adhoc - adhoc_972bde61.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: 456.4 s
total steps: 212

operator

scenes

trials

errored

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: put the black brick into the pot of water

Raw transcript

system

user

Goal: put the black brick into the pot of water

step 0

assistant

agent noteThe black brick appears in the left wrist camera below-right of the jaw column, a few cm past the fingertips and to the arm's right; the pot is in the centre of the table. Moving the left arm above the brick and rotating the jaws to close across its short side.

move_to

left_x0.3800left_y-0.0800left_z0.1500left_yaw1.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3801, -0.0223, -0.0326, 0.9996, -0.0219, 0.7925, 0.6018, -0.379, -0.0166, -0.0338, 0.9992] state[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0001 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992 state[joint_eff]: [-0.5265, -1.6068, 10.1675, 1.7656, -0.0317, 0.1929, -0.0562, -0.5265, -1.3197, 10.3043, 1.9267, -0.0855, 0.1636, -0.0952] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.38, "left_y": -0.08, "left_z": 0.15, "left_yaw": 1.2, "left_gripper": 1.0}, "note": "The black brick appears in the left wrist camera below-right of the jaw column, a few cm past the fingertips and to the arm's right; the pot is in the centre of the table. Moving the left arm above the brick and rotating the jaws to close across its short side."})

tool

executing move_to over 8 steps (0.8s)

step 8

assistant

agent noteThe brick now sits near the jaw column in the left wrist view with its long axis roughly along image-vertical, so the jaws will close across its short side. Descending to 6 cm and nudging slightly forward to re-check alignment before the final descent.

move_to

left_x0.4200left_y-0.0900left_z0.0600left_yaw0.9000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6006, 2.0628, 1.6127, -1.1034, -0.931, -1.3678, 0.9996, -0.0216, 0.7979, 0.5999, -0.3912, -0.0166, -0.0345, 0.9991] state[eef_state]: left_x=0.4074 left_y=-0.103 left_z=0.1168 left_yaw=0.8428 left_pitch=-0.0791 left_roll=0.1599 left_gripper=0.9996 right_x=0.293 right_y=0.0002 right_z=0.1747 right_yaw=0.0008 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [0.3624, -11.3162, 4.9846, -0.6276, -0.7497, -0.0757, -0.0562, -0.0479, -1.2513, 7.2137, 1.9414, -0.0708, -0.0464, -0.022] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.09, "left_z": 0.06, "left_yaw": 0.9, "left_gripper": 1.0}, "note": "The brick now sits near the jaw column in the left wrist view with its long axis roughly along image-vertical, so the jaws will close across its short side. Descending to 6 cm and nudging slightly forward to re-check alignment before the final descent."})

tool

executing move_to over 4 steps (0.4s)

step 12

assistant

agent noteThe arm only tracked partway (z still 0.106); the brick is between the jaws in the wrist view, slightly right of the jaw column. Sending a smaller step down to 7 cm.

move_to

left_x0.4100left_y-0.0950left_z0.0700left_yaw0.9000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5968, 2.1189, 1.6508, -1.1908, -0.9363, -1.4773, 0.9996, -0.0219, 0.7986, 0.5983, -0.3927, -0.0166, -0.0345, 0.9991] state[eef_state]: left_x=0.4026 left_y=-0.0972 left_z=0.1064 left_yaw=0.9129 left_pitch=-0.0731 left_roll=0.1778 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1735 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9991 state[joint_eff]: [-0.6632, -13.0256, 5.4085, 0.1343, -0.6276, 0.1978, -0.0562, -0.0342, -1.306, 7.1453, 1.746, -0.022, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.41, "left_y": -0.095, "left_z": 0.07, "left_yaw": 0.9, "left_gripper": 1.0}, "note": "The arm only tracked partway (z still 0.106); the brick is between the jaws in the wrist view, slightly right of the jaw column. Sending a smaller step down to 7 cm."})

tool

executing move_to over 3 steps (0.3s)

step 15

assistant

agent noteThe arm refuses to descend below z≈0.107 at this pose, likely a joint limit; pulling the target slightly closer, reducing yaw and tipping the tool forward to find a reachable configuration for the descent.

move_to

left_x0.3950left_y-0.0950left_z0.0700left_yaw0.7000left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5968, 2.117, 1.6508, -1.169, -0.9363, -1.4612, 0.9996, -0.0219, 0.7986, 0.598, -0.3931, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.4058 left_y=-0.0994 left_z=0.1069 left_yaw=0.9026 left_pitch=-0.0731 left_roll=0.167 left_gripper=0.9996 right_x=0.2925 right_y=0.0 right_z=0.1732 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0006 right_gripper=0.9991 state[joint_eff]: [-0.5128, -13.3402, 5.6137, 0.1832, -0.6178, 0.1832, -0.0562, -0.0752, -1.2376, 7.0632, 1.7216, -0.022, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.095, "left_z": 0.07, "left_yaw": 0.7, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The arm refuses to descend below z\u22480.107 at this pose, likely a joint limit; pulling the target slightly closer, reducing yaw and tipping the tool forward to find a reachable configuration for the descent."})

tool

executing move_to over 10 steps (1.0s)

step 25

assistant

agent noteNow at z≈5 cm the brick fills the lower wrist view slightly right of the jaw column and tilted clockwise; shifting ~1.5 cm to the tool's right, rotating back to yaw 0.9 to align the jaws across its short side, and descending to 2 cm.

move_to

left_x0.3930left_y-0.0980left_z0.0200left_yaw0.9000left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6548, 2.0365, 1.1461, -0.5529, -1.1389, -1.19, 0.9996, -0.0219, 0.8028, 0.5953, -0.3965, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.3834 left_y=-0.0876 left_z=0.0525 left_yaw=0.711 left_pitch=0.124 left_roll=0.2378 left_gripper=0.9996 right_x=0.292 right_y=0.0001 right_z=0.1702 right_yaw=0.0006 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9991 state[joint_eff]: [-0.841, -11.9863, 5.135, 0.6667, -0.779, 0.0611, -0.0562, -0.1299, -1.6068, 7.241, 1.7998, -0.0659, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.393, "left_y": -0.098, "left_z": 0.02, "left_yaw": 0.9, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "Now at z\u22485 cm the brick fills the lower wrist view slightly right of the jaw column and tilted clockwise; shifting ~1.5 cm to the tool's right, rotating back to yaw 0.9 to align the jaws across its short side, and descending to 2 cm."})

tool

executing move_to over 3 steps (0.3s)

step 28

assistant

agent noteThe arm overshot to x=0.42, y=-0.118 and the brick now lies to the left of the jaw column, angled counter-clockwise. Shifting ~3 cm toward the tool's left and increasing yaw to line the jaws up across the brick's short side.

move_to

left_x0.4000left_y-0.1000left_z0.0300left_yaw1.2000left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6662, 2.3207, 1.4822, -0.7624, -1.1809, -1.4925, 0.9996, -0.0216, 0.8062, 0.5945, -0.4038, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.4208 left_y=-0.1184 left_z=0.0261 left_yaw=0.8393 left_pitch=0.1755 left_roll=0.1225 left_gripper=0.9996 right_x=0.291 right_y=0.0002 right_z=0.1674 right_yaw=0.001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9991 state[joint_eff]: [-0.5949, -12.4103, 3.2205, -0.8132, -0.5299, -0.3883, -0.0611, 0.0479, -1.3744, 7.0906, 1.8877, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.03, "left_yaw": 1.2, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The arm overshot to x=0.42, y=-0.118 and the brick now lies to the left of the jaw column, angled counter-clockwise. Shifting ~3 cm toward the tool's left and increasing yaw to line the jaws up across the brick's short side."})

tool

executing move_to over 3 steps (0.3s)

step 31

assistant

agent noteThe brick now fills the lower wrist view passing between the jaws at roughly the jaw column, with the grasp point 2 cm above the table. Closing the gripper to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0096, -1.2018, -1.7042, 0.9996, -0.0219, 0.8089, 0.5945, -0.4122, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.3995 left_y=-0.1034 left_z=0.0209 left_yaw=0.8923 left_pitch=0.2064 left_roll=0.1947 left_gripper=0.9996 right_x=0.29 right_y=0.0002 right_z=0.165 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9991 state[joint_eff]: [-0.1573, -10.7966, 4.9846, -0.2125, -0.4615, -0.2125, -0.0562, -0.0889, -1.5111, 7.0085, 1.8144, -0.022, -0.0757, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0.0}, "note": "The brick now fills the lower wrist view passing between the jaws at roughly the jaw column, with the grasp point 2 cm above the table. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 41

assistant

agent noteThe close was empty (reading 0.01); the wrist view shows the brick above-left of the closed jaws, so it lies forward and to the tool's left. Opening, lifting to 8 cm and shifting toward the brick to re-align.

move_to

left_x0.4000left_y-0.0600left_z0.0800left_yaw0.9000left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0088, -1.2015, -1.7145, 0.0095, -0.0216, 0.8093, 0.5945, -0.4152, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.3996 left_y=-0.1035 left_z=0.0209 left_yaw=0.8981 left_pitch=0.2071 left_roll=0.1841 left_gripper=0.0095 right_x=0.2895 right_y=0.0002 right_z=0.1643 right_yaw=0.0007 right_pitch=-0.0603 right_roll=0.0002 right_gripper=0.9991 state[joint_eff]: [-0.335, -11.6171, 4.4103, -0.1734, -0.5543, 0.0757, 0.6618, -0.1299, -1.3333, 6.9949, 1.7216, -0.0464, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.06, "left_z": 0.08, "left_yaw": 0.9, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The close was empty (reading 0.01); the wrist view shows the brick above-left of the closed jaws, so it lies forward and to the tool's left. Opening, lifting to 8 cm and shifting toward the brick to re-align."})

tool

executing move_to over 10 steps (1.0s)

step 51

assistant

agent noteThe brick is now centred between the jaws at the bottom of the wrist view but its long axis runs nearly along the jaw-closing direction. Rotating the tool about the grasp point to yaw −0.95 so the jaws close across the brick's short side.

move_to

left_x0.4000left_y-0.0650left_z0.0600left_yaw-0.9500left_pitch0.2000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5888, 2.1578, 1.3602, -0.873, -1.2018, -1.5032, 0.9946, -0.0219, 0.8101, 0.5945, -0.4156, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.3984 left_y=-0.0637 left_z=0.0655 left_yaw=0.908 left_pitch=0.1925 left_roll=0.1847 left_gripper=0.9946 right_x=0.2895 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9991 state[joint_eff]: [0.4718, -13.3538, 4.465, 0.1441, -0.6276, 0.232, -0.0269, -0.1026, -1.2376, 6.9812, 1.707, -0.0513, -0.0806, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.4, "left_y": -0.065, "left_z": 0.06, "left_yaw": -0.95, "left_pitch": 0.2, "left_gripper": 1.0}, "note": "The brick is now centred between the jaws at the bottom of the wrist view but its long axis runs nearly along the jaw-closing direction. Rotating the tool about the grasp point to yaw \u22120.95 so the jaws close across the brick's short side."})

tool

executing move_to over 12 steps (1.2s)

step 63

assistant

agent noteThe IK took a wild path and the arm ended at y=+0.05 with yaw only −0.18; the top view now shows the brick clearly at about 12 cm to the arm's right, long axis across the arm's y. Moving back above the brick at 12 cm height while rotating toward negative yaw in stages.

move_to

left_x0.4200left_y-0.0700left_z0.1200left_yaw-0.8000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [0.1638, 1.8156, 0.6022, 0.6563, 0.1436, 0.3859, 0.9989, -0.0216, 0.815, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.4316 left_y=0.0494 left_z=0.0303 left_yaw=-0.1797 left_pitch=-0.0049 left_roll=0.2673 left_gripper=0.9989 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0011 right_pitch=-0.074 right_roll=0.0007 right_gripper=0.9991 state[joint_eff]: [0.253, -7.1863, 4.9026, 1.6239, 0.2125, 0.2418, -0.1245, -0.0205, -1.4838, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.07, "left_z": 0.12, "left_yaw": -0.8, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The IK took a wild path and the arm ended at y=+0.05 with yaw only \u22120.18; the top view now shows the brick clearly at about 12 cm to the arm's right, long axis across the arm's y. Moving back above the brick at 12 cm height while rotating toward negative yaw in stages."})

tool

executing move_to over 11 steps (1.1s)

step 74

assistant

agent noteThe top view shows the brick got nudged and now lies about 12 cm to the right of the left gripper at roughly x=0.42, y=−0.17; the pot centre is near y=−0.32. Moving the open gripper above the brick at 12 cm while continuing to rotate the jaws to close across the brick's short side.

move_to

left_x0.4200left_y-0.1700left_z0.1200left_yaw-0.9000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [0.0036, 1.8023, 0.5392, 0.7471, 0.3141, 0.3504, 0.9989, -0.0219, 0.8173, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.4194 left_y=-0.0495 left_z=0.0364 left_yaw=-0.4658 left_pitch=0.0717 left_roll=0.1731 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991 state[joint_eff]: [-0.4171, -8.7453, 4.7521, 1.9463, 0.0806, -0.022, -0.1294, -0.0889, -1.5521, 7.0906, 1.6581, -0.0317, -0.0659, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.42, "left_y": -0.17, "left_z": 0.12, "left_yaw": -0.9, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The top view shows the brick got nudged and now lies about 12 cm to the right of the left gripper at roughly x=0.42, y=\u22120.17; the pot centre is near y=\u22120.32. Moving the open gripper above the brick at 12 cm while continuing to rotate the jaws to close across the brick's short side."})

tool

executing move_to over 11 steps (1.1s)

step 85

assistant

agent noteThe wrist view shows the brick about 5 cm to the tool's right at roughly fingertip range, tilted ~35° from image-horizontal. Shifting to the tool's right and rotating to yaw −1.6 so the brick will lie vertical in the image and the jaws close across its short side.

move_to

left_x0.3900left_y-0.1950left_z0.1000left_yaw-1.6000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.2054, 1.6779, 0.878, 0.1497, 0.4446, 0.4824, 0.9989, -0.0216, 0.8173, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.4207 left_y=-0.1616 left_z=0.1017 left_yaw=-0.8508 left_pitch=-0.0166 left_roll=0.1542 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0763 right_roll=0.0005 right_gripper=0.9991 state[joint_eff]: [-0.4444, -9.5658, 8.3897, 1.6825, 0.2711, 0.0952, -0.1245, -0.0479, -1.347, 7.0085, 1.6386, -0.022, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.195, "left_z": 0.1, "left_yaw": -1.6, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows the brick about 5 cm to the tool's right at roughly fingertip range, tilted ~35\u00b0 from image-horizontal. Shifting to the tool's right and rotating to yaw \u22121.6 so the brick will lie vertical in the image and the jaws close across its short side."})

tool

executing move_to over 5 steps (0.5s)

step 90

assistant

agent noteThe brick is still ~3–4 cm to the tool's right of the jaw column near fingertip range. With yaw near −1.57 the jaws close along the arm's x, across the brick's short side per the overhead view; shifting toward the brick and descending to 5 cm to check alignment.

move_to

left_x0.3850left_y-0.1900left_z0.0500left_yaw-1.5700left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1249, 1.953, 1.2938, -0.3965, 0.8539, 1.0924, 0.9989, -0.0219, 0.8211, 0.5941, -0.424, -0.0166, -0.0345, 0.9991] state[eef_state]: left_x=0.421 left_y=-0.1835 left_z=0.0925 left_yaw=-1.396 left_pitch=-0.0468 left_roll=0.1504 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1592 right_yaw=0.0005 right_pitch=-0.0812 right_roll=0.0012 right_gripper=0.9991 state[joint_eff]: [-0.4991, -10.906, 6.5299, 0.696, 0.7204, 0.1929, -0.1294, -0.0068, -1.5658, 6.9675, 1.7021, -0.0464, -0.0464, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.19, "left_z": 0.05, "left_yaw": -1.57, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The brick is still ~3\u20134 cm to the tool's right of the jaw column near fingertip range. With yaw near \u22121.57 the jaws close along the arm's x, across the brick's short side per the overhead view; shifting toward the brick and descending to 5 cm to check alignment."})

tool

executing move_to over 3 steps (0.3s)

step 93

assistant

agent noteThe brick is now centred between the jaws but its long axis lies along the jaw-closing direction (image-x). Empirically the scene rotates clockwise as yaw decreases, so rotating a further ~0.65 rad to yaw −2.2 should bring the brick's short side across the jaws.

move_to

left_x0.3850left_y-0.1900left_z0.0550left_yaw-2.2000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1242, 2.0113, 1.2251, -0.4549, 0.944, 1.2926, 0.9989, -0.0216, 0.8223, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.3839 left_y=-0.1885 left_z=0.0556 left_yaw=-1.5468 left_pitch=-0.0232 left_roll=0.1161 left_gripper=0.9989 right_x=0.289 right_y=0.0002 right_z=0.1591 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9991 state[joint_eff]: [0.4034, -9.5248, 5.9282, 1.0183, 0.7057, 0.0611, -0.1245, -0.0615, -1.4291, 6.9675, 1.663, -0.0024, -0.0415, -0.0122] camera 'top_cam' (step 93): [image omitted: streamed camera frame] camera 'left_cam' (step 93): [image omitted: streamed camera frame] camera 'right_cam' (step 93): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.385, "left_y": -0.19, "left_z": 0.055, "left_yaw": -2.2, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The brick is now centred between the jaws but its long axis lies along the jaw-closing direction (image-x). Empirically the scene rotates clockwise as yaw decreases, so rotating a further ~0.65 rad to yaw \u22122.2 should bring the brick's short side across the jaws."})

tool

executing move_to over 5 steps (0.5s)

step 98

assistant

agent noteYaw only reached −1.75 and the brick still lies mostly along the jaw axis, slightly right of centre. Continuing the rotation toward −2.3 and pulling x back to 0.39 so the jaws end up across the brick's short side.

move_to

left_x0.3900left_y-0.1900left_z0.0500left_yaw-2.3000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1131, 2.2353, 1.5787, -0.7723, 0.9691, 1.6802, 0.9989, -0.0216, 0.8288, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.4186 left_y=-0.1905 left_z=0.0496 left_yaw=-1.7538 left_pitch=-0.046 left_roll=0.2467 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0011 right_pitch=-0.0873 right_roll=0.001 right_gripper=0.9991 state[joint_eff]: [-0.4171, -12.1231, 6.5709, 0.359, 0.5934, 0.188, -0.1245, -0.0752, -1.812, 6.9949, 1.663, -0.0464, -0.0806, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.19, "left_z": 0.05, "left_yaw": -2.3, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Yaw only reached \u22121.75 and the brick still lies mostly along the jaw axis, slightly right of centre. Continuing the rotation toward \u22122.3 and pulling x back to 0.39 so the jaws end up across the brick's short side."})

tool

executing move_to over 4 steps (0.4s)

step 102

assistant

agent noteThe wrist roll joint is at its limit at yaw −1.77, so I cannot rotate further this way. Lifting to 12 cm and rotating back through −0.4 toward the positive-yaw side (≈+1.0), where the brick previously appeared vertical in the wrist view.

move_to

left_x0.3900left_y-0.1900left_z0.1200left_yaw-0.4000left_pitch0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.1139, 2.2353, 1.5787, -0.8009, 0.9691, 1.7058, 0.9989, -0.0216, 0.8307, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.4136 left_y=-0.1903 left_z=0.049 left_yaw=-1.7693 left_pitch=-0.0473 left_roll=0.2391 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1569 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.0011 right_gripper=0.9991 state[joint_eff]: [-0.1983, -12.1778, 6.5026, 0.3687, 0.6227, 0.1441, -0.1294, -0.0889, -1.3744, 6.9949, 1.6337, -0.0464, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 102): [image omitted: streamed camera frame] camera 'left_cam' (step 102): [image omitted: streamed camera frame] camera 'right_cam' (step 102): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.19, "left_z": 0.12, "left_yaw": -0.4, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The wrist roll joint is at its limit at yaw \u22121.77, so I cannot rotate further this way. Lifting to 12 cm and rotating back through \u22120.4 toward the positive-yaw side (\u2248+1.0), where the brick previously appeared vertical in the wrist view."})

tool

executing move_to over 9 steps (0.9s)

step 111

assistant

agent noteThe IK is thrashing mid-rotation (pose drifted to x=0.32, roll 0.54) while the brick is still visible under the gripper. Continuing the rotation to yaw +1.0 at 12 cm height above the brick with pitch/roll levelled.

move_to

left_x0.3900left_y-0.1900left_z0.1200left_yaw1.0000left_pitch0.0000left_roll0.0000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.5472, 1.5219, 0.7845, -0.057, 0.2283, 0.9627, 0.9989, -0.0216, 0.8349, 0.5941, -0.4313, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.3214 left_y=-0.2384 left_z=0.0828 left_yaw=-1.272 left_pitch=-0.3104 left_roll=0.541 left_gripper=0.9989 right_x=0.2883 right_y=0.0003 right_z=0.1541 right_yaw=0.0011 right_pitch=-0.1022 right_roll=0.0014 right_gripper=0.9991 state[joint_eff]: [-0.1573, -6.0513, 7.6103, 1.9414, -0.0611, -0.1001, -0.1245, -0.0342, -1.6889, 7.1316, 1.746, -0.0806, -0.0317, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.39, "left_y": -0.19, "left_z": 0.12, "left_yaw": 1.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The IK is thrashing mid-rotation (pose drifted to x=0.32, roll 0.54) while the brick is still visible under the gripper. Continuing the rotation to yaw +1.0 at 12 cm height above the brick with pitch/roll levelled."})

tool

executing move_to over 15 steps (1.5s)

step 126

assistant

agent noteThe arm settled in an odd pitched/rolled pose, but the wrist view now shows the brick standing vertically right on the jaw column, so the jaws will close across its short side. Holding this orientation and descending to 2 cm with a small radial advance before grasping.

move_to

left_x0.3450left_y-0.2500left_z0.0200left_yaw-0.7700left_pitch-0.3000left_roll0.4200left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7223, 1.6146, 0.8101, -0.0151, -0.1993, 0.3752, 0.9989, -0.0219, 0.836, 0.5941, -0.4389, -0.0166, -0.0349, 0.9991] state[eef_state]: left_x=0.3337 left_y=-0.2426 left_z=0.0632 left_yaw=-0.7668 left_pitch=-0.2998 left_roll=0.4243 left_gripper=0.9989 right_x=0.2871 right_y=0.0002 right_z=0.1523 right_yaw=0.0008 right_pitch=-0.111 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [-1.6479, -7.8291, 6.8718, 1.3602, -0.3932, -0.0122, -0.1245, -0.0889, -1.1556, 6.9538, 1.8046, -0.0269, 0.0024, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.345, "left_y": -0.25, "left_z": 0.02, "left_yaw": -0.77, "left_pitch": -0.3, "left_roll": 0.42, "left_gripper": 1.0}, "note": "The arm settled in an odd pitched/rolled pose, but the wrist view now shows the brick standing vertically right on the jaw column, so the jaws will close across its short side. Holding this orientation and descending to 2 cm with a small radial advance before grasping."})

tool

executing move_to over 3 steps (0.3s)

step 129

assistant

agent noteThe arm overshot to y=−0.31 and the brick now sits at the lower-left of the wrist view against the left jaw, long axis roughly vertical. Holding the current orientation and shifting ~3 cm toward the tool's left so the brick lands between the jaws.

move_to

left_x0.3650left_y-0.2800left_z0.0200left_yaw-0.3300left_pitch-0.3100left_roll0.5400left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.952, 2.0609, 1.2491, -0.2653, -0.6579, -0.1173, 0.9989, -0.0219, 0.844, 0.5941, -0.4427, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.3553 left_y=-0.3066 left_z=0.0238 left_yaw=-0.3341 left_pitch=-0.3115 left_roll=0.5369 left_gripper=0.9989 right_x=0.2869 right_y=0.0002 right_z=0.1495 right_yaw=0.0005 right_pitch=-0.1228 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [2.5778, -11.8085, 3.3573, -0.0855, -0.2906, -0.0952, -0.1148, -0.253, -2.1538, 6.9402, 1.7411, -0.0415, -0.0513, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.365, "left_y": -0.28, "left_z": 0.02, "left_yaw": -0.33, "left_pitch": -0.31, "left_roll": 0.54, "left_gripper": 1.0}, "note": "The arm overshot to y=\u22120.31 and the brick now sits at the lower-left of the wrist view against the left jaw, long axis roughly vertical. Holding the current orientation and shifting ~3 cm toward the tool's left so the brick lands between the jaws."})

tool

executing move_to over 3 steps (0.3s)

step 132

assistant

agent noteThe brick is now between the jaws in the wrist view with its long axis along image-vertical, so the jaws will close across its short side. Lowering slightly to 1 cm and closing the gripper.

move_to

left_x0.3630left_y-0.2750left_z0.0120left_yaw-0.2300left_pitch-0.2700left_roll0.5600left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9161, 2.0308, 1.1873, -0.2455, -0.7242, -0.1646, 0.9989, -0.0219, 0.8436, 0.5941, -0.4454, -0.0162, -0.0349, 0.9991] state[eef_state]: left_x=0.3628 left_y=-0.2745 left_z=0.0262 left_yaw=-0.2283 left_pitch=-0.2718 left_roll=0.5597 left_gripper=0.9989 right_x=0.2864 right_y=0.0002 right_z=0.1491 right_yaw=0.0005 right_pitch=-0.1251 right_roll=0.0016 right_gripper=0.9991 state[joint_eff]: [-0.2393, -10.3316, 4.7385, 0.9988, -0.1099, 0.1929, -0.1245, -0.1299, -1.4564, 6.9402, 1.6728, -0.022, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.363, "left_y": -0.275, "left_z": 0.012, "left_yaw": -0.23, "left_pitch": -0.27, "left_roll": 0.56, "left_gripper": 0.0}, "note": "The brick is now between the jaws in the wrist view with its long axis along image-vertical, so the jaws will close across its short side. Lowering slightly to 1 cm and closing the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 142

assistant

agent noteEmpty close again: the wrist view shows the brick ~4 cm to the left of the closed jaws, still upright in the image. Opening and shifting 4 cm toward the tool's left at 3 cm height to centre the brick between the jaws.

move_to

left_x0.3740left_y-0.2480left_z0.0300left_yaw-0.3200left_pitch-0.3000left_roll0.5500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.9108, 2.0312, 1.1763, -0.1967, -0.6498, -0.0746, 0.0088, -0.0219, 0.8436, 0.5941, -0.4671, -0.0166, -0.0422, 0.9991] state[eef_state]: left_x=0.3619 left_y=-0.2861 left_z=0.0202 left_yaw=-0.3238 left_pitch=-0.3065 left_roll=0.5453 left_gripper=0.0088 right_x=0.2829 right_y=0.0003 right_z=0.145 right_yaw=0.0048 right_pitch=-0.1468 right_roll=-0.0032 right_gripper=0.9991 state[joint_eff]: [-0.4991, -10.441, 5.5726, 1.2332, -0.2759, -0.0171, 0.6471, -0.2256, -1.2103, 6.9675, 1.7851, -0.0366, 0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.374, "left_y": -0.248, "left_z": 0.03, "left_yaw": -0.32, "left_pitch": -0.3, "left_roll": 0.55, "left_gripper": 1.0}, "note": "Empty close again: the wrist view shows the brick ~4 cm to the left of the closed jaws, still upright in the image. Opening and shifting 4 cm toward the tool's left at 3 cm height to centre the brick between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 152

assistant

agent noteThe brick is now between the jaws near the fingertips but tilted ~30° clockwise from image-vertical. Rotating yaw by +0.5 about the grasp point to square the jaws across its short side before closing.

move_to

left_x0.3740left_y-0.2500left_z0.0250left_yaw0.2000left_pitch-0.3000left_roll0.5500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8276, 1.9606, 1.0817, -0.1238, -0.6209, 0.001, 0.9946, -0.0219, 0.8436, 0.5941, -0.4721, -0.0166, -0.0452, 0.9991] state[eef_state]: left_x=0.3746 left_y=-0.2504 left_z=0.0258 left_yaw=-0.3066 left_pitch=-0.2997 left_roll=0.549 left_gripper=0.9946 right_x=0.2821 right_y=0.0003 right_z=0.1441 right_yaw=0.0065 right_pitch=-0.1518 right_roll=-0.0053 right_gripper=0.9991 state[joint_eff]: [0.4855, -11.2889, 4.9299, 1.1306, -0.4176, 0.1343, -0.0122, -0.1983, -1.4291, 6.9128, 1.6386, -0.0513, 0.0024, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.374, "left_y": -0.25, "left_z": 0.025, "left_yaw": 0.2, "left_pitch": -0.3, "left_roll": 0.55, "left_gripper": 1.0}, "note": "The brick is now between the jaws near the fingertips but tilted ~30\u00b0 clockwise from image-vertical. Rotating yaw by +0.5 about the grasp point to square the jaws across its short side before closing."})

tool

executing move_to over 4 steps (0.4s)

step 156

assistant

agent noteThe rotation dragged the arm 3 cm right, leaving the brick between the jaws but offset left of the jaw column. Shifting 2 cm toward +y (tool left) to centre it before closing.

move_to

left_x0.3880left_y-0.2560left_z0.0220left_yaw0.0000left_pitch-0.2900left_roll0.4900left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8875, 2.2036, 1.5185, -0.5922, -0.7616, -0.4965, 0.9989, -0.0219, 0.8478, 0.5934, -0.4751, -0.0166, -0.046, 0.9991] state[eef_state]: left_x=0.3883 left_y=-0.2782 left_z=0.027 left_yaw=0.021 left_pitch=-0.2874 left_roll=0.4902 left_gripper=0.9989 right_x=0.2816 right_y=0.0003 right_z=0.1421 right_yaw=0.007 right_pitch=-0.1598 right_roll=-0.0057 right_gripper=0.9991 state[joint_eff]: [0.335, -11.3162, 5.4906, 0.2418, -0.779, -0.0757, -0.1197, -0.0752, -1.5521, 7.1726, 1.5946, -0.0757, -0.0122, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.388, "left_y": -0.256, "left_z": 0.022, "left_yaw": 0.0, "left_pitch": -0.29, "left_roll": 0.49, "left_gripper": 1.0}, "note": "The rotation dragged the arm 3 cm right, leaving the brick between the jaws but offset left of the jaw column. Shifting 2 cm toward +y (tool left) to centre it before closing."})

tool

executing move_to over 2 steps (0.2s)

step 158

assistant

Brick is now squarely between the jaws and upright in the wrist view — closing.

agent noteThe brick now sits between the jaws, nearly vertical in the wrist view and spanning the jaw column at fingertip range. Closing the gripper to grasp it across its short side.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8764, 2.167, 1.4433, -0.638, -0.7998, -0.59, 0.9989, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991] state[eef_state]: left_x=0.3762 left_y=-0.2483 left_z=0.0244 left_yaw=0.1137 left_pitch=-0.2816 left_roll=0.5182 left_gripper=0.9989 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [1.2923, -10.7692, 5.3812, 0.8376, -0.188, 0.1343, -0.1245, -0.0752, -1.0735, 6.9128, 1.6093, -0.0513, -0.0708, -0.0122] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

Brick is now squarely between the jaws and upright in the wrist view — closing.

move_to({"targets": {"left_gripper": 0.0}, "note": "The brick now sits between the jaws, nearly vertical in the wrist view and spanning the jaw column at fingertip range. Closing the gripper to grasp it across its short side."})

tool

executing move_to over 10 steps (1.0s)

step 168

assistant

agent noteEmpty close: the wrist view shows the brick directly beyond the closed jaw tips, and the grasp point at z=0.029 was likely above the brick's top. Opening, advancing 2 cm forward and descending to table level so the jaws straddle the brick.

move_to

left_x0.3950left_y-0.2460left_z0.0000left_yaw0.1100left_pitch-0.2700left_roll0.5100left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8772, 2.1506, 1.43, -0.6342, -0.8082, -0.5919, 0.0092, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991] state[eef_state]: left_x=0.3755 left_y=-0.2462 left_z=0.0288 left_yaw=0.1153 left_pitch=-0.2704 left_roll=0.5155 left_gripper=0.0092 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [0.0342, -10.0171, 7.0906, 0.6276, -0.3346, 0.0024, 0.5934, 0.0752, -1.4838, 6.9402, 1.5995, -0.0562, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.246, "left_z": 0.0, "left_yaw": 0.11, "left_pitch": -0.27, "left_roll": 0.51, "left_gripper": 1.0}, "note": "Empty close: the wrist view shows the brick directly beyond the closed jaw tips, and the grasp point at z=0.029 was likely above the brick's top. Opening, advancing 2 cm forward and descending to table level so the jaws straddle the brick."})

tool

executing move_to over 10 steps (1.0s)

step 178

assistant

agent noteThe descent stopped at z=0.024 — the open jaws are resting on the brick, which is tilted ~30° so it spans the full jaw opening. Lifting to 5 cm and rotating yaw to +0.6 to square the jaws across its short side.

move_to

left_x0.3970left_y-0.2460left_z0.0500left_yaw0.6000left_pitch-0.2000left_roll0.4800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8474, 2.1864, 1.4311, -0.5159, -0.8406, -0.5648, 0.994, -0.0216, 0.8494, 0.5934, -0.4751, -0.0166, -0.0463, 0.9991] state[eef_state]: left_x=0.3974 left_y=-0.2458 left_z=0.0239 left_yaw=0.1275 left_pitch=-0.2052 left_roll=0.4816 left_gripper=0.994 right_x=0.2817 right_y=0.0004 right_z=0.1417 right_yaw=0.0075 right_pitch=-0.1614 right_roll=-0.0059 right_gripper=0.9991 state[joint_eff]: [0.5949, -7.7197, 6.4479, 0.5739, -0.0366, 0.2857, 0.0562, -0.0889, -1.2923, 7.1179, 1.5995, -0.0611, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.397, "left_y": -0.246, "left_z": 0.05, "left_yaw": 0.6, "left_pitch": -0.2, "left_roll": 0.48, "left_gripper": 1.0}, "note": "The descent stopped at z=0.024 \u2014 the open jaws are resting on the brick, which is tilted ~30\u00b0 so it spans the full jaw opening. Lifting to 5 cm and rotating yaw to +0.6 to square the jaws across its short side."})

tool

executing move_to over 4 steps (0.4s)

step 182

assistant

agent noteThe yaw change again dragged the grasp point ~4 cm forward-right, putting the brick at the lower-left of the wrist view next to the pot. Holding the current orientation and moving back over the brick's measured position at 3.5 cm height.

move_to

left_x0.3950left_y-0.2400left_z0.0350left_yaw0.4200left_pitch-0.1800left_roll0.3000left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8547, 2.516, 2.0991, -1.0634, -0.8536, -1.0782, 0.999, -0.0216, 0.8528, 0.5934, -0.4759, -0.0166, -0.0467, 0.9991] state[eef_state]: left_x=0.4307 left_y=-0.2867 left_z=0.037 left_yaw=0.4203 left_pitch=-0.1766 left_roll=0.2958 left_gripper=0.999 right_x=0.2816 right_y=0.0004 right_z=0.1406 right_yaw=0.0078 right_pitch=-0.1656 right_roll=-0.0061 right_gripper=0.9991 state[joint_eff]: [-0.0752, -12.8615, 5.6274, 0.1294, -0.5104, -0.1294, -0.1197, -0.0752, -1.7162, 6.8991, 1.5946, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.395, "left_y": -0.24, "left_z": 0.035, "left_yaw": 0.42, "left_pitch": -0.18, "left_roll": 0.3, "left_gripper": 1.0}, "note": "The yaw change again dragged the grasp point ~4 cm forward-right, putting the brick at the lower-left of the wrist view next to the pot. Holding the current orientation and moving back over the brick's measured position at 3.5 cm height."})

tool

executing move_to over 5 steps (0.5s)

step 187

assistant

agent noteThe brick now fills the wrist view between the two jaws with its near end straddled by the fingertips. Lowering to 1 cm and closing the gripper.

move_to

left_x0.3890left_y-0.2360left_z0.0100left_yaw0.4400left_pitch-0.2000left_roll0.3600left_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8501, 2.3184, 1.6756, -0.9131, -0.8513, -1.0874, 0.9989, -0.0216, 0.8551, 0.5934, -0.4747, -0.0166, -0.049, 0.9991] state[eef_state]: left_x=0.389 left_y=-0.2362 left_z=0.0205 left_yaw=0.4431 left_pitch=-0.1985 left_roll=0.362 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1402 right_yaw=0.009 right_pitch=-0.1667 right_roll=-0.0078 right_gripper=0.9991 state[joint_eff]: [0.3077, -14.735, 6.106, 0.6911, -0.4371, 0.0366, -0.1245, -0.0615, -1.4564, 6.8991, 1.619, -0.0855, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.389, "left_y": -0.236, "left_z": 0.01, "left_yaw": 0.44, "left_pitch": -0.2, "left_roll": 0.36, "left_gripper": 0.0}, "note": "The brick now fills the wrist view between the two jaws with its near end straddled by the fingertips. Lowering to 1 cm and closing the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 197

assistant

agent noteAnother empty close with the brick sitting just beyond the closed jaw tips, so the brick is further out than the wrist image suggests. Opening, advancing ~3.5 cm along the tool's forward axis and pressing down to table level to straddle the brick.

move_to

left_x0.4250left_y-0.2220left_z-0.0100left_yaw0.4400left_pitch-0.1500left_roll0.3400left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.8528, 2.3039, 1.6569, -0.8768, -0.894, -1.0855, 0.009, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991] state[eef_state]: left_x=0.3937 left_y=-0.2359 left_z=0.028 left_yaw=0.4374 left_pitch=-0.149 left_roll=0.3441 left_gripper=0.009 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991 state[joint_eff]: [-0.0205, -10.1128, 5.6957, 0.2515, -0.0122, 0.0073, 0.6471, -0.1573, -1.4017, 6.9128, 1.5702, -0.0562, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.425, "left_y": -0.222, "left_z": -0.01, "left_yaw": 0.44, "left_pitch": -0.15, "left_roll": 0.34, "left_gripper": 1.0}, "note": "Another empty close with the brick sitting just beyond the closed jaw tips, so the brick is further out than the wrist image suggests. Opening, advancing ~3.5 cm along the tool's forward axis and pressing down to table level to straddle the brick."})

tool

executing move_to over 10 steps (1.0s)

step 207

assistant

agent noteThe brick is now at the lower-left of the wrist view, under the left jaw, and the descent stopped on it at z=0.017. Shifting ~4 cm toward the tool's left so the brick sits between the jaws, pressing to table level.

move_to

left_x0.4120left_y-0.1900left_z-0.0100left_yaw0.4500left_pitch-0.0900left_roll0.2800left_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7879, 2.3444, 1.6493, -0.6933, -0.9245, -1.0107, 0.9943, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991] state[eef_state]: left_x=0.429 left_y=-0.2262 left_z=0.0167 left_yaw=0.4526 left_pitch=-0.0921 left_roll=0.2815 left_gripper=0.9943 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991 state[joint_eff]: [0.6085, -8.5675, 5.2308, 0.3687, -0.0317, 0.2662, -0.1343, -0.0615, -1.4154, 7.0496, 1.5653, -0.0806, -0.0562, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.412, "left_y": -0.19, "left_z": -0.01, "left_yaw": 0.45, "left_pitch": -0.09, "left_roll": 0.28, "left_gripper": 1.0}, "note": "The brick is now at the lower-left of the wrist view, under the left jaw, and the descent stopped on it at z=0.017. Shifting ~4 cm toward the tool's left so the brick sits between the jaws, pressing to table level."})

tool

executing move_to over 4 steps (0.4s)

step 211

assistant

agent noteOut of LLM budget without a successful grasp. Four closes were empty; the left arm's IK repeatedly drifted the grasp point 3–6 cm whenever yaw/pitch/roll targets changed, and the brick kept ending up under or just outside one jaw. The brick is still on the table near left (0.42, −0.19).

give_up

hindsight1) The black brick in this scene is a power-bank-like block (~10×6×2.5 cm) lying with its long axis along the arm's y at roughly left (0.41, −0.17..−0.20); the pot centre is about left (0.50, −0.32). To grasp across its short side the jaws must close along x, i.e. yaw ≈ ±1.57 — but the left wrist roll joint saturates at yaw ≈ +0.9 and ≈ −1.77 from this position, and the wrist image did NOT rotate as simply as expected. 2) Do not command non-zero pitch/roll on this rig: once pitch/roll targets were non-zero, every subsequent yaw or position change dragged the grasp point 3–6 cm sideways (IK thrashing, once swinging the arm to y=+0.05) and repeatedly knocked the brick. Keep pitch=0, roll=0, and change yaw only at z ≥ 0.12 in ≤0.5 rad steps, then re-position. 3) Big yaw sweeps (0.9 → −0.95) at low height caused a wild arm path; do them high. 4) Descents that stop at z≈0.013–0.028 with shoulder effort dropping mean the open jaws are resting on top of the brick (brick under one jaw), not that the table was reached. 5) An object that appears to fill the wrist frame between the jaws right at the bottom edge still produced empty closes; the fingertips were ~3–4 cm short and the brick's long side lay along the jaw axis. Consider using the right arm from the start (brick is 15–20 cm right of the left base's centre; right_y ≈ left_y + 0.65 → ≈ +0.46, outside the right box) — so actually only the left arm can reach; plan a single clean approach: yaw ≈ −1.5 set at z=0.15 first, then translate to (0.41, −0.19), then descend to z=0.0.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.7712, 2.257, 1.4269, -0.4648, -0.9699, -0.9871, 0.9989, -0.0216, 0.8566, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991] state[eef_state]: left_x=0.4218 left_y=-0.2017 left_z=0.0126 left_yaw=0.4631 left_pitch=-0.023 left_roll=0.2268 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1398 right_yaw=0.0093 right_pitch=-0.1686 right_roll=-0.008 right_gripper=0.9991 state[joint_eff]: [1.1829, -10.4684, 3.3846, 0.2662, 0.1734, 0.2857, -0.1294, -0.0342, -1.5795, 6.8855, 1.6532, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM budget without a successful grasp. Four closes were empty; the left arm's IK repeatedly drifted the grasp point 3\u20136 cm whenever yaw/pitch/roll targets changed, and the brick kept ending up under or just outside one jaw. The brick is still on the table near left (0.42, \u22120.19).", "hindsight": "1) The black brick in this scene is a power-bank-like block (~10\u00d76\u00d72.5 cm) lying with its long axis along the arm's y at roughly left (0.41, \u22120.17..\u22120.20); the pot centre is about left (0.50, \u22120.32). To grasp across its short side the jaws must close along x, i.e. yaw \u2248 \u00b11.57 \u2014 but the left wrist roll joint saturates at yaw \u2248 +0.9 and \u2248 \u22121.77 from this position, and the wrist image did NOT rotate as simply as expected. 2) Do not command non-zero pitch/roll on this rig: once pitch/roll targets were non-zero, every subsequent yaw or position change dragged the grasp point 3\u20136 cm sideways (IK thrashing, once swinging the arm to y=+0.05) and repeatedly knocked the brick. Keep pitch=0, roll=0, and change yaw only at z \u2265 0.12 in \u22640.5 rad steps, then re-position. 3) Big yaw sweeps (0.9 \u2192 \u22120.95) at low height caused a wild arm path; do them high. 4) Descents that stop at z\u22480.013\u20130.028 with shoulder effort dropping mean the open jaws are resting on top of the brick (brick under one jaw), not that the table was reached. 5) An object that appears to fill the wrist frame between the jaws right at the bottom edge still produced empty closes; the fingertips were ~3\u20134 cm short and the brick's long side lay along the jaw axis. Consider using the right arm from the start (brick is 15\u201320 cm right of the left base's centre; right_y \u2248 left_y + 0.65 \u2192 \u2248 +0.46, outside the right box) \u2014 so actually only the left arm can reach; plan a single clean approach: yaw \u2248 \u22121.5 set at z=0.15 first, then translate to (0.41, \u22120.19), then descend to z=0.0."})

tool

give_up: Out of LLM budget without a successful grasp. Four closes were empty; the left arm's IK repeatedly drifted the grasp point 3–6 cm whenever yaw/pitch/roll targets changed, and the brick kept ending up under or just outside one jaw. The brick is still on the table near left (0.42, −0.19).

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 · 22.57 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3801, -0.0223, -0.0326, 0.9996, -0.0219, 0.7925, 0.6018, -0.379, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0001 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.6068, 10.1675, 1.7656, -0.0317, 0.1929, -0.0562, -0.5265, -1.3197, 10.3043, 1.9267, -0.0855, 0.1636, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dabe968393504ae1b6a6ea36c1a5461dd7ff5625598bdbbfabb1d856015d605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f0d64abe45ec41867f3b201819f0eb4e2296a93afb9a1eb4c0af4df1969ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:381fc93c05bea74d719ceec09e87f38a8046ecba16fd8bf4fe74ae4b2e39dfa4",
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        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 14.38 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3801, -0.0223, -0.0326, 0.9996, -0.0219, 0.7925, 0.6018, -0.379, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0001 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.6068, 10.1675, 1.7656, -0.0317, 0.1929, -0.0562, -0.5265, -1.3197, 10.3043, 1.9267, -0.0855, 0.1636, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dabe968393504ae1b6a6ea36c1a5461dd7ff5625598bdbbfabb1d856015d605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40f0d64abe45ec41867f3b201819f0eb4e2296a93afb9a1eb4c0af4df1969ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:381fc93c05bea74d719ceec09e87f38a8046ecba16fd8bf4fe74ae4b2e39dfa4",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7BkKEAgRGAI4AUIIdGhpbmtpbmcSDEv/UJLjv98rgnw3jRoMijKOyKD6LwSYoJZCIjCjGayax6hO3lLtv3EhfsQlbCZuwwnUHYHpxPctOKs064c3NEMY58XPkiJECrYXZosqiRkr+usdLJXjTUNTqZre07ybadnl6Ihf4Af+H/gVWHuTIPGkpkCWAUjl4NxIWth4/O6Eeo/CbHBmkpKe+OOSJYQBvdvJImGjZKJDUXDSCyEopi5Gq97q1O4NE+1q1cLX7dQffDbEY5uoINsMQ1tGTgJ1rLxUVAWLw3CKvRkHhHhEcBoykWT8SetuYdyo1eQnuNfPYWNiJqeMz4JKndCckJvnfYSDjB11l7pFRwzYhxfyhSc/Klp61GU4cBL+JpLe0jYglB7kXcvuXCwIAO1JpkX4AnpXOxCkj4AWB5t18B7sN/J79AW7MMMQ3f99yf42F9gkwPlwV7ICTOi+nI1UoeLRB6xbtHMhYiAQi0ivK+jb/vsAViRtLQQT1h+LMFzmREn1YF0lPokhS044s2cDAyK4ivgLk9IQWPi0+OH3tM1h3wxZu9aGR+OHU5zc3aUHcJtLOcGHa6pMXpQctcbTgjS3x0SpKzOa14/M3hHSObR2tPYTZ3bi0wBOcKS8xlOtTzM/b2/tnCRdR3qiPMfZe3dMKTVDPfU86x1dqz/REXdqVUxrBN1Es+2aCZNBiHtJXTXifLscy8RbR4gmD5fR9AiUDSmnbs6WgF8dhpf9RPMHu2d9qNvxlEHaKz/USemgt4JTnOvRGTJBKa+XpLtgZHV4uN7CiMblOo94EdUe8yGTZCVRNNjRdoeD5cICt9rvZib5C8oqlYKlemap41V0Z86Wo+Qsx4llwqrNZuLCiiaiOScErxmmhpScqkwwuoAbsnEMTmu3RdXijon39t+kN2jkSnjqKM3/J4NMx0lyaTN4n0bYXSVm7ypd5HbfzzAlW3MHXJZi6HfpV2YKQAAAe48mX7rjm8WnDHatkPG4plMHYyqmQdFAvO0F57UT4uacm6zfL0n6tQ2mROzjfHBRAsEMPLa49r/EOdqWUfLUIU0v84ctMvaJYYzCm1938WYm1njOmQsVaqskYeSKH98u6KGajh4hHXVJPQyeUhZ2dFHGkmd5cnNLwMqn+F90ZHriq5CBmuc5VEZ9mDYFj57Fx1HgiZf8oPH2/p1LX8GxuLfZYeL2kcSlRHQ40zNFZgyFKnEekV0rp3Z1ux73A6emFiYixCZ4dWuPK3Iks0E11pQphjUysWe0LNIUpH9FkmTblAG+QBsMJz/uME81RVNuiFLQyW4xXFLUTiwNEEGe8b8vmb4FuJxucBU7tw1Dnyg7Yu8RKsq0Wl5RHhHNweNWbBvvPZzZKCr4sNCtxWZMox92LSGHoQyChZoR+/5bTKEaCi5PwxCgKMV/X39DiwDDb2mxMjTwsb+YKmKnRzW48KsDdW4CqNAlJ/ha7nMuD5QZWuD24n9AGOOa4YdrvbmLnQZLi2kWz2oKq7ORIsJ3ooXKtJZdDVv+84INCEOJC8dSLnOKW7zlwF8avAyQpDORKObll7JVdAIoxbWFTUjlSdLk4WBAMk2FKsUYyZlK9hxIJOAhXIXRoBRp8+Tu3KM949Bu5Fb6Da9yQvgqSlUDufZSfBjpw1q4i9pdHD75fOVDkWFD8Q5Ye1ZWbBB43jYMSaFYFpPQ2NKXBtVqvnxhzjLyq/+CCGFILWdC854Agc8WBVeztJ15cH47alwhQYWhP2ijwXHQt7ATePZiopPSVrDTJwHaJoTkjUcTtzxnQH6AnBbZYvlM5kHQwWa8t9P95Ty8DGAJu1kCJHoDcRNGRwXkYOpg42/PLhVrqRY2F/6YvMB+9+CVscE79MG0ZNdJ6/3IYAe5R23ZIOEQQ443ts3NBY8f6D3IbxYAETrGJIrUCl80kdwNxCBN3651kueLr5QmHCDcotiUczChWvfEj6oLn37nZwn3jSs007oDm/jg7Oal7g39s7tDSWQC1Tyb54aGDP3mYeY7/ouLuH0ec5erZBmbWyVCokEeyLhxX4ifyw+PQkFZIlUHyQ4Ooy5JF4PDZG25E1bY9F9oQRx9cOyrNwzcp/1hbocrM2OVKLsKW0sBLY8GrRzaND3vtew8XfP8Z3Nf2Vt6DDmMcmgLPkAR1BRyMfFiJsL0ZH9A+G6EknEgEJbPQMLSakJPYS/FmLecvg/52sHAnPel0jNExrn9V0zFJEgLEic45b0Os032YR1Jbni8akC4vkWG3Z0KBKZVr9gTQUCktw98YMINNujoHADr0w5lIa0qboBfx4/cZTE6ZKMVo438Mr5pltN4Ti21CkdrHFjO7p2ZMtB7Kc8grwtdSwF1S0RCg6PtYrwUtTz0Yd/a6KsoRssW08IGjiRU1IlWdoL9Lgub+KB9EMEtYe26NCS2gZbw+9SigF8pt6mrpQFX7hFRHh2Th7xk5ACEGR/OAjqA9FkZeKbW1h5m+OIstbBHfGXty/G3NU1n4cYDzFHOz4c2Fu10KfHHpsRn23JysXpxYXemzftigsfV+8pKlnpf5qxdKxwl/+FzCD/pDo5Wym9BZ4QSIzOjKphPNel40MsCaAy8IsUqIXXPPP9AT3ID6nBErAXYGe9GmfDyy1VhIozDGi5hgO7fAwb6DMNZegQNFos5g8k0gRtrX3hzDk+qfOHVDbFq/RHML+gf2couPIwokmu8W8l1Hfq5qlz7C+LLqoNehazi6x2Y3OviZ1X3umKSx9eXAZoCkmnXL/hlcrAeEskJIPXS0u3XGi5LKZYVIYh1XL8A9n/mAV0ZyirFJreLovJgCMuMEEZC22s4VeG1x6mF9+xrGe7c9wVF8HGK/NqTCUOwaTP3LQ0AxjJoqG+yaHYnVNuHcp00/DNQFa5gQ4LvqMTVifiVE55dGIcsTs9xAArRjtnk8xARwx5HIaL/DiFik/9bGqPOgOCQAXN9iepf303pgtRko+ai1qunYxrtRMTJM4CoSGeoF8pGheSiKa/RTodo7W4RXuXWsIBP0Ql8+cKt8U8872IeRstXFP9cOFNMAyPcqIqr5CICwu1zBRbTZoTJ/Y93SxLkdFAht1HyCrYsF+8mALo6IAn+Mxe8UfbeGDJoRZDIM1Ith4lzwhjAA3nwMOf6Dto8sMZJgENwBebZQzPhl6cY5Z1TFh8oBqp4kOIt7F1+1V3cA/k6H8f8Qj5ebmyC5RPCRdz0iQo+OKXqi7M4YlX9h1wChKmgZASq/cnsNmQujMiKG63OBesibaW+L7ae3rSMq7Dky8qaCUmhl68HFntqYNI1GO/tfUYUhIJGKl9bbUrNsiw5joKfB05J4ZmSZGcdld7jXRDLe+8JIEWuW2gDjeCzq7FFgIkeYJG7U3HOLnc11VMAYMfn4DisUAJohwjWDzQLgpUEAhMC5+40IqKMuhV5MEkoasNogI/i0lMSGUNCf6IB8YyEAOEn7UfEHZssxtSBGdsy4HM9dnhHBPrFIFV7L+r3tp8pLp1FMV8VPDeAlyd0HpL4IVzF5ko10D15JWilXPRCAsjfxv8xjKNMIrI3SSA09LGGdvWrm06/MsFY9jfYcaCJDS3lUViuA215V5r/uJJ2syr0jp2OuVUY1o2PqxCVn55WqcRrmUkCD+Ap7IAqwBqHwziedoGGvL+J00P3oDscsTgaN+u8iP10A3HOWEndOG4g+s8ds9jwJtEUdgoWCGCV8ys//YbgdSjWpPI1b1TYwuZgcYqh2c42c/Uc46Lm6HHmTWYEskwYBz4fioHy6/VZiojinK502RtEz9BDTv/JRQoqf5pM/EOtSNhKz0YHikcqYfL9ZT7h6pGT3BHXGdwj8dXFTzuqiZKFcPEnuiKJD2hb7vkleULSKtLoUxJjM34TRI9OrcSU0wH9RLRwLIAoSrcM8Vxth23rN+Fzl42aCOIhQiGWAZ/16cl4pTH+431/OoYAHiQ4yUTm/wwJ9stXjgBbfaai91IKxhbpP7YGcwO8uCbSlbs4ZTaWsGcNcONIl5SMU+aLzjEfv6eci8HVGpHGECqtQQ4nr/qxCwqziStufnJv8iqm48wC6aw+dtjJUL6peo27zlBqaWIL7VZXCEXls9OCptSev33oBAIdvpWfzLTmUcj3kYhYr4fom246uFsV9dE5L9s/7pG0/AadQAZdkFo9FV0RR0Zd0+py6s6DUIdKaZIKvJKiW0D3x82XbfpsEBvQBpMHUD/be2xNmeKFYINu0GcQkvd/zqUchTJySeY3FvPEPsUcNSytpv19kPSKzwhNlfQ0RzMFqBanTQhZ0JTkOA/Dv0a67p40SNY+N6QfOJSt2yhYe29+f2xQLNZga69aUzUNOuFjUrATnarvS69FG6Z74FmueYFKLFRXPB6eXuuxqfUycY5z4Wm8coyvtQy/u/ErfNkffRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbQERn7EgedxRpgjNU28yK",
      "input": {
        "note": "The black brick appears in the left wrist camera below-right of the jaw column, a few cm past the fingertips and to the arm's right; the pot is in the centre of the table. Moving the left arm above the brick and rotating the jaws to close across its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.08,
          "left_yaw": 1.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HbQERn7EgedxRpgjNU28yK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6006, 2.0628, 1.6127, -1.1034, -0.931, -1.3678, 0.9996, -0.0216, 0.7979, 0.5999, -0.3912, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4074 left_y=-0.103 left_z=0.1168 left_yaw=0.8428 left_pitch=-0.0791 left_roll=0.1599 left_gripper=0.9996 right_x=0.293 right_y=0.0002 right_z=0.1747 right_yaw=0.0008 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3624, -11.3162, 4.9846, -0.6276, -0.7497, -0.0757, -0.0562, -0.0479, -1.2513, 7.2137, 1.9414, -0.0708, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b92c25793fdf123d14c954107542b3f6cb885d0d0be92c596dfcff17e7fa5560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed82d05ca59246b3f05e2e1a4f33703719d3fa640a48064bb29057289a84c6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c294c7e58fcbb140a8c66e397b718376184b3416110e0573ede6b527ce7e171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.56 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3801, -0.0223, -0.0326, 0.9996, -0.0219, 0.7925, 0.6018, -0.379, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0001 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.6068, 10.1675, 1.7656, -0.0317, 0.1929, -0.0562, -0.5265, -1.3197, 10.3043, 1.9267, -0.0855, 0.1636, -0.0952]",
      "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]: [-0.6006, 2.0628, 1.6127, -1.1034, -0.931, -1.3678, 0.9996, -0.0216, 0.7979, 0.5999, -0.3912, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4074 left_y=-0.103 left_z=0.1168 left_yaw=0.8428 left_pitch=-0.0791 left_roll=0.1599 left_gripper=0.9996 right_x=0.293 right_y=0.0002 right_z=0.1747 right_yaw=0.0008 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3624, -11.3162, 4.9846, -0.6276, -0.7497, -0.0757, -0.0562, -0.0479, -1.2513, 7.2137, 1.9414, -0.0708, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b92c25793fdf123d14c954107542b3f6cb885d0d0be92c596dfcff17e7fa5560",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed82d05ca59246b3f05e2e1a4f33703719d3fa640a48064bb29057289a84c6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c294c7e58fcbb140a8c66e397b718376184b3416110e0573ede6b527ce7e171",
        "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_01XPQydDR5dWa2Kg23K7gvyo",
      "input": {
        "note": "The brick now sits near the jaw column in the left wrist view with its long axis roughly along image-vertical, so the jaws will close across its short side. Descending to 6 cm and nudging slightly forward to re-check alignment before the final descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.09,
          "left_yaw": 0.9,
          "left_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_01XPQydDR5dWa2Kg23K7gvyo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5968, 2.1189, 1.6508, -1.1908, -0.9363, -1.4773, 0.9996, -0.0219, 0.7986, 0.5983, -0.3927, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0972 left_z=0.1064 left_yaw=0.9129 left_pitch=-0.0731 left_roll=0.1778 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1735 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -13.0256, 5.4085, 0.1343, -0.6276, 0.1978, -0.0562, -0.0342, -1.306, 7.1453, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915a120773f497944310f7c499a89a0e676dbef860057374486723682cbb5d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2f1eab0f91c595a766b19eb1d7e0b60e913672b7c12159b7ea04d79c446ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d28e3725c5ce2de8bd7437f8f005fcfdd576b76a4c0caa9fe5a172c262c374a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 20.02 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7952, 0.6048, -0.3801, -0.0223, -0.0326, 0.9996, -0.0219, 0.7925, 0.6018, -0.379, -0.0166, -0.0338, 0.9992]\nstate[eef_state]: left_x=0.2949 left_y=0.0017 left_z=0.18 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2945 right_y=0.0001 right_z=0.1796 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9992\nstate[joint_eff]: [-0.5265, -1.6068, 10.1675, 1.7656, -0.0317, 0.1929, -0.0562, -0.5265, -1.3197, 10.3043, 1.9267, -0.0855, 0.1636, -0.0952]",
      "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]: [-0.6006, 2.0628, 1.6127, -1.1034, -0.931, -1.3678, 0.9996, -0.0216, 0.7979, 0.5999, -0.3912, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4074 left_y=-0.103 left_z=0.1168 left_yaw=0.8428 left_pitch=-0.0791 left_roll=0.1599 left_gripper=0.9996 right_x=0.293 right_y=0.0002 right_z=0.1747 right_yaw=0.0008 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3624, -11.3162, 4.9846, -0.6276, -0.7497, -0.0757, -0.0562, -0.0479, -1.2513, 7.2137, 1.9414, -0.0708, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5968, 2.1189, 1.6508, -1.1908, -0.9363, -1.4773, 0.9996, -0.0219, 0.7986, 0.5983, -0.3927, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0972 left_z=0.1064 left_yaw=0.9129 left_pitch=-0.0731 left_roll=0.1778 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1735 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -13.0256, 5.4085, 0.1343, -0.6276, 0.1978, -0.0562, -0.0342, -1.306, 7.1453, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:915a120773f497944310f7c499a89a0e676dbef860057374486723682cbb5d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2f1eab0f91c595a766b19eb1d7e0b60e913672b7c12159b7ea04d79c446ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d28e3725c5ce2de8bd7437f8f005fcfdd576b76a4c0caa9fe5a172c262c374a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/QcKEAgRGAI4AUIIdGhpbmtpbmcSDKLLjmgcRxsPCkY4hBoMkHCgnNDDKILnihuvIjCy2vpWYObC3p76Dojn0MxrN3G1bWbn44ClLbdKGB3ASuqKhu5vU/wVgKdOeF7MCvQqmgcQ8+C5hPyGedP9BnFhBvTZYaAbNbj/7UBKthYUzwPx2A59pVsp7blnbSqGrXGyBmgoQycC2PeQJgOBlQd2Tgtb6avFozuvLDS2gv/O+m3dNWbBXOpFNaoYA6Gh5E7eCRcefATQA2B7z7Nbm9Mm6i9DxeehR08YOf4Jf4HDaT3qoWMBp1LHEK7Q/IMiBGhfy9xK54q7zzc21M47f9JGV4YfQqPe6TxmykOcoDWLbJwFfP2SFASOgoMyrpdQ8M+tXpqoV1OhLCYdpoJ9CqMkIpiPRyvPUBEU4/KiiZTM28O4y1fnaQtsUklHW0aVcHP5G53o6VI5R6ZWYeapJ5lyaDuHjCTjw9hpVLfEAYDWoWz1k3Y3NDwFK44wlsFIcpZ7spx47jCNNdjjFqwHM6ic+CDqnd7H04LKV7HPYhuM2qDjMoMrlnPY7hg/b0z9HnaAAH4vm3f7xiawMVN2rHwaosGjtCPPAI6Uj0lQi3zvHGlP5eGGIxqviYTnb4LLzhbhiCfu73kTddbXm4SQMmsEo2An6lJDcILoOrX+y9Og2r68r1G3bICeCICR5h2OX3kvI1fcnhLdiwOx9vPwdq82YwJ1pGdU/wkdg11mL9aPpJskmGwADFqI4TPZth+gdA8nTu3PtGsZ7hQjf2vOUMS3rG7xKGlRKzTFmpea8g1sxixUnE8brlR4TjhCklITqGrhv0t9Uc2q5y+3Uw/aDV02dyJwnc7P1qJgG7DrbKXJwgY5N/6rzTAbwSApkAd5szaK+W2A1baBge6uLct3Ca7oeDvP1QEECj7yfF+XpOoo0PJA0yWBTN+3D0PJbP+bZKGXImS36nFP0Ymv/F3zU4pSncGvDRU+cDv5n66YK9F07Bxgyp/yJ4l86BERiI/8dBUSBq0hkwUrCjlCsra3PhLmg2V1054oWRMoR6GceYGzGe3oY4fm5unoAYS3euZjJuaf9/2mjXB2Uo5gyNHlhYgO6gXuy6doWJb6Mirjx1zjXcDIO9A9vLONDDOb+OlKurH0FMTQDs5knPVrgSTNuyMaBDXfeRovNJNSCYkxyCDTtK4RT3pgjeLt14vfWPX+trLDlD0coZg1tDcmIu4IENBKBGtp6NPnCj3yaGRJ754Lp2l0n06d85M9Ho6blAGF+SngVU3yB8aLiC4+75fanwuMXp9A/LWSj6aM0Wv1iQw9kW8MueM/ez1OMh7iUaBa8KA6z2aIYT/71RJSUFs9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EySyXqXfFNJsx1wywbnPBV",
      "input": {
        "note": "The arm only tracked partway (z still 0.106); the brick is between the jaws in the wrist view, slightly right of the jaw column. Sending a smaller step down to 7 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.095,
          "left_yaw": 0.9,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EySyXqXfFNJsx1wywbnPBV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5968, 2.117, 1.6508, -1.169, -0.9363, -1.4612, 0.9996, -0.0219, 0.7986, 0.598, -0.3931, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4058 left_y=-0.0994 left_z=0.1069 left_yaw=0.9026 left_pitch=-0.0731 left_roll=0.167 left_gripper=0.9996 right_x=0.2925 right_y=0.0 right_z=0.1732 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -13.3402, 5.6137, 0.1832, -0.6178, 0.1832, -0.0562, -0.0752, -1.2376, 7.0632, 1.7216, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9023e474e628a92eea99d6af91e173babbbc6a702551d16b4e311c799d62f9a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb166c8325c3e833ad80ef6b7692377c91f44f45f209d363da28432b84a1426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5744784b6db2cfc51d22312b18abd99e0eff1784077c2c60fe92eb23e74ce26c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 16.85 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]: [-0.6006, 2.0628, 1.6127, -1.1034, -0.931, -1.3678, 0.9996, -0.0216, 0.7979, 0.5999, -0.3912, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4074 left_y=-0.103 left_z=0.1168 left_yaw=0.8428 left_pitch=-0.0791 left_roll=0.1599 left_gripper=0.9996 right_x=0.293 right_y=0.0002 right_z=0.1747 right_yaw=0.0008 right_pitch=-0.0195 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [0.3624, -11.3162, 4.9846, -0.6276, -0.7497, -0.0757, -0.0562, -0.0479, -1.2513, 7.2137, 1.9414, -0.0708, -0.0464, -0.022]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5968, 2.1189, 1.6508, -1.1908, -0.9363, -1.4773, 0.9996, -0.0219, 0.7986, 0.5983, -0.3927, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0972 left_z=0.1064 left_yaw=0.9129 left_pitch=-0.0731 left_roll=0.1778 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1735 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -13.0256, 5.4085, 0.1343, -0.6276, 0.1978, -0.0562, -0.0342, -1.306, 7.1453, 1.746, -0.022, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5968, 2.117, 1.6508, -1.169, -0.9363, -1.4612, 0.9996, -0.0219, 0.7986, 0.598, -0.3931, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4058 left_y=-0.0994 left_z=0.1069 left_yaw=0.9026 left_pitch=-0.0731 left_roll=0.167 left_gripper=0.9996 right_x=0.2925 right_y=0.0 right_z=0.1732 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -13.3402, 5.6137, 0.1832, -0.6178, 0.1832, -0.0562, -0.0752, -1.2376, 7.0632, 1.7216, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9023e474e628a92eea99d6af91e173babbbc6a702551d16b4e311c799d62f9a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb166c8325c3e833ad80ef6b7692377c91f44f45f209d363da28432b84a1426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5744784b6db2cfc51d22312b18abd99e0eff1784077c2c60fe92eb23e74ce26c",
        "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_01P8QytZa5dfUHfNaoXxyYC5",
      "input": {
        "note": "The arm refuses to descend below z≈0.107 at this pose, likely a joint limit; pulling the target slightly closer, reducing yaw and tipping the tool forward to find a reachable configuration for the descent.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.395,
          "left_y": -0.095,
          "left_yaw": 0.7,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01P8QytZa5dfUHfNaoXxyYC5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6548, 2.0365, 1.1461, -0.5529, -1.1389, -1.19, 0.9996, -0.0219, 0.8028, 0.5953, -0.3965, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.0876 left_z=0.0525 left_yaw=0.711 left_pitch=0.124 left_roll=0.2378 left_gripper=0.9996 right_x=0.292 right_y=0.0001 right_z=0.1702 right_yaw=0.0006 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.841, -11.9863, 5.135, 0.6667, -0.779, 0.0611, -0.0562, -0.1299, -1.6068, 7.241, 1.7998, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120fa0c18257dfe452090173112deeaf6234805539fc249458afdbb07a3e90bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0425ebe38407f610ada27192ccfce0318070887cd5e6cbb26b7def70a8b9635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d2e32a8cbe49d5dc5ce335c19d8e10c0bb0249c00a18c9fdd268aa887c8a484",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 15.02 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]: [-0.5968, 2.1189, 1.6508, -1.1908, -0.9363, -1.4773, 0.9996, -0.0219, 0.7986, 0.5983, -0.3927, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.4026 left_y=-0.0972 left_z=0.1064 left_yaw=0.9129 left_pitch=-0.0731 left_roll=0.1778 left_gripper=0.9996 right_x=0.2926 right_y=0.0001 right_z=0.1735 right_yaw=0.0004 right_pitch=-0.0233 right_roll=-0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.6632, -13.0256, 5.4085, 0.1343, -0.6276, 0.1978, -0.0562, -0.0342, -1.306, 7.1453, 1.746, -0.022, -0.0317, -0.0122]\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]: [-0.5968, 2.117, 1.6508, -1.169, -0.9363, -1.4612, 0.9996, -0.0219, 0.7986, 0.598, -0.3931, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4058 left_y=-0.0994 left_z=0.1069 left_yaw=0.9026 left_pitch=-0.0731 left_roll=0.167 left_gripper=0.9996 right_x=0.2925 right_y=0.0 right_z=0.1732 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -13.3402, 5.6137, 0.1832, -0.6178, 0.1832, -0.0562, -0.0752, -1.2376, 7.0632, 1.7216, -0.022, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6548, 2.0365, 1.1461, -0.5529, -1.1389, -1.19, 0.9996, -0.0219, 0.8028, 0.5953, -0.3965, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.0876 left_z=0.0525 left_yaw=0.711 left_pitch=0.124 left_roll=0.2378 left_gripper=0.9996 right_x=0.292 right_y=0.0001 right_z=0.1702 right_yaw=0.0006 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.841, -11.9863, 5.135, 0.6667, -0.779, 0.0611, -0.0562, -0.1299, -1.6068, 7.241, 1.7998, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:120fa0c18257dfe452090173112deeaf6234805539fc249458afdbb07a3e90bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0425ebe38407f610ada27192ccfce0318070887cd5e6cbb26b7def70a8b9635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d2e32a8cbe49d5dc5ce335c19d8e10c0bb0249c00a18c9fdd268aa887c8a484",
        "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_012hhmLYYfQXy1tqx83jBAV3",
      "input": {
        "note": "Now at z≈5 cm the brick fills the lower wrist view slightly right of the jaw column and tilted clockwise; shifting ~1.5 cm to the tool's right, rotating back to yaw 0.9 to align the jaws across its short side, and descending to 2 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.393,
          "left_y": -0.098,
          "left_yaw": 0.9,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012hhmLYYfQXy1tqx83jBAV3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6662, 2.3207, 1.4822, -0.7624, -1.1809, -1.4925, 0.9996, -0.0216, 0.8062, 0.5945, -0.4038, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4208 left_y=-0.1184 left_z=0.0261 left_yaw=0.8393 left_pitch=0.1755 left_roll=0.1225 left_gripper=0.9996 right_x=0.291 right_y=0.0002 right_z=0.1674 right_yaw=0.001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -12.4103, 3.2205, -0.8132, -0.5299, -0.3883, -0.0611, 0.0479, -1.3744, 7.0906, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde13ee289223e36d141bfe52dfd06b56aa4aa5f12b9e257cd5e7e93f2f2d4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baaeae0f9caaa9fc803200353c7512f958c1dc9622aea057557023c4eabb7efc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a10629121a697ed70073611ad8c7178f5d9ac7c70c123db6c5c2b80bec3f860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 10.17 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]: [-0.5968, 2.117, 1.6508, -1.169, -0.9363, -1.4612, 0.9996, -0.0219, 0.7986, 0.598, -0.3931, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4058 left_y=-0.0994 left_z=0.1069 left_yaw=0.9026 left_pitch=-0.0731 left_roll=0.167 left_gripper=0.9996 right_x=0.2925 right_y=0.0 right_z=0.1732 right_yaw=0.0003 right_pitch=-0.024 right_roll=-0.0006 right_gripper=0.9991\nstate[joint_eff]: [-0.5128, -13.3402, 5.6137, 0.1832, -0.6178, 0.1832, -0.0562, -0.0752, -1.2376, 7.0632, 1.7216, -0.022, -0.0415, -0.0122]\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]: [-0.6548, 2.0365, 1.1461, -0.5529, -1.1389, -1.19, 0.9996, -0.0219, 0.8028, 0.5953, -0.3965, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.0876 left_z=0.0525 left_yaw=0.711 left_pitch=0.124 left_roll=0.2378 left_gripper=0.9996 right_x=0.292 right_y=0.0001 right_z=0.1702 right_yaw=0.0006 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.841, -11.9863, 5.135, 0.6667, -0.779, 0.0611, -0.0562, -0.1299, -1.6068, 7.241, 1.7998, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6662, 2.3207, 1.4822, -0.7624, -1.1809, -1.4925, 0.9996, -0.0216, 0.8062, 0.5945, -0.4038, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4208 left_y=-0.1184 left_z=0.0261 left_yaw=0.8393 left_pitch=0.1755 left_roll=0.1225 left_gripper=0.9996 right_x=0.291 right_y=0.0002 right_z=0.1674 right_yaw=0.001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -12.4103, 3.2205, -0.8132, -0.5299, -0.3883, -0.0611, 0.0479, -1.3744, 7.0906, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fde13ee289223e36d141bfe52dfd06b56aa4aa5f12b9e257cd5e7e93f2f2d4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:baaeae0f9caaa9fc803200353c7512f958c1dc9622aea057557023c4eabb7efc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a10629121a697ed70073611ad8c7178f5d9ac7c70c123db6c5c2b80bec3f860",
        "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_01Am2gn34fgvwNkqEiCD2qq2",
      "input": {
        "note": "The arm overshot to x=0.42, y=-0.118 and the brick now lies to the left of the jaw column, angled counter-clockwise. Shifting ~3 cm toward the tool's left and increasing yaw to line the jaws up across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": 1.2,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Am2gn34fgvwNkqEiCD2qq2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0096, -1.2018, -1.7042, 0.9996, -0.0219, 0.8089, 0.5945, -0.4122, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.1034 left_z=0.0209 left_yaw=0.8923 left_pitch=0.2064 left_roll=0.1947 left_gripper=0.9996 right_x=0.29 right_y=0.0002 right_z=0.165 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -10.7966, 4.9846, -0.2125, -0.4615, -0.2125, -0.0562, -0.0889, -1.5111, 7.0085, 1.8144, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d183ba3d0ba54a5e34d8425b304b4505b333f6e80b7384cbb05e5ad1a7bed7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c83a13aecca18c6a1b9aaf770cb9247cb3d5adbb32641c89d837765b86b8880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4c6c52e9886fa3a974dc4b35c0e4b777253f96056456b8049728899a70b15b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 18.56 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]: [-0.6548, 2.0365, 1.1461, -0.5529, -1.1389, -1.19, 0.9996, -0.0219, 0.8028, 0.5953, -0.3965, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3834 left_y=-0.0876 left_z=0.0525 left_yaw=0.711 left_pitch=0.124 left_roll=0.2378 left_gripper=0.9996 right_x=0.292 right_y=0.0001 right_z=0.1702 right_yaw=0.0006 right_pitch=-0.0343 right_roll=-0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.841, -11.9863, 5.135, 0.6667, -0.779, 0.0611, -0.0562, -0.1299, -1.6068, 7.241, 1.7998, -0.0659, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6662, 2.3207, 1.4822, -0.7624, -1.1809, -1.4925, 0.9996, -0.0216, 0.8062, 0.5945, -0.4038, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4208 left_y=-0.1184 left_z=0.0261 left_yaw=0.8393 left_pitch=0.1755 left_roll=0.1225 left_gripper=0.9996 right_x=0.291 right_y=0.0002 right_z=0.1674 right_yaw=0.001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -12.4103, 3.2205, -0.8132, -0.5299, -0.3883, -0.0611, 0.0479, -1.3744, 7.0906, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0096, -1.2018, -1.7042, 0.9996, -0.0219, 0.8089, 0.5945, -0.4122, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.1034 left_z=0.0209 left_yaw=0.8923 left_pitch=0.2064 left_roll=0.1947 left_gripper=0.9996 right_x=0.29 right_y=0.0002 right_z=0.165 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -10.7966, 4.9846, -0.2125, -0.4615, -0.2125, -0.0562, -0.0889, -1.5111, 7.0085, 1.8144, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d183ba3d0ba54a5e34d8425b304b4505b333f6e80b7384cbb05e5ad1a7bed7dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c83a13aecca18c6a1b9aaf770cb9247cb3d5adbb32641c89d837765b86b8880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4c6c52e9886fa3a974dc4b35c0e4b777253f96056456b8049728899a70b15b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7woKEAgRGAI4AUIIdGhpbmtpbmcSDKvhD2UD1oTtLYEXSxoMOHF6mslxU4qh9Ka9IjAilE76ktIuHJBvjAEyiyA2psXUkKGnBxT85uPObVnkwQ2yGDfzz6ifQOSF7zcl3KwqjAolrnKOkq4hU0fQB9XrxtpCNwdC2B3I9l6ZgCd98XRl4Z2bJcoPDdxYnR6I/0If/wl5CjQ/rIHkKHlJTHcFHlQK5BAPv0YfQoFBcQUpy29q+GBRNqUBaBR8Uy8LUS3GguOT3PC662XmmOUVwbMEJmrsdaTha3aaAO4uxVeZLa1/zrjSKSiFDvymkbDNvUe8KMJtQvQZRvR2ywJzC1ylMwW3fhXjLKcq6H5ZyBHhVgIFabYAKWAh700JoXJu9zQDS+uuQx1P0QKTj94hhGFIm2w/PV/Xgjza2PIgR1h658xHnpkAKbTLSheAw1K9bMhU2JbDKJTbAVJ9MX9DJ1I7Tl5JtnmpcfQpvO//7Wcyw8gaF8AI69oYBFoYSKXz8RdXuVsRUqL25wdIdi4D1GqWxDSmeeg66X8kirxAN6vg1XH+BeH8IFtb5Y/dD0cbrYxfoLT7AaxQ9T8qozFvubApIlY/N21O71bFP5CvVn2hW8Ze9QFXrx+p3p/Kc0LWsTFQwlAZY2IbDnqG6GNgtSiTKz6aB2RldytdU69XgQlrTnqVyhDtYnVf4ZGCLB34tLBKqChU1y+oI41GGamTh3ASQTUh8TNZrSjSWRGqhmmxqxcFIsIqO+TIZSGI7GsgbHL7hXDksXpsKQpCEMw+WdMpYUlyEfdeYEG7yJL8jMxPvHAmVJ1fg4EdEGn4oetd8Fi3g5fsIN78KLs554zBRcztGaT53PLd41kbYHl6z9zdUrE4t6RSop86ZRBkiINtwtC13J4WULxJeoqqHwjg5cCcRtjwRaud+IvL7TvFjeEYH4OvQeAIvuRrKCJ++tHNyDpDutD3OzKGFkCweE5RIhL/Qo+7zyOhfP7KOUf1LhY3jmQesnXnDteFo7aDcodFQjI3Qitup4kWmaf74ynicdK6DNN5+LV1Vo9N16s56mdf9h1M8K5TzJbs3ywWacpJdi1MeoSWCGMUMUYSkcAAb0NjwKNMyXBQixFns/9F89PAPTWzMP3aJ8OPjGAiMLeCY+I4mBbkh7OedKTdy8MMF7FVeFdhIbhFrUZvfiFZyRl4NMd36o4xWnA9ZtqK0J9Cygf19hKXgEyJYjE2IyiNVS1JpBlFfiCtrq9/2py9E7sBR3DslL5bQBVGxS/TurpbU/qGXRqsjyJ0zFlDQM39aGnKZQYyoaCmOc31yLm4EHK27KrSRFZZFjwkA/PchzWKbWmFPrsUuLOk6/gd+XSvLSHwQ+rEdo7T0zFGrg36n6oXmoBixnmWww+58tMxki742dIUlBhcRK/Lre6HG/egerbL8/wFiqRsXNU95M6Egs+be6Dio44KlThSNTkCRmm48Cno81m85pAocWjY3IwI+Vqb+DsF1DVMpdu1rVtg0lBRyF7O5+nI9XfkM3Zc+/pq9oesvQE7UuoCY1kxEMWxsq8YasaXBOFfEukM31/VGcCwROtoRoWH8S4+i3UFE9Rz3IdqZzgui1b6POgV+Erm68GWzFRBcyz+k3BpMkqTpFAsgI1/C1lahozfIScFzVET+jRbJ/mPbJxvkOwgPki27WFUf07vacgFy/fXjnVeWTh6qXywLF21vyjxH3d7ogj2bSF49JNJGqK6c6HpQ//M2aP+v31Iz1wxnYKUMZB6UDCelo9XCyr8pSrUZeO7+LQo/ofk6HFPr+rX18VVkA63incjBay/hrmsMZFmgPhFG6vwna1lFiqrujEjWDVaxVLQ0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017wrbGV5VvEUnyeRUqSrpEw",
      "input": {
        "note": "The brick now fills the lower wrist view passing between the jaws at roughly the jaw column, with the grasp point 2 cm above the table. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017wrbGV5VvEUnyeRUqSrpEw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0088, -1.2015, -1.7145, 0.0095, -0.0216, 0.8093, 0.5945, -0.4152, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1035 left_z=0.0209 left_yaw=0.8981 left_pitch=0.2071 left_roll=0.1841 left_gripper=0.0095 right_x=0.2895 right_y=0.0002 right_z=0.1643 right_yaw=0.0007 right_pitch=-0.0603 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -11.6171, 4.4103, -0.1734, -0.5543, 0.0757, 0.6618, -0.1299, -1.3333, 6.9949, 1.7216, -0.0464, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893fd476737bc3c7a6799879640d9e1d23bacd412deb0f49215e17274a2b57d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48f87c4cba45cdf39924d92d3a3eab43ff1ce431aa2cb47148a78fb31536b33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2a18de91d36d63651923a59bb15bce4d9212cb1a41fc8c2853cb9e3aeebbde4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 15.65 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]: [-0.6662, 2.3207, 1.4822, -0.7624, -1.1809, -1.4925, 0.9996, -0.0216, 0.8062, 0.5945, -0.4038, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4208 left_y=-0.1184 left_z=0.0261 left_yaw=0.8393 left_pitch=0.1755 left_roll=0.1225 left_gripper=0.9996 right_x=0.291 right_y=0.0002 right_z=0.1674 right_yaw=0.001 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9991\nstate[joint_eff]: [-0.5949, -12.4103, 3.2205, -0.8132, -0.5299, -0.3883, -0.0611, 0.0479, -1.3744, 7.0906, 1.8877, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0096, -1.2018, -1.7042, 0.9996, -0.0219, 0.8089, 0.5945, -0.4122, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.1034 left_z=0.0209 left_yaw=0.8923 left_pitch=0.2064 left_roll=0.1947 left_gripper=0.9996 right_x=0.29 right_y=0.0002 right_z=0.165 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -10.7966, 4.9846, -0.2125, -0.4615, -0.2125, -0.0562, -0.0889, -1.5111, 7.0085, 1.8144, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0088, -1.2015, -1.7145, 0.0095, -0.0216, 0.8093, 0.5945, -0.4152, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1035 left_z=0.0209 left_yaw=0.8981 left_pitch=0.2071 left_roll=0.1841 left_gripper=0.0095 right_x=0.2895 right_y=0.0002 right_z=0.1643 right_yaw=0.0007 right_pitch=-0.0603 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -11.6171, 4.4103, -0.1734, -0.5543, 0.0757, 0.6618, -0.1299, -1.3333, 6.9949, 1.7216, -0.0464, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:893fd476737bc3c7a6799879640d9e1d23bacd412deb0f49215e17274a2b57d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48f87c4cba45cdf39924d92d3a3eab43ff1ce431aa2cb47148a78fb31536b33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a18de91d36d63651923a59bb15bce4d9212cb1a41fc8c2853cb9e3aeebbde4",
        "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_01Tr5WMu7dRcyg96h9p6vJvu",
      "input": {
        "note": "The close was empty (reading 0.01); the wrist view shows the brick above-left of the closed jaws, so it lies forward and to the tool's left. Opening, lifting to 8 cm and shifting toward the brick to re-align.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.4,
          "left_y": -0.06,
          "left_yaw": 0.9,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Tr5WMu7dRcyg96h9p6vJvu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5888, 2.1578, 1.3602, -0.873, -1.2018, -1.5032, 0.9946, -0.0219, 0.8101, 0.5945, -0.4156, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0637 left_z=0.0655 left_yaw=0.908 left_pitch=0.1925 left_roll=0.1847 left_gripper=0.9946 right_x=0.2895 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -13.3538, 4.465, 0.1441, -0.6276, 0.232, -0.0269, -0.1026, -1.2376, 6.9812, 1.707, -0.0513, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c42660fbd7a43ec032eea9e799bef7da6505b383230052046012a7f0718a00d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2d76f99311c531b763ce6d4ce8e39c6fac73852b2dd0727fd92b0e14c904db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d926d7930b8a1fe7aa6606d52c6401076f1cd6d37e97572145e484e306ccb4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 11.93 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]: [-0.6735, 2.3772, 1.5192, -1.0096, -1.2018, -1.7042, 0.9996, -0.0219, 0.8089, 0.5945, -0.4122, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3995 left_y=-0.1034 left_z=0.0209 left_yaw=0.8923 left_pitch=0.2064 left_roll=0.1947 left_gripper=0.9996 right_x=0.29 right_y=0.0002 right_z=0.165 right_yaw=0.0007 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -10.7966, 4.9846, -0.2125, -0.4615, -0.2125, -0.0562, -0.0889, -1.5111, 7.0085, 1.8144, -0.022, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.6735, 2.3772, 1.5192, -1.0088, -1.2015, -1.7145, 0.0095, -0.0216, 0.8093, 0.5945, -0.4152, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1035 left_z=0.0209 left_yaw=0.8981 left_pitch=0.2071 left_roll=0.1841 left_gripper=0.0095 right_x=0.2895 right_y=0.0002 right_z=0.1643 right_yaw=0.0007 right_pitch=-0.0603 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -11.6171, 4.4103, -0.1734, -0.5543, 0.0757, 0.6618, -0.1299, -1.3333, 6.9949, 1.7216, -0.0464, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5888, 2.1578, 1.3602, -0.873, -1.2018, -1.5032, 0.9946, -0.0219, 0.8101, 0.5945, -0.4156, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0637 left_z=0.0655 left_yaw=0.908 left_pitch=0.1925 left_roll=0.1847 left_gripper=0.9946 right_x=0.2895 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -13.3538, 4.465, 0.1441, -0.6276, 0.232, -0.0269, -0.1026, -1.2376, 6.9812, 1.707, -0.0513, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c42660fbd7a43ec032eea9e799bef7da6505b383230052046012a7f0718a00d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2d76f99311c531b763ce6d4ce8e39c6fac73852b2dd0727fd92b0e14c904db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d926d7930b8a1fe7aa6606d52c6401076f1cd6d37e97572145e484e306ccb4de",
        "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_01Fp4PCWe4tag4sJHNGjuML1",
      "input": {
        "note": "The brick is now centred between the jaws at the bottom of the wrist view but its long axis runs nearly along the jaw-closing direction. Rotating the tool about the grasp point to yaw −0.95 so the jaws close across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.2,
          "left_x": 0.4,
          "left_y": -0.065,
          "left_yaw": -0.95,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Fp4PCWe4tag4sJHNGjuML1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.1638, 1.8156, 0.6022, 0.6563, 0.1436, 0.3859, 0.9989, -0.0216, 0.815, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4316 left_y=0.0494 left_z=0.0303 left_yaw=-0.1797 left_pitch=-0.0049 left_roll=0.2673 left_gripper=0.9989 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0011 right_pitch=-0.074 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.1863, 4.9026, 1.6239, 0.2125, 0.2418, -0.1245, -0.0205, -1.4838, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6b2969f871757d48e2d3562273c849e711940b197fe0ae12d059300d3499b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93ccdda09a603277ce3cc9301afbf52b3790dc9dbf7a9b3e2e78bc5ae2ed3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f1e4b6e9846ace46a7b46b293e8aa0132d16ed2bb669ce1ea3f711391fd7207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 13.61 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]: [-0.6735, 2.3772, 1.5192, -1.0088, -1.2015, -1.7145, 0.0095, -0.0216, 0.8093, 0.5945, -0.4152, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3996 left_y=-0.1035 left_z=0.0209 left_yaw=0.8981 left_pitch=0.2071 left_roll=0.1841 left_gripper=0.0095 right_x=0.2895 right_y=0.0002 right_z=0.1643 right_yaw=0.0007 right_pitch=-0.0603 right_roll=0.0002 right_gripper=0.9991\nstate[joint_eff]: [-0.335, -11.6171, 4.4103, -0.1734, -0.5543, 0.0757, 0.6618, -0.1299, -1.3333, 6.9949, 1.7216, -0.0464, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5888, 2.1578, 1.3602, -0.873, -1.2018, -1.5032, 0.9946, -0.0219, 0.8101, 0.5945, -0.4156, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0637 left_z=0.0655 left_yaw=0.908 left_pitch=0.1925 left_roll=0.1847 left_gripper=0.9946 right_x=0.2895 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -13.3538, 4.465, 0.1441, -0.6276, 0.232, -0.0269, -0.1026, -1.2376, 6.9812, 1.707, -0.0513, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.1638, 1.8156, 0.6022, 0.6563, 0.1436, 0.3859, 0.9989, -0.0216, 0.815, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4316 left_y=0.0494 left_z=0.0303 left_yaw=-0.1797 left_pitch=-0.0049 left_roll=0.2673 left_gripper=0.9989 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0011 right_pitch=-0.074 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.1863, 4.9026, 1.6239, 0.2125, 0.2418, -0.1245, -0.0205, -1.4838, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6b2969f871757d48e2d3562273c849e711940b197fe0ae12d059300d3499b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b93ccdda09a603277ce3cc9301afbf52b3790dc9dbf7a9b3e2e78bc5ae2ed3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f1e4b6e9846ace46a7b46b293e8aa0132d16ed2bb669ce1ea3f711391fd7207",
        "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_01DRQAe6zQtdbx3e1bhTnfed",
      "input": {
        "note": "The IK took a wild path and the arm ended at y=+0.05 with yaw only −0.18; the top view now shows the brick clearly at about 12 cm to the arm's right, long axis across the arm's y. Moving back above the brick at 12 cm height while rotating toward negative yaw in stages.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.42,
          "left_y": -0.07,
          "left_yaw": -0.8,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01DRQAe6zQtdbx3e1bhTnfed",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [0.0036, 1.8023, 0.5392, 0.7471, 0.3141, 0.3504, 0.9989, -0.0219, 0.8173, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.0495 left_z=0.0364 left_yaw=-0.4658 left_pitch=0.0717 left_roll=0.1731 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.7453, 4.7521, 1.9463, 0.0806, -0.022, -0.1294, -0.0889, -1.5521, 7.0906, 1.6581, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31f423e42fa37bf08a6f00082dc5bea9bdb7f1f20c75934af6f36ef3e2bca61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0edec890632251158eeae8e1bbb27b0b04246444daab11f3859e39d27863815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:007a11d363b0549e5c542c94aaa0044b2980c2b175cc622d8532c0c512139dad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 18.36 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]: [-0.5888, 2.1578, 1.3602, -0.873, -1.2018, -1.5032, 0.9946, -0.0219, 0.8101, 0.5945, -0.4156, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3984 left_y=-0.0637 left_z=0.0655 left_yaw=0.908 left_pitch=0.1925 left_roll=0.1847 left_gripper=0.9946 right_x=0.2895 right_y=0.0002 right_z=0.164 right_yaw=0.0007 right_pitch=-0.0614 right_roll=0.0004 right_gripper=0.9991\nstate[joint_eff]: [0.4718, -13.3538, 4.465, 0.1441, -0.6276, 0.232, -0.0269, -0.1026, -1.2376, 6.9812, 1.707, -0.0513, -0.0806, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [0.1638, 1.8156, 0.6022, 0.6563, 0.1436, 0.3859, 0.9989, -0.0216, 0.815, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4316 left_y=0.0494 left_z=0.0303 left_yaw=-0.1797 left_pitch=-0.0049 left_roll=0.2673 left_gripper=0.9989 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0011 right_pitch=-0.074 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.1863, 4.9026, 1.6239, 0.2125, 0.2418, -0.1245, -0.0205, -1.4838, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122]",
      "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]: [0.0036, 1.8023, 0.5392, 0.7471, 0.3141, 0.3504, 0.9989, -0.0219, 0.8173, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.0495 left_z=0.0364 left_yaw=-0.4658 left_pitch=0.0717 left_roll=0.1731 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.7453, 4.7521, 1.9463, 0.0806, -0.022, -0.1294, -0.0889, -1.5521, 7.0906, 1.6581, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e31f423e42fa37bf08a6f00082dc5bea9bdb7f1f20c75934af6f36ef3e2bca61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0edec890632251158eeae8e1bbb27b0b04246444daab11f3859e39d27863815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007a11d363b0549e5c542c94aaa0044b2980c2b175cc622d8532c0c512139dad",
        "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_012HtdL8ByNCdkTsZfVdMHVv",
      "input": {
        "note": "The top view shows the brick got nudged and now lies about 12 cm to the right of the left gripper at roughly x=0.42, y=−0.17; the pot centre is near y=−0.32. Moving the open gripper above the brick at 12 cm while continuing to rotate the jaws to close across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.42,
          "left_y": -0.17,
          "left_yaw": -0.9,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012HtdL8ByNCdkTsZfVdMHVv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2054, 1.6779, 0.878, 0.1497, 0.4446, 0.4824, 0.9989, -0.0216, 0.8173, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4207 left_y=-0.1616 left_z=0.1017 left_yaw=-0.8508 left_pitch=-0.0166 left_roll=0.1542 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0763 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -9.5658, 8.3897, 1.6825, 0.2711, 0.0952, -0.1245, -0.0479, -1.347, 7.0085, 1.6386, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c0882e08950569e7fccbab137d0038e058b932abe7309c3e1e5824a255ab3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d2b794bbcb6d2973095c29a727522021fc790db0371ea311441706d83884a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad51d6988ffbc63956c6a635c481d5627683e15c0f061d23c8b1a9049c25a27e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 20.39 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]: [0.1638, 1.8156, 0.6022, 0.6563, 0.1436, 0.3859, 0.9989, -0.0216, 0.815, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4316 left_y=0.0494 left_z=0.0303 left_yaw=-0.1797 left_pitch=-0.0049 left_roll=0.2673 left_gripper=0.9989 right_x=0.2887 right_y=0.0003 right_z=0.1611 right_yaw=0.0011 right_pitch=-0.074 right_roll=0.0007 right_gripper=0.9991\nstate[joint_eff]: [0.253, -7.1863, 4.9026, 1.6239, 0.2125, 0.2418, -0.1245, -0.0205, -1.4838, 7.0085, 1.7411, -0.0562, -0.0317, -0.0122]",
      "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]: [0.0036, 1.8023, 0.5392, 0.7471, 0.3141, 0.3504, 0.9989, -0.0219, 0.8173, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.0495 left_z=0.0364 left_yaw=-0.4658 left_pitch=0.0717 left_roll=0.1731 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.7453, 4.7521, 1.9463, 0.0806, -0.022, -0.1294, -0.0889, -1.5521, 7.0906, 1.6581, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2054, 1.6779, 0.878, 0.1497, 0.4446, 0.4824, 0.9989, -0.0216, 0.8173, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4207 left_y=-0.1616 left_z=0.1017 left_yaw=-0.8508 left_pitch=-0.0166 left_roll=0.1542 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0763 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -9.5658, 8.3897, 1.6825, 0.2711, 0.0952, -0.1245, -0.0479, -1.347, 7.0085, 1.6386, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c0882e08950569e7fccbab137d0038e058b932abe7309c3e1e5824a255ab3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d2b794bbcb6d2973095c29a727522021fc790db0371ea311441706d83884a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad51d6988ffbc63956c6a635c481d5627683e15c0f061d23c8b1a9049c25a27e",
        "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_015BwTyamxskHqKFgv7Ha8eX",
      "input": {
        "note": "The wrist view shows the brick about 5 cm to the tool's right at roughly fingertip range, tilted ~35° from image-horizontal. Shifting to the tool's right and rotating to yaw −1.6 so the brick will lie vertical in the image and the jaws close across its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.195,
          "left_yaw": -1.6,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015BwTyamxskHqKFgv7Ha8eX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1249, 1.953, 1.2938, -0.3965, 0.8539, 1.0924, 0.9989, -0.0219, 0.8211, 0.5941, -0.424, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.421 left_y=-0.1835 left_z=0.0925 left_yaw=-1.396 left_pitch=-0.0468 left_roll=0.1504 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1592 right_yaw=0.0005 right_pitch=-0.0812 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.906, 6.5299, 0.696, 0.7204, 0.1929, -0.1294, -0.0068, -1.5658, 6.9675, 1.7021, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834571d8f8aeb344b04464f718267c786367c02cfb800f564485d5ef516563db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c19e78fe454cde1f0acdbc0cf3e714fc4e188a1328b2da8aeaa4b7e207ac03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a818a47f57bb0d071b7c193b4859a2312d493f954a9d666f5322637bae1eef3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 16.7 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]: [0.0036, 1.8023, 0.5392, 0.7471, 0.3141, 0.3504, 0.9989, -0.0219, 0.8173, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4194 left_y=-0.0495 left_z=0.0364 left_yaw=-0.4658 left_pitch=0.0717 left_roll=0.1731 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0759 right_roll=0.0008 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -8.7453, 4.7521, 1.9463, 0.0806, -0.022, -0.1294, -0.0889, -1.5521, 7.0906, 1.6581, -0.0317, -0.0659, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.2054, 1.6779, 0.878, 0.1497, 0.4446, 0.4824, 0.9989, -0.0216, 0.8173, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4207 left_y=-0.1616 left_z=0.1017 left_yaw=-0.8508 left_pitch=-0.0166 left_roll=0.1542 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0763 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -9.5658, 8.3897, 1.6825, 0.2711, 0.0952, -0.1245, -0.0479, -1.347, 7.0085, 1.6386, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1249, 1.953, 1.2938, -0.3965, 0.8539, 1.0924, 0.9989, -0.0219, 0.8211, 0.5941, -0.424, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.421 left_y=-0.1835 left_z=0.0925 left_yaw=-1.396 left_pitch=-0.0468 left_roll=0.1504 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1592 right_yaw=0.0005 right_pitch=-0.0812 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.906, 6.5299, 0.696, 0.7204, 0.1929, -0.1294, -0.0068, -1.5658, 6.9675, 1.7021, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834571d8f8aeb344b04464f718267c786367c02cfb800f564485d5ef516563db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c19e78fe454cde1f0acdbc0cf3e714fc4e188a1328b2da8aeaa4b7e207ac03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a818a47f57bb0d071b7c193b4859a2312d493f954a9d666f5322637bae1eef3a",
        "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_019Ru3DJz52Xa3qxho1ZhLBS",
      "input": {
        "note": "The brick is still ~3–4 cm to the tool's right of the jaw column near fingertip range. With yaw near −1.57 the jaws close along the arm's x, across the brick's short side per the overhead view; shifting toward the brick and descending to 5 cm to check alignment.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.385,
          "left_y": -0.19,
          "left_yaw": -1.57,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019Ru3DJz52Xa3qxho1ZhLBS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1242, 2.0113, 1.2251, -0.4549, 0.944, 1.2926, 0.9989, -0.0216, 0.8223, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3839 left_y=-0.1885 left_z=0.0556 left_yaw=-1.5468 left_pitch=-0.0232 left_roll=0.1161 left_gripper=0.9989 right_x=0.289 right_y=0.0002 right_z=0.1591 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -9.5248, 5.9282, 1.0183, 0.7057, 0.0611, -0.1245, -0.0615, -1.4291, 6.9675, 1.663, -0.0024, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849f2ac1504057c821fbe2cf5d0b56d1a81056db036409f2d06e417e7488e462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f04f79d3971108f86594061a69173409d8974d0efc38412b71dd152a776540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb8c1891839e5233153c6e2ab684022f362fe2012b847f29ed87c996cc84ace6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 10.06 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]: [-0.2054, 1.6779, 0.878, 0.1497, 0.4446, 0.4824, 0.9989, -0.0216, 0.8173, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4207 left_y=-0.1616 left_z=0.1017 left_yaw=-0.8508 left_pitch=-0.0166 left_roll=0.1542 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1605 right_yaw=0.0007 right_pitch=-0.0763 right_roll=0.0005 right_gripper=0.9991\nstate[joint_eff]: [-0.4444, -9.5658, 8.3897, 1.6825, 0.2711, 0.0952, -0.1245, -0.0479, -1.347, 7.0085, 1.6386, -0.022, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1249, 1.953, 1.2938, -0.3965, 0.8539, 1.0924, 0.9989, -0.0219, 0.8211, 0.5941, -0.424, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.421 left_y=-0.1835 left_z=0.0925 left_yaw=-1.396 left_pitch=-0.0468 left_roll=0.1504 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1592 right_yaw=0.0005 right_pitch=-0.0812 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.906, 6.5299, 0.696, 0.7204, 0.1929, -0.1294, -0.0068, -1.5658, 6.9675, 1.7021, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.1242, 2.0113, 1.2251, -0.4549, 0.944, 1.2926, 0.9989, -0.0216, 0.8223, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3839 left_y=-0.1885 left_z=0.0556 left_yaw=-1.5468 left_pitch=-0.0232 left_roll=0.1161 left_gripper=0.9989 right_x=0.289 right_y=0.0002 right_z=0.1591 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -9.5248, 5.9282, 1.0183, 0.7057, 0.0611, -0.1245, -0.0615, -1.4291, 6.9675, 1.663, -0.0024, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849f2ac1504057c821fbe2cf5d0b56d1a81056db036409f2d06e417e7488e462",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f04f79d3971108f86594061a69173409d8974d0efc38412b71dd152a776540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb8c1891839e5233153c6e2ab684022f362fe2012b847f29ed87c996cc84ace6",
        "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_01EkU3VVLy5cwnpzGi81gUH8",
      "input": {
        "note": "The brick is now centred between the jaws but its long axis lies along the jaw-closing direction (image-x). Empirically the scene rotates clockwise as yaw decreases, so rotating a further ~0.65 rad to yaw −2.2 should bring the brick's short side across the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.385,
          "left_y": -0.19,
          "left_yaw": -2.2,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EkU3VVLy5cwnpzGi81gUH8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1131, 2.2353, 1.5787, -0.7723, 0.9691, 1.6802, 0.9989, -0.0216, 0.8288, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4186 left_y=-0.1905 left_z=0.0496 left_yaw=-1.7538 left_pitch=-0.046 left_roll=0.2467 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0011 right_pitch=-0.0873 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -12.1231, 6.5709, 0.359, 0.5934, 0.188, -0.1245, -0.0752, -1.812, 6.9949, 1.663, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e02babeef520dd7cfdc6c95c298d10b71a6bc3999f5fe7cb3ddc02b6a4bb29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cabb01c014500e0438c718f9f3c48eacb9c6ea2285820723605ef83cce621661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f155ee0c2b0a45ae356eeaf77d3845f32f6a50d97a3014645ea73a94d318f44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 17.89 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]: [-0.1249, 1.953, 1.2938, -0.3965, 0.8539, 1.0924, 0.9989, -0.0219, 0.8211, 0.5941, -0.424, -0.0166, -0.0345, 0.9991]\nstate[eef_state]: left_x=0.421 left_y=-0.1835 left_z=0.0925 left_yaw=-1.396 left_pitch=-0.0468 left_roll=0.1504 left_gripper=0.9989 right_x=0.2888 right_y=0.0002 right_z=0.1592 right_yaw=0.0005 right_pitch=-0.0812 right_roll=0.0012 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.906, 6.5299, 0.696, 0.7204, 0.1929, -0.1294, -0.0068, -1.5658, 6.9675, 1.7021, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.1242, 2.0113, 1.2251, -0.4549, 0.944, 1.2926, 0.9989, -0.0216, 0.8223, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3839 left_y=-0.1885 left_z=0.0556 left_yaw=-1.5468 left_pitch=-0.0232 left_roll=0.1161 left_gripper=0.9989 right_x=0.289 right_y=0.0002 right_z=0.1591 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -9.5248, 5.9282, 1.0183, 0.7057, 0.0611, -0.1245, -0.0615, -1.4291, 6.9675, 1.663, -0.0024, -0.0415, -0.0122]",
      "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]: [-0.1131, 2.2353, 1.5787, -0.7723, 0.9691, 1.6802, 0.9989, -0.0216, 0.8288, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4186 left_y=-0.1905 left_z=0.0496 left_yaw=-1.7538 left_pitch=-0.046 left_roll=0.2467 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0011 right_pitch=-0.0873 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -12.1231, 6.5709, 0.359, 0.5934, 0.188, -0.1245, -0.0752, -1.812, 6.9949, 1.663, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e02babeef520dd7cfdc6c95c298d10b71a6bc3999f5fe7cb3ddc02b6a4bb29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cabb01c014500e0438c718f9f3c48eacb9c6ea2285820723605ef83cce621661",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f155ee0c2b0a45ae356eeaf77d3845f32f6a50d97a3014645ea73a94d318f44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS/AoKEAgRGAI4AUIIdGhpbmtpbmcSDM8eOMogtwS6kG+zOhoMUR6U13rldGgc3uAXIjD1mvLffJVmwlnRztvK0lTX8hwgIHjWucvGfFuh9+V4J5raWCcbnZdtnTfoKXWXDCsqmQr3JtE5x5POZXLm3GusCOXNaa9ki8ji13I5Hqj67+ME5r1xq+X1y2UQ1B+3hnHv7K2s/Mqa6WzaIlYVKAH6xm5GSd7e3k+CoNBdPGioYm42xrVsNJOozPhd329Va9YKyhAVbgAKQDftOf/T/1N2O5S5QrKR1MnE0B08KcNcncJ39sZj6Iy6MDgPKXSOkND2e1PuloS61NhmihCrOXwCy8MpN0UkHriB31eoj8EfnIOrobygECcCwFdxUIotR+EUU8ZCjdUOg9EJGkyVnQdWmXxUIqN2ybVfAtXoGNyDctqOUnrYtuDf05e6+ZEZMYTcwvU6wyn0U/zk29A/+jH3Gs9peY+1TPWblz/z7DBQ1msAWHwTl/nb7b2YCgNCf+/Q0nh83Zfyv2n5PuDJSo3XVB3btNVN1pBAo1XdDTNsCVF4i/p1MI1gRrm0wAiCqCMcIFSirTuqQ7rx/T/iOBqFABozuIW9bGglIQ5hioajYqTJAPLsHin5Y+83H6BTiu5GCn6lSGD6Ol/gD+ggpYuCoP4BqUJEGkS8Wc7zgv5r1SPsiVegTiyy9xHlPypxwOZH+MrfmTaMqE5ShTBJVCdVvvqGbT+IC/rm0AQmSYkiU0xtJyBffQEw5QruMvtXl0xOvKaDvIDlXUqLoCAKEJUbNAZXjR84SBvhZ0mKyWO4xCeGYYv05Ze4MErXtRg3mZ8PQa4G1A7ol0HKbCw13zxA2CeGajOkmxBJvA1gel1Sj8rihdRlK5AqvN8srQCMW5db/qoFwUe4+pwj0NPS/sBhEltPH5Fat7LGKX3LsBAsm2jn+fZoWvBNGtTcNCY+GlBgZjRoIEYyU77u2bB1/j29ZP55JYyuYFxflNZHFib7c7xfpqd5lViBZJn1PgZW3O53YWLD8kQtZgnqDYLHjh/v6D53oHKYnxL7ISQkBdsUOQ1hBpgK7InG8wc6bdZ1+b5U1qRKYLcx7GC73kvrpYJibkQXhlAodP68gHj7GiygCrVrf496RT+tt/oAtt2iqU18nfy73zUHuqtC9LsX8YWwGP2a6Cyne6T4ibFhwPdGbYRj82PhgDM8a4KMOZMh/gUIM88arG5+ATBJDl55VoHOFwqBXL1G5vVtueaRB6qCFu4yw7YFmIGn+cSF2D/4J7D6yhkAUok6bX4vYbuparbnrYiKTC06/DVD5aaXcB7jMRBEXFpouRRV90yHFFAc4NYlmntyC0+7XJ5KKvvWNsvAbNoQ78QhRlrNdjTb3AX8D97TnXGVrIdhbFpOu+XluVIpEkQrkjbjJk9WJE3+aGCcSWVU2UR54K9H35owWSMs6jtcllcUYWyBwfuIwxZsCFevIB6azdUdt6z52X1rwCY6yIw97tRaIKUHSHhz0r4DdovQT7L1lbsMV5GubykmBB3XzIgXjh3TqCdbzY3uHDRpYC05C3LFuZr/MZw+yNXV/yOaFAU0m46MaeLuGecQ5Oyn1KVeA3sVMkkhzCCKquRtF3SWYM5syrEEctW/TpR1oJ8R8Z1APCcokm8uSeGzERqHEuH85v9cLcierl6HCXXgoQMWaP3f2wMb9Fnxg6xTO88XCe7R0jhmI4Sovu7Cllg2umEMINw1JfnDls7jbua0/cZd+6OZwmA2wGG4+gtDuc8Gtf9tWc4XDHHeu7d3oymOZVOko+PVTUm+vNLDCVsmsb8qUWF62P73kPIIbd53Lg+U7/5p8YExm+BHweESvnZDUCNqcEC77fh5nH0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012W1YppN9r3vyLRnfjJGjhA",
      "input": {
        "note": "Yaw only reached −1.75 and the brick still lies mostly along the jaw axis, slightly right of centre. Continuing the rotation toward −2.3 and pulling x back to 0.39 so the jaws end up across the brick's short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.19,
          "left_yaw": -2.3,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012W1YppN9r3vyLRnfjJGjhA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1139, 2.2353, 1.5787, -0.8009, 0.9691, 1.7058, 0.9989, -0.0216, 0.8307, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.1903 left_z=0.049 left_yaw=-1.7693 left_pitch=-0.0473 left_roll=0.2391 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1569 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -12.1778, 6.5026, 0.3687, 0.6227, 0.1441, -0.1294, -0.0889, -1.3744, 6.9949, 1.6337, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661dbb8735f6df873e8a31cd194abc4cdd303d4074c4d005a6d17e599cac4f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306bffd5cf7024ab6432a939ca5d3db05bdc8c9ce6a7ccc45c7d48d0ce5bbc12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:409d63835ff5e3829552b49352ef19a8227080a35ab205686794b2c4b4d4e95e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 10.09 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]: [-0.1242, 2.0113, 1.2251, -0.4549, 0.944, 1.2926, 0.9989, -0.0216, 0.8223, 0.5941, -0.4229, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3839 left_y=-0.1885 left_z=0.0556 left_yaw=-1.5468 left_pitch=-0.0232 left_roll=0.1161 left_gripper=0.9989 right_x=0.289 right_y=0.0002 right_z=0.1591 right_yaw=0.0008 right_pitch=-0.0812 right_roll=0.0006 right_gripper=0.9991\nstate[joint_eff]: [0.4034, -9.5248, 5.9282, 1.0183, 0.7057, 0.0611, -0.1245, -0.0615, -1.4291, 6.9675, 1.663, -0.0024, -0.0415, -0.0122]",
      "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]: [-0.1131, 2.2353, 1.5787, -0.7723, 0.9691, 1.6802, 0.9989, -0.0216, 0.8288, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4186 left_y=-0.1905 left_z=0.0496 left_yaw=-1.7538 left_pitch=-0.046 left_roll=0.2467 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0011 right_pitch=-0.0873 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -12.1231, 6.5709, 0.359, 0.5934, 0.188, -0.1245, -0.0752, -1.812, 6.9949, 1.663, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1139, 2.2353, 1.5787, -0.8009, 0.9691, 1.7058, 0.9989, -0.0216, 0.8307, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.1903 left_z=0.049 left_yaw=-1.7693 left_pitch=-0.0473 left_roll=0.2391 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1569 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -12.1778, 6.5026, 0.3687, 0.6227, 0.1441, -0.1294, -0.0889, -1.3744, 6.9949, 1.6337, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:661dbb8735f6df873e8a31cd194abc4cdd303d4074c4d005a6d17e599cac4f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306bffd5cf7024ab6432a939ca5d3db05bdc8c9ce6a7ccc45c7d48d0ce5bbc12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 102):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:409d63835ff5e3829552b49352ef19a8227080a35ab205686794b2c4b4d4e95e",
        "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_01D6g8YMRQGJWn3nMatnUjoC",
      "input": {
        "note": "The wrist roll joint is at its limit at yaw −1.77, so I cannot rotate further this way. Lifting to 12 cm and rotating back through −0.4 toward the positive-yaw side (≈+1.0), where the brick previously appeared vertical in the wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.39,
          "left_y": -0.19,
          "left_yaw": -0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01D6g8YMRQGJWn3nMatnUjoC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5472, 1.5219, 0.7845, -0.057, 0.2283, 0.9627, 0.9989, -0.0216, 0.8349, 0.5941, -0.4313, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3214 left_y=-0.2384 left_z=0.0828 left_yaw=-1.272 left_pitch=-0.3104 left_roll=0.541 left_gripper=0.9989 right_x=0.2883 right_y=0.0003 right_z=0.1541 right_yaw=0.0011 right_pitch=-0.1022 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.0513, 7.6103, 1.9414, -0.0611, -0.1001, -0.1245, -0.0342, -1.6889, 7.1316, 1.746, -0.0806, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9758e1382555734fc23be6deb0aedd395fc361a0bd43558a9565249932f1cef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f456d30eed95f307da7cc08f6248d533e36c23782f1b2a328939bd97c53bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f86e9959fcb76d3ee4f8725313e3fd003d03ed78a6cc90f345b70bc88ea7cca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 12.65 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]: [-0.1131, 2.2353, 1.5787, -0.7723, 0.9691, 1.6802, 0.9989, -0.0216, 0.8288, 0.5941, -0.4225, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4186 left_y=-0.1905 left_z=0.0496 left_yaw=-1.7538 left_pitch=-0.046 left_roll=0.2467 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1575 right_yaw=0.0011 right_pitch=-0.0873 right_roll=0.001 right_gripper=0.9991\nstate[joint_eff]: [-0.4171, -12.1231, 6.5709, 0.359, 0.5934, 0.188, -0.1245, -0.0752, -1.812, 6.9949, 1.663, -0.0464, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.1139, 2.2353, 1.5787, -0.8009, 0.9691, 1.7058, 0.9989, -0.0216, 0.8307, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.1903 left_z=0.049 left_yaw=-1.7693 left_pitch=-0.0473 left_roll=0.2391 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1569 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -12.1778, 6.5026, 0.3687, 0.6227, 0.1441, -0.1294, -0.0889, -1.3744, 6.9949, 1.6337, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5472, 1.5219, 0.7845, -0.057, 0.2283, 0.9627, 0.9989, -0.0216, 0.8349, 0.5941, -0.4313, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3214 left_y=-0.2384 left_z=0.0828 left_yaw=-1.272 left_pitch=-0.3104 left_roll=0.541 left_gripper=0.9989 right_x=0.2883 right_y=0.0003 right_z=0.1541 right_yaw=0.0011 right_pitch=-0.1022 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.0513, 7.6103, 1.9414, -0.0611, -0.1001, -0.1245, -0.0342, -1.6889, 7.1316, 1.746, -0.0806, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9758e1382555734fc23be6deb0aedd395fc361a0bd43558a9565249932f1cef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0f456d30eed95f307da7cc08f6248d533e36c23782f1b2a328939bd97c53bbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f86e9959fcb76d3ee4f8725313e3fd003d03ed78a6cc90f345b70bc88ea7cca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwAoKEAgRGAI4AUIIdGhpbmtpbmcSDMNnio3+yfQBBgX9SRoMNBYa7bmsL0yFUGirIjCNz85xV5MqYKtfFWF60mBNVTTCwpL9DG6UY8E06l8m8GcpWVwtyFzCt5AW2vkR3ioq3QmieollZrdS89NFOHBtXYOzSoy+0iY+fjVUCYcsYyGa8PbGnW1h/sFJyEK3el6lUOcZeswLWsHXR9SXgW2BgEbVcuj2P1wYw9sb137nVDhGh9ATjZKm3SE+gyoHBwR8ELkY1v+EhJlrGSnbjn/4EwYE/eRUSH5QJ6AMPjXG5AOTL/ucbBWeugSRcg0cl+Vktb2k4D5KW+hxxOl2dUb+1YrqjeH4yGN9eX2wnkoifKTw5q5QIMfe1bQ9HoncSJy8Getmz0fyP9+H6ounZAMDM4n5vgqwycXo32yYyecD746RQtrdkhw0bmiRu7viraW7rf2ZOUEOXK8bFI2Yz/MSWzhlcySfA5EF5sazmoPRibM7x3ThhakLadC7Odt0/khFZc0S/KtVsnXWfjLTBROt/jZcpaQ43c4VM/TJvcgWKUiPfBVsiPtb2u6YEtrR2mMkGIxp7c/EdhQhqhQUNP23pcLAnV5lQW+E7eKyLlL52SiYnk/B+KiLpI/B0THdqflnfHsY2ZXC5xkPsoKLssRdi9Mtrfhf9dU9LyhSXRuUIRcdnsqh/zfqljZz3Z48zSCKSNKr2GvuYKOHMxFZf4R87V+h42PgnqwzKBRBB74uHbQFsWk4dOvNIQHGt5iLjaJVmcKZIJ/5Zi7kDzJJyi/WpHdHQzsAf/zfN5ZJ6wozPJ8Zre4zD3Tfgu8K2FgxIa9joPIAx4XojHg6J8EnDAdkuabXHsIHHtFSS5tdp3bqJZeJBOF/2EQIPONLUzjDvA2g/dPsRVd8mo5MG01rkC+BqLiLOgeYdoIgOlRkW3BGYmzwYku0uQyi7qwKMCllPpSHEAVj9e8yzITbRxIY1O4ZrkPsAb7Zzgrf1LAwYSg+5nKDo+gLQv/wjt//gnxK8eMaFxMMKDuynMjJ3KUK70kBvToFxP5pg2WiF9M319TIVbVp5p82YdSwiV26rIy8xB9BpAttGP6vmac3oDNhsL/MkJDq2ararMKCeKYyx34ZNHP47XwhamxG5XKnWyurstnJj1le70kzQZcejuUXRURei/VYVVcs8crWf3wrhUcBrCcrV/3zgyPTQcHa89WYFb1F4wwZJ2ZQS303fq9kC8oSuCnd0V/ZWS2li5g+AnYmHgoznIjSnVzu1EvG7nahX64iqjuxZmrSfEcGlCflEb8Ak3XzBLpKFmErSJUOQxU0y79xNMoDJfDJjthTZN0Q69mczld0oiUWEV0TeTwnLea4KQH10MJk38Mc2Z3cpQB/hP0SbZA7akoC6pTTTDOEbw1jb+NbiIRGfgwP1zk5pY2Rdjm4YWMEmQzk/exInmb0qbhxcWC10/l/nWwlWW9ArLXFVHVrRMvARbNnkt2kj9PGhV9awhzAzUI09S6ccr8YnEOzpfLdmmB9U7qdzVYIy6Nd9yokoBTSWVl6F2WQQAxzVRrft+qhZiPp18t2kYczLWzdmfy6qgCk6u3HGXQknodu25FzUKrVRQM7kyoyPeermfA8Jx3+G1S2lNdUB8gAho+XOLVve6wPiC531W67r0fYjrCNLmdu+Cng0bGpPPzMlCRTh3YRmnEWQKl5zxbFJIuqzOp2lUL0RP744ynsgFDNphU5cz0J6Pz0I6bXwVeHDRupv86e3Mo1ueSrJ7SAJlIWn4makFCRQgI6TTFBtEUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zDTkaYP92rym6TDS6KcQo",
      "input": {
        "note": "The IK is thrashing mid-rotation (pose drifted to x=0.32, roll 0.54) while the brick is still visible under the gripper. Continuing the rotation to yaw +1.0 at 12 cm height above the brick with pitch/roll levelled.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": -0.19,
          "left_yaw": 1.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_012zDTkaYP92rym6TDS6KcQo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7223, 1.6146, 0.8101, -0.0151, -0.1993, 0.3752, 0.9989, -0.0219, 0.836, 0.5941, -0.4389, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3337 left_y=-0.2426 left_z=0.0632 left_yaw=-0.7668 left_pitch=-0.2998 left_roll=0.4243 left_gripper=0.9989 right_x=0.2871 right_y=0.0002 right_z=0.1523 right_yaw=0.0008 right_pitch=-0.111 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-1.6479, -7.8291, 6.8718, 1.3602, -0.3932, -0.0122, -0.1245, -0.0889, -1.1556, 6.9538, 1.8046, -0.0269, 0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e066210b2c0d9bbecdee74a494666a3fa0ea7b361e03f55b9793275b071812b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957e8d092e32ee05397afa07e249781d060fc109916870ff065179ac53663831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47e4b25a064a56f6b8547a7ec359e503929a92c7e98e1d5f11e5727e9ab00f4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 14.64 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]: [-0.1139, 2.2353, 1.5787, -0.8009, 0.9691, 1.7058, 0.9989, -0.0216, 0.8307, 0.5941, -0.4229, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.4136 left_y=-0.1903 left_z=0.049 left_yaw=-1.7693 left_pitch=-0.0473 left_roll=0.2391 left_gripper=0.9989 right_x=0.2894 right_y=0.0003 right_z=0.1569 right_yaw=0.0011 right_pitch=-0.0896 right_roll=0.0011 right_gripper=0.9991\nstate[joint_eff]: [-0.1983, -12.1778, 6.5026, 0.3687, 0.6227, 0.1441, -0.1294, -0.0889, -1.3744, 6.9949, 1.6337, -0.0464, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.5472, 1.5219, 0.7845, -0.057, 0.2283, 0.9627, 0.9989, -0.0216, 0.8349, 0.5941, -0.4313, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3214 left_y=-0.2384 left_z=0.0828 left_yaw=-1.272 left_pitch=-0.3104 left_roll=0.541 left_gripper=0.9989 right_x=0.2883 right_y=0.0003 right_z=0.1541 right_yaw=0.0011 right_pitch=-0.1022 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.0513, 7.6103, 1.9414, -0.0611, -0.1001, -0.1245, -0.0342, -1.6889, 7.1316, 1.746, -0.0806, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7223, 1.6146, 0.8101, -0.0151, -0.1993, 0.3752, 0.9989, -0.0219, 0.836, 0.5941, -0.4389, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3337 left_y=-0.2426 left_z=0.0632 left_yaw=-0.7668 left_pitch=-0.2998 left_roll=0.4243 left_gripper=0.9989 right_x=0.2871 right_y=0.0002 right_z=0.1523 right_yaw=0.0008 right_pitch=-0.111 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-1.6479, -7.8291, 6.8718, 1.3602, -0.3932, -0.0122, -0.1245, -0.0889, -1.1556, 6.9538, 1.8046, -0.0269, 0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e066210b2c0d9bbecdee74a494666a3fa0ea7b361e03f55b9793275b071812b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957e8d092e32ee05397afa07e249781d060fc109916870ff065179ac53663831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47e4b25a064a56f6b8547a7ec359e503929a92c7e98e1d5f11e5727e9ab00f4a",
        "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_01T23eMeezcb8Q21geCm2DxD",
      "input": {
        "note": "The arm settled in an odd pitched/rolled pose, but the wrist view now shows the brick standing vertically right on the jaw column, so the jaws will close across its short side. Holding this orientation and descending to 2 cm with a small radial advance before grasping.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.3,
          "left_roll": 0.42,
          "left_x": 0.345,
          "left_y": -0.25,
          "left_yaw": -0.77,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01T23eMeezcb8Q21geCm2DxD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.952, 2.0609, 1.2491, -0.2653, -0.6579, -0.1173, 0.9989, -0.0219, 0.844, 0.5941, -0.4427, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3553 left_y=-0.3066 left_z=0.0238 left_yaw=-0.3341 left_pitch=-0.3115 left_roll=0.5369 left_gripper=0.9989 right_x=0.2869 right_y=0.0002 right_z=0.1495 right_yaw=0.0005 right_pitch=-0.1228 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [2.5778, -11.8085, 3.3573, -0.0855, -0.2906, -0.0952, -0.1148, -0.253, -2.1538, 6.9402, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616fea94f04d0c11cb0330a36b75adc82667913f53adf3cf4e039decdc21b75a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4050c77bf8dfd3789dbdec1a91b3541f9a9601f5112848bc745d469b2fb2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5be46b4cd9d7903a92ffb765e06767209c23ff97b454c05b8e30336d6e7ba03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 11.04 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]: [-0.5472, 1.5219, 0.7845, -0.057, 0.2283, 0.9627, 0.9989, -0.0216, 0.8349, 0.5941, -0.4313, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3214 left_y=-0.2384 left_z=0.0828 left_yaw=-1.272 left_pitch=-0.3104 left_roll=0.541 left_gripper=0.9989 right_x=0.2883 right_y=0.0003 right_z=0.1541 right_yaw=0.0011 right_pitch=-0.1022 right_roll=0.0014 right_gripper=0.9991\nstate[joint_eff]: [-0.1573, -6.0513, 7.6103, 1.9414, -0.0611, -0.1001, -0.1245, -0.0342, -1.6889, 7.1316, 1.746, -0.0806, -0.0317, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.7223, 1.6146, 0.8101, -0.0151, -0.1993, 0.3752, 0.9989, -0.0219, 0.836, 0.5941, -0.4389, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3337 left_y=-0.2426 left_z=0.0632 left_yaw=-0.7668 left_pitch=-0.2998 left_roll=0.4243 left_gripper=0.9989 right_x=0.2871 right_y=0.0002 right_z=0.1523 right_yaw=0.0008 right_pitch=-0.111 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-1.6479, -7.8291, 6.8718, 1.3602, -0.3932, -0.0122, -0.1245, -0.0889, -1.1556, 6.9538, 1.8046, -0.0269, 0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.952, 2.0609, 1.2491, -0.2653, -0.6579, -0.1173, 0.9989, -0.0219, 0.844, 0.5941, -0.4427, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3553 left_y=-0.3066 left_z=0.0238 left_yaw=-0.3341 left_pitch=-0.3115 left_roll=0.5369 left_gripper=0.9989 right_x=0.2869 right_y=0.0002 right_z=0.1495 right_yaw=0.0005 right_pitch=-0.1228 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [2.5778, -11.8085, 3.3573, -0.0855, -0.2906, -0.0952, -0.1148, -0.253, -2.1538, 6.9402, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616fea94f04d0c11cb0330a36b75adc82667913f53adf3cf4e039decdc21b75a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4050c77bf8dfd3789dbdec1a91b3541f9a9601f5112848bc745d469b2fb2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5be46b4cd9d7903a92ffb765e06767209c23ff97b454c05b8e30336d6e7ba03e",
        "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_01CWnmmz6WmDBoggRSCsVk8m",
      "input": {
        "note": "The arm overshot to y=−0.31 and the brick now sits at the lower-left of the wrist view against the left jaw, long axis roughly vertical. Holding the current orientation and shifting ~3 cm toward the tool's left so the brick lands between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.31,
          "left_roll": 0.54,
          "left_x": 0.365,
          "left_y": -0.28,
          "left_yaw": -0.33,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CWnmmz6WmDBoggRSCsVk8m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9161, 2.0308, 1.1873, -0.2455, -0.7242, -0.1646, 0.9989, -0.0219, 0.8436, 0.5941, -0.4454, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3628 left_y=-0.2745 left_z=0.0262 left_yaw=-0.2283 left_pitch=-0.2718 left_roll=0.5597 left_gripper=0.9989 right_x=0.2864 right_y=0.0002 right_z=0.1491 right_yaw=0.0005 right_pitch=-0.1251 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -10.3316, 4.7385, 0.9988, -0.1099, 0.1929, -0.1245, -0.1299, -1.4564, 6.9402, 1.6728, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0843e6d54d6657ad2198904c3d1574f2a564dc17675c1fd59320f50b43c17fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d574e412bccd728468f6aac4d0d39b3a04f18372a2458003dd8189b226f9cf56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d1d49709499b7041962c5dfd84e9fdbd2cf657a2b554c372f0d9c4bb6868557",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 15.96 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]: [-0.7223, 1.6146, 0.8101, -0.0151, -0.1993, 0.3752, 0.9989, -0.0219, 0.836, 0.5941, -0.4389, -0.0166, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3337 left_y=-0.2426 left_z=0.0632 left_yaw=-0.7668 left_pitch=-0.2998 left_roll=0.4243 left_gripper=0.9989 right_x=0.2871 right_y=0.0002 right_z=0.1523 right_yaw=0.0008 right_pitch=-0.111 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-1.6479, -7.8291, 6.8718, 1.3602, -0.3932, -0.0122, -0.1245, -0.0889, -1.1556, 6.9538, 1.8046, -0.0269, 0.0024, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.952, 2.0609, 1.2491, -0.2653, -0.6579, -0.1173, 0.9989, -0.0219, 0.844, 0.5941, -0.4427, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3553 left_y=-0.3066 left_z=0.0238 left_yaw=-0.3341 left_pitch=-0.3115 left_roll=0.5369 left_gripper=0.9989 right_x=0.2869 right_y=0.0002 right_z=0.1495 right_yaw=0.0005 right_pitch=-0.1228 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [2.5778, -11.8085, 3.3573, -0.0855, -0.2906, -0.0952, -0.1148, -0.253, -2.1538, 6.9402, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9161, 2.0308, 1.1873, -0.2455, -0.7242, -0.1646, 0.9989, -0.0219, 0.8436, 0.5941, -0.4454, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3628 left_y=-0.2745 left_z=0.0262 left_yaw=-0.2283 left_pitch=-0.2718 left_roll=0.5597 left_gripper=0.9989 right_x=0.2864 right_y=0.0002 right_z=0.1491 right_yaw=0.0005 right_pitch=-0.1251 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -10.3316, 4.7385, 0.9988, -0.1099, 0.1929, -0.1245, -0.1299, -1.4564, 6.9402, 1.6728, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0843e6d54d6657ad2198904c3d1574f2a564dc17675c1fd59320f50b43c17fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d574e412bccd728468f6aac4d0d39b3a04f18372a2458003dd8189b226f9cf56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d1d49709499b7041962c5dfd84e9fdbd2cf657a2b554c372f0d9c4bb6868557",
        "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_01LzDCgU7BrX9ACfraZAcPRg",
      "input": {
        "note": "The brick is now between the jaws in the wrist view with its long axis along image-vertical, so the jaws will close across its short side. Lowering slightly to 1 cm and closing the gripper.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": -0.27,
          "left_roll": 0.56,
          "left_x": 0.363,
          "left_y": -0.275,
          "left_yaw": -0.23,
          "left_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LzDCgU7BrX9ACfraZAcPRg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9108, 2.0312, 1.1763, -0.1967, -0.6498, -0.0746, 0.0088, -0.0219, 0.8436, 0.5941, -0.4671, -0.0166, -0.0422, 0.9991]\nstate[eef_state]: left_x=0.3619 left_y=-0.2861 left_z=0.0202 left_yaw=-0.3238 left_pitch=-0.3065 left_roll=0.5453 left_gripper=0.0088 right_x=0.2829 right_y=0.0003 right_z=0.145 right_yaw=0.0048 right_pitch=-0.1468 right_roll=-0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.441, 5.5726, 1.2332, -0.2759, -0.0171, 0.6471, -0.2256, -1.2103, 6.9675, 1.7851, -0.0366, 0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c3b7981f63e1e46a68955fc6319e478de6c414458ef7ced31bd971826f712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea75bec78577651cc3a4e0e64e78c845831247983828f5821aa011146f921ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68308aac3ec7001bdf41157222a6ef903cd1523d3161739c63edcdf06b7c38f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 9.651 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]: [-0.952, 2.0609, 1.2491, -0.2653, -0.6579, -0.1173, 0.9989, -0.0219, 0.844, 0.5941, -0.4427, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3553 left_y=-0.3066 left_z=0.0238 left_yaw=-0.3341 left_pitch=-0.3115 left_roll=0.5369 left_gripper=0.9989 right_x=0.2869 right_y=0.0002 right_z=0.1495 right_yaw=0.0005 right_pitch=-0.1228 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [2.5778, -11.8085, 3.3573, -0.0855, -0.2906, -0.0952, -0.1148, -0.253, -2.1538, 6.9402, 1.7411, -0.0415, -0.0513, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9161, 2.0308, 1.1873, -0.2455, -0.7242, -0.1646, 0.9989, -0.0219, 0.8436, 0.5941, -0.4454, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3628 left_y=-0.2745 left_z=0.0262 left_yaw=-0.2283 left_pitch=-0.2718 left_roll=0.5597 left_gripper=0.9989 right_x=0.2864 right_y=0.0002 right_z=0.1491 right_yaw=0.0005 right_pitch=-0.1251 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -10.3316, 4.7385, 0.9988, -0.1099, 0.1929, -0.1245, -0.1299, -1.4564, 6.9402, 1.6728, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9108, 2.0312, 1.1763, -0.1967, -0.6498, -0.0746, 0.0088, -0.0219, 0.8436, 0.5941, -0.4671, -0.0166, -0.0422, 0.9991]\nstate[eef_state]: left_x=0.3619 left_y=-0.2861 left_z=0.0202 left_yaw=-0.3238 left_pitch=-0.3065 left_roll=0.5453 left_gripper=0.0088 right_x=0.2829 right_y=0.0003 right_z=0.145 right_yaw=0.0048 right_pitch=-0.1468 right_roll=-0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.441, 5.5726, 1.2332, -0.2759, -0.0171, 0.6471, -0.2256, -1.2103, 6.9675, 1.7851, -0.0366, 0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c3b7981f63e1e46a68955fc6319e478de6c414458ef7ced31bd971826f712c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea75bec78577651cc3a4e0e64e78c845831247983828f5821aa011146f921ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68308aac3ec7001bdf41157222a6ef903cd1523d3161739c63edcdf06b7c38f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSugsKEAgRGAI4AUIIdGhpbmtpbmcSDKZGB6lRO/Vt2KDcoRoMCSnkYzcPmBlDNiWNIjCjeAVPBjN/KTElA/VxWrsWdZ60nGmLyLKllGDeQRhM18PikdvGZwVWSg3Jr96yfesq1wreh5r3ee7it97cRV/bODPohT6HI5FOIV/pCxJOedBRDk3ZPf6M6f+TCeXxls9N+un3jitfG2VWeH9PDnkSrC1KNtvWrdlejXp/AOqpSNK4+29UCfpxtAmx+qa9+Em3NnJ/ciFe/25CRzHweSQ4Bkl3iWtGsytgFfZdjqK9C2uNmAK6DMuq3BUWcx1xl4X42KWDuRwBZETiL38qumkutdrysbv5afmA8WM+SFkYVFRFaHCydH5QYiQ2g9OfpmbF+0t6Agm7fVRwuiytkHCP0yBVlaTJ9YYAqOohNpc8cNFFuy5ohcMtsbUlZ+T02uFWxUG1UU/Nq8T9aZ28kR3Il1R0/rmERCjZ9QnWc5O975T4OeMXE9O+Rv3eVHh4/Q95Cxpjiy67KiIri/9mYSjcJn+UAjEZKM90o6BWJFt4aw2xHZTGLx7JF5lr8yEjlQH7M8ZfnYzJsjPFSkx1BKA2l72J8YYjX6OhTlhcWsjeZ+1AX7kXCIg8p29pciVR3T6QLHxZfnroWp8oof3zqMeRK2VsRXqQDXpjkzCJols6ptDZvCpDmSPM6noE4tzrr9YQ+Myv56PEUad2+9+jMHD3vi/AUzSbNy83ChaeyuktNYGlB7xr9Eo1tVVgZmgUqZw2qASaFnRags5QoXMCX3vOQlIxlTkoK5waRRS1ZefXqe8SKw7arpyNLS70LPqQ8VtFIbblidyANI0uBQQe2VKKYY9P74yb25DvLppvgpUzYBAdlgamc79+9Kx+cYyljgBJzJRSIND3n3Cg56kV4Na9kFHBK92ERAuFsKJWz4j5e+VYxkmLJW7f1om22qLfD2gbW0IgWcxFuvQR4Fa1DMjEF3fBCj0bs1UXmDP3ouQKJWG40dM91ixJRZ7iJBiTxT8RJQW4PlGd4pydHV4vHjb1BkRBYfwdKYDBNxhd5R64R/FEfccySGjA+aMPpB4jzFrVgJ6Y6bX4MptLTAmDjx1uWjIpoeejewSg9JngN0FJps8IqsAzzRWOFvzrxaoa20cUgNuhrGFsMCgl+WKMnZ/lrXUe6BO2wlCHOi04Bc+YMMQT+i80Df5Ph6ZSq04P86Os0qddJ8/jhlTqFD2M1wF4muAgw1uosT/Eie9CjQ64Fx6jIeZpB5ju7I/ofnKPng/8k3ZllxaLOkppw2jdw4L1mKyuXH0jmN1L58e1eABScUxPQB1xNKRsiiuCITP7zube0G58x5SAcuTJAQGOT4TPk8ta5AV9s9qw3mQxPWHGVpIHNcnHBdCi0sU23DPB/seOVloGmB1TOrA1NBZbG0UjwuF+yOb/Pd78f90TT6T7Z/4/78ikV6ogMIWmw0yBtcsq/8AvbDsC40L81nE+cX/Cn3F2BGxZAFzWOc3uq9ThZOj9WVDb5DEf1PtSodiZ8AQ5vIzyfMgmWL9KPDgqprXSqrYUh3z/F+qM8/SgN++ZKuzTbzVgx5y+A/+whcOPz9tbI7j4dS+CR45NUEKCTHUQpxDD75iBpdeVNxY0KAXC6xtnsPi08f4BGz5BNPkkrMoH/HrZA+GWFw5yQ69uisyg0eS5MPG+jrZzUSJNEfzkA/4iiCFgOYRWY7S1FFSDXBsF0zOcWDzXe1qBOfw5vVXoBlV6PmBOJnWKlOQyfWYHGHq9rv8hRJEkYH07uUDW9SqGL1Zk1KvMTGFKj8agobyAlU1WZYOZGIw5rAwjH9UGm0dgvHEC2joPvg9ixSCRpFkDfuQWJ/gZ4sux/fX3helYlu/jNSykWPijiXPD/8xUqJY9UYvjrLTqo8iSPGtSP/LvewnzHw1OaKTLs/wZpSZUUD9NNeJ8h5rVbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NXHqY93CitSnVJcw4CxAa2",
      "input": {
        "note": "Empty close again: the wrist view shows the brick ~4 cm to the left of the closed jaws, still upright in the image. Opening and shifting 4 cm toward the tool's left at 3 cm height to centre the brick between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.3,
          "left_roll": 0.55,
          "left_x": 0.374,
          "left_y": -0.248,
          "left_yaw": -0.32,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NXHqY93CitSnVJcw4CxAa2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8276, 1.9606, 1.0817, -0.1238, -0.6209, 0.001, 0.9946, -0.0219, 0.8436, 0.5941, -0.4721, -0.0166, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3746 left_y=-0.2504 left_z=0.0258 left_yaw=-0.3066 left_pitch=-0.2997 left_roll=0.549 left_gripper=0.9946 right_x=0.2821 right_y=0.0003 right_z=0.1441 right_yaw=0.0065 right_pitch=-0.1518 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -11.2889, 4.9299, 1.1306, -0.4176, 0.1343, -0.0122, -0.1983, -1.4291, 6.9128, 1.6386, -0.0513, 0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36603a91b4eff2d924c8d2df4ddf3c8bfe5c017da495110a612ce9c55b207e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:793a049cf9ba4dd1532e6a642f5803f1e230ac1b0f9b61851c621f543de81651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5ff870ef83d2c98d5a7f3f937551f50935ea40cbc8be9336c82a73d03614ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 13.65 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]: [-0.9161, 2.0308, 1.1873, -0.2455, -0.7242, -0.1646, 0.9989, -0.0219, 0.8436, 0.5941, -0.4454, -0.0162, -0.0349, 0.9991]\nstate[eef_state]: left_x=0.3628 left_y=-0.2745 left_z=0.0262 left_yaw=-0.2283 left_pitch=-0.2718 left_roll=0.5597 left_gripper=0.9989 right_x=0.2864 right_y=0.0002 right_z=0.1491 right_yaw=0.0005 right_pitch=-0.1251 right_roll=0.0016 right_gripper=0.9991\nstate[joint_eff]: [-0.2393, -10.3316, 4.7385, 0.9988, -0.1099, 0.1929, -0.1245, -0.1299, -1.4564, 6.9402, 1.6728, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.9108, 2.0312, 1.1763, -0.1967, -0.6498, -0.0746, 0.0088, -0.0219, 0.8436, 0.5941, -0.4671, -0.0166, -0.0422, 0.9991]\nstate[eef_state]: left_x=0.3619 left_y=-0.2861 left_z=0.0202 left_yaw=-0.3238 left_pitch=-0.3065 left_roll=0.5453 left_gripper=0.0088 right_x=0.2829 right_y=0.0003 right_z=0.145 right_yaw=0.0048 right_pitch=-0.1468 right_roll=-0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.441, 5.5726, 1.2332, -0.2759, -0.0171, 0.6471, -0.2256, -1.2103, 6.9675, 1.7851, -0.0366, 0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8276, 1.9606, 1.0817, -0.1238, -0.6209, 0.001, 0.9946, -0.0219, 0.8436, 0.5941, -0.4721, -0.0166, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3746 left_y=-0.2504 left_z=0.0258 left_yaw=-0.3066 left_pitch=-0.2997 left_roll=0.549 left_gripper=0.9946 right_x=0.2821 right_y=0.0003 right_z=0.1441 right_yaw=0.0065 right_pitch=-0.1518 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -11.2889, 4.9299, 1.1306, -0.4176, 0.1343, -0.0122, -0.1983, -1.4291, 6.9128, 1.6386, -0.0513, 0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36603a91b4eff2d924c8d2df4ddf3c8bfe5c017da495110a612ce9c55b207e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:793a049cf9ba4dd1532e6a642f5803f1e230ac1b0f9b61851c621f543de81651",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5ff870ef83d2c98d5a7f3f937551f50935ea40cbc8be9336c82a73d03614ea5",
        "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_01QgdSkq11j2r276cWoVNjHW",
      "input": {
        "note": "The brick is now between the jaws near the fingertips but tilted ~30° clockwise from image-vertical. Rotating yaw by +0.5 about the grasp point to square the jaws across its short side before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.3,
          "left_roll": 0.55,
          "left_x": 0.374,
          "left_y": -0.25,
          "left_yaw": 0.2,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01QgdSkq11j2r276cWoVNjHW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8875, 2.2036, 1.5185, -0.5922, -0.7616, -0.4965, 0.9989, -0.0219, 0.8478, 0.5934, -0.4751, -0.0166, -0.046, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2782 left_z=0.027 left_yaw=0.021 left_pitch=-0.2874 left_roll=0.4902 left_gripper=0.9989 right_x=0.2816 right_y=0.0003 right_z=0.1421 right_yaw=0.007 right_pitch=-0.1598 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.335, -11.3162, 5.4906, 0.2418, -0.779, -0.0757, -0.1197, -0.0752, -1.5521, 7.1726, 1.5946, -0.0757, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf6e65badb6e24dd8f2f0c215c721c734ac86e7ddd997de611ce85315709ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216dfc825d4d1249f7b2111b51a9a1091edba52a828f38e3d66f5d33c48af42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e91102e16b94fedf14ea38d77be76c8d2301a050adaf9bae4797ce67ca09ccba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 6.143 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]: [-0.9108, 2.0312, 1.1763, -0.1967, -0.6498, -0.0746, 0.0088, -0.0219, 0.8436, 0.5941, -0.4671, -0.0166, -0.0422, 0.9991]\nstate[eef_state]: left_x=0.3619 left_y=-0.2861 left_z=0.0202 left_yaw=-0.3238 left_pitch=-0.3065 left_roll=0.5453 left_gripper=0.0088 right_x=0.2829 right_y=0.0003 right_z=0.145 right_yaw=0.0048 right_pitch=-0.1468 right_roll=-0.0032 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -10.441, 5.5726, 1.2332, -0.2759, -0.0171, 0.6471, -0.2256, -1.2103, 6.9675, 1.7851, -0.0366, 0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8276, 1.9606, 1.0817, -0.1238, -0.6209, 0.001, 0.9946, -0.0219, 0.8436, 0.5941, -0.4721, -0.0166, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3746 left_y=-0.2504 left_z=0.0258 left_yaw=-0.3066 left_pitch=-0.2997 left_roll=0.549 left_gripper=0.9946 right_x=0.2821 right_y=0.0003 right_z=0.1441 right_yaw=0.0065 right_pitch=-0.1518 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -11.2889, 4.9299, 1.1306, -0.4176, 0.1343, -0.0122, -0.1983, -1.4291, 6.9128, 1.6386, -0.0513, 0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8875, 2.2036, 1.5185, -0.5922, -0.7616, -0.4965, 0.9989, -0.0219, 0.8478, 0.5934, -0.4751, -0.0166, -0.046, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2782 left_z=0.027 left_yaw=0.021 left_pitch=-0.2874 left_roll=0.4902 left_gripper=0.9989 right_x=0.2816 right_y=0.0003 right_z=0.1421 right_yaw=0.007 right_pitch=-0.1598 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.335, -11.3162, 5.4906, 0.2418, -0.779, -0.0757, -0.1197, -0.0752, -1.5521, 7.1726, 1.5946, -0.0757, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cf6e65badb6e24dd8f2f0c215c721c734ac86e7ddd997de611ce85315709ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:216dfc825d4d1249f7b2111b51a9a1091edba52a828f38e3d66f5d33c48af42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91102e16b94fedf14ea38d77be76c8d2301a050adaf9bae4797ce67ca09ccba",
        "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_018Xx3N3zwiUvdxLr8CEJo5L",
      "input": {
        "note": "The rotation dragged the arm 3 cm right, leaving the brick between the jaws but offset left of the jaw column. Shifting 2 cm toward +y (tool left) to centre it before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.29,
          "left_roll": 0.49,
          "left_x": 0.388,
          "left_y": -0.256,
          "left_yaw": 0.0,
          "left_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_018Xx3N3zwiUvdxLr8CEJo5L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8764, 2.167, 1.4433, -0.638, -0.7998, -0.59, 0.9989, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3762 left_y=-0.2483 left_z=0.0244 left_yaw=0.1137 left_pitch=-0.2816 left_roll=0.5182 left_gripper=0.9989 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [1.2923, -10.7692, 5.3812, 0.8376, -0.188, 0.1343, -0.1245, -0.0752, -1.0735, 6.9128, 1.6093, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c427cd335811b1f8442f0af908c29d2ca43c5009a8230de677d634d9afce4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6853f31993bf654e34489254aeb924475fe0ad5865feac347b7adb88043e55c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fac125e4c8ee91041369fbbd5c24f2c08e8ab41b75849a3374c3756efe10df03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 11.52 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]: [-0.8276, 1.9606, 1.0817, -0.1238, -0.6209, 0.001, 0.9946, -0.0219, 0.8436, 0.5941, -0.4721, -0.0166, -0.0452, 0.9991]\nstate[eef_state]: left_x=0.3746 left_y=-0.2504 left_z=0.0258 left_yaw=-0.3066 left_pitch=-0.2997 left_roll=0.549 left_gripper=0.9946 right_x=0.2821 right_y=0.0003 right_z=0.1441 right_yaw=0.0065 right_pitch=-0.1518 right_roll=-0.0053 right_gripper=0.9991\nstate[joint_eff]: [0.4855, -11.2889, 4.9299, 1.1306, -0.4176, 0.1343, -0.0122, -0.1983, -1.4291, 6.9128, 1.6386, -0.0513, 0.0024, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8875, 2.2036, 1.5185, -0.5922, -0.7616, -0.4965, 0.9989, -0.0219, 0.8478, 0.5934, -0.4751, -0.0166, -0.046, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2782 left_z=0.027 left_yaw=0.021 left_pitch=-0.2874 left_roll=0.4902 left_gripper=0.9989 right_x=0.2816 right_y=0.0003 right_z=0.1421 right_yaw=0.007 right_pitch=-0.1598 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.335, -11.3162, 5.4906, 0.2418, -0.779, -0.0757, -0.1197, -0.0752, -1.5521, 7.1726, 1.5946, -0.0757, -0.0122, -0.0122]",
      "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]: [-0.8764, 2.167, 1.4433, -0.638, -0.7998, -0.59, 0.9989, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3762 left_y=-0.2483 left_z=0.0244 left_yaw=0.1137 left_pitch=-0.2816 left_roll=0.5182 left_gripper=0.9989 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [1.2923, -10.7692, 5.3812, 0.8376, -0.188, 0.1343, -0.1245, -0.0752, -1.0735, 6.9128, 1.6093, -0.0513, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c427cd335811b1f8442f0af908c29d2ca43c5009a8230de677d634d9afce4c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6853f31993bf654e34489254aeb924475fe0ad5865feac347b7adb88043e55c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fac125e4c8ee91041369fbbd5c24f2c08e8ab41b75849a3374c3756efe10df03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Brick is now squarely between the jaws and upright in the wrist view — closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MnKYEiJTdSp9fAEFy6bafM",
      "input": {
        "note": "The brick now sits between the jaws, nearly vertical in the wrist view and spanning the jaw column at fingertip range. Closing the gripper to grasp it across its short side.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MnKYEiJTdSp9fAEFy6bafM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8772, 2.1506, 1.43, -0.6342, -0.8082, -0.5919, 0.0092, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3755 left_y=-0.2462 left_z=0.0288 left_yaw=0.1153 left_pitch=-0.2704 left_roll=0.5155 left_gripper=0.0092 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -10.0171, 7.0906, 0.6276, -0.3346, 0.0024, 0.5934, 0.0752, -1.4838, 6.9402, 1.5995, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a04dbd7dd860196ccdd52f09a39787c91c44cd7c9d4440368208dac2afa9b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cb5c8e578b4ed94616d0be7ca0070e6db450b1bcd3decbb681ee361f6895112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ece74e91338f4a39c2869f42e765c82d90e1c3dca6ac5c551d8836d335f91cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 14.89 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]: [-0.8875, 2.2036, 1.5185, -0.5922, -0.7616, -0.4965, 0.9989, -0.0219, 0.8478, 0.5934, -0.4751, -0.0166, -0.046, 0.9991]\nstate[eef_state]: left_x=0.3883 left_y=-0.2782 left_z=0.027 left_yaw=0.021 left_pitch=-0.2874 left_roll=0.4902 left_gripper=0.9989 right_x=0.2816 right_y=0.0003 right_z=0.1421 right_yaw=0.007 right_pitch=-0.1598 right_roll=-0.0057 right_gripper=0.9991\nstate[joint_eff]: [0.335, -11.3162, 5.4906, 0.2418, -0.779, -0.0757, -0.1197, -0.0752, -1.5521, 7.1726, 1.5946, -0.0757, -0.0122, -0.0122]",
      "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]: [-0.8764, 2.167, 1.4433, -0.638, -0.7998, -0.59, 0.9989, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3762 left_y=-0.2483 left_z=0.0244 left_yaw=0.1137 left_pitch=-0.2816 left_roll=0.5182 left_gripper=0.9989 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [1.2923, -10.7692, 5.3812, 0.8376, -0.188, 0.1343, -0.1245, -0.0752, -1.0735, 6.9128, 1.6093, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.8772, 2.1506, 1.43, -0.6342, -0.8082, -0.5919, 0.0092, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3755 left_y=-0.2462 left_z=0.0288 left_yaw=0.1153 left_pitch=-0.2704 left_roll=0.5155 left_gripper=0.0092 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -10.0171, 7.0906, 0.6276, -0.3346, 0.0024, 0.5934, 0.0752, -1.4838, 6.9402, 1.5995, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a04dbd7dd860196ccdd52f09a39787c91c44cd7c9d4440368208dac2afa9b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cb5c8e578b4ed94616d0be7ca0070e6db450b1bcd3decbb681ee361f6895112",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ece74e91338f4a39c2869f42e765c82d90e1c3dca6ac5c551d8836d335f91cbb",
        "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_01XumiWmzwdYA7BycQrEYgjR",
      "input": {
        "note": "Empty close: the wrist view shows the brick directly beyond the closed jaw tips, and the grasp point at z=0.029 was likely above the brick's top. Opening, advancing 2 cm forward and descending to table level so the jaws straddle the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.27,
          "left_roll": 0.51,
          "left_x": 0.395,
          "left_y": -0.246,
          "left_yaw": 0.11,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XumiWmzwdYA7BycQrEYgjR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8474, 2.1864, 1.4311, -0.5159, -0.8406, -0.5648, 0.994, -0.0216, 0.8494, 0.5934, -0.4751, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3974 left_y=-0.2458 left_z=0.0239 left_yaw=0.1275 left_pitch=-0.2052 left_roll=0.4816 left_gripper=0.994 right_x=0.2817 right_y=0.0004 right_z=0.1417 right_yaw=0.0075 right_pitch=-0.1614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -7.7197, 6.4479, 0.5739, -0.0366, 0.2857, 0.0562, -0.0889, -1.2923, 7.1179, 1.5995, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79355e030d4666ff6b234c0d650e964941dfd67cd2378670a1f4f3bb90bc7098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a344961736b43ebbfd1234d3047e6a2927332634b4799fb08f3d48db1f480bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efdf5535aa2d850ab9b4b8a84e20602c083799b74dbc492e78b987a15eb64d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 9.599 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]: [-0.8764, 2.167, 1.4433, -0.638, -0.7998, -0.59, 0.9989, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3762 left_y=-0.2483 left_z=0.0244 left_yaw=0.1137 left_pitch=-0.2816 left_roll=0.5182 left_gripper=0.9989 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [1.2923, -10.7692, 5.3812, 0.8376, -0.188, 0.1343, -0.1245, -0.0752, -1.0735, 6.9128, 1.6093, -0.0513, -0.0708, -0.0122]",
      "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]: [-0.8772, 2.1506, 1.43, -0.6342, -0.8082, -0.5919, 0.0092, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3755 left_y=-0.2462 left_z=0.0288 left_yaw=0.1153 left_pitch=-0.2704 left_roll=0.5155 left_gripper=0.0092 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -10.0171, 7.0906, 0.6276, -0.3346, 0.0024, 0.5934, 0.0752, -1.4838, 6.9402, 1.5995, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8474, 2.1864, 1.4311, -0.5159, -0.8406, -0.5648, 0.994, -0.0216, 0.8494, 0.5934, -0.4751, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3974 left_y=-0.2458 left_z=0.0239 left_yaw=0.1275 left_pitch=-0.2052 left_roll=0.4816 left_gripper=0.994 right_x=0.2817 right_y=0.0004 right_z=0.1417 right_yaw=0.0075 right_pitch=-0.1614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -7.7197, 6.4479, 0.5739, -0.0366, 0.2857, 0.0562, -0.0889, -1.2923, 7.1179, 1.5995, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79355e030d4666ff6b234c0d650e964941dfd67cd2378670a1f4f3bb90bc7098",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a344961736b43ebbfd1234d3047e6a2927332634b4799fb08f3d48db1f480bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efdf5535aa2d850ab9b4b8a84e20602c083799b74dbc492e78b987a15eb64d22",
        "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_01GRdGsgmRvTHt1mB4qGNHfe",
      "input": {
        "note": "The descent stopped at z=0.024 — the open jaws are resting on the brick, which is tilted ~30° so it spans the full jaw opening. Lifting to 5 cm and rotating yaw to +0.6 to square the jaws across its short side.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.2,
          "left_roll": 0.48,
          "left_x": 0.397,
          "left_y": -0.246,
          "left_yaw": 0.6,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GRdGsgmRvTHt1mB4qGNHfe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8547, 2.516, 2.0991, -1.0634, -0.8536, -1.0782, 0.999, -0.0216, 0.8528, 0.5934, -0.4759, -0.0166, -0.0467, 0.9991]\nstate[eef_state]: left_x=0.4307 left_y=-0.2867 left_z=0.037 left_yaw=0.4203 left_pitch=-0.1766 left_roll=0.2958 left_gripper=0.999 right_x=0.2816 right_y=0.0004 right_z=0.1406 right_yaw=0.0078 right_pitch=-0.1656 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -12.8615, 5.6274, 0.1294, -0.5104, -0.1294, -0.1197, -0.0752, -1.7162, 6.8991, 1.5946, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ec1af96a9436eb9ea0156b7de72f5e3ca393b8e6d8f8b2c44c5bcbb5aedf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8d0154057eccf87dd84635ad8c84705a66d7b39c869bcbf8ad0a8c8751c1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e21abc85d53d9a3df88d3ba50884794fcc69070f64e1c44dd32aae6743158d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 9.106 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]: [-0.8772, 2.1506, 1.43, -0.6342, -0.8082, -0.5919, 0.0092, -0.0219, 0.8494, 0.5934, -0.4747, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3755 left_y=-0.2462 left_z=0.0288 left_yaw=0.1153 left_pitch=-0.2704 left_roll=0.5155 left_gripper=0.0092 right_x=0.2817 right_y=0.0003 right_z=0.1417 right_yaw=0.0072 right_pitch=-0.161 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.0342, -10.0171, 7.0906, 0.6276, -0.3346, 0.0024, 0.5934, 0.0752, -1.4838, 6.9402, 1.5995, -0.0562, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8474, 2.1864, 1.4311, -0.5159, -0.8406, -0.5648, 0.994, -0.0216, 0.8494, 0.5934, -0.4751, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3974 left_y=-0.2458 left_z=0.0239 left_yaw=0.1275 left_pitch=-0.2052 left_roll=0.4816 left_gripper=0.994 right_x=0.2817 right_y=0.0004 right_z=0.1417 right_yaw=0.0075 right_pitch=-0.1614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -7.7197, 6.4479, 0.5739, -0.0366, 0.2857, 0.0562, -0.0889, -1.2923, 7.1179, 1.5995, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8547, 2.516, 2.0991, -1.0634, -0.8536, -1.0782, 0.999, -0.0216, 0.8528, 0.5934, -0.4759, -0.0166, -0.0467, 0.9991]\nstate[eef_state]: left_x=0.4307 left_y=-0.2867 left_z=0.037 left_yaw=0.4203 left_pitch=-0.1766 left_roll=0.2958 left_gripper=0.999 right_x=0.2816 right_y=0.0004 right_z=0.1406 right_yaw=0.0078 right_pitch=-0.1656 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -12.8615, 5.6274, 0.1294, -0.5104, -0.1294, -0.1197, -0.0752, -1.7162, 6.8991, 1.5946, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ec1af96a9436eb9ea0156b7de72f5e3ca393b8e6d8f8b2c44c5bcbb5aedf15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc8d0154057eccf87dd84635ad8c84705a66d7b39c869bcbf8ad0a8c8751c1a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e21abc85d53d9a3df88d3ba50884794fcc69070f64e1c44dd32aae6743158d89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpgoKEAgRGAI4AUIIdGhpbmtpbmcSDHaR23NxUzR1XsD+mBoM8v454XI9ctwOygKTIjD1+tpAqUBrRjF9RbS4LN0CZ1GVp4ElAHiC96cb/Z6QDcehj1FKZr0kkF4eKvTYJnMqwwmq2ej7Lwy0a/Oj5eJrelhn9E7ex5vwotPp8m8VeLLrOA7oJD9Sl1rtbO3KyI9ZrjQwS1Dsig8gprDBjQIFCwI/bT3SNRIVcjN9AaSOER31k5t/bkStuTcrg1i3G/if6YdmR6vMirnP0/Fv7YxrpY2wNfTyj0AQqLCPRW4YkqAjEd6p6rf0ijG+ob9o1Y7hnZTQnMzW5LoVyctgRE9dGeN0ggDpJpbR06I+7TaGNJjVpFOJvQ9N7PM25T7ClxAuLHbX0WoxH6OiLzp+LObZjESbGKCdFFV+QyRSkAPmgW9+XTj2y+ESLc4HTAECvbXhF9yWpr2mjzzM53iRG3lcMCWIbLOviifjI8A+pYYXafUDFTgsUDIonCiV/1CpFwXLbTS6Ej8D1jW29tvow7b3S3JhcJX1RXUQoTmLcAopRhSGhDrQaKfdmOzZN0ZxRSz/Mm1qKKZ4+9IlHpn3W7kIeVWm1vVrnpr1I6BtgTIgRlSvyqGl7QwqD8RvTH8pm2jjUaQcwaRDs0FYhGgCz301qthsMfV7y4+ZlwXd8iJcGBgigyyCmIyE/IChO0mFqNpB23EsKwBB40lVNKnDp6PyIGL+NuvOoajrO6PLNH2sFDjLHDhwfqhuwwXmtLEf1sp/FwkrrttIstiHI2Pyb+beVIYuKN3Zi8E/G3DEVyyIDRuf9SVHa2NRggsKJ4IQDrxcQpNeaFz+cgpPmFdzzxCwWK9RMdUlIVMCsYeml0xyzx40Gkn1BvO2N+mQ3oedITPb+JRkguHKh1WrgaywYb8TPlcLKpmlEXP3L9SD7vG6JKocN/M/4YbESkCbIqFRpE54JFa/MjG2bZKIIURLq/46YfU2iQ+yGwEAGKRpb986EjUOsBrmRiSm8arTIxfrNEz3lhZbLykE+03pE/XvT4QNMENqPMBXlj3YcdY2t4oegUhZRjm4WWjjoy3LVAIB5A0WIy60a1l9P0/5E2rHSNXaWU/SMgh18z8HCrCFy5SlJAPbUsCkhrfM3+Ts7PZne9aRV+SU4ai+TBKjA8c1grY9dsCWbMY/XsMitm4XukxcOdyaJddcSwv0SWFbi1ZlnERguTYiCLEiOdpE1J7Q8FXEaZuLrgckbDmV/nR+/ZOvao7J5tJDm7IRZbLRHB2XqgLobHFu1LJyUfOUatIaaQxK1Nl/NUwE7rnpQozYdp6nL2zwzMUGshNFxWVsxI4yuRApiQepMAntubwm15E3wM2eUASeD2wQNejjDgMXMhVlvDM/MgcJ2MufSVDdMlaj+m6IaRzar84QWUiAE3ptddlXnlxZ1ABBO4Ok3ec+5yV8Ay1HXc0sVfvloiEnj8dJeOOLQWjW8/JSJYWC6s5dtwJ/N0m28UnxEydhb+2QFD5jLsdd1SpvixU+LDJhfvXzyUGZmd9jh7NV3Ysq1Iknnb6v8k51aWG9VbX0foM5bvhpSvxHI432cjNwQIUCmzNvjsNSMk9detA9YK0Es1R9FB0hnNiC5vAggn87NnaDw1/FwasZtvp2qVWGQJ00CQq6qQ/OczQVVcGXhHv3imSshoQm9yGBOvB5Mre/sNLjobO9fXyhV+gLTuWRAh5B1oxgC7tQRk/zYop6NbAHUymMvPHm/oiTxiDUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NMMpVua7hedcXGAvcjHpHo",
      "input": {
        "note": "The yaw change again dragged the grasp point ~4 cm forward-right, putting the brick at the lower-left of the wrist view next to the pot. Holding the current orientation and moving back over the brick's measured position at 3.5 cm height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.18,
          "left_roll": 0.3,
          "left_x": 0.395,
          "left_y": -0.24,
          "left_yaw": 0.42,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NMMpVua7hedcXGAvcjHpHo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8501, 2.3184, 1.6756, -0.9131, -0.8513, -1.0874, 0.9989, -0.0216, 0.8551, 0.5934, -0.4747, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.2362 left_z=0.0205 left_yaw=0.4431 left_pitch=-0.1985 left_roll=0.362 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1402 right_yaw=0.009 right_pitch=-0.1667 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -14.735, 6.106, 0.6911, -0.4371, 0.0366, -0.1245, -0.0615, -1.4564, 6.8991, 1.619, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94fcd18e44827810ef681f1ee40d1411548a4681389f169bbca9cb90d979765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e8505430ee160990f6623848bb592ba7f09898be0e552be3f29547ab4b9134",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5340063b2ce2c0cf2e0f8dc1db4f1a7e4f2c7cf0f309b35e78ad7ccc43aeba3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 14.93 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]: [-0.8474, 2.1864, 1.4311, -0.5159, -0.8406, -0.5648, 0.994, -0.0216, 0.8494, 0.5934, -0.4751, -0.0166, -0.0463, 0.9991]\nstate[eef_state]: left_x=0.3974 left_y=-0.2458 left_z=0.0239 left_yaw=0.1275 left_pitch=-0.2052 left_roll=0.4816 left_gripper=0.994 right_x=0.2817 right_y=0.0004 right_z=0.1417 right_yaw=0.0075 right_pitch=-0.1614 right_roll=-0.0059 right_gripper=0.9991\nstate[joint_eff]: [0.5949, -7.7197, 6.4479, 0.5739, -0.0366, 0.2857, 0.0562, -0.0889, -1.2923, 7.1179, 1.5995, -0.0611, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.8547, 2.516, 2.0991, -1.0634, -0.8536, -1.0782, 0.999, -0.0216, 0.8528, 0.5934, -0.4759, -0.0166, -0.0467, 0.9991]\nstate[eef_state]: left_x=0.4307 left_y=-0.2867 left_z=0.037 left_yaw=0.4203 left_pitch=-0.1766 left_roll=0.2958 left_gripper=0.999 right_x=0.2816 right_y=0.0004 right_z=0.1406 right_yaw=0.0078 right_pitch=-0.1656 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -12.8615, 5.6274, 0.1294, -0.5104, -0.1294, -0.1197, -0.0752, -1.7162, 6.8991, 1.5946, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8501, 2.3184, 1.6756, -0.9131, -0.8513, -1.0874, 0.9989, -0.0216, 0.8551, 0.5934, -0.4747, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.2362 left_z=0.0205 left_yaw=0.4431 left_pitch=-0.1985 left_roll=0.362 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1402 right_yaw=0.009 right_pitch=-0.1667 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -14.735, 6.106, 0.6911, -0.4371, 0.0366, -0.1245, -0.0615, -1.4564, 6.8991, 1.619, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b94fcd18e44827810ef681f1ee40d1411548a4681389f169bbca9cb90d979765",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e8505430ee160990f6623848bb592ba7f09898be0e552be3f29547ab4b9134",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5340063b2ce2c0cf2e0f8dc1db4f1a7e4f2c7cf0f309b35e78ad7ccc43aeba3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6AkKEAgRGAI4AUIIdGhpbmtpbmcSDLsyb8x9UsT4R0+ekxoMSBTFtvsxp+lYpHPmIjCTmvdBq8OrhUr0qdJ7PQWk7dnMCCMyTjPorp3LX08yMDHk8Vl3xvNKkEkzYqFrpw4qhQmDNfJvPdr6XwbOQguN55a2dI9t98HLOIgKDYSxLfEzQPg7tIm+fZkRVymsTiVlBia9XhvMxTYd+EhL/RSrIPZdIaMJBSElEEALDfVX6/SMVDG8o5I121R0Ea4HS9nOPwsSUlk+w82NTayhh0pbLVyE/TXjyVzZiGX6JRgPUFXq8GeetUu/8ZyIPHIxiuiLZFx6KwhltwqFYd1cit4tcY7agGJ27tsNo2IE27GhnJNMWOY4fR5BVxQ+Fp7WCpu5GTjz1rATwN71ILwopu0+0YmUE36+5fZiuUePm2aaJGoelJhvxl9/brOl5YL6PhjoYLoN6kqBKdpIS4T1TqIkq/puXLyCMLKzQBXLqHhDna9MfdUfQl8hwRVNCiMRbjd1UfwEjqYkD6O4RWDR8dUd/4e/j9gQov+elXmD78srFTVD6+8DKg0+/wlM+ffZ6K6vtKm40ceBUlQklfmAxYBN66h3Xi5yS1X7zlINSO6ZXVxGBYSj+2aQVPZ1l1Z9UcUVv+MCxYCKkJCAe67wHOkco9w8xumGG6hnezC69uH9GYqKVigkfZ2yhwtxHwR9G7wHRtprmEAdzztP3yDrMXxtUBV0+E4d98Pj/9vp1Wcwd6yOizfYOTdd1FdC1U21lSQ0yk/cmu+DhvEmcc1QKJnHVQYyJH6kP/F5HqIg/qAvud2opgmDvS365aM/Gt6zbH23zZP+05rXE0ION90kwX37zdF8ls17sYhaYkzq0dG49lyPUMaV1xbyUzgjJMsq94oebRpdKsi8eKTG7D0N1iItuDUCpgQY1FZ4PXoC42m/Fh2SfNPYTINoM5/WBU76vGQjxhqVrK/i03QJSfO3DWEeCanbUjSziqhsza09037x5NvQ/YEOFEzUkZrkmkZwU2dQt6fWbhucUcysXZkadLgyqi1y32tq0NmOy1WJeI7rJPTa1xhQjF8Ss5voF+IE+/hEF38NLVpUfyAaVxQ+JK2phPoVZn4WnPe/AjxsClmK7XoiaLXI2DoiP51Tffz/Q2OM3JsMYcuF4BwA/MSJ4AdtJSRCDkeb+jebv66hzMToQEDRsTgX28c/XRB2i5Hg8LPbTkYuaLghxXvs7AZGyl7UwLuqppaU4m/umiaAvz8opgKCIi5g94xovpPpt54ro0jnf2SiewJuQ7eUuQgsaWveiUE0Y1sDgALNRSFIT/IcmZ1i5a7fH9O1sBRl4uZXsFI9gcjBs31AMho7YpvLikRHjXLkxE1Np4PGMTB8ZTOrId67hOnwnoxZjdBBCPDf3IqtKb2Ay4OnrPnZGGi7CPWa8haf0xtjsi573yzWRh420qd2uk6oqMI3hZM9vuyY4Y65TYI2eikWWxwHSTGbiAbBfBjRRgFKqJjdLluJc+JcgpNSRp9qC58yGpmNgHTqRMYdZd72tdd8Fxw+fPTCdwbtBjfadzNDjlpQOyiV/dU6RfRNHRx5YnahD7EnPP4WpCo+Dmo4a9NvhGBFzHoPapyPnpGkamOfo3/oCNRZSRL3gmu27yPT/0leI1fyBX6Out0rUPn/DbS9HBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6cJxeQJyaU2fqS8wwztdT",
      "input": {
        "note": "The brick now fills the wrist view between the two jaws with its near end straddled by the fingertips. Lowering to 1 cm and closing the gripper.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": -0.2,
          "left_roll": 0.36,
          "left_x": 0.389,
          "left_y": -0.236,
          "left_yaw": 0.44,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F6cJxeQJyaU2fqS8wwztdT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8528, 2.3039, 1.6569, -0.8768, -0.894, -1.0855, 0.009, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3937 left_y=-0.2359 left_z=0.028 left_yaw=0.4374 left_pitch=-0.149 left_roll=0.3441 left_gripper=0.009 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.1128, 5.6957, 0.2515, -0.0122, 0.0073, 0.6471, -0.1573, -1.4017, 6.9128, 1.5702, -0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa58c6d3ba7ecd0c4f80084dfc276bd753e2a939a470f4101553711bcdeda586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2610e1e6c2840fc127f05337eb59bf9e8505682a763aa2adee0557fbe280031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:858d34baf3189be55be1a95a353bf79caed806f5ba2dfff5df39c8024ba2ee1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 8.854 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]: [-0.8547, 2.516, 2.0991, -1.0634, -0.8536, -1.0782, 0.999, -0.0216, 0.8528, 0.5934, -0.4759, -0.0166, -0.0467, 0.9991]\nstate[eef_state]: left_x=0.4307 left_y=-0.2867 left_z=0.037 left_yaw=0.4203 left_pitch=-0.1766 left_roll=0.2958 left_gripper=0.999 right_x=0.2816 right_y=0.0004 right_z=0.1406 right_yaw=0.0078 right_pitch=-0.1656 right_roll=-0.0061 right_gripper=0.9991\nstate[joint_eff]: [-0.0752, -12.8615, 5.6274, 0.1294, -0.5104, -0.1294, -0.1197, -0.0752, -1.7162, 6.8991, 1.5946, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8501, 2.3184, 1.6756, -0.9131, -0.8513, -1.0874, 0.9989, -0.0216, 0.8551, 0.5934, -0.4747, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.2362 left_z=0.0205 left_yaw=0.4431 left_pitch=-0.1985 left_roll=0.362 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1402 right_yaw=0.009 right_pitch=-0.1667 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -14.735, 6.106, 0.6911, -0.4371, 0.0366, -0.1245, -0.0615, -1.4564, 6.8991, 1.619, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8528, 2.3039, 1.6569, -0.8768, -0.894, -1.0855, 0.009, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3937 left_y=-0.2359 left_z=0.028 left_yaw=0.4374 left_pitch=-0.149 left_roll=0.3441 left_gripper=0.009 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.1128, 5.6957, 0.2515, -0.0122, 0.0073, 0.6471, -0.1573, -1.4017, 6.9128, 1.5702, -0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa58c6d3ba7ecd0c4f80084dfc276bd753e2a939a470f4101553711bcdeda586",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2610e1e6c2840fc127f05337eb59bf9e8505682a763aa2adee0557fbe280031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858d34baf3189be55be1a95a353bf79caed806f5ba2dfff5df39c8024ba2ee1f",
        "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_01QBWbs3D88oX7rVNb8Wyb2J",
      "input": {
        "note": "Another empty close with the brick sitting just beyond the closed jaw tips, so the brick is further out than the wrist image suggests. Opening, advancing ~3.5 cm along the tool's forward axis and pressing down to table level to straddle the brick.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.15,
          "left_roll": 0.34,
          "left_x": 0.425,
          "left_y": -0.222,
          "left_yaw": 0.44,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QBWbs3D88oX7rVNb8Wyb2J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7879, 2.3444, 1.6493, -0.6933, -0.9245, -1.0107, 0.9943, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.429 left_y=-0.2262 left_z=0.0167 left_yaw=0.4526 left_pitch=-0.0921 left_roll=0.2815 left_gripper=0.9943 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [0.6085, -8.5675, 5.2308, 0.3687, -0.0317, 0.2662, -0.1343, -0.0615, -1.4154, 7.0496, 1.5653, -0.0806, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd615e91d07166bbd243915213c45f37bc7fbef89399ad89bf443665052c5856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6d0744afa7352e304226f176c8989cb41dc79c9d2e620bc8ac1929c50a0966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:277e5ad11b911b074560cf9294917715139f6dc2b0da9991a924d3e2d91d34f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 17.13 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]: [-0.8501, 2.3184, 1.6756, -0.9131, -0.8513, -1.0874, 0.9989, -0.0216, 0.8551, 0.5934, -0.4747, -0.0166, -0.049, 0.9991]\nstate[eef_state]: left_x=0.389 left_y=-0.2362 left_z=0.0205 left_yaw=0.4431 left_pitch=-0.1985 left_roll=0.362 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1402 right_yaw=0.009 right_pitch=-0.1667 right_roll=-0.0078 right_gripper=0.9991\nstate[joint_eff]: [0.3077, -14.735, 6.106, 0.6911, -0.4371, 0.0366, -0.1245, -0.0615, -1.4564, 6.8991, 1.619, -0.0855, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.8528, 2.3039, 1.6569, -0.8768, -0.894, -1.0855, 0.009, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.3937 left_y=-0.2359 left_z=0.028 left_yaw=0.4374 left_pitch=-0.149 left_roll=0.3441 left_gripper=0.009 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [-0.0205, -10.1128, 5.6957, 0.2515, -0.0122, 0.0073, 0.6471, -0.1573, -1.4017, 6.9128, 1.5702, -0.0562, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7879, 2.3444, 1.6493, -0.6933, -0.9245, -1.0107, 0.9943, -0.0216, 0.8551, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.429 left_y=-0.2262 left_z=0.0167 left_yaw=0.4526 left_pitch=-0.0921 left_roll=0.2815 left_gripper=0.9943 right_x=0.2818 right_y=0.0004 right_z=0.1402 right_yaw=0.0092 right_pitch=-0.1671 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [0.6085, -8.5675, 5.2308, 0.3687, -0.0317, 0.2662, -0.1343, -0.0615, -1.4154, 7.0496, 1.5653, -0.0806, -0.0562, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd615e91d07166bbd243915213c45f37bc7fbef89399ad89bf443665052c5856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c6d0744afa7352e304226f176c8989cb41dc79c9d2e620bc8ac1929c50a0966",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277e5ad11b911b074560cf9294917715139f6dc2b0da9991a924d3e2d91d34f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8QkKEAgRGAI4AUIIdGhpbmtpbmcSDKj8mX91lA5j47tjwxoMVC6+sbl5A2G+M7AqIjArT8iMEYkMeDDxhGrCCZUN6IgWllBJLvN+BZgir6uFtqn7P6xG1c6vlGgu/oLNaZ8qjgkFIt3OigITthpcdnqg/gHjhpk0s83YlJOZvaDglKtAWUgbFCPgwz/gKeknegm2TTQKNSNuOM/khR0m+JCU50ianH3cGnu5IZBRoJOlUpZlr7mpkdOIHRd8lauuuemP/Jd/fGwVW3XJrX5RVltbZnYTJ0xHJRAp0JQ5Ego3WECrTDQqCCWZbatWkz3NecBPg81UM+IahTRcT/x7Pkbd2hV1zvKa06d4w/oZN0bLV0cZIUTJTNJ41f/85gT8rCcG8vJBLDIuSWb/gre5IEOumKZw7YPN0PKyELjDSIDc0ol8SPSTQCZp/DPWb69i4TGti0CiTri2ldmJDo6xUkjovGWi1nJCEA2gmo+VF56eZK23jx0OyVuqvsqNqHAlN4LO15VSKYWoOPH3PpGj6Pb7bPxOGt8rCRQ9wJTo217Gk7PeJ8060Zla76wQjlnwfaAlnR2Mm/26IvuBKTWfOvxzaTggWZE5Rmhw/5m0tkB3RbUlkjfHI52oofo/JGFxiaOyOB55snWDhcfLPRhcLcohqPUZsOU3U6wF+jUkc0RaQ4aUaNpVzC22IMB72+m6BNvJS+iHjK7WLGAdbhd8YI9Dvtpktq30Td5HpGW71iEHCP5KFRoUxr3+gEHUAYlbFpuJGGHZPiEDMT2NmNp7NYw1z3vjbXTypTh1On8mG5b6+UKIj3CLdZoOerkl3dXLGGX+4WgKzG7Nb/5kvieVA3B0vbOgrVBjKQs1wv8OzkNSlUxUaeRC2WXvy+LJr6GiJaS+J/BUq9FV2trawbyA2j1MyXrpqOn+UJA1O4ObsD++KqWeamM44SIwlrFRZxTqyXyEBGBu2CEuAQxmInm7WXjqmrRueIKwJNedFKAR/as7gKGN15EQi1SDdhIfZZveFAaeT4QVx2vqAipRQ/RHJqJY/UHeIUnSlSdeOUtRhjLORBcy/elQ2W32+rB7lS0gQKtwEFxRXg3pd3GXnGqrxayeuL7qtLyZ/7aaFOPMMCxn9p04KR7wuMv0QZiwqLWra4HQUIlcBxRD6imDfnui6lEADzXEKr4wEJ3yMBkdLyAUdj6r496LmcQCvsVA1ggt1KuGx2aGVBB5CoaBoJXtwp08gGgxBh1KcyzcBCiUrR3zil87YnVzFp12z0CJW6tM6ETJDamkXdVFIKx+nEIx1P3m+nyM+iGzxdY/bnYIg/81TRIh7RE2NUc7G9a2zobkydnKsTJ2EPnMmwG1wtN2BTpISd3iby6TUA2Uu5VavlX1pcSyr275jnjn9Q5xYpKaeU/41w3YclxusRdFz/RtOVAks9LCtQQMM7gEFtVR3xYL1fR3xBRVZuOVtXlQj2AvbcySmgyiMP4C3ioiV0rqnLAlMQ1pupm60cBHOaaunBA4xCvmAEGQ4a9jN5LCxYHo+MRKwpcLgHeKZR/vuzc/vJ2jBRigdynImsXonk00zKBj8r9XcITUNryra6yQDzOf2svvY0qfD2OgAELJFgxHJEgvr2mg8zWuYURsdhXNaGnPlohPIbkk5Itm9cN7xw2gT7cB6TJFbT0syCyqT/ClX0GnWhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016WJdXeC8eqH2a7KcP3JDLG",
      "input": {
        "note": "The brick is now at the lower-left of the wrist view, under the left jaw, and the descent stopped on it at z=0.017. Shifting ~4 cm toward the tool's left so the brick sits between the jaws, pressing to table level.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": -0.09,
          "left_roll": 0.28,
          "left_x": 0.412,
          "left_y": -0.19,
          "left_yaw": 0.45,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_016WJdXeC8eqH2a7KcP3JDLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.7712, 2.257, 1.4269, -0.4648, -0.9699, -0.9871, 0.9989, -0.0216, 0.8566, 0.5934, -0.4751, -0.0166, -0.0494, 0.9991]\nstate[eef_state]: left_x=0.4218 left_y=-0.2017 left_z=0.0126 left_yaw=0.4631 left_pitch=-0.023 left_roll=0.2268 left_gripper=0.9989 right_x=0.2819 right_y=0.0004 right_z=0.1398 right_yaw=0.0093 right_pitch=-0.1686 right_roll=-0.008 right_gripper=0.9991\nstate[joint_eff]: [1.1829, -10.4684, 3.3846, 0.2662, 0.1734, 0.2857, -0.1294, -0.0342, -1.5795, 6.8855, 1.6532, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd5b2a3958ad4e3e1dac08172eb33dbf1da3cdeee834785ca62d4e140548ac4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54683706cad3af2e44d4b652712671a0c4e9f71919a820ee24bbe2fd55e098d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c85493129241104c6eb0ec085d946278583bd17ecfb9a5a2d95082613bc971a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]