ULo/Up+92s0c485VKpesgY5cbk04bT2Dvd9zixHPR54dXaEH2KbQXYv9PODXqeJSsWVScukokfnLkPU+vjRN+KcZa+t6ngK0kmuZlmOImUR9MpszD0487iOqDVvpKBeWd2Ql9hE3AQ3fMskw+II/0ZpvODQaGQUad3wVQAweW+8lFzFRhFniNPPeMyGgetO3NGTakT3h7fNJXH/vReafnVl6W/2vndS7soBiNHe/HGoeIlGf7ujuktiTu9ZlYcyF5y8crkMTKEESlUQo1aQOTzgDTcKlkLDCbFuGnU7gcyFDCTFdDfmZvblfsfHBSu+vqoCCIeo3ehetS2NJUnS3OFNnU6L+OH8+RwyKCr2mRTaMyOaEL9ESzeZFLobZykV3J9tyxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KTJjruiDBFdsKbCdwsCkgg",
      "input": {
        "note": "The arm freed up and the brick is centred on the jaw column in the right wrist view, roughly aligned with the jaws. Descending toward table level over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.155,
          "right_yaw": 0.6,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KTJjruiDBFdsKbCdwsCkgg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8146, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.2279, 1.8366, 0.6918, 0.4229, -0.279, -0.2104, 0.9972]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1701 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=0.0006 left_gripper=0.9995 right_x=0.4026 right_y=0.147 right_z=0.01 right_yaw=0.5771 right_pitch=-0.1208 right_roll=0.031 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.0051, 7.2137, 1.6777, -0.0855, -0.0806, -0.0122, -0.294, -8.335, 5.5043, 2.0, -0.359, -0.1245, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f07b2b985fc33a9aded6da30b7ccf2a330f19fe91bd082496fb5e291c454eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b08ae2af59213ed466b8a825066237f95e093520b0c5b956efa76f5d9b5b9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f3d3fb9b06a573a41f6770b3818bbd2a82e733f46c2c76195d8d03375c35d8f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 5.144 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, 0.8082, 0.6075, -0.4076, -0.0227, -0.0261, 0.9996, 0.1596, 1.7077, 1.0298, -0.1795, -0.4324, -0.4763, 0.9972]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=-0.0002 left_pitch=-0.0385 left_roll=0.0004 left_gripper=0.9996 right_x=0.4175 right_y=0.1458 right_z=0.0925 right_yaw=0.7871 right_pitch=-0.189 right_roll=-0.0093 right_gripper=0.9972\nstate[joint_eff]: [-0.212, -1.3197, 7.1316, 1.7753, -0.0708, -0.0415, -0.0122, 0.0752, -9.1829, 8.5402, 1.4383, -0.3687, -0.1343, -0.3053]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2604, 1.5623, 0.7952, 0.0921, -0.2424, -0.2058, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=-0.0002 left_pitch=-0.0423 left_roll=0.0005 left_gripper=0.9996 right_x=0.3983 right_y=0.1537 right_z=0.0983 right_yaw=0.5751 right_pitch=-0.0841 right_roll=-0.0032 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.6068, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122, 0.1299, -8.4308, 6.5709, 2.0, 0.0366, 0.1587, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8146, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.2279, 1.8366, 0.6918, 0.4229, -0.279, -0.2104, 0.9972]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1701 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=0.0006 left_gripper=0.9995 right_x=0.4026 right_y=0.147 right_z=0.01 right_yaw=0.5771 right_pitch=-0.1208 right_roll=0.031 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.0051, 7.2137, 1.6777, -0.0855, -0.0806, -0.0122, -0.294, -8.335, 5.5043, 2.0, -0.359, -0.1245, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f07b2b985fc33a9aded6da30b7ccf2a330f19fe91bd082496fb5e291c454eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b08ae2af59213ed466b8a825066237f95e093520b0c5b956efa76f5d9b5b9c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3d3fb9b06a573a41f6770b3818bbd2a82e733f46c2c76195d8d03375c35d8f7",
        "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_017DR5c1KJG3hn7ufvNdaR9R",
      "input": {
        "note": "The jaws are at table level with the brick between them but its near edge sits a bit ahead of the fingertips in the wrist view. Advancing ~2 cm along the tool's forward direction to centre the jaws on the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.158,
          "right_yaw": 0.6,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017DR5c1KJG3hn7ufvNdaR9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9247, 0.6861, 0.5858, -0.3084, -0.2028, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4135 right_y=0.1541 right_z=0.0029 right_yaw=0.5939 right_pitch=-0.0496 right_roll=0.0303 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.7118, -0.0708, -0.0611, -0.0073, -0.4444, -7.7607, 4.7248, 2.0293, -0.2906, 0.0562, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:491b4799dd4b3c63e92cbb0d92d609d39be68cdff4a9bd4f852f42f5218bd8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af635df9baf45fbf109b32aee617083d5f4d493b36d2093abbdc97825ae8e558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df29d260b815336b3aac44bf1174bbdbb8892a77ff6511355a4e9c9476d1bdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 9.101 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, 0.8116, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2604, 1.5623, 0.7952, 0.0921, -0.2424, -0.2058, 0.9972]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.171 left_yaw=-0.0002 left_pitch=-0.0423 left_roll=0.0005 left_gripper=0.9996 right_x=0.3983 right_y=0.1537 right_z=0.0983 right_yaw=0.5751 right_pitch=-0.0841 right_roll=-0.0032 right_gripper=0.9972\nstate[joint_eff]: [-0.2256, -1.6068, 7.1043, 1.7656, -0.0562, -0.0269, -0.0122, 0.1299, -8.4308, 6.5709, 2.0, 0.0366, 0.1587, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8146, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.2279, 1.8366, 0.6918, 0.4229, -0.279, -0.2104, 0.9972]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1701 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=0.0006 left_gripper=0.9995 right_x=0.4026 right_y=0.147 right_z=0.01 right_yaw=0.5771 right_pitch=-0.1208 right_roll=0.031 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.0051, 7.2137, 1.6777, -0.0855, -0.0806, -0.0122, -0.294, -8.335, 5.5043, 2.0, -0.359, -0.1245, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9247, 0.6861, 0.5858, -0.3084, -0.2028, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4135 right_y=0.1541 right_z=0.0029 right_yaw=0.5939 right_pitch=-0.0496 right_roll=0.0303 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.7118, -0.0708, -0.0611, -0.0073, -0.4444, -7.7607, 4.7248, 2.0293, -0.2906, 0.0562, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:491b4799dd4b3c63e92cbb0d92d609d39be68cdff4a9bd4f852f42f5218bd8c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af635df9baf45fbf109b32aee617083d5f4d493b36d2093abbdc97825ae8e558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df29d260b815336b3aac44bf1174bbdbb8892a77ff6511355a4e9c9476d1bdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Now the brick is between the jaws; closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PpGCVDvYYo9irHJ6EkXAzj",
      "input": {
        "note": "The brick now spans the jaw gap in the right wrist view with the jaws at table level either side of it. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.4135,
          "right_y": 0.154,
          "right_yaw": 0.6,
          "right_z": 0.003
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PpGCVDvYYo9irHJ6EkXAzj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9381, 0.6849, 0.6109, -0.3229, -0.2001, 0.01]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4141 right_y=0.1568 right_z=0.0022 right_yaw=0.6042 right_pitch=-0.0366 right_roll=0.0367 right_gripper=0.01\nstate[joint_eff]: [-0.1983, -1.1829, 7.1043, 1.7265, -0.0708, -0.0317, -0.0122, -0.2256, -8.4308, 4.7521, 2.0098, -0.1001, 0.0122, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c61b54c597011b9ea09cf0e733ef6c49030d60f06e8e8f8545a1b311c699185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0487cb422538de50fb00acd4c98525c722365f95f357e95b2ffa2d009ccfeeb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0700be1eb7291f690295d67848677f5fd2cd38821890a07b76b5ae173cd04f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 6.407 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, 0.8146, 0.6075, -0.4084, -0.0227, -0.0261, 0.9995, 0.2279, 1.8366, 0.6918, 0.4229, -0.279, -0.2104, 0.9972]\nstate[eef_state]: left_x=0.2926 left_y=0.0018 left_z=0.1701 left_yaw=-0.0002 left_pitch=-0.0458 left_roll=0.0006 left_gripper=0.9995 right_x=0.4026 right_y=0.147 right_z=0.01 right_yaw=0.5771 right_pitch=-0.1208 right_roll=0.031 right_gripper=0.9972\nstate[joint_eff]: [-0.3624, -1.0051, 7.2137, 1.6777, -0.0855, -0.0806, -0.0122, -0.294, -8.335, 5.5043, 2.0, -0.359, -0.1245, -0.3053]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9247, 0.6861, 0.5858, -0.3084, -0.2028, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4135 right_y=0.1541 right_z=0.0029 right_yaw=0.5939 right_pitch=-0.0496 right_roll=0.0303 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.7118, -0.0708, -0.0611, -0.0073, -0.4444, -7.7607, 4.7248, 2.0293, -0.2906, 0.0562, -0.3053]\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, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9381, 0.6849, 0.6109, -0.3229, -0.2001, 0.01]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4141 right_y=0.1568 right_z=0.0022 right_yaw=0.6042 right_pitch=-0.0366 right_roll=0.0367 right_gripper=0.01\nstate[joint_eff]: [-0.1983, -1.1829, 7.1043, 1.7265, -0.0708, -0.0317, -0.0122, -0.2256, -8.4308, 4.7521, 2.0098, -0.1001, 0.0122, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c61b54c597011b9ea09cf0e733ef6c49030d60f06e8e8f8545a1b311c699185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0487cb422538de50fb00acd4c98525c722365f95f357e95b2ffa2d009ccfeeb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0700be1eb7291f690295d67848677f5fd2cd38821890a07b76b5ae173cd04f46",
        "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_016toai2CuUPGyiRGtii1xz4",
      "input": {
        "note": "The close was empty (gripper reads 0.01) and the brick still appears just beyond the closed jaws in the wrist view. Reopening and advancing ~3 cm along the tool direction to get the jaws over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.172,
          "right_yaw": 0.6,
          "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_016toai2CuUPGyiRGtii1xz4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 1.9995, 0.7612, 0.6109, -0.321, -0.1894, 0.9951]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4304 right_y=0.1701 right_z=0.0007 right_yaw=0.6177 right_pitch=-0.0233 right_roll=0.0391 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.2513, 7.0359, 1.6923, -0.0806, -0.0415, -0.0122, 0.212, -7.6376, 6.5436, 1.8584, -0.0171, 0.1294, -0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1d0b96e135af9695fbe38af6533a1d813a9de20b2f5aaea60de1d9c028a272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad7bb4fbfed6296894e3420020d3e356aaaa3c4c485cf6c6580730116f4000a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60f755df58e3598a76c12546de59376b6320b42dea84fbb995dd28b868b3454d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 14.02 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, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9247, 0.6861, 0.5858, -0.3084, -0.2028, 0.9972]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4135 right_y=0.1541 right_z=0.0029 right_yaw=0.5939 right_pitch=-0.0496 right_roll=0.0303 right_gripper=0.9972\nstate[joint_eff]: [-0.0752, -1.4291, 7.0085, 1.7118, -0.0708, -0.0611, -0.0073, -0.4444, -7.7607, 4.7248, 2.0293, -0.2906, 0.0562, -0.3053]\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, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9381, 0.6849, 0.6109, -0.3229, -0.2001, 0.01]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4141 right_y=0.1568 right_z=0.0022 right_yaw=0.6042 right_pitch=-0.0366 right_roll=0.0367 right_gripper=0.01\nstate[joint_eff]: [-0.1983, -1.1829, 7.1043, 1.7265, -0.0708, -0.0317, -0.0122, -0.2256, -8.4308, 4.7521, 2.0098, -0.1001, 0.0122, 0.8083]\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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 1.9995, 0.7612, 0.6109, -0.321, -0.1894, 0.9951]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4304 right_y=0.1701 right_z=0.0007 right_yaw=0.6177 right_pitch=-0.0233 right_roll=0.0391 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.2513, 7.0359, 1.6923, -0.0806, -0.0415, -0.0122, 0.212, -7.6376, 6.5436, 1.8584, -0.0171, 0.1294, -0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1d0b96e135af9695fbe38af6533a1d813a9de20b2f5aaea60de1d9c028a272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ad7bb4fbfed6296894e3420020d3e356aaaa3c4c485cf6c6580730116f4000a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60f755df58e3598a76c12546de59376b6320b42dea84fbb995dd28b868b3454d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS9QYKEAgRGAI4AUIIdGhpbmtpbmcSDM/1GtFoJQ7Bq+nQFxoMMU4/w/CTz/gqnzxhIjBplgw9A3+pUn5eoff0iLIkiP+FR/QIEYZ3/0UAkpncbUmg1RGo2+UtVajl+fH7rjoqkgbjrYRNBgSXodutSmIRoOhosJva1J6/osFPnYCR8U5XJ+4+0VCVyC2vhilXRTYsx8ivI5fgZOk8kgOeFaikicsuI7t7Do2i1vi2HI07DhaFQb1rtW0PNU4Kel23opxvr1EVQ6b0NyEXGeuWmXEgrIy49swJaWggq7hy1GbQQ1979QgfYoZWQhg2Y5ZlZ4OenEcdZdwceHtla6nGhUt+YducR/QhFwmoEoKyAqW4RY/Y7F9/EfbZa0E5oGGRVFpMbqgX+eY6BsNUZn3XYghEEQoxNZWdkYSLl6tzQtK0uVUiZpXN2SQxko5tRKHqlZ/h4rBgNnDuqcCSawgvbFhVS7cGHgWVfW4N2enlp3WzmdyxTMkRBC9xhPMB0hd6gufJFUVYWdKnSH3uki8qSSjzicECc7STj9iMhYHt75R3kLsQuki923nPNO997/v+Ua3eJSf/1ksPPbvPrEMVP4mZMEdXyZ0fh0UuI7Y7MG65QsRdziSpq3hfsW265K3+aJND8pSs90ZfVh7/45LUq7ilUBfKx0Mz6EZ/dAf/yLMKIsk1h9ghYHeSsDsia+Zos7DaAiw4yREVE2LKxiwjcXf7B85xQV5lyW9JCv3Spro4OJ4fzdfF8JB9jL/lK3vL9SNTZ8OFX5hBc01Hq+Or+nBXZKRKNAwkxRIeWjDFTAWKH7ebpeuuEbifwskwtNP2EqFNbNrbby5EldpFps+8mienN9Be47lVwTDFfC/HvPpWRGIpQ7LpFY1LdJL5+KahT22w4A21I2tdUvhn5nt7MqI0IWL9CqhHHrang7OMGk0nieWZykbmI0c9rguLUphXhRjxVWbTav5rSpam1vGw6iYhuzYfwVJ60sHtQqIkJnT7xC3PKeqCrJ8W5OgBO/vCV7+iySW0M9JqkEefi0MlCbVpoIOWCCxrE/sTnbHAdzPnzehrlK6NaIL3MVkHb0rSieu5H0/x8DqXHg76IAnHyD4jrDZYLfXjpm1DZ6SUgDoDJz3HDEoqgzN0M5jgJ49dQsRp9/mRw1chwkm5C4isHK4c2OeoQdIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F5KNiHX268g5PALKbJERQx",
      "input": {
        "note": "The brick now sits squarely between the open jaws in the right wrist view, and the top view shows the gripper directly over it. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.17,
          "right_yaw": 0.6,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F5KNiHX268g5PALKbJERQx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 2.0033, 0.7441, 0.6384, -0.3187, -0.1764, 0.0092]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4281 right_y=0.1691 right_z=-0.0013 right_yaw=0.6088 right_pitch=-0.0179 right_roll=0.0463 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -1.388, 7.1316, 1.7021, -0.0513, -0.0611, -0.0171, 0.4171, -8.2393, 3.9726, 2.0537, 0.0513, -0.0171, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffcb78241a51e383e4f62370d34014b4143c5706e508a94ab2d8c26bbd80588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f21172fd8bedddf62be6f5e6965477a0f35904e1ca3050066f4b39062d4ae78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d50a3cd71877896099bf563e4c16ab1d451ed0a73271bc27835e01949c6369f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 8.313 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, 0.8158, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2268, 1.9381, 0.6849, 0.6109, -0.3229, -0.2001, 0.01]\nstate[eef_state]: left_x=0.2927 left_y=0.0018 left_z=0.1699 left_yaw=-0.0002 left_pitch=-0.0465 left_roll=0.0006 left_gripper=0.9996 right_x=0.4141 right_y=0.1568 right_z=0.0022 right_yaw=0.6042 right_pitch=-0.0366 right_roll=0.0367 right_gripper=0.01\nstate[joint_eff]: [-0.1983, -1.1829, 7.1043, 1.7265, -0.0708, -0.0317, -0.0122, -0.2256, -8.4308, 4.7521, 2.0098, -0.1001, 0.0122, 0.8083]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 1.9995, 0.7612, 0.6109, -0.321, -0.1894, 0.9951]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4304 right_y=0.1701 right_z=0.0007 right_yaw=0.6177 right_pitch=-0.0233 right_roll=0.0391 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.2513, 7.0359, 1.6923, -0.0806, -0.0415, -0.0122, 0.212, -7.6376, 6.5436, 1.8584, -0.0171, 0.1294, -0.0806]\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 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 2.0033, 0.7441, 0.6384, -0.3187, -0.1764, 0.0092]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4281 right_y=0.1691 right_z=-0.0013 right_yaw=0.6088 right_pitch=-0.0179 right_roll=0.0463 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -1.388, 7.1316, 1.7021, -0.0513, -0.0611, -0.0171, 0.4171, -8.2393, 3.9726, 2.0537, 0.0513, -0.0171, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffcb78241a51e383e4f62370d34014b4143c5706e508a94ab2d8c26bbd80588",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f21172fd8bedddf62be6f5e6965477a0f35904e1ca3050066f4b39062d4ae78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d50a3cd71877896099bf563e4c16ab1d451ed0a73271bc27835e01949c6369f",
        "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_011uvvywnrBLFGDYgXCVko9Z",
      "input": {
        "note": "Second close was also empty; the closed jaws sit just in front of the brick in the wrist view and the top view shows the brick forward-left of the gripper. Opening and advancing ~4 cm more along the tool direction.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.463,
          "right_y": 0.192,
          "right_yaw": 0.6,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011uvvywnrBLFGDYgXCVko9Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2817, 2.083, 0.881, 0.6037, -0.2955, -0.1715, 0.9961]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4567 right_y=0.1895 right_z=0.0007 right_yaw=0.6209 right_pitch=-0.0015 right_roll=0.0302 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.3607, 7.2547, 1.6679, -0.0562, -0.0024, -0.0122, 0.4581, -8.4171, 6.9949, 1.6435, -0.0171, 0.3004, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80d4454eba46828d24e59d89cec78509a47c9048cc3f7188fc4675e39a0b977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d9127d6a19382b9b3a654aab71d6da1786d200abb37c60da041bd1f1d7e0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:26032f81439a93977c6a9f3fcf036f5752f31efd52b89fd81107bfd9f538ac35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 19.74 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 1.9995, 0.7612, 0.6109, -0.321, -0.1894, 0.9951]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4304 right_y=0.1701 right_z=0.0007 right_yaw=0.6177 right_pitch=-0.0233 right_roll=0.0391 right_gripper=0.9951\nstate[joint_eff]: [-0.2256, -1.2513, 7.0359, 1.6923, -0.0806, -0.0415, -0.0122, 0.212, -7.6376, 6.5436, 1.8584, -0.0171, 0.1294, -0.0806]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 2.0033, 0.7441, 0.6384, -0.3187, -0.1764, 0.0092]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4281 right_y=0.1691 right_z=-0.0013 right_yaw=0.6088 right_pitch=-0.0179 right_roll=0.0463 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -1.388, 7.1316, 1.7021, -0.0513, -0.0611, -0.0171, 0.4171, -8.2393, 3.9726, 2.0537, 0.0513, -0.0171, 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 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2817, 2.083, 0.881, 0.6037, -0.2955, -0.1715, 0.9961]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4567 right_y=0.1895 right_z=0.0007 right_yaw=0.6209 right_pitch=-0.0015 right_roll=0.0302 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.3607, 7.2547, 1.6679, -0.0562, -0.0024, -0.0122, 0.4581, -8.4171, 6.9949, 1.6435, -0.0171, 0.3004, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d80d4454eba46828d24e59d89cec78509a47c9048cc3f7188fc4675e39a0b977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d9127d6a19382b9b3a654aab71d6da1786d200abb37c60da041bd1f1d7e0f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26032f81439a93977c6a9f3fcf036f5752f31efd52b89fd81107bfd9f538ac35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAkKEAgRGAI4AUIIdGhpbmtpbmcSDI6G5aR+uE4XaC0uGBoMPQik7vnm5oQcRK3sIjBWSpgrkwJD/JbzuoTKveC5ds+OA1C6tC6MGnt6OW0ZvM6hY+OJSnEocUyB2R0dxQgqrQjqpS4wVYz/TbsUk+G5rqK2goHL3dvLAFXDj3749Q9+NyxDsX9feNNLnNEH1V0FLd9jAbM+TWI+1dh6J3n45ZyOSiNG8/jIbl/sonber30+ChozBkfTgvd2d+YvqwUAEHvDdI5sdb6Bq1mv246kP4a/QSpIFM5A89q9XHjov2jofarqJUuLQVImeIi3pXdc9PhDqx7t0c1RqkkjParE4taU5Z1x336fA8kEGDRjoHs5uTW8VMkBJPOMOam21cDPD/a98+IcdKedmi9GoDQLS5GXD5pJW24AHfPQ7LdprStVqxQzAqP+ucBUAs6otknXhy5KfF5qYNyE19YgcEzBaY+uYZU0+/wyZx09icCOLmHCxZfyqEe4h7oYNDsViswsF4Wa93MJm30lbcCaBrLmY7rds4nI/4UESpKzoxWObQ/q3VGkyXHR5u5ljvamYf5UfiSQDFl9SJaWBD+rngNeGaIHLtnG6uGDwVhmtInj8oe2rP37Spsf2R752KQeHpSDZ82MxKnuNrOUsyDw+QDOPNv4qreEpnnpydwJiWvDZWjG1ZaCyVma/4GePpsZr6cGAQnI5G8PDx1Mj2CV6q6H0fjBMMaFjdmWFdQafSpAtMgBQv1PknG6LircDwPBe69LAgT0o3XQxpbFo/Wc+ZkvFjjLQPeMA6mBI6MZ/xZrN1BATIXi1EYbZXULRjJw9PyMLVIDkQnQeKseTIQvNdECysoTRuW3bDTADG/enfoML9+6iQg6xsN5OwHwGVOCPN7C/M0UJxQgip884gRzUsopcFDlxTcFcw4mRSN+m8Bxx1AxhwzFTRRk2do0n8see0t1BL6yoPLzYCrEo3MxTipMKuIbUNV38FqWM6/uigTGMga+eQC4jzFUeXQ90dFv1ojhDPBYI87ETtRMQ/E+CnkulDJpd0UuZ1t6Wbzuoja0zKCv/Yk78YN3BNsxbPdchrjk4jQJKJ9Luo1Nf76cfs+98Gs92H3WWP5KCtHvgUPgQBTOQ/xKhhzO963TaZl7HCFoEnFfeKe/0thclLefOY3IceEKu6EN+6MnuoBZAjME8UHatYA4fLCYk5XfVjhJ/Ci5k4oGchPFPKoGFGUoHdKlb1kJfCaCqZRJJThNPvgZfFRKsmfu2FEscA7NmKhz2E+bdmE1qsT78Ko5Sjz5BQF93uVfGwJ11njXjWHYN51Nr+GNRY8tT34RQZghMSK7efTJqn1bJ/v9CcWjtM3iL8wkpqzOoNC5lMSkzP8r520VFppGPH6gtsWGzJ7+FkxFH2crXxLBy0km77g6tJvsQ8yjPhl+D6BDL5LlyCWGfKmm8YD9ncy4Vv2NcE5M836ecQy2Qkp0pugJB+IFKS0KeTOxIoovzTEVhlak66bfLyvmwS11jTHCyVwl8dkWflVWVuwNZfyd5NnDBXM7D1xQTgsiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SXrCWU5EVPp2vkRtiwcDgK",
      "input": {
        "note": "The brick now fills the gap between the two visible jaw tips in the wrist view and the top view shows the gripper over the brick's centre. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.457,
          "right_y": 0.19,
          "right_yaw": 0.62,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SXrCWU5EVPp2vkRtiwcDgK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2813, 2.088, 0.8825, 0.6052, -0.297, -0.1761, 0.0097]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4568 right_y=0.1896 right_z=-0.0008 right_yaw=0.6242 right_pitch=-0.0029 right_roll=0.0278 right_gripper=0.0097\nstate[joint_eff]: [-0.3624, -1.388, 7.0632, 1.6679, -0.0855, -0.0659, -0.0122, -0.0205, -9.9624, 4.6427, 1.7509, -0.0415, 0.0464, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efce804feb288903b90b26f9df77ab414cb4b1f0fa96d998a3f61cc2387ddbe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd97668df009f6e9f31491a745d5c36552e8b77c28990c086f861deaec7deea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2520308b2f6bcf0847dffcb1f0062ab7020a94cf99cb4b8bfa0435b8b75464f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.713 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2478, 2.0033, 0.7441, 0.6384, -0.3187, -0.1764, 0.0092]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4281 right_y=0.1691 right_z=-0.0013 right_yaw=0.6088 right_pitch=-0.0179 right_roll=0.0463 right_gripper=0.0092\nstate[joint_eff]: [-0.253, -1.388, 7.1316, 1.7021, -0.0513, -0.0611, -0.0171, 0.4171, -8.2393, 3.9726, 2.0537, 0.0513, -0.0171, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2817, 2.083, 0.881, 0.6037, -0.2955, -0.1715, 0.9961]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4567 right_y=0.1895 right_z=0.0007 right_yaw=0.6209 right_pitch=-0.0015 right_roll=0.0302 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.3607, 7.2547, 1.6679, -0.0562, -0.0024, -0.0122, 0.4581, -8.4171, 6.9949, 1.6435, -0.0171, 0.3004, -0.1392]\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 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2813, 2.088, 0.8825, 0.6052, -0.297, -0.1761, 0.0097]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4568 right_y=0.1896 right_z=-0.0008 right_yaw=0.6242 right_pitch=-0.0029 right_roll=0.0278 right_gripper=0.0097\nstate[joint_eff]: [-0.3624, -1.388, 7.0632, 1.6679, -0.0855, -0.0659, -0.0122, -0.0205, -9.9624, 4.6427, 1.7509, -0.0415, 0.0464, 0.7643]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efce804feb288903b90b26f9df77ab414cb4b1f0fa96d998a3f61cc2387ddbe2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd97668df009f6e9f31491a745d5c36552e8b77c28990c086f861deaec7deea4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2520308b2f6bcf0847dffcb1f0062ab7020a94cf99cb4b8bfa0435b8b75464f8",
        "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_01EkKh1JJKBeE5fVRjkxetbn",
      "input": {
        "note": "Empty again — I now see the jaws have been pushing the brick's long side (the brick is wider than the jaw opening across this axis), so the tool is yawed the wrong way. Lifting, opening, and rotating the tool ~90° so the jaws close across the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.2,
          "right_yaw": -0.9,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EkKh1JJKBeE5fVRjkxetbn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8219, 0.6075, -0.4156, -0.0223, -0.0261, 0.9996, 0.6914, 2.439, 1.9236, -0.5213, 0.9306, 1.1637, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1667 left_yaw=-0.0005 left_pitch=-0.0603 left_roll=0.0006 left_gripper=0.9996 right_x=0.5145 right_y=0.2466 right_z=0.0631 right_yaw=-0.6396 right_pitch=0.0157 right_roll=0.2051 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, -1.5658, 6.9949, 1.7705, -0.0024, -0.0464, -0.0122, -0.1983, -12.9026, 4.2188, 0.0708, 0.5201, 0.1685, -0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d373152fcb795730f482c2d49dd94e3e2c28a8c5ddc28a3f571c91621a4fcd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a8b13ff73c3b783964f09d6169bebddd1e858bcdaca116323d70acbe66a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f7e657ea1d691d3931356d709c5c576a9901b903aff09824459b439bbe3af38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.822 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2817, 2.083, 0.881, 0.6037, -0.2955, -0.1715, 0.9961]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4567 right_y=0.1895 right_z=0.0007 right_yaw=0.6209 right_pitch=-0.0015 right_roll=0.0302 right_gripper=0.9961\nstate[joint_eff]: [-0.1026, -1.3607, 7.2547, 1.6679, -0.0562, -0.0024, -0.0122, 0.4581, -8.4171, 6.9949, 1.6435, -0.0171, 0.3004, -0.1392]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2813, 2.088, 0.8825, 0.6052, -0.297, -0.1761, 0.0097]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4568 right_y=0.1896 right_z=-0.0008 right_yaw=0.6242 right_pitch=-0.0029 right_roll=0.0278 right_gripper=0.0097\nstate[joint_eff]: [-0.3624, -1.388, 7.0632, 1.6679, -0.0855, -0.0659, -0.0122, -0.0205, -9.9624, 4.6427, 1.7509, -0.0415, 0.0464, 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 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8219, 0.6075, -0.4156, -0.0223, -0.0261, 0.9996, 0.6914, 2.439, 1.9236, -0.5213, 0.9306, 1.1637, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1667 left_yaw=-0.0005 left_pitch=-0.0603 left_roll=0.0006 left_gripper=0.9996 right_x=0.5145 right_y=0.2466 right_z=0.0631 right_yaw=-0.6396 right_pitch=0.0157 right_roll=0.2051 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, -1.5658, 6.9949, 1.7705, -0.0024, -0.0464, -0.0122, -0.1983, -12.9026, 4.2188, 0.0708, 0.5201, 0.1685, -0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d373152fcb795730f482c2d49dd94e3e2c28a8c5ddc28a3f571c91621a4fcd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32a8b13ff73c3b783964f09d6169bebddd1e858bcdaca116323d70acbe66a0d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7e657ea1d691d3931356d709c5c576a9901b903aff09824459b439bbe3af38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS2ggKEAgRGAI4AUIIdGhpbmtpbmcSDBG17Ckxy2cZ3bzZlhoMhkHA2l1vadnIJy7LIjDIH4/3GvzcDA2ewdjt1cTXTnzaXXJameXO8lbZLh3SZwAd7gxhVHUhbOD+U9IZgTMq9wf6+XlTsPs8YTh5ZAVQnxdLE+Ac69MwKye7CSFAdqHS9ynHODERvi+rB0xg8IFJeaUKw6aaH7BXyC3pe3YWtU2ennGu4o+3e/GhXXVMHg5sX8IDyHQIFGMYsG0DFNKTHyE3D9reEjzbKq79QyJMBmAoqraEDemPM/g2PF32RjzsZDlTU+qrP/xR97O8m7c75haJyUD7cF6WeIVbxvRXIWayQ282iYIL5A0jVWtKa9gyMLYPBCBQHsDqWo7myYlkCRLdbJUSyp1RDVA5WXtEnV9WWpJ7W6Gx7nsBkeyz4T5rg7UmBhz8qYTFm7R23zl/ODZ59T7jMDTaok98FLblFI767LjfPnV5gVEp47vDuh05mGi8yYNAStn4bYAl+p0YbjusV93xYLRhpTF1WSh40VsE+8F+XkICFPFYy6qB2FRmdqADn+ODViKd0ta1DoqZJh3dSleKYDiicW/iN6a3qfGd94MlSeyxHa1cQkz8I4kDRrL2ncl506E9UgBYXc7t6ueHO9d0FzG6cHbhqpSaGZEb02wxhf7LDQHbS2/8f9K9cK/C/sdhyhoBYSGZ1mM0S1Sz2IQF4aLF26e8O/d5rU4jvkMjQ4R54R1wt/wnaOildKQnTpiS8XdqPCfuYrwaK52z6dui8Vaxgp/nq3r0zaps+/+cn9n4P2K+550+aAMTRzM1GPnM3AminVZOJ+SB7DCjtkUMmzLUbqaDMEUyvfHxxSt3j7yxIkwlf3Gos+fUGZnjmA+ls++65k+wKuwyFXaJrIY67+1EfYpwwG+s1N2Cv0w1So4M37YXfwmObhdmITyElBf2kKIVhProtFfGOVZ4g/snWkMEXdmCJjT7CfC07qjb1kd9eFHXKtvRQuhmEhxySHJYLq6014plxMqM3gT1r0eDN0xFi7HFC1Pav4Rz05l9kkyEiK5cQdq8+R2ecFSGdHQwNeIprlLg29Y9JtAKszGdR6Zs8LJAWDu1OMAePPouE2yUrhkjEN64Zzvvo9hbtfumND9PfOHBaAtW3iG5m1ERlAcY4X13NKPIpoKmiP8W1QqnABQ2I5K3d0/Q9nJZtqZV0iEnQZEz8NcC2dDNcMV0aJnXxpBuAoC98r9752zh79rh5JVrXuXGFkELTtizjmcye/UPevzFUbAiMogvNGPfH5hEJz8FvtRE/0BLlSyv3IFjcy+ptI/ZptgP0fMBtuHlC89C+6866wqut76cf5K1x4++gjcDyAnK9f3h2XNXSlR9mYQlR1imVsDc3dG0TkHNXDWLAB1vh+utQsTPHRdu36R4oATlchiNOdo+3iE0fLL1I7ztezHZdABadZPSGMq/+z4bWyy7n/U5AZqFGUEG6kA1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rns8bS2M1pjLAPWPKF4cbb",
      "input": {
        "note": "The IK overshot: the arm stretched to x≈0.51 with the wrist rolled, and the brick now appears lower-right in the wrist view. Pulling back to a safer hover pose above the brick area with the new yaw to re-approach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": 0.19,
          "right_yaw": -0.9,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Rns8bS2M1pjLAPWPKF4cbb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.7071, 2.418, 1.9369, -0.7326, 0.9607, 1.2819, 0.9969]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0614 left_roll=0.0009 left_gripper=0.9996 right_x=0.489 right_y=0.2321 right_z=0.0663 right_yaw=-0.6989 right_pitch=-0.0032 right_roll=0.1262 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.7021, -0.0464, -0.0611, -0.0122, 0.0205, -14.9538, 6.5573, 0.823, 0.5739, -0.0073, -0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94061430060c78945adf7f339d5063c811b9cf6a9a8c6174aaaa9113200a523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b3d490d4c1933eeda2b6b80523c3eb9ac29d519c713a9c16dfe50df9091b17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd9e74d0410c915ea7843ca4f3afe0759908c34f07cbb3bd0a198f09f01f8186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 20.54 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, 0.8173, 0.6075, -0.408, -0.0227, -0.0261, 0.9996, 0.2813, 2.088, 0.8825, 0.6052, -0.297, -0.1761, 0.0097]\nstate[eef_state]: left_x=0.2928 left_y=0.0018 left_z=0.1695 left_yaw=-0.0002 left_pitch=-0.0481 left_roll=0.0006 left_gripper=0.9996 right_x=0.4568 right_y=0.1896 right_z=-0.0008 right_yaw=0.6242 right_pitch=-0.0029 right_roll=0.0278 right_gripper=0.0097\nstate[joint_eff]: [-0.3624, -1.388, 7.0632, 1.6679, -0.0855, -0.0659, -0.0122, -0.0205, -9.9624, 4.6427, 1.7509, -0.0415, 0.0464, 0.7643]\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, 0.8219, 0.6075, -0.4156, -0.0223, -0.0261, 0.9996, 0.6914, 2.439, 1.9236, -0.5213, 0.9306, 1.1637, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1667 left_yaw=-0.0005 left_pitch=-0.0603 left_roll=0.0006 left_gripper=0.9996 right_x=0.5145 right_y=0.2466 right_z=0.0631 right_yaw=-0.6396 right_pitch=0.0157 right_roll=0.2051 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, -1.5658, 6.9949, 1.7705, -0.0024, -0.0464, -0.0122, -0.1983, -12.9026, 4.2188, 0.0708, 0.5201, 0.1685, -0.0317]\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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.7071, 2.418, 1.9369, -0.7326, 0.9607, 1.2819, 0.9969]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0614 left_roll=0.0009 left_gripper=0.9996 right_x=0.489 right_y=0.2321 right_z=0.0663 right_yaw=-0.6989 right_pitch=-0.0032 right_roll=0.1262 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.7021, -0.0464, -0.0611, -0.0122, 0.0205, -14.9538, 6.5573, 0.823, 0.5739, -0.0073, -0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f94061430060c78945adf7f339d5063c811b9cf6a9a8c6174aaaa9113200a523",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7b3d490d4c1933eeda2b6b80523c3eb9ac29d519c713a9c16dfe50df9091b17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd9e74d0410c915ea7843ca4f3afe0759908c34f07cbb3bd0a198f09f01f8186",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuwcKEAgRGAI4AUIIdGhpbmtpbmcSDG2LseQWyq35zOAjSRoMWiCoSCaFAqZoxR8kIjADaiCaFzfDf7PqweWV/rfWlKz6BP6LPTLXlym1txrZwUnUXKl3kOF7FuZs1TaQtuwq2AblYJzx2GrqK3wb+vf6aNM5qYIykOHqsNlnhF5BV5u/eHgLC7xbQKPCuC6T/0w56sdYJ6UmYHMgsUduffDr5/fpRgvxmObV/QvLb1TYbhAUNjrZAPR2ipiCU5/ACNpm/CX2pVx4Y0pqtCEcf3C/aT5r7MWHjQ9oMnFmIRL1pEpjMKHH9JsHqdVlmGKFsEEG/7ZI4H8flnZGccvLTKlqGu9yeVnVXbvpWrZfnU7PnfRECxneomRhVV7btQM2PFG8L59WIDJddniUjxfCRQEV0NOH7Yf9jr5qer81SWAs0j+gazYH7PYJokC60lATMpUOyCt9egdZbhMWw+OHbh4Xs3gLqZmgHDuloaCAn8iPk+VaI69K9yvJk2r+sdWkdJb6MQMzKGs7K8b1ZpuEcWq1WjvxvOVO6IlMLg7UpkWYaHOraM4SZaB2gEDlf0TFw2IacE9pW771PxUWsQeEUD/kFCrqd4tZEBfupuUVs2odKJWrchP8o5w7/y0Hbxtp0qjXG/ROrqlIh8CYxME+5JPMKJmt/fsL3mIH8PGT70+PdGItAfu013FOrTAhhl0qDawv4RZYFVgnRmet2oaz8GylwRWA0MgQwExkhtlUJXvZc8ltgoRnMqYPFa1gC4IR0Tt3KPLUi4JNzxc0cmqFsoBrZAi9HQE9lhs5Ian5O+hPj3nQM0lcjDfwB3TVO+/ZtKGfQnwdynG230b2Bjjmqv3mUVgwpDxZ5nkrZAIIsUgmWyJyVocCrqf8aVzBx4bBPgGfxX3TmHWXIQydze92m7MXFbQnsfcKKORsFiJ1WVFCzs+2E/jAjXZtJIheBh45z6mwRh+PjVKtNFM2hTrRX7SxSt8HHItfkov0fAjsVkWugQcKsbsXonpLZlchI9QpDdrElFlx20rWEC4+JUkv2UBaN5tcBnlcayoTHAbgCaf/8Mgw6iZjP2LmadW20zWMA42T0e6dzE/erdhuEajblc3glgkMYx/idsL0eQSIQXFurgdPtWPcQ4GNxdHTVeJqT6mguq3WahppE6WkQXoVp5MjO7bs9jtLpd+jvOftzE0ZS867F0amm4WaYvD9GjQj3jTxZ7OGgxwqkQ68RO55fP/kxQvSi0ercFg62K1jOJIJeMqfMQHhsH6Hfq9eGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GVGHeU9x4SAdjVHkZJ1RC2",
      "input": {
        "note": "The arm is still stretched out (x≈0.49, z≈0.07) and barely tracking; the brick is visible ahead, long axis across the image. Pulling further back and up in a modest step to un-stall the arm before re-approaching.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.19,
          "right_yaw": -0.6,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GVGHeU9x4SAdjVHkZJ1RC2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4286, -0.0223, -0.0261, 0.9996, 0.8219, 1.9186, 1.5276, -0.9146, 0.9668, 1.29, 0.997]\nstate[eef_state]: left_x=0.2903 left_y=0.0018 left_z=0.1626 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.001 left_gripper=0.9996 right_x=0.3789 right_y=0.1993 right_z=0.158 right_yaw=-0.591 right_pitch=-0.0126 right_roll=0.0413 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.6615, 7.0222, 1.8046, -0.0317, -0.0366, -0.0122, 0.3214, -10.3453, 5.9556, 0.735, 0.6325, 0.1685, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:244fd714120ed56b6a0a5bfd23d463b9182248ef9fc370ad3c607dd32baf3054",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f48c13ebd5e66e04c011276a13b0e78b4098c740af67f1d9878a2fffbb5493be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89d6493872be1b0b934c218687089845ae1f71923dd5dcb5995036ac5545a027",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 10.51 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, 0.8219, 0.6075, -0.4156, -0.0223, -0.0261, 0.9996, 0.6914, 2.439, 1.9236, -0.5213, 0.9306, 1.1637, 0.9951]\nstate[eef_state]: left_x=0.292 left_y=0.0018 left_z=0.1667 left_yaw=-0.0005 left_pitch=-0.0603 left_roll=0.0006 left_gripper=0.9996 right_x=0.5145 right_y=0.2466 right_z=0.0631 right_yaw=-0.6396 right_pitch=0.0157 right_roll=0.2051 right_gripper=0.9951\nstate[joint_eff]: [-0.3624, -1.5658, 6.9949, 1.7705, -0.0024, -0.0464, -0.0122, -0.1983, -12.9026, 4.2188, 0.0708, 0.5201, 0.1685, -0.0317]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.823, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.7071, 2.418, 1.9369, -0.7326, 0.9607, 1.2819, 0.9969]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0614 left_roll=0.0009 left_gripper=0.9996 right_x=0.489 right_y=0.2321 right_z=0.0663 right_yaw=-0.6989 right_pitch=-0.0032 right_roll=0.1262 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.7021, -0.0464, -0.0611, -0.0122, 0.0205, -14.9538, 6.5573, 0.823, 0.5739, -0.0073, -0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4286, -0.0223, -0.0261, 0.9996, 0.8219, 1.9186, 1.5276, -0.9146, 0.9668, 1.29, 0.997]\nstate[eef_state]: left_x=0.2903 left_y=0.0018 left_z=0.1626 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.001 left_gripper=0.9996 right_x=0.3789 right_y=0.1993 right_z=0.158 right_yaw=-0.591 right_pitch=-0.0126 right_roll=0.0413 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.6615, 7.0222, 1.8046, -0.0317, -0.0366, -0.0122, 0.3214, -10.3453, 5.9556, 0.735, 0.6325, 0.1685, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:244fd714120ed56b6a0a5bfd23d463b9182248ef9fc370ad3c607dd32baf3054",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f48c13ebd5e66e04c011276a13b0e78b4098c740af67f1d9878a2fffbb5493be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d6493872be1b0b934c218687089845ae1f71923dd5dcb5995036ac5545a027",
        "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_012TX7m56c8H1HgASrAprGC1",
      "input": {
        "note": "Arm recovered to a good hover; the brick now shows its long axis nearly vertical in the wrist view, slightly left of the jaw column and ahead. Moving forward and slightly adjusting yaw to line the jaws up across the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.18,
          "right_yaw": -0.75,
          "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_012TX7m56c8H1HgASrAprGC1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4339, -0.0223, -0.0261, 0.9996, 0.7044, 2.1765, 1.7317, -0.9649, 0.9638, 1.3128, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0018 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.0881 left_roll=0.0012 left_gripper=0.9996 right_x=0.4304 right_y=0.18 right_z=0.1093 right_yaw=-0.7224 right_pitch=-0.0311 right_roll=-0.0422 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6752, 7.1316, 1.707, -0.0269, -0.0122, -0.0171, -0.2256, -12.2735, 8.0342, 0.4029, 0.6569, 0.1783, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c1235f5aae3c6f6b75b3686d001048e029caa2717aa33b3f191c2c5fa93f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307c7c504c1229274ebaeb48eb3d1456ab3059318a651209e786dbdecc5fb4ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fc2e7022a3e0c4b50c9b97bb839a31f35c1486109efddfa8c7bcc87a5b1ce298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 9.463 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, 0.823, 0.6075, -0.4156, -0.0227, -0.0261, 0.9996, 0.7071, 2.418, 1.9369, -0.7326, 0.9607, 1.2819, 0.9969]\nstate[eef_state]: left_x=0.292 left_y=0.0019 left_z=0.1664 left_yaw=-0.0001 left_pitch=-0.0614 left_roll=0.0009 left_gripper=0.9996 right_x=0.489 right_y=0.2321 right_z=0.0663 right_yaw=-0.6989 right_pitch=-0.0032 right_roll=0.1262 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -1.4974, 6.9812, 1.7021, -0.0464, -0.0611, -0.0122, 0.0205, -14.9538, 6.5573, 0.823, 0.5739, -0.0073, -0.3297]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8276, 0.6075, -0.4286, -0.0223, -0.0261, 0.9996, 0.8219, 1.9186, 1.5276, -0.9146, 0.9668, 1.29, 0.997]\nstate[eef_state]: left_x=0.2903 left_y=0.0018 left_z=0.1626 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.001 left_gripper=0.9996 right_x=0.3789 right_y=0.1993 right_z=0.158 right_yaw=-0.591 right_pitch=-0.0126 right_roll=0.0413 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.6615, 7.0222, 1.8046, -0.0317, -0.0366, -0.0122, 0.3214, -10.3453, 5.9556, 0.735, 0.6325, 0.1685, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4339, -0.0223, -0.0261, 0.9996, 0.7044, 2.1765, 1.7317, -0.9649, 0.9638, 1.3128, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0018 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.0881 left_roll=0.0012 left_gripper=0.9996 right_x=0.4304 right_y=0.18 right_z=0.1093 right_yaw=-0.7224 right_pitch=-0.0311 right_roll=-0.0422 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6752, 7.1316, 1.707, -0.0269, -0.0122, -0.0171, -0.2256, -12.2735, 8.0342, 0.4029, 0.6569, 0.1783, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11c1235f5aae3c6f6b75b3686d001048e029caa2717aa33b3f191c2c5fa93f4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307c7c504c1229274ebaeb48eb3d1456ab3059318a651209e786dbdecc5fb4ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc2e7022a3e0c4b50c9b97bb839a31f35c1486109efddfa8c7bcc87a5b1ce298",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSoQsKEAgRGAI4AUIIdGhpbmtpbmcSDFykTEJB2Ouj/pdgGRoMESWJ+gX99fFAeU9GIjA0DZVb6NTHmgqyvBj5KlV8NaCoHJBVVNcXnfgtAT4giYvPOObWfgt36e6CF92Iim8qvgo3Ji2L+FScw/KAwR8tZMTqRaNG5E36dBlZeSQLEJ4ZFScK69+LMx2XcdHsvFcfIGdfznIgCalw5xCnECOhmmOUNxrLeUEeK6APG/NUjyAQuzj+5uzgF6ggotRB9HiJcrbEfYye0ibin/M1V6ChGixs2DdwFK2k40PD3Ri7tIfQvogXKwGUFYBEk4l072W9n6Irp0r2NMPh6/ZxuUaL9LO8jMzvbk7g+BMITqRqJdB2/mw1kSSHvnJwh72XsTSt1TUJlyiC+qD1TFfpg873oU2A4o8MHFYSMteGpRFfdjvqFQmvyJv6G/msENkzECkwRSAJgVl8EUQeGlpCux4ruPdIV6j1mn0eLT4qd6cK5S4SaB7TRO5X0atUWc+HX2d4VwQJuxsc/3Ze9lfwXCfpARlzy8Nis3S7tqBmDosbft7uc7QnnIEb5aTMRiTmFmmPyUT5yyZHApmMtHaNiow8sUo+iQoKRhdJnST5V0296/dTU+XlsyJrSOwYuTtfwGbC86Ixyj1trwpmzgwfMC9aHJ1hZ/d+0AEWsf65Brdn+S5aW9rE41tHrWqVT+Hq0djRHaRXdob5327IRSpb3MmbRwkibu9ByVVqF1Wl2oMfPps0vTRL2GNtsqgSG8tPnm0Zw29nzmwRo8NaBDEsA4sor9+KKtKI5v+Go00RcjaA7UbeBEF5h27Ac0PRBc9U6XHq64ivbJ0djIz+VrldR49/StUPjnqDDfuLOE3CaWh6eFoIgS6xzkFqwy/6+B+QgSXE8E7OA/XlFcz0k1gDNp3tg/1+xPOBzc7yHHOgCrcGx0WmqdO8Cm8n5VXOrrU5JppDWlCOcG/Vy+b5d6DypeTVIiCmo0Vo2w2RbXFi0o2iiXGEFDisyh8LF53v8fDGFCZjCp4KxEtmas+JGwsm1DdTZwwPvQMfivJSx7dVlOA/2kRG7siIxglcW4jZwwLbeqsD0c8yaGKC1buBuF2mJalT+h+n5mZ3iVRkW9F771Klelv9JP79INKl5l/pNAzhqmu1NAz/jH+ZckGGXBhADoq+FmHjkfFxb4CUOdzbcpiv55TdeYthVkgeMV/+XlvoMczuPgHPZWPdDfW+6AMs1ZO2qieDfX5Eyd5DVfeocwpfVMCyZLw4Cd+Wi3NrABZxF5MPyG5aZw+XVpHO5uIjoM2C1umcYQ9rkYAfCqHam6+vCuPLLNXE7rTRlqydguYO6ZHsOfkQZ9aT7ZPmeW6TQDyxbnXF0uBE7gzzcmw3MeHjHQafYNuw7Qy7zEuGHfu/WcWDuB+Si+tM3rJJ84id+8wqiAeQHdiF/LgNwq8RKYEjEGyRA5zgJJp/bMHc2mczsCgxJVMfBY66dkwsnmuG1Z8YUAkx7qI3jAh9TXtnmLlav2tYxajRlgiSWiaAkFZBpqjNFKiZYUVWchOhMH6O21ul0zZ+xfaAhnfEouEO/rZcp8Y0Pq57b7uxZoTPxw15/kD1bWgUWoVLWXi3Eozy7o0/iX5ZsutRZhfLZP3V4cT+GvGjlOgLghJ3SzoT4G0lhc2PC6e9ZC4l+CAtjo+ocItbV3gKjvdJNjSe5og5f8sInCDVW/EEQBYFtqmVlU1FUB8QgM/1E/SqmWGLpP7Jtqd1t51YO+N+NS+VVg9pMQRhY7E2/WLmotqZEOaSASonDhzx72S1q2bHLvQYDNpx3Ni4yfcEI06iqH2+sSQDn5rpb+Pa1IKoGViHLPpysiA2qXX4+FXxh6kD8epzcwn5nCAkC89tnEkFowuLa1IyTHJTg2I1fW3/RO4RXDeLQ41QJ9K7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SohUo6QktU9VSKe7uDfy7R",
      "input": {
        "note": "The brick is now at the lower-left of the wrist view, about 4–5 cm left of the jaw column and roughly at fingertip range, with its long axis nearly vertical. Shifting the tool leftward and lowering to 6 cm, with a little more yaw to square the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.465,
          "right_y": 0.212,
          "right_yaw": -0.85,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SohUo6QktU9VSKe7uDfy7R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7078, 2.2642, 1.7973, -0.9981, 0.9596, 1.3579, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4355 right_y=0.187 right_z=0.088 right_yaw=-0.7446 right_pitch=-0.041 right_roll=-0.0595 right_gripper=0.997\nstate[joint_eff]: [-0.3214, -1.2786, 6.9812, 1.6532, -0.0757, -0.0366, -0.0122, -0.0615, -12.0547, 7.7607, 0.315, 0.5641, 0.0562, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9792039fbce3f6612746f0b9641a186bca000fd51c98c30f7c63d6e666c466e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a3a71d3cec98bc3b4846bd9a22d9c03555aa28a174eb743317f998694db660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e5621ccebcab00260cee2cf739bc23e692889af993a865eba1e9bf73281ab16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 30.76 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, 0.8276, 0.6075, -0.4286, -0.0223, -0.0261, 0.9996, 0.8219, 1.9186, 1.5276, -0.9146, 0.9668, 1.29, 0.997]\nstate[eef_state]: left_x=0.2903 left_y=0.0018 left_z=0.1626 left_yaw=-0.0004 left_pitch=-0.079 left_roll=0.001 left_gripper=0.9996 right_x=0.3789 right_y=0.1993 right_z=0.158 right_yaw=-0.591 right_pitch=-0.0126 right_roll=0.0413 right_gripper=0.997\nstate[joint_eff]: [-0.253, -1.6615, 7.0222, 1.8046, -0.0317, -0.0366, -0.0122, 0.3214, -10.3453, 5.9556, 0.735, 0.6325, 0.1685, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8314, 0.6075, -0.4339, -0.0223, -0.0261, 0.9996, 0.7044, 2.1765, 1.7317, -0.9649, 0.9638, 1.3128, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0018 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.0881 left_roll=0.0012 left_gripper=0.9996 right_x=0.4304 right_y=0.18 right_z=0.1093 right_yaw=-0.7224 right_pitch=-0.0311 right_roll=-0.0422 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6752, 7.1316, 1.707, -0.0269, -0.0122, -0.0171, -0.2256, -12.2735, 8.0342, 0.4029, 0.6569, 0.1783, -0.3248]",
      "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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7078, 2.2642, 1.7973, -0.9981, 0.9596, 1.3579, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4355 right_y=0.187 right_z=0.088 right_yaw=-0.7446 right_pitch=-0.041 right_roll=-0.0595 right_gripper=0.997\nstate[joint_eff]: [-0.3214, -1.2786, 6.9812, 1.6532, -0.0757, -0.0366, -0.0122, -0.0615, -12.0547, 7.7607, 0.315, 0.5641, 0.0562, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9792039fbce3f6612746f0b9641a186bca000fd51c98c30f7c63d6e666c466e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47a3a71d3cec98bc3b4846bd9a22d9c03555aa28a174eb743317f998694db660",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e5621ccebcab00260cee2cf739bc23e692889af993a865eba1e9bf73281ab16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuAgKEAgRGAI4AUIIdGhpbmtpbmcSDEH2Px07MsrL5AF9BhoM3GLZ8K8HgGb30a2fIjBUWPbYpC9+aIhMnvg/L8MjShBTCLlR1eYWo9zGkVSgUuCBgptmGQcaPGgKA9G90Zgq1QeEwA7gihKqn935ET4bzhg2+VDQisLh/xxOASbgY27eued0QbGDS3KRgNv8ERDchIfPYluTKo0V7nHUtTD9XKjB3UhCG6F21IBtW8VXJbTZuO5S702y/2o10ks8fq7epzAWCyAOUTb8wF8QBj7XyKrxc+YGYNjI+syDplPkqRU7is1JCncgX27gHUaVUH/MZOwgP5Jczv/4kkvmpSpjz+EjL7uZy9iqsMVvWOtazWjYVNgB0i4J200lel6c2/RzKO5Ed/plvj8ZV2V31s/PeEXYmlet1kB+xrSa/DsLJsowBs9Cpw9XHcndvyTNmyn59FvDV1ip8TvVcvnVRYL+hfRF7mc7k6qcFExlM51h/+IOBllqkoz/Br9O6t/83KhzkpiyBfALwELptjcCVG/ZHlVCIv8fxFehvDcSwd1bQNoP/3EdHkyHH7JuYlx4wKtUmh+iIjt7IInbsIx4J9jDDbBJilVTf1TumPph2YqvLFJ97e7ZU2OeTRPxygmfw8/kuinj+HwWymWe4XT6T4neJHjDCcWmSmnOjvOMWt2PM44EyIqVQNSzQAJ4/rZ8rjG24/2Au9l5Gi4MONoMmbsZheXZxjYiXoWEdT1dqjT4X64lBa+Hy0DmdX1u7TpXjux+lnUdILd8YjW8kRejaj/f4wwgSIeljuFG5XNW1j/FHACTxc5BrvsDOckkmONTG63Xq859wIDorC0EdodwFw5AmInJrV9TSRFb+0PeghDTqGyigAPIDUSwactwmW7xx/WqbsFWdpyED4nXLLAgnNejNm6kWWfZ1+mX80EuAQl3GU6u2m3eKhAR3Z48lg1DuCdhBoPn9eu8ABiUztURjTejh0OXvtHgHiS0LjLMc1XW/WlVqMtyT2ZwF6ZlVCFhXJA83Brd5eIcdZYJ1cTFt7k3t0zKM2LpH1oO4gN59xvyVFEVsLKrQH4/nL8IooWz4ipQ4KEfs5c4CkE1P+MV7gSo0VClKwtoOrUL4zQ9VwquWgAIRqfDn8872jFbnmoI8LbACqSCYvNQnr5H4/fnvKR6zeHJHYzL1muoK5cwVmi0AbU2qcWgEj8e44N3M/A2N6spuFxM/sEqukI0i5Rd/MXVf6X3r1abBFbhaTE18dAoXlyE24B3JvBRhSKLu13Ltv2UbluVhJdbIQhgXGvTu/50OgBSLcIxXlVKTbB3DV6aUvmQhy4Epm1o+G3DTjTo9dzhFnU1nUZ/ATqw0DYuflKlPCDWK3F9O3W6J2+qmeFtlbGi9vM2CWE0CNzbf0De3KCUE1+nlAhsdReZfR6eIDV+NPPJ+yg7G+cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011LCU5xnuMMPsVidhm4XwLn",
      "input": {
        "note": "The arm only moved partway (short 4-step motion); the brick remains lower-left of the jaw column. Continuing the leftward shift and descent toward the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.468,
          "right_y": 0.215,
          "right_yaw": -0.85,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011LCU5xnuMMPsVidhm4XwLn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7067, 2.2642, 1.7973, -0.9981, 0.9604, 1.3617, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4358 right_y=0.1864 right_z=0.0881 right_yaw=-0.7479 right_pitch=-0.0401 right_roll=-0.0564 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.4564, 6.9675, 1.6728, -0.0855, -0.0806, -0.0122, -0.253, -12.6017, 7.5282, 0.3394, 0.5641, 0.105, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e41557fdbc13ce9d6de1557bf224e169cc739768ad5c7e79ae428e6a74792a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0383b2d5d810fe65377010e8f2672fbdcbfe94f5428628c9f04d805a97d7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bde4defe9b7c084a0ddc3e2676c9acd65cd5e02a52799ba832ad939cccb9ea45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 12.01 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, 0.8314, 0.6075, -0.4339, -0.0223, -0.0261, 0.9996, 0.7044, 2.1765, 1.7317, -0.9649, 0.9638, 1.3128, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0018 left_z=0.1605 left_yaw=-0.0004 left_pitch=-0.0881 left_roll=0.0012 left_gripper=0.9996 right_x=0.4304 right_y=0.18 right_z=0.1093 right_yaw=-0.7224 right_pitch=-0.0311 right_roll=-0.0422 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.6752, 7.1316, 1.707, -0.0269, -0.0122, -0.0171, -0.2256, -12.2735, 8.0342, 0.4029, 0.6569, 0.1783, -0.3248]",
      "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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7078, 2.2642, 1.7973, -0.9981, 0.9596, 1.3579, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4355 right_y=0.187 right_z=0.088 right_yaw=-0.7446 right_pitch=-0.041 right_roll=-0.0595 right_gripper=0.997\nstate[joint_eff]: [-0.3214, -1.2786, 6.9812, 1.6532, -0.0757, -0.0366, -0.0122, -0.0615, -12.0547, 7.7607, 0.315, 0.5641, 0.0562, -0.3248]",
      "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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7067, 2.2642, 1.7973, -0.9981, 0.9604, 1.3617, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4358 right_y=0.1864 right_z=0.0881 right_yaw=-0.7479 right_pitch=-0.0401 right_roll=-0.0564 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.4564, 6.9675, 1.6728, -0.0855, -0.0806, -0.0122, -0.253, -12.6017, 7.5282, 0.3394, 0.5641, 0.105, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56e41557fdbc13ce9d6de1557bf224e169cc739768ad5c7e79ae428e6a74792a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0383b2d5d810fe65377010e8f2672fbdcbfe94f5428628c9f04d805a97d7fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde4defe9b7c084a0ddc3e2676c9acd65cd5e02a52799ba832ad939cccb9ea45",
        "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_01FAkqJG9rTqEKxXcX1hw2ww",
      "input": {
        "note": "The arm is stalled again — the brick at roughly (0.48, 0.22) is near the right arm's reach limit with the tool vertical. Retracting up and back to un-stall, and pitching the tool forward so the fingertips can reach further on the next approach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.19,
          "right_yaw": -0.85,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01FAkqJG9rTqEKxXcX1hw2ww",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8326, 0.6075, -0.4412, -0.0223, -0.0261, 0.9996, 0.7841, 2.4207, 1.8996, -1.549, 1.4212, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1588 left_yaw=-0.0004 left_pitch=-0.0965 left_roll=0.0013 left_gripper=0.9996 right_x=0.4141 right_y=0.1714 right_z=0.132 right_yaw=-0.8507 right_pitch=0.4365 right_roll=-0.0061 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.7167, -0.0171, -0.0415, -0.0122, -0.4855, -11.959, 4.8068, -0.652, 0.7741, 0.2857, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e602102f2ef68bb3c7a5ea94b8f53850e466c114d7958ab15e22ec17380a4fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a00323c5394447c77359247fd5e4039f6b17f87aa6a358e4597033cebb8c97e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e64514effa7f5830d342480517a6697719ea7c12dc3e8088d27d61f188a73f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 25.19 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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7078, 2.2642, 1.7973, -0.9981, 0.9596, 1.3579, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4355 right_y=0.187 right_z=0.088 right_yaw=-0.7446 right_pitch=-0.041 right_roll=-0.0595 right_gripper=0.997\nstate[joint_eff]: [-0.3214, -1.2786, 6.9812, 1.6532, -0.0757, -0.0366, -0.0122, -0.0615, -12.0547, 7.7607, 0.315, 0.5641, 0.0562, -0.3248]",
      "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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7067, 2.2642, 1.7973, -0.9981, 0.9604, 1.3617, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4358 right_y=0.1864 right_z=0.0881 right_yaw=-0.7479 right_pitch=-0.0401 right_roll=-0.0564 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.4564, 6.9675, 1.6728, -0.0855, -0.0806, -0.0122, -0.253, -12.6017, 7.5282, 0.3394, 0.5641, 0.105, -0.3248]",
      "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, 0.8326, 0.6075, -0.4412, -0.0223, -0.0261, 0.9996, 0.7841, 2.4207, 1.8996, -1.549, 1.4212, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1588 left_yaw=-0.0004 left_pitch=-0.0965 left_roll=0.0013 left_gripper=0.9996 right_x=0.4141 right_y=0.1714 right_z=0.132 right_yaw=-0.8507 right_pitch=0.4365 right_roll=-0.0061 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.7167, -0.0171, -0.0415, -0.0122, -0.4855, -11.959, 4.8068, -0.652, 0.7741, 0.2857, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e602102f2ef68bb3c7a5ea94b8f53850e466c114d7958ab15e22ec17380a4fb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a00323c5394447c77359247fd5e4039f6b17f87aa6a358e4597033cebb8c97e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e64514effa7f5830d342480517a6697719ea7c12dc3e8088d27d61f188a73f6",
        "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_017kku28z7dT7bakmhnBDa5p",
      "input": {
        "note": "Arm is un-stalled with the tool pitched forward; the brick sits at the lower-left of the wrist view, ~8 cm to the tool's left, consistent with my estimate of (0.48, 0.22). Moving over the brick at 7 cm height.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_roll": 0.0,
          "right_x": 0.475,
          "right_y": 0.215,
          "right_yaw": -0.85,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_017kku28z7dT7bakmhnBDa5p",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8352, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.7769, 2.5031, 1.9808, -1.5669, 1.4303, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.158 left_yaw=-0.0001 left_pitch=-0.0995 left_roll=0.0016 left_gripper=0.9996 right_x=0.4246 right_y=0.1771 right_z=0.1171 right_yaw=-0.8447 right_pitch=0.4456 right_roll=-0.0267 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6752, 6.9538, 1.6239, -0.0464, -0.0513, -0.0122, -0.0342, -12.6154, 6.2427, -0.4078, 0.4908, 0.0464, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb4ddd8f96981b8fc8bd783f639f407d52948eec89c0072ce3e4b7629173302b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97367c6c1ceb253033134eac0b5698e14e46b47397914f6bd53afc4949fa3a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaa025a61ccd46183b2e56ab0bdac068c12167244a25c53b1c9f75b8adf8906b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 11.09 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, 0.8326, 0.6075, -0.4343, -0.0227, -0.0261, 0.9996, 0.7067, 2.2642, 1.7973, -0.9981, 0.9604, 1.3617, 0.997]\nstate[eef_state]: left_x=0.2897 left_y=0.0019 left_z=0.1601 left_yaw=-0.0001 left_pitch=-0.0896 left_roll=0.0014 left_gripper=0.9996 right_x=0.4358 right_y=0.1864 right_z=0.0881 right_yaw=-0.7479 right_pitch=-0.0401 right_roll=-0.0564 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.4564, 6.9675, 1.6728, -0.0855, -0.0806, -0.0122, -0.253, -12.6017, 7.5282, 0.3394, 0.5641, 0.105, -0.3248]",
      "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, 0.8326, 0.6075, -0.4412, -0.0223, -0.0261, 0.9996, 0.7841, 2.4207, 1.8996, -1.549, 1.4212, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1588 left_yaw=-0.0004 left_pitch=-0.0965 left_roll=0.0013 left_gripper=0.9996 right_x=0.4141 right_y=0.1714 right_z=0.132 right_yaw=-0.8507 right_pitch=0.4365 right_roll=-0.0061 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.7167, -0.0171, -0.0415, -0.0122, -0.4855, -11.959, 4.8068, -0.652, 0.7741, 0.2857, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8352, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.7769, 2.5031, 1.9808, -1.5669, 1.4303, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.158 left_yaw=-0.0001 left_pitch=-0.0995 left_roll=0.0016 left_gripper=0.9996 right_x=0.4246 right_y=0.1771 right_z=0.1171 right_yaw=-0.8447 right_pitch=0.4456 right_roll=-0.0267 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6752, 6.9538, 1.6239, -0.0464, -0.0513, -0.0122, -0.0342, -12.6154, 6.2427, -0.4078, 0.4908, 0.0464, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb4ddd8f96981b8fc8bd783f639f407d52948eec89c0072ce3e4b7629173302b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97367c6c1ceb253033134eac0b5698e14e46b47397914f6bd53afc4949fa3a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaa025a61ccd46183b2e56ab0bdac068c12167244a25c53b1c9f75b8adf8906b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3B4KEAgRGAI4AUIIdGhpbmtpbmcSDGJs9kvHk6m0AMuGBBoMMMNsLlzIEpYk6VJUIjDJgYJnnYYj+vkmRhCHLnOvBqi1cC0hciVkJOsyCVSGjeyrxg7Refky0ArspF0wyEQq+R0nJkQ3UWrWABLlQj2jTbUcrSiMkcPDUOjv7/s0xsbCHXhOrAA64rak5QujIAN5K9XqQtbvoCSIlvIt7FqZO29saaFULAxcok2IwDDbbFY/bDoIM0AreHUHVNbnhXfKnZ40IROM9JsdKL/jOIPPEN7wtxlWTxHEnwTmJbsy9MVGM+R7IGYotIz32tjarH0hMkErefF3jdfPfk7Jb6QYej2jYAzBwGRHQ4Ds1MgOpVrjNsi0eyGzeNr6LOt0pgXnEh0Vn0niiXnQaX3R/+tnIZ5aS3FquQaaWZSz9rRIm6P+fcbj5cS5K+hFBO6cKmpG+6332b0VaIbMQT5yiW/X4Vx3hniy1j3wnvp52h7G+bBSvTXfGx+bFgv0cQzkFsgpO6BQ7F3vIcXZLyVqapDWQzWGmbEVnyyxBqxbVGEuCwxgIBwCHudT046PHAYHjh76qQi+x3+Xbf9rKIIeIulioiYsQpYow57hVo9ERJZoLf/9nRymtRxX6hONJCC0DCFLmzTev6lnDHY7wP7+zool0jQxiBfuiIxfrNk5oSG5WSm+OPzegTfb3EvBSD93A3I37KbBJ7zUxVmwJOfExnz0a6gGS3wjnkJolw/lBtvuuzRvv7LYoIwqnQmgS7eDB/t+cfQUHDWV5JuSEPrN75GyMBuGekKehmA3uBVyfDspMCisvDBVGz66h1jAbHmC8YxZUYH/33TWgTFAmaVD0SobPi1p4C2OCwo6FrLfrvcJpW9u4PnROfXTplo39gsaV/8ANR6zxckLFfqwVdJ3kovizLLPyqFRQ00DlQ7uCwNnc7vHvxoQzscynFAk3PSR46ZsPJywcoSyTe2tHpBdu4NMdtFrikL3MbE1TKwppfq7BFJdS311e4XQe6nR9SmmF8Shdc0/uzUd6qYSs1RrLaKDedrgOFK7AytmPB3SiyrRBl8AvJFl89SGpZWaY4Ry1ljI7J7roZAC4N0MIfVy3Ku4O10UKUNWU5RpwglFtt6zeB9SVP4ESVIHxYdnodF2m85ZLX+w84kShXiz8YnAiEzTe6f2656HhnOktDpmtQKDUqxOgw5SMOdpX9bRCrFDCXgAjk2EvUddJcWR8X4ZTO/WYK/cLtKd2CdJ/KjfsOX9vwyxw5PLpXtOPrFWZmjm+z14xJHH5Jrt8DBtD6OOW/jmowqtMM3WDETQ/Oqsu9fEqjzmuboWoikRStjAdQaYtKdkYizIXlFF5iNKeWgmk1zXQXXbpjjzx5DSjWRN4eZl0q+X8LqSoznpLRWjfnEmk5ZX947Xfq7PC5gUMZ8Z6rJMcJx2yLlmXLKUdFCUQyJVOO+2Y6d5yf2VPZokNrouJp0K0GhZm6+6/DopRJ2m/OPrdpL+W+lLe1RY3h9HKwYEwqheJSXKZ3TmTPmWngwzcJshwBrcnO5y97zJlhqay3heykyLceJsTZZqsY7/FecS2k40K8ONLUJJvcGshoxtZlOwfArmXdfJ/IeJ4cdM511TLgRj056vhwZ8Cuys8ynniPPc85jap9O1lOrwYHf1eIqzFBL0/YnN7GQFrDObEAATuctmLphfH/0JXcqeMT8FnfUCmbMHX3l2kCbMSfh5/jHmUOSOmVrDCosc4oEyovJ76bgG6QWOCl+t5zd6Ux7SJ1xDY8c0O+iFt3kvF8xARFch6vVBXkalmVyGdzf13Lpeb5WC4UZjjXbV5qaC4CId+x6RwHvo+AuxvgTnjSBce5ouJaLJIYWlukujfvsSnoX094Qs6pMgglw7j0dEUjO9r0VqKCLzGkDXkrdAduUA5nxqoMBoS9PbZokmn6nO+dVVTxjx3ns9zfhiDA8lwZIG42tPIEak/66Dl9udpGwNv/VoPQ1zwCFScfk3DMwBOQR9PrUN/olrKUneUj/f4jRVEp3SrxNgLw4vbmA9AZKof7DslW/hobIkytYG3qprQt2AePnL89iAFMByPt6UbRpKksQ93G69uhSDTxx1Y2MwlJIbclwyEJL7J7ESya9nN0bnj3IwGJ2pB6j9hGlnzuR95n0hz2X7gxhF5wLSG9ObCHYTQYkD0z5GmtCwussrZziSPyTTAaEQ+gykMkBlUA6C0GU0CcbdJR57eX2I7qSehMIl8Lyo+hyuGP5YQHGoBOYCTObqAL/PfUS/smYSeNkLOkbGno+6sO6vXAVp89yn6q8lpqGVCg4VlJy8yXvC23i26o1tdtLTE24rZZbgZVAW5jVH6SI4sqBJthn5e03074TJhU3bNFxLpQi4qGXBGv1EiZX2CBvKBttEJbQA31ywRxWdtCiTcoYRMKcDdavml7ThcuFOPP1At4RV3rIjUEW8LZzfdeTBHdPBjoa5HkTDlnuUUfdFr2USNW549eJIpdk+CN9IXaIFkjdhl/6pN3ekWJkcVzRJPS9pOLsr1oJkiYBvcvs54qNtbou3wuwggTas++1v2SYr99nx97b83+vkDlcWLJesuhet+CTPv67qcAqq0vLhnOvAkTUlm69ldY+UeqTHsKPbB1qwloU/Zh076/CGcLHlug5oLA5plgOSrYVvnbL6ef2r0lG0r9dTKMCh8WU1/lN9JN8a6RkaCSSQIBy7OVb5/Ucj9N+i5wYlXMPi1shrcZCS3Dh2PlmHLoMA2tmF3DjfmGBNsPziA8es1DnbxaxIIwr5ulyHHPFGTTgjYOLqlLixYa8pNsdf2ayO+jdKCIuuPyWkb081eMJVre1YJsQuC6/nnnsnoNoRJ6TZ7+0c+BTb0QCzZSGUQwAN57D5lP2gEAmKgCSLo8wnKJoy4VapPqlJEOfxy+QQJGGJtXf4AA+0l8jqGPfRZT/3PXD4Ama+RVV75y8Lcx4utYAT6tRcUgLxdqZoLBOKN63nzkYq82BGmmgoMBOhAT4gthNyI/vtp74RvMevJCkHwA2jZGP/prkrJ2H2r34+P7Qlq0QtQOxZP7YSWE41klL4aE4bDt8jOkDShfQwl+o1hV4anhZN1boQAlMVS79yrfWNG8LAK4dylpEgp9xprWeZQtMsYJjt1C3B5nq6tSIpwiJ1Gei2PhvTPPSnlZtbnoo+Q9TKaH3NczmRS8OdhDSR4sIx4kPAY3tQMjUYC7pRmO1cKO11L84Z4b6mg6B4CuOfqiGUI/QqdSg3ojcDRsFbIWMaQc/M5s4nopO+8ZOwFZYy2DjK8vcW3+96ACaJHSfV8/G0Vi5Ib6BGuWKr2T5CK35U0NaOd/9MZsWAVkJSjgYZDDrrvFyCCDFbHHoMeHLdOX6uFuj/TmlsfiQKV+wgdfsMSXwxpMvv0z4m56FzA4agrGIwh7/tUPWpMdieeqxiTNZNdm5OAHboQ4fmVdmBYa8pVXaWpQD3tJv8v8j/JSkbrvX2EIcuOEug3SLAZlXyZzOihd6wrn4XL+Y2RYJDPEn48RaaseFnu9TUukXPoUuUBOpjfW5m+FIamJBz8VHH4KLmwCju++/hMArubNnjPePXfCzasPw64pzYvhyKmvvAL9q/pAiE89+a0KbnKfR9NZ6jcNF/v0yF4xmvlV+dPUikYt+35GCp6980WWQfN7iRuO9N+nu1aNiGZRBqBsMd+lyD7xxKzWqmafHuk/Z84Vcw5J5g2jEkhRiT2w1Ejs3Go1k6FiYHhtMrTEWq92rl5D9UtbKHLbJFvqrafgCHDy+oMs3K5OzbcV3SPrsXuib+qG15EFWT6olSZWZXz+RoYcyIt3mKNfqsxUECB6m8Oj8SaFc+Ondc7RhGeGqlxYTiSk8DKD9jZGh8GJtZFUlhaMbVyUNoyP9srgm/4srMTBhd+A5rLRyeVSighsbSV5uXKiDaSRiZZz9AztitTaqTl5It7EmJ1maR2r8gkRVv6jC/3bzwbP+qpgVX72lGX7M2DqMgZWNJUGCYYSQWGUbSQe++giIJ2Zc6JKi3mHdnystRqJhlqFuF0aytsDKzqj6q6yq9ggARyGt0MQ7RscSR1PtkX3DnWjcbxhF28DaMf7yBCGIi68STnxV7oiDBPelFqc1izwF7OxhWNvJzgg8Rn/DfY367PJrTWFzqRQCWj+uESHZMlHISm8d+rcsTAxlZn1kOQf10QiPrbnWDHL4hlHtj2HhhNvzKkNpqXSy5J1Ly2m+VVmVl1CkHZnVhnWO+8qtd8HqJ3au3gAtUgn54FiOZS59zbGkdV0o51l4tRVzVstxrhT3UZvSnGSaE3VmO1vZHgUJy2wnG2ZiFpBo1RNQja4GdI3bolNTECOgV2LjYx+pHytkswxxi8SA2quSUujHYj9eWdyGhayKeGBHl49ZCdOWMY63WY9CyPXm6sFNPk0GXI4zeqeiPtX16LuNftZBBV9wCCfcldPDL1kR2vXMnPoViMkMDfftSKXga5k3nU7jd/yv9cTZotEyq7TBnfENeUPAj53RAdeVv0VsQtogRqJEL7iSDlWNDz1Lr92eWXFB7EyH3Xt39HjiT7CsIQvBoPceecwdJHTghNoAPZWm4JgR1IVXgrKAzFo8y+26f+LKp66417LVArMUq+60E9Yex3TpXEiPjxXz7DP5w4wkgKd8zg+QjRGcKjC1fM2iZQrUt7tP6/ZzzacRBeJR0Mw8xjyS+u+LQx0qVLEP48PfRA9WUfO1vnc21MIEPVAN5hqoa3kBt4KrB3wX85xAP9+NHiJ5AiLfjAoIG4Qj+iJU7e8V9yKNIWlbTt9vC4P3lw2GHNv3wsGqJ+76Sri3ifDDgWqtIGiu/VnMdsvqS+xOnkvq33pFugRwEqq6PL4WwQjOQKS6gYGJhe/bojQRz4wreKt7ww/p7qjbZEv6ovo8vh1Ayb5kwRFuNy1kVWYv23hhigC1bn0WezUJFGSioGVNStVOxmTiQcsLJUcGqcwZQsQ44ZnoVVRrykOlLtHlt3iyVIYG+5FTlpfflpKyNHARhiZb/qGaWO5HmwW7F2nuOktnKatvfpFJnwDM2CuVO4NZ8ZZZC8tt81g81eDe+AoncxZWKuVdf9eKr/FS0msvuhrqTwqBDUYK5iltz/kz0cu3NPCt4fwYEJZSbonEb4rGlq0w0Y5YHk95niVIasTZfEtHULFMLm26RCE79N1++Jq+MNjO13Mn8EGqaUpUmkXczHeKniSFLYwWEHJ+F/tKaPY+4tuohzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FucuzPEr2BWz2DoKoiXApX",
      "input": {
        "note": "The arm stalled again with the wrist joints wound up near their limits. Retracting up and back with a less extreme pitch and a bit of roll to find a wrist configuration that can reach the brick, which is near the arm's limit.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_roll": 0.15,
          "right_x": 0.4,
          "right_y": 0.19,
          "right_yaw": -0.8,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FucuzPEr2BWz2DoKoiXApX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8394, 0.6075, -0.4442, -0.0227, -0.0261, 0.9996, 0.8097, 2.2494, 1.6627, -1.3392, 1.264, 1.8378, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1064 left_roll=0.0018 left_gripper=0.9996 right_x=0.3813 right_y=0.1613 right_z=0.1164 right_yaw=-0.8134 right_pitch=0.2779 right_roll=-0.0939 right_gripper=0.997\nstate[joint_eff]: [-0.2393, -1.4838, 6.9675, 1.7216, -0.0513, -0.0415, -0.0122, 0.0889, -15.5145, 8.4991, 0.4176, 0.7302, -0.0708, -0.3199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af618de9d4a85a57ba9a1031c1a6da3740f7098653b2f290a8a1a435bfcb90da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56855b616142d025bc6e2e00bae379ad794ea47333351ee953c9b0f7bab090fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:33cf57e1711e43a2faa69ff422763957805d75931453d397f27d2ce4b73f74c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 9.298 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, 0.8326, 0.6075, -0.4412, -0.0223, -0.0261, 0.9996, 0.7841, 2.4207, 1.8996, -1.549, 1.4212, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1588 left_yaw=-0.0004 left_pitch=-0.0965 left_roll=0.0013 left_gripper=0.9996 right_x=0.4141 right_y=0.1714 right_z=0.132 right_yaw=-0.8507 right_pitch=0.4365 right_roll=-0.0061 right_gripper=0.997\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.7167, -0.0171, -0.0415, -0.0122, -0.4855, -11.959, 4.8068, -0.652, 0.7741, 0.2857, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8352, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.7769, 2.5031, 1.9808, -1.5669, 1.4303, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.158 left_yaw=-0.0001 left_pitch=-0.0995 left_roll=0.0016 left_gripper=0.9996 right_x=0.4246 right_y=0.1771 right_z=0.1171 right_yaw=-0.8447 right_pitch=0.4456 right_roll=-0.0267 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6752, 6.9538, 1.6239, -0.0464, -0.0513, -0.0122, -0.0342, -12.6154, 6.2427, -0.4078, 0.4908, 0.0464, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8394, 0.6075, -0.4442, -0.0227, -0.0261, 0.9996, 0.8097, 2.2494, 1.6627, -1.3392, 1.264, 1.8378, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1064 left_roll=0.0018 left_gripper=0.9996 right_x=0.3813 right_y=0.1613 right_z=0.1164 right_yaw=-0.8134 right_pitch=0.2779 right_roll=-0.0939 right_gripper=0.997\nstate[joint_eff]: [-0.2393, -1.4838, 6.9675, 1.7216, -0.0513, -0.0415, -0.0122, 0.0889, -15.5145, 8.4991, 0.4176, 0.7302, -0.0708, -0.3199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af618de9d4a85a57ba9a1031c1a6da3740f7098653b2f290a8a1a435bfcb90da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56855b616142d025bc6e2e00bae379ad794ea47333351ee953c9b0f7bab090fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33cf57e1711e43a2faa69ff422763957805d75931453d397f27d2ce4b73f74c7",
        "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_011D7Bj8vvPANp9Go6Q9E2Ab",
      "input": {
        "note": "The arm tracks sluggishly in this wound-up wrist configuration; the brick is under the wrist in the top view, lower-left in the wrist view. Trying a direct hover above the brick estimate with the tool vertical at yaw -0.8.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.455,
          "right_y": 0.21,
          "right_yaw": -0.8,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011D7Bj8vvPANp9Go6Q9E2Ab",
      "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, 0.6075, -0.453, -0.0227, -0.0261, 0.9996, 0.7368, 2.402, 2.1143, -1.2488, 1.0225, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9996 right_x=0.4487 right_y=0.2084 right_z=0.1161 right_yaw=-0.8 right_pitch=0.0198 right_roll=-0.012 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.7709, 7.0085, 1.7118, -0.0611, -0.022, -0.0122, -0.8137, -13.094, 7.4735, 0.2515, 0.5934, -0.0806, -0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30824a4618b1ee305d4a8a0004cf67600133af6d3cfcd7fff03064a8adeb605e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce07eb3071eb700bf6a5f1c507ee3001da7b60e172c6f74448ac4ce2dcb0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c520d8abb8916e6a7cb4f93e74174ce681759e81ac7eeb4863206f45697b26e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 8.164 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, 0.8352, 0.6075, -0.4416, -0.0227, -0.0261, 0.9996, 0.7769, 2.5031, 1.9808, -1.5669, 1.4303, 2.0602, 0.997]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.158 left_yaw=-0.0001 left_pitch=-0.0995 left_roll=0.0016 left_gripper=0.9996 right_x=0.4246 right_y=0.1771 right_z=0.1171 right_yaw=-0.8447 right_pitch=0.4456 right_roll=-0.0267 right_gripper=0.997\nstate[joint_eff]: [-0.3487, -1.6752, 6.9538, 1.6239, -0.0464, -0.0513, -0.0122, -0.0342, -12.6154, 6.2427, -0.4078, 0.4908, 0.0464, -0.3248]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8394, 0.6075, -0.4442, -0.0227, -0.0261, 0.9996, 0.8097, 2.2494, 1.6627, -1.3392, 1.264, 1.8378, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1064 left_roll=0.0018 left_gripper=0.9996 right_x=0.3813 right_y=0.1613 right_z=0.1164 right_yaw=-0.8134 right_pitch=0.2779 right_roll=-0.0939 right_gripper=0.997\nstate[joint_eff]: [-0.2393, -1.4838, 6.9675, 1.7216, -0.0513, -0.0415, -0.0122, 0.0889, -15.5145, 8.4991, 0.4176, 0.7302, -0.0708, -0.3199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.453, -0.0227, -0.0261, 0.9996, 0.7368, 2.402, 2.1143, -1.2488, 1.0225, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9996 right_x=0.4487 right_y=0.2084 right_z=0.1161 right_yaw=-0.8 right_pitch=0.0198 right_roll=-0.012 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.7709, 7.0085, 1.7118, -0.0611, -0.022, -0.0122, -0.8137, -13.094, 7.4735, 0.2515, 0.5934, -0.0806, -0.3199]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30824a4618b1ee305d4a8a0004cf67600133af6d3cfcd7fff03064a8adeb605e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce07eb3071eb700bf6a5f1c507ee3001da7b60e172c6f74448ac4ce2dcb0971",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c520d8abb8916e6a7cb4f93e74174ce681759e81ac7eeb4863206f45697b26e5",
        "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_01G5AfGKS8HnbeeV7q5vcaBX",
      "input": {
        "note": "Now the brick is clearly in the wrist view with its long axis vertical, just left of the jaw column and running to the bottom edge. Shifting ~1.5 cm to the tool's left and descending to 4 cm above the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_y": 0.218,
          "right_yaw": -0.8,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G5AfGKS8HnbeeV7q5vcaBX",
      "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, 0.6075, -0.4534, -0.0227, -0.0261, 0.9996, 0.7319, 2.5038, 2.0377, -1.0866, 0.9855, 1.491, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1198 left_roll=0.002 left_gripper=0.9996 right_x=0.4537 right_y=0.2144 right_z=0.0452 right_yaw=-0.7964 right_pitch=-0.0181 right_roll=-0.0389 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5248, 6.9402, 1.6142, -0.0415, -0.0171, -0.0122, -0.1846, -12.9026, 6.065, 0.3687, 0.5934, 0.0366, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c236a4fa879deffe8c92b946ea69f5fcfc4d51a235e1f78637dea1e7a864f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7863c2e5835f8ece70dc10cd4be7905b2086369a95db64d82b32d0c804a5d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4c857827431103a54ef8f4237a742c139886739d80acd849c56ec9bad6a5228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 10.13 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, 0.8394, 0.6075, -0.4442, -0.0227, -0.0261, 0.9996, 0.8097, 2.2494, 1.6627, -1.3392, 1.264, 1.8378, 0.997]\nstate[eef_state]: left_x=0.2885 left_y=0.0019 left_z=0.1563 left_yaw=-0.0001 left_pitch=-0.1064 left_roll=0.0018 left_gripper=0.9996 right_x=0.3813 right_y=0.1613 right_z=0.1164 right_yaw=-0.8134 right_pitch=0.2779 right_roll=-0.0939 right_gripper=0.997\nstate[joint_eff]: [-0.2393, -1.4838, 6.9675, 1.7216, -0.0513, -0.0415, -0.0122, 0.0889, -15.5145, 8.4991, 0.4176, 0.7302, -0.0708, -0.3199]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8436, 0.6075, -0.453, -0.0227, -0.0261, 0.9996, 0.7368, 2.402, 2.1143, -1.2488, 1.0225, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9996 right_x=0.4487 right_y=0.2084 right_z=0.1161 right_yaw=-0.8 right_pitch=0.0198 right_roll=-0.012 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.7709, 7.0085, 1.7118, -0.0611, -0.022, -0.0122, -0.8137, -13.094, 7.4735, 0.2515, 0.5934, -0.0806, -0.3199]\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, 0.8436, 0.6075, -0.4534, -0.0227, -0.0261, 0.9996, 0.7319, 2.5038, 2.0377, -1.0866, 0.9855, 1.491, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1198 left_roll=0.002 left_gripper=0.9996 right_x=0.4537 right_y=0.2144 right_z=0.0452 right_yaw=-0.7964 right_pitch=-0.0181 right_roll=-0.0389 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5248, 6.9402, 1.6142, -0.0415, -0.0171, -0.0122, -0.1846, -12.9026, 6.065, 0.3687, 0.5934, 0.0366, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c236a4fa879deffe8c92b946ea69f5fcfc4d51a235e1f78637dea1e7a864f22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7863c2e5835f8ece70dc10cd4be7905b2086369a95db64d82b32d0c804a5d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4c857827431103a54ef8f4237a742c139886739d80acd849c56ec9bad6a5228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSuQoKEAgRGAI4AUIIdGhpbmtpbmcSDEdjQCQeQgKH4LScuBoMdxzkYO3nqg3TeChQIjAtAWBZv/FVu7PJ1hKgu3qbWkQE5/BUWpgQysM32MoUVljrnNxCF67hESFFy2DmVa4q1glRjtyZh0e/22a4nAoBab5Q7R7AWPvBNHe0Sah6Z+/4crWcIBqQaXGHUc6oe4XswgQBehGsl0yCid9iKRxnwZODBih6T5zy7hHrR2TpmuIS1bRgpZsn/EXBlqqkvxLXwffBIWE03tUVEzxz4PRCXinu0WUUu6PEqtw92wMBI1rCbpg4Envtct/TImxHxGZayvE1ExgLflELSSgqpVrbNyfRozBdAfHhU4TCtL3LdWlF+ppaLBg1MTgCiXDxNRVbIYBvvaANORgfOhkQu3dntSliiPUjwfIfVBTVMoFb7KOd5hRJO0UGSXeWahV6FOc/rZtXq0J1p9KGDkMqOQNL7ufHBekP2fn1jXhkLLupv68QKxNomdnhElZcskyEZSsT+YeVsL5CVLcuoViP0EvgUtR1zk5avZb7j5f0tWIWgS60z8lbqRXygr2NVewsXFVEmnueUOER+bH4JMDw9uKSAZE2QBD+u7fjm84dZWF3jLIPf09xJy9y/2T6vNgVM+NxT+WTYb3rYroOeSlgj/GJp+wMByEJzdNNPrbAHtP0/4vGQt5rpAgboYVbLLMRPPxTvbJiPe6VzBDntnCqTas2n190xryl8fSZgQztQQ1SUhkiA5HP9PMM7Q7XoPemZkoQz2AfPCGQYUMIwETibSTJ7KAvq/MnDtF/g/98vvok7S0zBljsOInvueaiJ0L8tM99LvaeTE//nO9YrNnRfzhEm5am87yc9GWvbmd5p57VINVCVyi78sOJ0z5B05pfpWqN/smd3PzPR2YTaGtBpg63JOOy96h2XEpztswY2WaYM8HIrhDHYP6nsGjMstr6svgabuPyyxDI3Q/sOQrMZfqk3RVrjsvLeT4m/4LifoaF2rz9vvYTjKqWUqfRA031F3BSOs1+fBZc/DqOtPOzFNkm8Apa6FmzMmQe0tFA73IlvogyQpib2lZOmkWRar12rvyaaHQkHRNR0sIBgnGyB8pzKNrLuJ7io7yJnEo0DN6dCRkuc40WXDkhsMFs+LWVYilejrc2x2YU/7JQHW6xPDGwqVaG96yAt2PKcyK86LNzywaDQdfq/8d5TT+JyQXSzMgT1XPw9WO7pe9J1xjsq19BM5ufdv9YXOUpkqswnYuSLTVd/E3z0kVRgpLxiavNJIMEkPYrDQMkpi4o1kzSl7zuumQYFF/g/+R9jd/GUk0oIqVJK39Cq42FArHX4PmfhPceuxGuLWbTQcQk9N7WVC7un9hwNZ5Ot7BGIaaJ+03yEYwtTm8BiwZzhxhtwdOeD0ICdQm6muymZYgBtG7vePqBh/QfTb/M5giUu121Kj/3FZN/arDKNx9X3TWyXPUUwNsfkdW1fHW6VRBQKLz6I/7Yr1jd+96ved5ogCazGtkDsgrdF6ZlAcJuuvuO8B9OsiErjzQMYMUVxqLeH06mNfxbe1sPFhUpV3EcNZIyyCi19TOuhyn8jkyrPe32JgGi4fZ0RbdC+ajvaifJsY4FmBe8OZod7nPfUG5slN9SnT9PDccGSCcm3nF7tBR02qCTvEBfdzWL22Fvh2miay4UlzXwV0OoXM/LG5rRq5DWObK4/TOXlxAAyeQ+WPf+Fgy66ZUKAv70Ssrm8VaHv6L4+2TbqZ0lhz+601+QHo5mwocXD+vsqh6+FckEExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jda94NnG3qsKC6YVxN9fCk",
      "input": {
        "note": "The brick now sits between both jaw tips in the wrist view, centred on the jaw column. Descending the last 4 cm to table level before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.455,
          "right_y": 0.216,
          "right_yaw": -0.8,
          "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_01Jda94NnG3qsKC6YVxN9fCk",
      "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, 0.6075, -0.4599, -0.0227, -0.0261, 0.9996, 0.733, 2.5198, 1.9656, -0.9527, 1.0245, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.152 left_yaw=-0.0 left_pitch=-0.127 left_roll=0.0022 left_gripper=0.9996 right_x=0.4588 right_y=0.2148 right_z=0.0265 right_yaw=-0.8045 right_pitch=0.0227 right_roll=0.0173 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5385, 6.9538, 1.6728, -0.0708, -0.0611, -0.0122, -0.1162, -10.5368, 4.2872, 0.2515, -0.1099, -0.1148, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cac245009cee21a8cbad54cc0e8f21cf0c9b4de5fa2d648d5b5ba1619283dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dd029866f51eacdd3745ca206c84be04318329d3462d00536306b217094491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:007ab65c71dcee438bb5274f8d4f61c905e15dde30bc2af5ac2ba86831d6a68b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 15.95 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, 0.8436, 0.6075, -0.453, -0.0227, -0.0261, 0.9996, 0.7368, 2.402, 2.1143, -1.2488, 1.0225, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1194 left_roll=0.002 left_gripper=0.9996 right_x=0.4487 right_y=0.2084 right_z=0.1161 right_yaw=-0.8 right_pitch=0.0198 right_roll=-0.012 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.7709, 7.0085, 1.7118, -0.0611, -0.022, -0.0122, -0.8137, -13.094, 7.4735, 0.2515, 0.5934, -0.0806, -0.3199]\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, 0.8436, 0.6075, -0.4534, -0.0227, -0.0261, 0.9996, 0.7319, 2.5038, 2.0377, -1.0866, 0.9855, 1.491, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1198 left_roll=0.002 left_gripper=0.9996 right_x=0.4537 right_y=0.2144 right_z=0.0452 right_yaw=-0.7964 right_pitch=-0.0181 right_roll=-0.0389 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5248, 6.9402, 1.6142, -0.0415, -0.0171, -0.0122, -0.1846, -12.9026, 6.065, 0.3687, 0.5934, 0.0366, -0.3199]",
      "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, 0.8444, 0.6075, -0.4599, -0.0227, -0.0261, 0.9996, 0.733, 2.5198, 1.9656, -0.9527, 1.0245, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.152 left_yaw=-0.0 left_pitch=-0.127 left_roll=0.0022 left_gripper=0.9996 right_x=0.4588 right_y=0.2148 right_z=0.0265 right_yaw=-0.8045 right_pitch=0.0227 right_roll=0.0173 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5385, 6.9538, 1.6728, -0.0708, -0.0611, -0.0122, -0.1162, -10.5368, 4.2872, 0.2515, -0.1099, -0.1148, -0.3199]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cac245009cee21a8cbad54cc0e8f21cf0c9b4de5fa2d648d5b5ba1619283dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74dd029866f51eacdd3745ca206c84be04318329d3462d00536306b217094491",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007ab65c71dcee438bb5274f8d4f61c905e15dde30bc2af5ac2ba86831d6a68b",
        "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_01CnmxuctS7pNZH9CQRtMihj",
      "input": {
        "note": "The brick is centred between the jaws in the wrist view; the arm is at z≈2.7 cm, likely still settling. Pressing down to table level and closing the gripper on the brick's short side.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.458,
          "right_y": 0.215,
          "right_yaw": -0.8,
          "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_01CnmxuctS7pNZH9CQRtMihj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8448, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.7326, 2.5202, 1.9537, -0.8959, 1.0424, 1.4914, 0.0106]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1519 left_yaw=-0.0 left_pitch=-0.1278 left_roll=0.0022 left_gripper=0.9996 right_x=0.4644 right_y=0.2174 right_z=0.0268 right_yaw=-0.8005 right_pitch=0.0423 right_roll=0.0494 right_gripper=0.0106\nstate[joint_eff]: [-0.1709, -1.4154, 7.0769, 1.6142, -0.0269, -0.0708, -0.0122, -0.4171, -9.4017, 5.0256, 0.5592, 0.0513, 0.0952, 0.8474]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab4ee1e94455104716fbcf12059b9a0e396d38cc9ff11b5264517a0acdce53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb799fde90403d2004f20c443d232a365cf1b5590402fe30a267df5648bfddd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fef8f11a8e06ecc125393baf44242c261f0fe7a427b9a4fd299626b69ca6ef59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 14.87 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, 0.8436, 0.6075, -0.4534, -0.0227, -0.0261, 0.9996, 0.7319, 2.5038, 2.0377, -1.0866, 0.9855, 1.491, 0.997]\nstate[eef_state]: left_x=0.2873 left_y=0.002 left_z=0.1535 left_yaw=-0.0 left_pitch=-0.1198 left_roll=0.002 left_gripper=0.9996 right_x=0.4537 right_y=0.2144 right_z=0.0452 right_yaw=-0.7964 right_pitch=-0.0181 right_roll=-0.0389 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5248, 6.9402, 1.6142, -0.0415, -0.0171, -0.0122, -0.1846, -12.9026, 6.065, 0.3687, 0.5934, 0.0366, -0.3199]",
      "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, 0.8444, 0.6075, -0.4599, -0.0227, -0.0261, 0.9996, 0.733, 2.5198, 1.9656, -0.9527, 1.0245, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.152 left_yaw=-0.0 left_pitch=-0.127 left_roll=0.0022 left_gripper=0.9996 right_x=0.4588 right_y=0.2148 right_z=0.0265 right_yaw=-0.8045 right_pitch=0.0227 right_roll=0.0173 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5385, 6.9538, 1.6728, -0.0708, -0.0611, -0.0122, -0.1162, -10.5368, 4.2872, 0.2515, -0.1099, -0.1148, -0.3199]",
      "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, 0.8448, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.7326, 2.5202, 1.9537, -0.8959, 1.0424, 1.4914, 0.0106]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1519 left_yaw=-0.0 left_pitch=-0.1278 left_roll=0.0022 left_gripper=0.9996 right_x=0.4644 right_y=0.2174 right_z=0.0268 right_yaw=-0.8005 right_pitch=0.0423 right_roll=0.0494 right_gripper=0.0106\nstate[joint_eff]: [-0.1709, -1.4154, 7.0769, 1.6142, -0.0269, -0.0708, -0.0122, -0.4171, -9.4017, 5.0256, 0.5592, 0.0513, 0.0952, 0.8474]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bab4ee1e94455104716fbcf12059b9a0e396d38cc9ff11b5264517a0acdce53f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb799fde90403d2004f20c443d232a365cf1b5590402fe30a267df5648bfddd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fef8f11a8e06ecc125393baf44242c261f0fe7a427b9a4fd299626b69ca6ef59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShgoKEAgRGAI4AUIIdGhpbmtpbmcSDIw7Nh0kUEb8kG5S2xoMm9MQnTBZv0CM+1IkIjBc5DPIQXqmvDUJuolPPlOQDi4g7WM55/eCDHgRWtRItlW9oqOx0/IQoD5+Zi4bEWgqowkZhMlquLjOG4XTbCwtj82APEqikT7kyKtHwzstelqffUmJHgd6poe4kA4ONVmGz6tQ0LUHipRirB7b3ycc3chJnhwWUgjWJn0kK3h0Bdh4/h5v1vRbe34K7J0zG0c1n7av8k4/ndbzrv8k944O38kdhvgMxKOeyUVr3xe2aEZtJmT9WIR7DbilosK/zBLR6QHL4L9m1iZLyV2//CyFSfZQ6bniheQitJCKZXEJJdMkXL7oLcMaBzEN4iZ6QrdvEeYtHDwickrIpUzLJqD+sbCWTKSQGNAIu07GEQPPrZ51ilh0PiaVFXMHIy3epu6Hp8QGDDSMQxjQYCtYLWprZYj/5Rfne+Ki6/MhYcy3tNCtK/VTbWxHvCjiyarfpm8Qz4Tr0oC0/PxgvyyVQBcIjrPO1z1+6ws6FROGRqC1tyVRsu4THJsVuy7w5xfX6+fvk/GYaeYkfJGCI5ot73GIcJB2w2Voj1NoSTYKERf6MKKw3elL9aaTQ96F0OjLftdTm4EUo+eEaU9LTZkwIi8btAmACvkn6pKPLkPNejDt8v4ewLHbZjHjOLid6+7Zwf1lQofLh7j1c3wL8ZJtpPteJijJ6lrzbNCrzGrse0AT8qtPbcOMcJNOQGnnoQoxRy7SKJ57sEF32euvVQDn2WUWBE/R8gEbseBu/XJar1oDqtglVHv9+Fa2eW7572bTOYa/O3GuAyiiogNSo3F/TAe0vJw2FOLjufP9FyyDBB7xfvprIEm9O1jAjOXHtRygwAIUqggSbtEER4zbscj1fpaebKs4T2Vzay7j9EUB/Y0Ad96kTB3LsTtvcJkPbTJuGEmztq84YyAlN617ufTpkdhB/VYemn22gcPXNxVMeyPf5l2f4SOXblo4lm+SxHBwSwmHjCDLF9hJaKpoaHg9XF/eJehlXZVp1lEAAUikcq+aRNYLcK7f05K9YghR8luL27WvsQMsNTW4U+e7GLYNAjI8VgapWR4viq+2Lxw2O1LatEr+JlD5BxslaW5uPPVbCJ/rYH7D4tQRq0AVPV1WDBtuMHvIOobY6C7hqzmnZcd8istV+xTPwfpjItjPv4fXSdX96l8QQ1XOsQYePhgDdmyOKMq8ND3upr7On+kePHj3zzVC3FExUVdYYHV1bZ0PXDAPvCYk2Xrkm9SsYFueymMw11tW0jcaF1r8Zrd6z9DpsYq0RKMWW7kjTh4+I5rTuklG/PvL9gzBooyED+gpqrL5ZV8Tgnx6GLhmS0Kdi9wXPHa5iTLo9pORJcjom2XeV+vbHV7UFjB8FyeeOKhRhKCtFpmXQaL/XinkGgNxyus98byxis/PmAoJX4cPifqqlHe9VV/rvkH5sGdifoTstmQYoSTfGlYaJc7+KrIoC818IDW1YPtQecstVIb/RNWDvy3x/J9VpsmBH8KfTza6v4evigu213bDiy0v9GJZHdhzlGSPHxXx89Oo8bJktwZR1Yv+ULyYNNlGHDxKGxcUwNkOF6IgG8Ci30faGRxy54f7ZquZHH6uIK9sHyKhL/nuV+KL8bLHjAckoHvQEXgnMXky3xJlUzL9kclvLg3YHHHQsuvtrPShlBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172UvXfbEPJUmgdZNep92Ns",
      "input": {
        "note": "The jaws closed just above the brick: the arm can't descend below z≈2.7 cm at this radius (reach limit) and the brick is ~2.5 cm thick. Reopening and pitching the tool forward so the fingertips can get down to the table at this distance.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_y": 0.216,
          "right_yaw": -0.8,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0172UvXfbEPJUmgdZNep92Ns",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8448, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7799, 2.69, 2.0182, -0.9012, 1.4223, 1.6287, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1518 left_yaw=-0.0 left_pitch=-0.1281 left_roll=0.0022 left_gripper=0.9996 right_x=0.466 right_y=0.2203 right_z=0.0257 right_yaw=-0.8247 right_pitch=0.4184 right_roll=0.0701 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6093, -0.0562, -0.0513, -0.0122, 0.1299, -10.5778, 5.7368, 0.0073, -0.2027, 0.0366, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f4e7f917902cbdbdf43a1763d512e9e2cf38e5afebf6c4a0076fb247dce1f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6dae563b78f7642724231c373472014c01db8ce1c43cac3f95459417574bfcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c34a62d16d0056b062d50fa9ba1ea17e3061d52218c6cf2998153e321a568f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 8.473 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, 0.8444, 0.6075, -0.4599, -0.0227, -0.0261, 0.9996, 0.733, 2.5198, 1.9656, -0.9527, 1.0245, 1.5051, 0.997]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.152 left_yaw=-0.0 left_pitch=-0.127 left_roll=0.0022 left_gripper=0.9996 right_x=0.4588 right_y=0.2148 right_z=0.0265 right_yaw=-0.8045 right_pitch=0.0227 right_roll=0.0173 right_gripper=0.997\nstate[joint_eff]: [-0.335, -1.5385, 6.9538, 1.6728, -0.0708, -0.0611, -0.0122, -0.1162, -10.5368, 4.2872, 0.2515, -0.1099, -0.1148, -0.3199]",
      "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, 0.8448, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.7326, 2.5202, 1.9537, -0.8959, 1.0424, 1.4914, 0.0106]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1519 left_yaw=-0.0 left_pitch=-0.1278 left_roll=0.0022 left_gripper=0.9996 right_x=0.4644 right_y=0.2174 right_z=0.0268 right_yaw=-0.8005 right_pitch=0.0423 right_roll=0.0494 right_gripper=0.0106\nstate[joint_eff]: [-0.1709, -1.4154, 7.0769, 1.6142, -0.0269, -0.0708, -0.0122, -0.4171, -9.4017, 5.0256, 0.5592, 0.0513, 0.0952, 0.8474]\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 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8448, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7799, 2.69, 2.0182, -0.9012, 1.4223, 1.6287, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1518 left_yaw=-0.0 left_pitch=-0.1281 left_roll=0.0022 left_gripper=0.9996 right_x=0.466 right_y=0.2203 right_z=0.0257 right_yaw=-0.8247 right_pitch=0.4184 right_roll=0.0701 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6093, -0.0562, -0.0513, -0.0122, 0.1299, -10.5778, 5.7368, 0.0073, -0.2027, 0.0366, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f4e7f917902cbdbdf43a1763d512e9e2cf38e5afebf6c4a0076fb247dce1f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6dae563b78f7642724231c373472014c01db8ce1c43cac3f95459417574bfcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c34a62d16d0056b062d50fa9ba1ea17e3061d52218c6cf2998153e321a568f27",
        "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_01Q4GFi9LCAeAMFcBuVyDDEA",
      "input": {
        "note": "The arm still can't get below z≈2.6 cm here (shoulder near its limit). The brick's long axis runs along the tool's forward direction, so I'm pulling the grasp point 5 cm back toward the base to grip the brick's near end where the arm can reach the table.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.252,
          "right_yaw": -0.8,
          "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_01Q4GFi9LCAeAMFcBuVyDDEA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8547, 2.814, 2.262, -1.2636, 1.3369, 1.8553, 0.997]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4439 right_y=0.2538 right_z=0.0121 right_yaw=-0.7934 right_pitch=0.3406 right_roll=0.0441 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -0.9778, 6.9538, 1.6484, -0.0464, -0.0464, -0.0122, 0.2803, -12.547, 6.5299, 0.0757, 0.1929, 0.3834, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519bfa02f140d435f98f723f90c5f33e616dac213dd672e3fa884caf32344856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d479a31cad0c80d1bf367065652d10a582a3a7106b244c5df19e5773790313e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f556f4f9146cc84c2bf01a93677574c8670f05b924c912a593992140d569791e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 8.878 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, 0.8448, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.7326, 2.5202, 1.9537, -0.8959, 1.0424, 1.4914, 0.0106]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1519 left_yaw=-0.0 left_pitch=-0.1278 left_roll=0.0022 left_gripper=0.9996 right_x=0.4644 right_y=0.2174 right_z=0.0268 right_yaw=-0.8005 right_pitch=0.0423 right_roll=0.0494 right_gripper=0.0106\nstate[joint_eff]: [-0.1709, -1.4154, 7.0769, 1.6142, -0.0269, -0.0708, -0.0122, -0.4171, -9.4017, 5.0256, 0.5592, 0.0513, 0.0952, 0.8474]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8448, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7799, 2.69, 2.0182, -0.9012, 1.4223, 1.6287, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1518 left_yaw=-0.0 left_pitch=-0.1281 left_roll=0.0022 left_gripper=0.9996 right_x=0.466 right_y=0.2203 right_z=0.0257 right_yaw=-0.8247 right_pitch=0.4184 right_roll=0.0701 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6093, -0.0562, -0.0513, -0.0122, 0.1299, -10.5778, 5.7368, 0.0073, -0.2027, 0.0366, -0.0366]\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, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8547, 2.814, 2.262, -1.2636, 1.3369, 1.8553, 0.997]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4439 right_y=0.2538 right_z=0.0121 right_yaw=-0.7934 right_pitch=0.3406 right_roll=0.0441 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -0.9778, 6.9538, 1.6484, -0.0464, -0.0464, -0.0122, 0.2803, -12.547, 6.5299, 0.0757, 0.1929, 0.3834, -0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:519bfa02f140d435f98f723f90c5f33e616dac213dd672e3fa884caf32344856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d479a31cad0c80d1bf367065652d10a582a3a7106b244c5df19e5773790313e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f556f4f9146cc84c2bf01a93677574c8670f05b924c912a593992140d569791e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwoKEAgRGAI4AUIIdGhpbmtpbmcSDFwJwDsfqGPHi6q18xoMxGW/Zinc1wVIcLcYIjAchZhWQrFJ2TT/Z+70P8VXDQyE0TxVMnQMRoK3aZyoK2YTGXExy5KhvqHgJmmynSQqsAlUzzXhdzm57UYmQAlZcq8IxJ+mUkr6wA8DWEacbG8O1I/ZO88gfhmukZ+GS383Uz1QvmK0kfm3Q6FbufkVI00Kpz06cQYhZ/p/INzMp1LZ2QXpfDj72h0V7jtzo3ME/Xq9S0T681V5zoWk2iTPmkU2aZ8RFtIUyTT/MT/OCZREM4oVa0P1apO1OCwMW0MKYW4sUhaWrFO6NzYhFqNJ/k9IalojrAfwHB4LD0x+PbqQboOwDwPuNxw3Z8aA8php928KQoGiJQOP3tDBJuu0Z9XPXTHW4EpyQ+Q6miPVbuw+ZGu0JaHyHPPBA65vn2WMCOuN6lB1lopdnu22xnazfU97uTop0qBLyjomiJtCH++vGB5XCbUYlVBBwuu6rjY9EENSVOUeX1RlIM9D3XTxAbnnLNMZLBOh5fkPSpcav/V+KxhcJ4ZBgjIvrZu5KKWybm1UnS2aEwbDpFxYLhCEF+beHfhwwbjBOTwKYaacLPmRYLqCC2JYM96cpzcfRiR5UF7Pxz/tZw7F2OqmzKimJiqw6c0HVuax+hjr5TvNo19ms4UaFko7R9XvjeTDetUL5lbo9Oy87nIITl9o4f+Vn6CDq0Bz/hxzxBzvdE4eLMH7/qfgkW5LLS5mvcWO/dlZ5sinLq2dUuSM3Q5KohdiWi8M77PPwZo5+4JADL5kP4tw/ARTu9WwuT3S5Q8d0aFyhZ3C0lsqRR5Ffv4GGY8sjddnQp+u+kPZd/bugQtaFnE5zJ3ulFD9Asl07BG/bd7T244bALmT43T8Tfi6d3CFwERiKNBRzD6bDrKdct9gaSKpwTBOYTZIG62MyhqO1XyksOYH440VoEzYQpjFOQmO0LZtLOQpPbWEck1XDx53AzTRWQDe7P5rTdRP/mRBntNIHDxkHWXjr9QKOiO6bmfMeDj1JtC/62aPhu61SA0hQDdYCsVO+LtVjVNzmjYFBHCtxlYmZTZDam1MoOOnfCvsfF6+rQWGV6qAhWIntb+mUNpROvg026SKdLqbAMrAJmWtVwMf1NBm91wRnJphOMfeysQkLHw+PiKMccBCUsiElrJP0mfgWHb3IiAKYFpIwIld/SczRiz3ICpHdAyf3OSBLFR+bATCvHgA2P4qjze+nmQrvzVPqmO8mxm1I5Ru+p02jWcFq7PC/RFy73CSXzp93Xi8+1gdv34No82ucRTBxXiVv8SIDGrVDxSV3aKsTpYJ8mteiRbF9izHgD8ywR9CTTjioceHnjwJHp8BBGmjeu9v5Qz3hklYVloL3wg1CiP3Posr0W3Zmlv1RuD2VPPE75ZEpnIG/FUO3as8O6ZDitg9lZjp1BYoUmoGr2gHHJbtDqvSTadM7ckA8ffnOtYXwWeaQh+zat0aT768lPokqzINLjShTHVy0E0z4HJQKzYk8H/3482pQHAjZg0FQD4W73Ow2GWz278LPSknFzgiO6MOJdqAC6+w87iXIrGxaDHWXRtXNvCOCquvy2KefdK/PK0VTgsqWbAdj4BJDyih4znqjfgNMw4BvUXfjMBWyXM/gqP5QsrOtMOpHpNNzHP2qYYkSIvqJC46iVsH3lzwLNnhB1hy9DWw4K3XE3qxOVPDbrMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BEeNSgegVJ4odoFygFL8TN",
      "input": {
        "note": "The jaws are now down at z≈1 cm flanking the brick's near end, which sits between them at the bottom of the wrist view. Nudging slightly forward and closing to grasp.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.454,
          "right_y": 0.243,
          "right_yaw": -0.8,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BEeNSgegVJ4odoFygFL8TN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8371, 2.8204, 2.2696, -1.2247, 1.3342, 1.7756, 0.0102]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4515 right_y=0.2497 right_z=0.0093 right_yaw=-0.7801 right_pitch=0.3362 right_roll=0.004 right_gripper=0.0102\nstate[joint_eff]: [-0.212, -1.1419, 7.1316, 1.5897, -0.0659, -0.0611, -0.0122, -1.5385, -14.3658, 5.2991, 0.1392, 0.1587, -0.0855, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66db678be091ca934d40c1b4d93e59d3d5d6f8906e3a53ebe2cef41ac39fb4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abaa3ddf166a84cfd7cdd24231f907cc0af7a00360aa5c82e59e574ab1ce8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bf86762303cf4c652bcad386226f217700b826e7bfefd8e5412db9a564df963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 6.338 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, 0.8448, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7799, 2.69, 2.0182, -0.9012, 1.4223, 1.6287, 0.9959]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1518 left_yaw=-0.0 left_pitch=-0.1281 left_roll=0.0022 left_gripper=0.9996 right_x=0.466 right_y=0.2203 right_z=0.0257 right_yaw=-0.8247 right_pitch=0.4184 right_roll=0.0701 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4564, 7.0769, 1.6093, -0.0562, -0.0513, -0.0122, 0.1299, -10.5778, 5.7368, 0.0073, -0.2027, 0.0366, -0.0366]\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, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8547, 2.814, 2.262, -1.2636, 1.3369, 1.8553, 0.997]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4439 right_y=0.2538 right_z=0.0121 right_yaw=-0.7934 right_pitch=0.3406 right_roll=0.0441 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -0.9778, 6.9538, 1.6484, -0.0464, -0.0464, -0.0122, 0.2803, -12.547, 6.5299, 0.0757, 0.1929, 0.3834, -0.3248]",
      "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, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8371, 2.8204, 2.2696, -1.2247, 1.3342, 1.7756, 0.0102]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4515 right_y=0.2497 right_z=0.0093 right_yaw=-0.7801 right_pitch=0.3362 right_roll=0.004 right_gripper=0.0102\nstate[joint_eff]: [-0.212, -1.1419, 7.1316, 1.5897, -0.0659, -0.0611, -0.0122, -1.5385, -14.3658, 5.2991, 0.1392, 0.1587, -0.0855, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66db678be091ca934d40c1b4d93e59d3d5d6f8906e3a53ebe2cef41ac39fb4c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4abaa3ddf166a84cfd7cdd24231f907cc0af7a00360aa5c82e59e574ab1ce8d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf86762303cf4c652bcad386226f217700b826e7bfefd8e5412db9a564df963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkAoKEAgRGAI4AUIIdGhpbmtpbmcSDBTmLHzNPbn9hB+eNhoMHccR5Er+el7J1Y2WIjAYncuDVaZbpkWEaRuPbWNUGYV+cuNRJwo38fL1drqM53Svkv1XhlBz4nomcVXFzwcqrQnr5uGiEJRk46q08LuEMUlJDqyzLvl6GkWGhCk4Uvg6XaSbhTh+jMhnkJCfrFel634ZTRM4IIbgRiO0U/P7vdK57910RBA/dQtN4eMttwccLSdLimDe4CBnzfECf+uoGGV7BXr5zXVonFL8atDv+zuu4G9oYDoeeQZeGSsaC7QWQsbU121228yK/AQGfU3k3+3HSmt1xtn+OrvpuHcGNZ8EEJMGDy/UaGuYfMJ/pffVxFv/oo1b9VKh1VGwhxTT0uTgBF3aaFlpQP+BVJHpSXFkIvY6bSDZCotKgmqs8qcDyj8jN6LnNDg1HFaUrjdK8/KfaZj42AZp2PA1yKh/JTyAvzAu1596WU8KckeK4uFGEbf1eJg9GYfb7KyBEV1vk1eYmcuCAngJcwump86/3OWViL8o1wx1eRZHNE7IFyEWstHRQdhCr8cglLLAnqYVLuMSYBfppPTaGk+n8miJBtGNBRphwu4YcOOxMaZscz2t2/RrmUnAMgjRXp9HmvWNCDIZEyB2DgZaKUrJGtv0tzQQiI/CDHDQiBievVfiVSj+sZ9hXUZn54TiPBwA+hhdu7OSQZDgZGBZWsM1p5Y35Atu31ZzrEeCddFJ5Qz82GnFL76k3xgepyHvosZMrCZYlqYgVEczQFHZnmUBH8/KDC7xck+hfGi8Bd61I6JQgyz0W1QeLdLmclxHzkyjgOPvVP8s0bwphKkwXH1oqRKw5qjc/PcHM4yweJMZWk9CwEAJp0L0GSGI1mhTJO1qwfJZpE8cgZDYBmo3eTcfHtOfEThY448pwx8QMpyiH06vBt5VLmt6vFkQGOJTXaegxp9/MoiDt7jniuJviyxj3zZJZo1qTxCV/hgbSwHSqw5Yj+033kXGDYiKzzMWdOi4WBh7k406QTeMPU6qu4CMQIOLv2ZQ2RSgq7VdptsrBOmapRJs94a3jRUAPMeZdgk/Q2J/+tU0iWneVXlv9Gtm5o3JzaHSa7D+hmPWOZmD8XBC/9iCPiRdrcJOl2wyd4QLYkAjViIMZQauKMqTwCEqwXsuNAFveZqCngaqoFHcnFzqawbRM/Ydx8P0/mlDSe/5ltwvBZ4GBa2pdryPpxQG1v4aIMqzOWTraUmKBGhdzv0hXP0GRAx4app0Wugc22uFcYgWB4oiNYwc9skF0X0hUxCDG48H3RdhEgSKMRz4MLuND+3U6NOaM88R5hkY6VrOdZlyfyr7tixD4l68jjaqVXqQ7B//qQmhoOipirxpLFi8gAvqYWCc7yGETRuIhqD/Ekd9vzTzAMhuiIZDosEPBYRirhJCdhyh4b0qLs3UzEodRgsm4yK4tAcXA6VD75S8tBBuSN9h98lZW4IswflXzqAGmDes+172TytI0VcH5w2m3zQrCGXoa4MEcCPg/T+C251HIStcE4vEuQDNKGHfalk3Y4HKPB5qXidefjy+YwSZaq+/soWR9xmZTYl/c7cw5TvKe5YpdNnX4bPbQc0EvENG5trLqYuosca9uCggegADsbbsOGRe4bsZ/HuuqZg+QmQkQmcrsLGz1s0l+RUr2xRJxuuBgmSMRAA20ao+hFYK8VezExCseLp5GoPDXimcxtsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EygfggrnjzBRQreMkw3rG6",
      "input": {
        "note": "The jaws closed just short of the brick's near end again. Opening and advancing ~3 cm along the tool direction with more forward pitch to get the fingertips over the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.45,
          "right_roll": 0.0,
          "right_x": 0.473,
          "right_y": 0.228,
          "right_yaw": -0.8,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EygfggrnjzBRQreMkw3rG6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7994, 2.8361, 2.265, -1.1362, 1.4414, 1.7084, 0.9948]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4698 right_y=0.237 right_z=0.0177 right_yaw=-0.7898 right_pitch=0.4396 right_roll=0.0099 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5248, 6.9538, 1.6239, -0.0611, -0.0708, -0.0171, -1.4017, -12.0547, 4.7521, 0.3492, 0.525, -0.022, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aa80de4897de1540d30dd5758391d33bd17b5aff38f2737c10128f594ce7e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7588933c22ed2f791356ee67cc3ef5f8d26d328691d5bc20da28f6d285d4349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9a80937467b85ff1e5a04086aa1f0cd7b67bb1605b4fcf1dfc92195ddb8ef31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 15.67 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, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8547, 2.814, 2.262, -1.2636, 1.3369, 1.8553, 0.997]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4439 right_y=0.2538 right_z=0.0121 right_yaw=-0.7934 right_pitch=0.3406 right_roll=0.0441 right_gripper=0.997\nstate[joint_eff]: [-0.0342, -0.9778, 6.9538, 1.6484, -0.0464, -0.0464, -0.0122, 0.2803, -12.547, 6.5299, 0.0757, 0.1929, 0.3834, -0.3248]",
      "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, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.8371, 2.8204, 2.2696, -1.2247, 1.3342, 1.7756, 0.0102]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4515 right_y=0.2497 right_z=0.0093 right_yaw=-0.7801 right_pitch=0.3362 right_roll=0.004 right_gripper=0.0102\nstate[joint_eff]: [-0.212, -1.1419, 7.1316, 1.5897, -0.0659, -0.0611, -0.0122, -1.5385, -14.3658, 5.2991, 0.1392, 0.1587, -0.0855, 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 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4606, -0.0227, -0.0261, 0.9996, 0.7994, 2.8361, 2.265, -1.1362, 1.4414, 1.7084, 0.9948]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1516 left_yaw=-0.0 left_pitch=-0.1289 left_roll=0.0022 left_gripper=0.9996 right_x=0.4698 right_y=0.237 right_z=0.0177 right_yaw=-0.7898 right_pitch=0.4396 right_roll=0.0099 right_gripper=0.9948\nstate[joint_eff]: [-0.2803, -1.5248, 6.9538, 1.6239, -0.0611, -0.0708, -0.0171, -1.4017, -12.0547, 4.7521, 0.3492, 0.525, -0.022, -0.0024]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9aa80de4897de1540d30dd5758391d33bd17b5aff38f2737c10128f594ce7e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7588933c22ed2f791356ee67cc3ef5f8d26d328691d5bc20da28f6d285d4349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a80937467b85ff1e5a04086aa1f0cd7b67bb1605b4fcf1dfc92195ddb8ef31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpwcKEAgRGAI4AUIIdGhpbmtpbmcSDN0OPn2hAmnx2JQXhhoMUFWfQzhwSHeBnTv/IjA5lWvwpWNXA/YfBBrL9gg92+WxWk+ZSj7kDzLgrLcMtsizbvcP0OFo3m/nd50EFJ0qxAb6/fuF4otVbm+mdNHtYf2s8cVR0ZUYROHRsdh65cLjzcgKjj76IMs2fFlkt+LBoJYjyDHC3Sx4WYz7zmPY6t6KPHwgtIIX4tvgXvYD72cDHl+RqfU1cEro7f6t9phgYYvCfpeDA+mdFwO5ei6/fCoR2qbIKN2fP0wD8NBf/Rz19WHsTnLCYD96PR7ygsr+EPNAgJb6pkKXHQ+e4HHUII74C28jeTAVi1FFREaLL1qQNGcXB1J9CCJ/gDBjuoJ82CEZaMquMxKoHrWHW0aU+wzVn+v9eiPgxXJfM+/LuJcFbMsUfiCP+kUNno/G2Wp4kVN+d70tT7tjw8yEkoTFHGhfKtxgOzlurgueBkrlHUTQ5FgcrHeM7xUoWELKNcsAlX7IUwA8iqRXXbbyqzMDoOW9Hs6SBXokym6gLciRwgeu8upxa7qGfJ/dQpqPQ48KIrsBDRqfuPJerl4NKcHh3ztdyAPps6pv7fNHyvA8TGiOOKrxGLGhiDjUnUAaMd4OLtaHUweDgGl17Q9/7lRSf4aAVrMGGAhl449zNdZdYY3dKvCcbmsQ9btX8OwGr21yR2DOG5TH4kJDil/0VmCcNQNIHYXZcwlRAQaRR6fYKqN2wVNSSJP1YM2ZE2x/4SnMP97ycpWEQIOH8gGBG0vb4t4Cnakhiunv1CX+ooWjcTiEygc+sZ93Si4DECMcAPc2pyOfBDJ4v+as3zTHjxJYK8u3PieSeORjYw7oWc2IE1Z2Am64RzmxcV3nD9qdiVYlJLGsmuiQghJgw/+wea0+hyp+lrZd6H3AC7xDRKtoMKyGp/aqiSrkbUfhwnAWtaWSy0wr22farzDxHEngf2ss2u0OziTLsF0t69dI4xXsvPFslAhnM8cT9aYF2zXLQTWiZlKNevssNj4mJjuwDNjulkLiAOFyvtROwoPRZ9MUCeH6G4oxCDAygw3C1BRBJTj0TOIBYqBaVFWRdtjOBjOXhSsM8rKiWk8cV5JX0z3y7tJJh5XCkzh7XlAJym4rP53f5gdc46tynUA05Gzc4f8HstqDuv+O8wPEpT9NozYk1XIPDo8cFYgigrBaqEM9HnkXkYaYDVfCaqPufcCJzsJu57DYovfdlxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFgapGJxmwZ9XbcPPkVWFM",
      "input": {
        "note": "The brick's near half now lies between the two jaw tips in the wrist view with the tool pitched forward. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.45,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.237,
          "right_yaw": -0.8,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FFgapGJxmwZ9XbcPPkVWFM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6075, -0.4603, -0.0227, -0.0261, 0.9996, 0.8028, 2.9223, 2.4393, -1.2896, 1.4384, 1.808, 0.0096]\nstate[eef_state]: left_x=0.2863 left_y=0.002 left_z=0.1517 left_yaw=-0.0 left_pitch=-0.1285 left_roll=0.0022 left_gripper=0.9996 right_x=0.4732 right_y=0.2431 right_z=0.0175 right_yaw=-0.8154 right_pitch=0.4377 right_roll=0.0468 right_gripper=0.0096\nstate[joint_eff]: [-0.2393, -1.5248, 6.9402, 1.619, -0.0269, -0.0464, -0.0122, -0.6359, -11.3162, 5.9009, -0.2808, 0.6178, 0.2222, 0.7595]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc882ee7bc20283b649df8390752c626bd34029be8f3a37393c4191d142d44ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8c0394378f74f53acfa37ee9540c5a323376c6f1e74482a5de707cb2f53bc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4832f6aac8564d25b68c6c3875d29f1b9e9660f586b6cda3223a789fa260d8c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]