adhoc - adhoc_c0237b74.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: 565.5 s
total steps: 324

operator

scenes

trials

errored

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a

Trial 0 transcript

Run video

step 0

system

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

user

Goal: put the black brick into the pot of water

Raw transcript

system

user

Goal: put the black brick into the pot of water

step 0

assistant

agent noteThe black brick sits ahead of the right arm (slightly left of the jaw column in the right wrist camera, tilted ~30°), with the pot to the left. Flying the right arm above the brick and yawing so the jaws close across its short side.

move_to

right_x0.4000right_y0.0300right_z0.1500right_yaw1.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.794, 0.6037, -0.3813, -0.0227, -0.0414, 0.9995, -0.0204, 0.7921, 0.6014, -0.379, -0.0154, -0.033, 0.9984] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0003 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984 state[joint_eff]: [-0.4718, -1.4427, 10.1538, 1.7753, -0.0366, 0.2808, -0.0611, -0.4855, -1.3333, 10.3453, 1.9267, -0.105, 0.2222, -0.1783] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.03, "right_z": 0.15, "right_yaw": 1.05, "right_gripper": 1.0}, "note": "The black brick sits ahead of the right arm (slightly left of the jaw column in the right wrist camera, tilted ~30\u00b0), with the pot to the left. Flying the right arm above the brick and yawing so the jaws close across its short side."})

tool

executing move_to over 9 steps (0.9s)

step 9

assistant

agent noteWrist cam shows the brick ahead of the jaws with its long axis along image-x, so the jaws would span its long side; rotating 90° the other way and shifting forward-left (tool-forward is rotated by current yaw) to center over it.

move_to

right_x0.4500right_y0.0700right_z0.1200right_yaw-0.5500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7982, 0.6029, -0.392, -0.0227, -0.0456, 0.9995, -0.3077, 1.7382, 1.232, -0.6205, -0.8761, -1.0237, 0.9985] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1758 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4101 right_y=0.0159 right_z=0.1407 right_yaw=0.9129 right_pitch=-0.0467 right_roll=0.0129 right_gripper=0.9985 state[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.9121, -0.0806, 0.022, -0.0122, 0.3624, -10.3179, 6.3658, 0.3785, -0.6227, -0.0659, -0.1734] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.07, "right_z": 0.12, "right_yaw": -0.55, "right_gripper": 1.0}, "note": "Wrist cam shows the brick ahead of the jaws with its long axis along image-x, so the jaws would span its long side; rotating 90\u00b0 the other way and shifting forward-left (tool-forward is rotated by current yaw) to center over it."})

tool

executing move_to over 10 steps (1.0s)

step 19

assistant

agent noteThe brick now sits between the jaws in the wrist view, long axis nearly vertical but slightly left and forward of the jaw column; descending to grasp height while nudging forward and finishing the yaw alignment.

move_to

right_x0.4700right_y0.1000right_z0.0300right_yaw-0.5500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8032, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.3912, 1.7699, 1.1069, -0.1722, 0.5262, 0.4503, 0.9984] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1713 left_yaw=0.0043 left_pitch=-0.0362 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4501 right_y=0.0936 right_z=0.1022 right_yaw=-0.3022 right_pitch=-0.1266 right_roll=-0.0255 right_gripper=0.9984 state[joint_eff]: [-0.1846, -1.5111, 7.0085, 1.8632, -0.0415, -0.0317, -0.0122, 0.0889, -9.9624, 7.6513, 1.2283, 0.5055, 0.1197, -0.1734] camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.1, "right_z": 0.03, "right_yaw": -0.55, "right_gripper": 1.0}, "note": "The brick now sits between the jaws in the wrist view, long axis nearly vertical but slightly left and forward of the jaw column; descending to grasp height while nudging forward and finishing the yaw alignment."})

tool

executing move_to over 5 steps (0.5s)

step 24

assistant

agent noteThe arm stalled at z=0.086 and x=0.45, likely near reach; the brick is centered between the jaws in the wrist view. Keeping x at 0.45 and descending straight down to grasp height.

move_to

right_x0.4500right_y0.1000right_z0.0200right_yaw-0.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0494, 0.9995, 0.4103, 1.8198, 1.1038, -0.1558, 0.5823, 0.5056, 0.9985] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0044 left_pitch=-0.0385 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4494 right_y=0.0934 right_z=0.0859 right_yaw=-0.3571 right_pitch=-0.1246 right_roll=-0.039 right_gripper=0.9985 state[joint_eff]: [-0.0205, -1.2786, 7.2684, 1.7265, -0.0611, -0.0366, -0.0122, -0.5812, -9.0188, 6.1744, 1.5018, 0.2027, 0.0757, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.02, "right_yaw": -0.5, "right_gripper": 1.0}, "note": "The arm stalled at z=0.086 and x=0.45, likely near reach; the brick is centered between the jaws in the wrist view. Keeping x at 0.45 and descending straight down to grasp height."})

tool

executing move_to over 5 steps (0.5s)

step 29

assistant

agent noteThe arm is not moving at all at x=0.45, z=0.085 — it seems stuck at a kinematic limit. Backing off to a closer, higher pose to unstick it before re-approaching.

move_to

right_x0.4000right_y0.1000right_z0.1200right_yaw-0.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0498, 0.9995, 0.4095, 1.8198, 1.1038, -0.1516, 0.5674, 0.4961, 0.9985] state[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4501 right_y=0.0958 right_z=0.0854 right_yaw=-0.3417 right_pitch=-0.1296 right_roll=-0.0352 right_gripper=0.9985 state[joint_eff]: [-0.1709, -1.2923, 7.1179, 1.7021, -0.0659, -0.0464, -0.0122, -0.4444, -9.0188, 6.3658, 1.6288, 0.2857, -0.0513, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.1, "right_z": 0.12, "right_yaw": -0.5, "right_gripper": 1.0}, "note": "The arm is not moving at all at x=0.45, z=0.085 \u2014 it seems stuck at a kinematic limit. Backing off to a closer, higher pose to unstick it before re-approaching."})

tool

executing move_to over 4 steps (0.4s)

step 33

assistant

agent noteBrick is ahead of the jaws in the wrist view, leaning ~25° right of vertical. Re-approaching lower with more yaw to straighten it between the jaws and a forward pitch to extend reach.

move_to

right_x0.4500right_y0.1000right_z0.0500right_yaw-0.8500right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.807, 0.6029, -0.408, -0.0223, -0.0498, 0.9995, 0.5098, 1.742, 1.1088, -0.3416, 0.6567, 0.664, 0.9985] state[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.1702 left_yaw=0.0042 left_pitch=-0.0404 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4138 right_y=0.112 right_z=0.1019 right_yaw=-0.4045 right_pitch=-0.1457 right_roll=-0.0347 right_gripper=0.9985 state[joint_eff]: [-0.0479, -1.2786, 7.0085, 1.707, -0.0317, -0.0806, -0.0122, -1.1692, -9.5658, 9.1009, 1.2137, 0.6422, 0.2222, -0.1734] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.05, "right_yaw": -0.85, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "Brick is ahead of the jaws in the wrist view, leaning ~25\u00b0 right of vertical. Re-approaching lower with more yaw to straighten it between the jaws and a forward pitch to extend reach."})

tool

executing move_to over 15 steps (1.5s)

step 48

assistant

agent noteThe brick fills the space between the jaws in the wrist view at z≈4 cm, tilted right; descending to table level with a small yaw correction so the jaws close across its width.

move_to

right_x0.4500right_y0.1000right_z0.0000right_yaw-0.6000right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5854, 2.2295, 1.3075, -0.2432, 1.2026, 1.0431, 0.9985] state[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1676 left_yaw=0.0046 left_pitch=-0.0518 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4476 right_y=0.1033 right_z=0.0391 right_yaw=-0.7917 right_pitch=0.231 right_roll=-0.0715 right_gripper=0.9985 state[joint_eff]: [-0.2256, -1.4291, 7.0496, 1.7363, -0.0269, -0.0513, -0.0122, -0.1299, -10.947, 6.9675, 0.7448, 0.8718, 0.188, -0.1734] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.1, "right_z": 0.0, "right_yaw": -0.6, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The brick fills the space between the jaws in the wrist view at z\u22484 cm, tilted right; descending to table level with a small yaw correction so the jaws close across its width."})

tool

executing move_to over 3 steps (0.3s)

step 51

assistant

agent noteThe descent stopped at z≈2.7 cm with the brick lying horizontally between the jaws (jaws would span its long side), so a jaw is probably resting on it. Lifting straight up to re-check the brick's orientation before re-aligning.

move_to

right_x0.4300right_y0.0900right_z0.1200right_yaw-0.7500right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5777, 2.207, 1.0687, 0.1993, 1.256, 0.8055, 0.9984] state[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1675 left_yaw=0.0046 left_pitch=-0.0522 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4313 right_y=0.085 right_z=0.0265 right_yaw=-0.752 right_pitch=0.3149 right_roll=-0.0885 right_gripper=0.9984 state[joint_eff]: [-0.0615, -1.265, 7.0222, 1.7607, -0.0464, -0.0757, -0.0122, -1.2103, -3.6444, 1.1282, -0.8132, -1.0085, -1.1306, -0.1783] 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": {"right_x": 0.43, "right_y": 0.09, "right_z": 0.12, "right_yaw": -0.75, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The descent stopped at z\u22482.7 cm with the brick lying horizontally between the jaws (jaws would span its long side), so a jaw is probably resting on it. Lifting straight up to re-check the brick's orientation before re-aligning."})

tool

executing move_to over 11 steps (1.1s)

step 62

assistant

agent noteThe arm did not lift — it appears held at an awkward IK pose near full reach. Retreating to a closer, higher and less-yawed pose to free it.

move_to

right_x0.3600right_y0.0800right_z0.1500right_yaw-0.3000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5674, 2.2234, 1.0252, 0.4694, 1.2255, 0.5713, 0.9984] state[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1673 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4436 right_y=0.0899 right_z=0.0291 right_yaw=-0.6794 right_pitch=0.339 right_roll=-0.1085 right_gripper=0.9984 state[joint_eff]: [-0.1299, -1.3333, 7.0359, 1.6923, -0.0611, -0.0073, -0.0122, -0.5538, -4.9573, 1.5521, -0.1734, -0.7497, -0.6129, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.15, "right_yaw": -0.3, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm did not lift \u2014 it appears held at an awkward IK pose near full reach. Retreating to a closer, higher and less-yawed pose to free it."})

tool

executing move_to over 12 steps (1.2s)

step 74

assistant

agent noteArm is free again; the brick (apparently spun by the earlier jaw contact) lies ahead-left of the jaws, tilted ~25° from horizontal in the wrist view. Moving over it and yawing positive to bring its long axis vertical so the jaws close across its width.

move_to

right_x0.4200right_y0.0800right_z0.1000right_yaw0.8000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8158, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5346, 1.4097, 0.8001, -0.1623, 0.7692, 0.4641, 0.9985] state[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3655 right_y=0.0778 right_z=0.1442 right_yaw=-0.3387 right_pitch=0.0419 right_roll=-0.0936 right_gripper=0.9985 state[joint_eff]: [-0.0615, -1.2103, 7.0085, 1.7705, -0.0269, -0.0415, -0.0122, -0.4034, -5.9692, 8.9504, 1.4676, 0.2613, -0.1343, -0.1734] 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": {"right_x": 0.42, "right_y": 0.08, "right_z": 0.1, "right_yaw": 0.8, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Arm is free again; the brick (apparently spun by the earlier jaw contact) lies ahead-left of the jaws, tilted ~25\u00b0 from horizontal in the wrist view. Moving over it and yawing positive to bring its long axis vertical so the jaws close across its width."})

tool

executing move_to over 8 steps (0.8s)

step 82

right_cam

assistant

agent noteThe brick is now centered just ahead of the jaws but with its long axis along the jaw-closing direction. Rotating the tool ~90° the other way (toward yaw -1.0) and nudging forward so the jaws will span the brick's short side.

move_to

right_x0.4400right_y0.0800right_z0.1000right_yaw-1.0000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8192, 0.6029, -0.4168, -0.0227, -0.0498, 0.9995, -0.0582, 1.6386, 0.812, 0.0952, -0.4576, -0.4839, 0.9985] state[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1651 left_yaw=0.0046 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9995 right_x=0.4222 right_y=0.0572 right_z=0.0833 right_yaw=0.5735 right_pitch=-0.0746 right_roll=-0.0667 right_gripper=0.9985 state[joint_eff]: [-0.0342, -1.5795, 7.0222, 1.7265, -0.0708, -0.0513, -0.0122, -0.212, -8.5812, 7.2137, 1.3504, -0.3346, -0.0904, -0.1734] camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.08, "right_z": 0.1, "right_yaw": -1.0, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick is now centered just ahead of the jaws but with its long axis along the jaw-closing direction. Rotating the tool ~90\u00b0 the other way (toward yaw -1.0) and nudging forward so the jaws will span the brick's short side."})

tool

executing move_to over 11 steps (1.1s)

step 93

assistant

agent noteThe brick now runs vertically between the open jaws in the wrist view, centered on the jaw column. Descending straight down to table level to grasp it across its width.

move_to

right_x0.4800right_y0.1150right_z0.0100right_yaw-0.7500right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4202, -0.0227, -0.0498, 0.9995, 0.5114, 2.1487, 1.5959, -0.6037, 0.9035, 1.0401, 0.9985] state[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.0694 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4816 right_y=0.1152 right_z=0.0915 right_yaw=-0.7518 right_pitch=-0.0326 right_roll=0.0024 right_gripper=0.9985 state[joint_eff]: [-0.0889, -1.5111, 6.9949, 1.7509, -0.0415, -0.0659, -0.0122, -0.1709, -12.6838, 5.1897, 0.0757, 0.7057, 0.2173, -0.1734] approver: 1 step(s) modified (delta_clamped). 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": {"right_x": 0.48, "right_y": 0.115, "right_z": 0.01, "right_yaw": -0.75, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick now runs vertically between the open jaws in the wrist view, centered on the jaw column. Descending straight down to table level to grasp it across its width."})

tool

executing move_to over 6 steps (0.6s)

step 99

assistant

agent noteDescent stalled at z≈5.5 cm at x=0.475, probably at reach; the brick still lies vertically between the jaws. Pulling in 1.5 cm along the brick's length and descending again to table level.

move_to

right_x0.4600right_y0.1050right_z0.0000right_yaw-0.7500right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4313, -0.0227, -0.0498, 0.9995, 0.5106, 2.1918, 1.5223, -0.5266, 0.9035, 1.0424, 0.9985] state[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1605 left_yaw=0.0046 left_pitch=-0.082 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4748 right_y=0.111 right_z=0.0549 right_yaw=-0.7552 right_pitch=-0.0445 right_roll=-0.0336 right_gripper=0.9985 state[joint_eff]: [-0.0205, -1.5111, 7.0496, 1.79, -0.0708, -0.022, -0.0122, 0.1846, -12.3419, 6.4889, 1.0379, 0.5104, 0.022, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.105, "right_z": 0.0, "right_yaw": -0.75, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "Descent stalled at z\u22485.5 cm at x=0.475, probably at reach; the brick still lies vertically between the jaws. Pulling in 1.5 cm along the brick's length and descending again to table level."})

tool

executing move_to over 4 steps (0.4s)

step 103

assistant

agent noteThe arm is frozen at z=5.5 cm in this extended pose. Adding forward wrist pitch (which earlier allowed a low reach at this distance) and pulling in slightly to get the fingertips down to the brick.

move_to

right_x0.4500right_y0.1050right_z0.0000right_yaw-0.7500right_pitch0.3500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4335, -0.0227, -0.0498, 0.9995, 0.5114, 2.1918, 1.5223, -0.5175, 0.9005, 1.0344, 0.9984] state[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1601 left_yaw=0.0046 left_pitch=-0.0842 left_roll=-0.005 left_gripper=0.9995 right_x=0.4761 right_y=0.1125 right_z=0.0551 right_yaw=-0.7486 right_pitch=-0.0446 right_roll=-0.0305 right_gripper=0.9984 state[joint_eff]: [-0.0615, -1.4017, 6.9538, 1.6972, -0.0513, -0.0806, -0.0122, -0.0479, -12.5744, 6.4889, 1.0525, 0.5055, -0.0024, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.105, "right_z": 0.0, "right_yaw": -0.75, "right_pitch": 0.35, "right_gripper": 1.0}, "note": "The arm is frozen at z=5.5 cm in this extended pose. Adding forward wrist pitch (which earlier allowed a low reach at this distance) and pulling in slightly to get the fingertips down to the brick."})

tool

executing move_to over 14 steps (1.4s)

step 117

assistant

Now at z≈0.6 cm with the brick running vertically between the jaws. Closing the gripper.

agent noteFingertips are at table level with the brick lying lengthwise between the jaws in the wrist view. Closing the gripper to grasp the brick across its width.

move_to

right_x0.4500right_y0.1050right_z0.0000right_yaw-0.7500right_pitch0.3500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8284, 0.6025, -0.4412, -0.0227, -0.0498, 0.9995, 0.59, 2.3234, 1.1603, 0.297, 1.2327, 0.8093, 0.9985] state[eef_state]: left_x=0.2878 left_y=0.0019 left_z=0.1577 left_yaw=0.0046 left_pitch=-0.0953 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4531 right_y=0.1071 right_z=0.0057 right_yaw=-0.752 right_pitch=0.3142 right_roll=-0.0056 right_gripper=0.9985 state[joint_eff]: [-0.1846, -1.7162, 6.9538, 1.6972, -0.0757, -0.0415, -0.0122, 0.2256, -8.6222, 3.5487, 0.9451, 0.3736, -0.3834, -0.1783] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]

assistant

Now at z≈0.6 cm with the brick running vertically between the jaws. Closing the gripper.

move_to({"targets": {"right_x": 0.45, "right_y": 0.105, "right_z": 0.0, "right_yaw": -0.75, "right_pitch": 0.35, "right_gripper": 0.0}, "note": "Fingertips are at table level with the brick lying lengthwise between the jaws in the wrist view. Closing the gripper to grasp the brick across its width."})

tool

executing move_to over 10 steps (1.0s)

step 127

assistant

agent noteThe gripper reads 0.75 and is still closing slowly (rate-limited); re-sending the close command to let the jaws settle on the brick.

move_to

right_x0.4500right_y0.1050right_z0.0000right_yaw-0.7500right_pitch0.3500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4416, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1313, 0.4267, 1.2446, 0.7467, 0.7465] state[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1575 left_yaw=0.0047 left_pitch=-0.0961 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4543 right_y=0.1067 right_z=0.0067 right_yaw=-0.754 right_pitch=0.3429 right_roll=0.0196 right_gripper=0.7465 state[joint_eff]: [-0.0068, -1.306, 7.1316, 1.6288, -0.0317, -0.0611, -0.0122, 0.1436, -9.3607, 3.7128, 1.2674, 0.5055, -0.0317, 1.0379] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.45, "right_y": 0.105, "right_z": 0.0, "right_yaw": -0.75, "right_pitch": 0.35, "right_gripper": 0.0}, "note": "The gripper reads 0.75 and is still closing slowly (rate-limited); re-sending the close command to let the jaws settle on the brick."})

tool

executing move_to over 8 steps (0.8s)

step 135

assistant

agent noteGripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 15 cm to confirm the brick comes with the jaws in the overhead view.

move_to

right_x0.4400right_y0.1050right_z0.1500right_yaw-0.7500right_pitch0.2000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1164, 0.4725, 1.2411, 0.7181, 0.7464] state[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1574 left_yaw=0.0047 left_pitch=-0.0964 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4542 right_y=0.1069 right_z=0.007 right_yaw=-0.7462 right_pitch=0.348 right_roll=0.0225 right_gripper=0.7464 state[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.6581, -0.0122, -0.022, -0.0171, 0.1026, -10.0991, 3.2889, 1.409, 0.4176, 0.0904, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.105, "right_z": 0.15, "right_yaw": -0.75, "right_pitch": 0.2, "right_gripper": 0.0}, "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 15 cm to confirm the brick comes with the jaws in the overhead view."})

tool

executing move_to over 10 steps (1.0s)

step 145

assistant

agent noteThe brick is lifted (its cable now hangs down in the wrist view and shoulder load rose). The pot centre is ~0.6 m from the right base — beyond its reach — so I'll bring the brick to a mid-table handoff pose, turning it lateral so the left arm can grasp its free end.

move_to

right_x0.3000right_y0.3200right_z0.1500right_yaw-1.5700right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8307, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.588, 1.9858, 1.2716, -0.3553, 1.0664, 0.9329, 0.7464] state[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1569 left_yaw=0.0047 left_pitch=-0.0984 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4379 right_y=0.1104 right_z=0.1023 right_yaw=-0.6912 right_pitch=0.1312 right_roll=-0.051 right_gripper=0.7464 state[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.6337, -0.0366, -0.0659, -0.0122, -0.4308, -14.6393, 9.388, 1.2918, 1.1697, 0.105, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.32, "right_z": 0.15, "right_yaw": -1.57, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The brick is lifted (its cable now hangs down in the wrist view and shoulder load rose). The pot centre is ~0.6 m from the right base \u2014 beyond its reach \u2014 so I'll bring the brick to a mid-table handoff pose, turning it lateral so the left arm can grasp its free end."})

tool

executing move_to over 18 steps (1.8s)

step 163

assistant

agent noteThe arm rotated but sagged to z≈5 cm and did not translate toward the target; the brick is still in the jaws. Raising it back to a safe carrying height first, keeping the position near where it is.

move_to

right_x0.3600right_y0.0800right_z0.1600right_yaw-1.5000right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8341, 0.6018, -0.4526, -0.0227, -0.0498, 0.9995, 0.4892, 2.3634, 1.8153, -1.5265, 0.7952, 2.0602, 0.7464] state[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1536 left_yaw=0.0047 left_pitch=-0.1132 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3705 right_y=0.0584 right_z=0.0515 right_yaw=-1.4433 right_pitch=-0.0951 right_roll=-0.1148 right_gripper=0.7464 state[joint_eff]: [-0.0479, -1.7573, 7.1726, 1.7656, -0.0415, -0.0317, -0.0122, -0.4308, -17.0325, 5.1897, -0.9206, 0.7937, 0.2613, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.08, "right_z": 0.16, "right_yaw": -1.5, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The arm rotated but sagged to z\u22485 cm and did not translate toward the target; the brick is still in the jaws. Raising it back to a safe carrying height first, keeping the position near where it is."})

tool

executing move_to over 8 steps (0.8s)

step 171

assistant

agent noteAt yaw -1.5 the arm refuses to rise (likely a wrist joint limit in this IK branch), brick still held near the table. Returning to the yaw -0.75 configuration that tracked well, while raising to carrying height.

move_to

right_x0.3500right_y0.0600right_z0.1500right_yaw-0.7500right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8383, 0.6018, -0.4599, -0.0227, -0.0498, 0.9995, 0.4526, 2.2955, 1.6886, -1.5204, 0.7765, 2.0605, 0.7462] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1511 left_yaw=0.0047 left_pitch=-0.1247 left_roll=-0.004 left_gripper=0.9995 right_x=0.3463 right_y=0.0347 right_z=0.053 right_yaw=-1.4947 right_pitch=-0.0911 right_roll=-0.1696 right_gripper=0.7462 state[joint_eff]: [-0.0205, -1.2239, 6.9265, 1.7021, -0.0464, -0.0757, -0.0122, 0.253, -15.3641, 5.6547, -1.0183, 1.0867, 0.2906, 1.033] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.35, "right_y": 0.06, "right_z": 0.15, "right_yaw": -0.75, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "At yaw -1.5 the arm refuses to rise (likely a wrist joint limit in this IK branch), brick still held near the table. Returning to the yaw -0.75 configuration that tracked well, while raising to carrying height."})

tool

executing move_to over 8 steps (0.8s)

step 179

assistant

agent noteTop view shows the pot near the table's centre line, ~0.55 m from the right base; both arms are equally far, so I'll try the right arm with forward pitch to gain reach. Moving toward the pot at a height clearing its rim, with the brick turned tangential to the rim.

move_to

right_x0.3600right_y0.2500right_z0.2200right_yaw-0.9300right_pitch0.3000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8429, 0.6018, -0.4675, -0.0227, -0.0498, 0.9995, 0.5377, 2.0418, 1.4395, -1.2732, 0.8486, 1.7004, 0.7462] state[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1485 left_yaw=0.0048 left_pitch=-0.1369 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3403 right_y=0.0528 right_z=0.0799 right_yaw=-1.1577 right_pitch=-0.1256 right_roll=-0.19 right_gripper=0.7462 state[joint_eff]: [-0.0615, -1.6479, 6.9675, 1.6532, -0.0757, -0.0415, -0.0122, 0.0342, -11.9316, 5.6274, -0.3736, 1.2332, -0.1099, 1.0232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.25, "right_z": 0.22, "right_yaw": -0.93, "right_pitch": 0.3, "right_gripper": 0.0}, "note": "Top view shows the pot near the table's centre line, ~0.55 m from the right base; both arms are equally far, so I'll try the right arm with forward pitch to gain reach. Moving toward the pot at a height clearing its rim, with the brick turned tangential to the rim."})

tool

executing move_to over 17 steps (1.7s)

step 196

assistant

agent noteTop view: the brick in the right jaws is ~7 cm right of the pot's rim and the arm lags its target. Continuing toward a point above the pot interior (x≈0.42, y≈0.30) at rim-clearing height with forward pitch for reach.

move_to

right_x0.4200right_y0.3000right_z0.2200right_yaw-0.9300right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8455, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.7113, 2.2658, 1.8332, -1.5398, 1.1305, 1.8004, 0.7461] state[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1476 left_yaw=0.0048 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3895 right_y=0.1294 right_z=0.133 right_yaw=-0.9383 right_pitch=0.1575 right_roll=-0.1737 right_gripper=0.7461 state[joint_eff]: [-0.0752, -1.7026, 7.0769, 1.58, -0.0611, -0.0415, -0.0122, -0.5812, -11.8906, 7.8974, -0.696, 1.5458, 0.0269, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.3, "right_z": 0.22, "right_yaw": -0.93, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "Top view: the brick in the right jaws is ~7 cm right of the pot's rim and the arm lags its target. Continuing toward a point above the pot interior (x\u22480.42, y\u22480.30) at rim-clearing height with forward pitch for reach."})

tool

executing move_to over 15 steps (1.5s)

step 211

assistant

agent noteThe arm drifted forward (x=0.48) instead of leftward; the brick is now just beyond the pot's right rim in the top view. Re-commanding the point above the pot interior with slightly less yaw to relieve the wrist joint that appears saturated.

move_to

right_x0.4200right_y0.3000right_z0.2200right_yaw-0.7000right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8474, 0.6018, -0.4686, -0.0227, -0.0498, 0.9995, 0.6453, 2.5835, 2.3989, -1.57, 1.3468, 1.573, 0.7456] state[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1471 left_yaw=0.0048 left_pitch=-0.1426 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4814 right_y=0.1513 right_z=0.1586 right_yaw=-0.8719 right_pitch=0.3417 right_roll=-0.1697 right_gripper=0.7456 state[joint_eff]: [-0.0342, -1.1009, 6.9265, 1.5849, -0.0904, -0.0171, -0.0122, -0.8684, -14.4342, 8.3897, -0.4078, 1.6435, -0.022, 1.033] approver: 4 step(s) modified (delta_clamped ×4). 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

move_to({"targets": {"right_x": 0.42, "right_y": 0.3, "right_z": 0.22, "right_yaw": -0.7, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The arm drifted forward (x=0.48) instead of leftward; the brick is now just beyond the pot's right rim in the top view. Re-commanding the point above the pot interior with slightly less yaw to relieve the wrist joint that appears saturated."})

tool

executing move_to over 13 steps (1.3s)

step 224

assistant

agent noteThe arm is at full extension (radial 0.51) and sagging to z=0.11 right beside the pot's rim. Pulling x back to 0.38 while pushing y toward 0.30 so the arm swings over the pot interior at a shorter, reachable radius and regains height.

move_to

right_x0.3800right_y0.3000right_z0.2200right_yaw-0.7000right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8509, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.6983, 2.7014, 2.484, -1.5642, 1.2816, 1.5364, 0.7457] state[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1462 left_yaw=0.0048 left_pitch=-0.1456 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4784 right_y=0.1852 right_z=0.1127 right_yaw=-0.804 right_pitch=0.2722 right_roll=-0.2309 right_gripper=0.7457 state[joint_eff]: [-0.1162, -1.8256, 7.1043, 1.5946, -0.0806, -0.0659, -0.0122, -0.335, -16.9915, 7.8838, -0.1148, 1.5409, 0.1245, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.3, "right_z": 0.22, "right_yaw": -0.7, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The arm is at full extension (radial 0.51) and sagging to z=0.11 right beside the pot's rim. Pulling x back to 0.38 while pushing y toward 0.30 so the arm swings over the pot interior at a shorter, reachable radius and regains height."})

tool

executing move_to over 10 steps (1.0s)

step 234

assistant

agent noteThe brick is now over the pot's right rim in the top view at z≈0.14; the arm converges only a few cm per command. Re-sending the same target to bring the grasp point further over the pot interior and higher.

move_to

right_x0.3800right_y0.3000right_z0.2200right_yaw-0.7000right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8532, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.799, 2.558, 2.2547, -1.5486, 1.3632, 1.5509, 0.7456] state[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1479 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4437 right_y=0.2132 right_z=0.1395 right_yaw=-0.6668 right_pitch=0.3471 right_roll=-0.2969 right_gripper=0.7456 state[joint_eff]: [-0.2393, -1.7436, 6.9812, 1.6337, -0.0806, -0.0366, -0.0122, 0.6496, -19.7949, 8.4855, -0.3639, 1.7363, 0.0708, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.38, "right_y": 0.3, "right_z": 0.22, "right_yaw": -0.7, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The brick is now over the pot's right rim in the top view at z\u22480.14; the arm converges only a few cm per command. Re-sending the same target to bring the grasp point further over the pot interior and higher."})

tool

executing move_to over 8 steps (0.8s)

step 242

assistant

agent noteThe arm has stalled with the brick hovering over the pot's near rim, a wrist joint saturated. Changing the yaw target to a different wrist configuration (brick pointing radially into the pot) and asking for more height to free the joint and get the brick over the interior.

move_to

right_x0.4000right_y0.2800right_z0.2500right_yaw0.6000right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8551, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.8066, 2.5679, 2.2635, -1.5482, 1.3003, 1.5444, 0.7456] state[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1498 left_roll=-0.0034 left_gripper=0.9995 right_x=0.439 right_y=0.2172 right_z=0.1267 right_yaw=-0.6748 right_pitch=0.2859 right_roll=-0.2981 right_gripper=0.7456 state[joint_eff]: [-0.0479, -1.7162, 6.9128, 1.6044, -0.0269, -0.0757, -0.0122, -0.5265, -14.3795, 6.7077, -0.3199, 1.4383, 0.1099, 1.033] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.28, "right_z": 0.25, "right_yaw": 0.6, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The arm has stalled with the brick hovering over the pot's near rim, a wrist joint saturated. Changing the yaw target to a different wrist configuration (brick pointing radially into the pot) and asking for more height to free the joint and get the brick over the interior."})

tool

executing move_to over 9 steps (0.9s)

step 251

assistant

agent noteThe IK jumped to a different branch and swung the arm to the left side (x=0.16, y=0.39) with the brick still held at z=0.22. Now approaching the pot from this side along the base's radial direction, in a first step to x=0.30.

move_to

right_x0.3000right_y0.3500right_z0.2200right_yaw0.6000right_pitch0.4000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8597, 0.6018, -0.4812, -0.0227, -0.0502, 0.9995, 1.5871, 1.9076, 1.5402, -0.9508, 1.3289, 0.973, 0.7456] state[eef_state]: left_x=0.2824 left_y=0.002 left_z=0.1415 left_yaw=0.0051 left_pitch=-0.1674 left_roll=-0.0033 left_gripper=0.9995 right_x=0.1616 right_y=0.3881 right_z=0.2205 right_yaw=0.2562 right_pitch=0.3077 right_roll=-0.3223 right_gripper=0.7456 state[joint_eff]: [-0.1846, -1.7983, 7.0632, 1.7167, -0.0562, -0.0806, -0.0122, -10.4, -12.4786, 6.9128, 0.9011, 1.9805, 0.1441, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.22, "right_yaw": 0.6, "right_pitch": 0.4, "right_gripper": 0.0}, "note": "The IK jumped to a different branch and swung the arm to the left side (x=0.16, y=0.39) with the brick still held at z=0.22. Now approaching the pot from this side along the base's radial direction, in a first step to x=0.30."})

tool

executing move_to over 11 steps (1.1s)

step 262

assistant

agent noteThe brick is now just short of the pot's near rim, pointing toward the pot in the wrist view. Moving forward ~10 cm and up to clear the rim so the brick hangs over the pot interior.

move_to

right_x0.4000right_y0.3400right_z0.2200right_yaw0.6000right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8642, 0.6018, -0.4923, -0.0227, -0.0498, 0.9995, 1.1046, 1.6161, 0.82, 0.3756, 0.7204, -0.1768, 0.7455] state[eef_state]: left_x=0.2807 left_y=0.0023 left_z=0.1383 left_yaw=0.0057 left_pitch=-0.183 left_roll=-0.0026 left_gripper=0.9995 right_x=0.2949 right_y=0.3347 right_z=0.16 right_yaw=0.5779 right_pitch=0.2065 right_roll=-0.4281 right_gripper=0.7455 state[joint_eff]: [-0.2667, -1.7709, 7.0085, 1.6532, -0.022, -0.0659, -0.0122, -0.1162, -11.1521, 8.2256, 3.1624, 0.4567, 0.0757, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 262): [image omitted: streamed camera frame] camera 'left_cam' (step 262): [image omitted: streamed camera frame] camera 'right_cam' (step 262): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.34, "right_z": 0.22, "right_yaw": 0.6, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The brick is now just short of the pot's near rim, pointing toward the pot in the wrist view. Moving forward ~10 cm and up to clear the rim so the brick hangs over the pot interior."})

tool

executing move_to over 10 steps (1.0s)

step 272

assistant

agent noteThe brick's far end is over the pot rim (white interior visible left of it in the wrist view) but the grasp point is still at the rim at z≈0.14. Pushing 4 cm further forward with maximum forward pitch so the brick tips nose-down over the pot interior.

move_to

right_x0.4200right_y0.3400right_z0.2400right_yaw0.6000right_pitch0.6000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8661, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8677, 1.8263, 0.9058, 0.6281, 0.4858, -0.3733, 0.7455] state[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1376 left_yaw=0.0057 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3833 right_y=0.3302 right_z=0.1438 right_yaw=0.6304 right_pitch=0.2471 right_roll=-0.4889 right_gripper=0.7455 state[joint_eff]: [-0.0479, -1.7162, 7.0769, 1.5409, -0.0659, -0.0464, -0.0122, -0.5538, -10.3179, 11.2205, 3.3431, 0.2759, -0.0562, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.34, "right_z": 0.24, "right_yaw": 0.6, "right_pitch": 0.6, "right_gripper": 0.0}, "note": "The brick's far end is over the pot rim (white interior visible left of it in the wrist view) but the grasp point is still at the rim at z\u22480.14. Pushing 4 cm further forward with maximum forward pitch so the brick tips nose-down over the pot interior."})

tool

executing move_to over 12 steps (1.2s)

step 284

assistant

agent noteThe brick now hangs over the pot interior (inside the rim outline in the top view, water surface visible around it in the wrist view). Opening the gripper to drop it into the pot.

move_to

right_x0.4100right_y0.3400right_z0.1600right_yaw0.6500right_pitch0.6000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8688, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8341, 1.8969, 0.9646, 0.7616, 0.4629, -0.4625, 0.7455] state[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1369 left_yaw=0.0057 left_pitch=-0.1887 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4077 right_y=0.3374 right_z=0.1626 right_yaw=0.6537 right_pitch=0.3412 right_roll=-0.5451 right_gripper=0.7455 state[joint_eff]: [-0.0889, -1.853, 6.8855, 1.5311, -0.0513, -0.0464, -0.0122, -0.8684, -9.935, 11.6855, 3.4017, 0.1832, 0.0269, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.41, "right_y": 0.34, "right_z": 0.16, "right_yaw": 0.65, "right_pitch": 0.6, "right_gripper": 1.0}, "note": "The brick now hangs over the pot interior (inside the rim outline in the top view, water surface visible around it in the wrist view). Opening the gripper to drop it into the pot."})

tool

executing move_to over 9 steps (0.9s)

step 293

assistant

agent noteGripper is open; the wrist camera still shows the brick just below the jaws, so I can't tell if it dropped into the pot or onto the rim. Retracting the arm toward the base to get a clear overhead view.

move_to

right_x0.2800right_y0.3000right_z0.2000right_yaw0.6000right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.87, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 0.836, 2.0834, 0.902, 1.1831, 0.4625, -0.511, 0.8954] state[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1366 left_yaw=0.0057 left_pitch=-0.1903 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4088 right_y=0.3402 right_z=0.1389 right_yaw=0.667 right_pitch=0.4972 right_roll=-0.5629 right_gripper=0.8954 state[joint_eff]: [-0.0889, -1.1692, 6.9128, 1.5263, -0.0122, -0.0317, -0.0122, 0.0752, -9.347, 5.9829, 2.1026, 0.0171, 0.0366, -0.1099] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.28, "right_y": 0.3, "right_z": 0.2, "right_yaw": 0.6, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "Gripper is open; the wrist camera still shows the brick just below the jaws, so I can't tell if it dropped into the pot or onto the rim. Retracting the arm toward the base to get a clear overhead view."})

tool

executing move_to over 10 steps (1.0s)

step 303

assistant

agent noteThe brick missed: the top view shows it on the table just right of the pot's near rim, under the jaws in the wrist view with its long axis along the jaw direction. Dropping lower over it and rotating ~90° so the jaws can close across its width for a second attempt.

move_to

right_x0.3200right_y0.3300right_z0.1000right_yaw-0.9000right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8726, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 1.1069, 1.4509, 0.7498, 0.3595, 0.7326, -0.3569, 0.9978] state[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1359 left_yaw=0.0058 left_pitch=-0.1929 left_roll=-0.0023 left_gripper=0.9995 right_x=0.2834 right_y=0.3103 right_z=0.1946 right_yaw=0.6488 right_pitch=0.2318 right_roll=-0.5647 right_gripper=0.9978 state[joint_eff]: [-0.1026, -1.853, 6.9949, 1.5311, -0.0415, -0.0708, -0.0122, 0.1026, -6.7077, 9.4974, 1.7509, 0.2662, 0.1343, -0.232] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.32, "right_y": 0.33, "right_z": 0.1, "right_yaw": -0.9, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The brick missed: the top view shows it on the table just right of the pot's near rim, under the jaws in the wrist view with its long axis along the jaw direction. Dropping lower over it and rotating ~90\u00b0 so the jaws can close across its width for a second attempt."})

tool

executing move_to over 10 steps (1.0s)

step 313

assistant

agent noteThe arm ended up low at z≈2 cm with the brick running vertically between the open jaws in the wrist view. Closing the gripper to grasp it.

move_to

right_x0.3640right_y0.2330right_z0.0100right_yaw-0.5500right_pitch0.0000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0193, 0.8806, 0.5819, -0.498, -0.0433, -0.0525, 0.9989, 0.9112, 2.4775, 1.8328, -1.2442, 0.9936, 1.3251, 0.9978] state[eef_state]: left_x=0.2763 left_y=0.0059 left_z=0.1247 left_yaw=0.0248 left_pitch=-0.2244 left_roll=0.0117 left_gripper=0.9989 right_x=0.3638 right_y=0.2334 right_z=0.0176 right_yaw=-0.5502 right_pitch=-0.0561 right_roll=-0.5023 right_gripper=0.9978 state[joint_eff]: [-0.2803, -2.3726, 8.4171, 1.5263, 0.0659, -0.0269, -0.0708, 2.8239, -11.9453, 3.7812, -0.5592, -2.4103, -0.4469, -0.2418] camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.364, "right_y": 0.233, "right_z": 0.01, "right_yaw": -0.55, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The arm ended up low at z\u22482 cm with the brick running vertically between the open jaws in the wrist view. Closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 323

assistant

agent noteOut of LLM-call budget. The brick was grasped and carried to the pot but, at the right arm's reach limit, it was released over the near rim and fell onto the table beside the pot; a second grasp attempt closed empty after the IK drifted. Brick now lies on the table ~10 cm right of the pot.

give_up

hindsight1) The pot sits on the table's centre line at about right frame (0.44, 0.34) / left frame (0.44, -0.31), i.e. radial ~0.55 m from either base — at the very edge of reach; with a load the arm sags to z≈0.14-0.16 there, which is roughly pot-rim height, so a release from there lands the brick on/outside the rim. Get the grasp point at least 8 cm inside the rim (radial ≥0.53 along the pot direction) before releasing, or use two arms (handoff) rather than a max-reach drop. 2) The IK on this rig tracks large simultaneous yaw+translation targets very poorly: it converges only 3-5 cm per command, can freeze entirely at extended poses (joint_pos unchanged; fix by first commanding x≈0.36, z≈0.15 with small yaw), and at yaw ≈ ±1.5 or when changing yaw sign at long reach it can jump branches and swing 20+ cm. Keep yaw within about -0.9..+0.7 and change position and yaw in separate small steps. 3) Forward pitch (+0.3..0.5) was needed to get the fingertips to the table at x≈0.45; without it the descent stopped at z≈0.055-0.085. 4) The black brick is a ~7 cm wide, ~14 cm long power bank with a cable; it grasps fine across its width (gripper settles ≈0.75) and, being long, remains visible in its own wrist camera when held. Jaw contact while descending easily spins it, so re-check orientation after any stalled descent. 5) The wrist camera image rotation per unit yaw is not reliable for planning orientation; just iterate until the brick's long axis is vertical in the wrist image before descending.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0189, 0.8845, 0.5819, -0.5056, -0.0418, -0.0525, 0.9989, 0.9733, 2.6469, 2.1769, -1.5707, 0.9607, 1.4273, 0.0079] state[eef_state]: left_x=0.275 left_y=0.0058 left_z=0.1224 left_yaw=0.024 left_pitch=-0.2359 left_roll=0.011 left_gripper=0.9989 right_x=0.3531 right_y=0.2679 right_z=0.0275 right_yaw=-0.5576 right_pitch=-0.0694 right_roll=-0.5686 right_gripper=0.0079 state[joint_eff]: [-0.1983, -1.9897, 6.8718, 1.5458, -0.0708, 0.0024, -0.0171, -0.1026, -12.2735, 6.0239, -0.3053, 0.6276, 0.0806, 0.5299] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]

assistant

give_up({"reason": "Out of LLM-call budget. The brick was grasped and carried to the pot but, at the right arm's reach limit, it was released over the near rim and fell onto the table beside the pot; a second grasp attempt closed empty after the IK drifted. Brick now lies on the table ~10 cm right of the pot.", "hindsight": "1) The pot sits on the table's centre line at about right frame (0.44, 0.34) / left frame (0.44, -0.31), i.e. radial ~0.55 m from either base \u2014 at the very edge of reach; with a load the arm sags to z\u22480.14-0.16 there, which is roughly pot-rim height, so a release from there lands the brick on/outside the rim. Get the grasp point at least 8 cm inside the rim (radial \u22650.53 along the pot direction) before releasing, or use two arms (handoff) rather than a max-reach drop. 2) The IK on this rig tracks large simultaneous yaw+translation targets very poorly: it converges only 3-5 cm per command, can freeze entirely at extended poses (joint_pos unchanged; fix by first commanding x\u22480.36, z\u22480.15 with small yaw), and at yaw \u2248 \u00b11.5 or when changing yaw sign at long reach it can jump branches and swing 20+ cm. Keep yaw within about -0.9..+0.7 and change position and yaw in separate small steps. 3) Forward pitch (+0.3..0.5) was needed to get the fingertips to the table at x\u22480.45; without it the descent stopped at z\u22480.055-0.085. 4) The black brick is a ~7 cm wide, ~14 cm long power bank with a cable; it grasps fine across its width (gripper settles \u22480.75) and, being long, remains visible in its own wrist camera when held. Jaw contact while descending easily spins it, so re-check orientation after any stalled descent. 5) The wrist camera image rotation per unit yaw is not reliable for planning orientation; just iterate until the brick's long axis is vertical in the wrist image before descending."})

tool

give_up: Out of LLM-call budget. The brick was grasped and carried to the pot but, at the right arm's reach limit, it was released over the near rim and fell onto the table beside the pot; a second grasp attempt closed empty after the IK drifted. Brick now lies on the table ~10 cm right of the pot.

Trial 0 Wire

Tools (trial initial)

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

System (trial initial)

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

call 0 attempt 0 · /messages · status 200 · 27.51 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, 0.794, 0.6037, -0.3813, -0.0227, -0.0414, 0.9995, -0.0204, 0.7921, 0.6014, -0.379, -0.0154, -0.033, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0003 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -1.4427, 10.1538, 1.7753, -0.0366, 0.2808, -0.0611, -0.4855, -1.3333, 10.3453, 1.9267, -0.105, 0.2222, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f290a4a7ea7d734c7c3cc570bd44caac1183a2e5a2259783fca9b768d9974960",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdeff472c889d12b3f2d8e659ea4c26b75667e00a7cf591d2565869f690b138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94798314d2fbb6fc7f8f04c2c2f2178e9b2394ccabcd2c508bc16f1461bb889f",
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        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 22.66 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, 0.794, 0.6037, -0.3813, -0.0227, -0.0414, 0.9995, -0.0204, 0.7921, 0.6014, -0.379, -0.0154, -0.033, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0003 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -1.4427, 10.1538, 1.7753, -0.0366, 0.2808, -0.0611, -0.4855, -1.3333, 10.3453, 1.9267, -0.105, 0.2222, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f290a4a7ea7d734c7c3cc570bd44caac1183a2e5a2259783fca9b768d9974960",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecdeff472c889d12b3f2d8e659ea4c26b75667e00a7cf591d2565869f690b138",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94798314d2fbb6fc7f8f04c2c2f2178e9b2394ccabcd2c508bc16f1461bb889f",
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  "role": "user"
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0125P3Be1NWcn8auRqyXhhTU",
      "input": {
        "note": "The black brick sits ahead of the right arm (slightly left of the jaw column in the right wrist camera, tilted ~30°), with the pot to the left. Flying the right arm above the brick and yawing so the jaws close across its short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.03,
          "right_yaw": 1.05,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0125P3Be1NWcn8auRqyXhhTU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7982, 0.6029, -0.392, -0.0227, -0.0456, 0.9995, -0.3077, 1.7382, 1.232, -0.6205, -0.8761, -1.0237, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1758 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4101 right_y=0.0159 right_z=0.1407 right_yaw=0.9129 right_pitch=-0.0467 right_roll=0.0129 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.9121, -0.0806, 0.022, -0.0122, 0.3624, -10.3179, 6.3658, 0.3785, -0.6227, -0.0659, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5cb721d4758ea177314878e62a9846eef281ae3df39ac22d2c6751a3981aaf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f7a1a1dd2ec8561aa35aad60b95605a3dad6832aef21ff6dbc6e091086aad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d7537f82509671dcece35507b5007dec252d856835fc587709c023b4c88b1c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 11.21 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.794, 0.6037, -0.3813, -0.0227, -0.0414, 0.9995, -0.0204, 0.7921, 0.6014, -0.379, -0.0154, -0.033, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0003 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -1.4427, 10.1538, 1.7753, -0.0366, 0.2808, -0.0611, -0.4855, -1.3333, 10.3453, 1.9267, -0.105, 0.2222, -0.1783]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7982, 0.6029, -0.392, -0.0227, -0.0456, 0.9995, -0.3077, 1.7382, 1.232, -0.6205, -0.8761, -1.0237, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1758 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4101 right_y=0.0159 right_z=0.1407 right_yaw=0.9129 right_pitch=-0.0467 right_roll=0.0129 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.9121, -0.0806, 0.022, -0.0122, 0.3624, -10.3179, 6.3658, 0.3785, -0.6227, -0.0659, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5cb721d4758ea177314878e62a9846eef281ae3df39ac22d2c6751a3981aaf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f7a1a1dd2ec8561aa35aad60b95605a3dad6832aef21ff6dbc6e091086aad7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7537f82509671dcece35507b5007dec252d856835fc587709c023b4c88b1c3",
        "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_01F69iXtGQbij9G8HJr6W2hv",
      "input": {
        "note": "Wrist cam shows the brick ahead of the jaws with its long axis along image-x, so the jaws would span its long side; rotating 90° the other way and shifting forward-left (tool-forward is rotated by current yaw) to center over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_y": 0.07,
          "right_yaw": -0.55,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01F69iXtGQbij9G8HJr6W2hv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.3912, 1.7699, 1.1069, -0.1722, 0.5262, 0.4503, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1713 left_yaw=0.0043 left_pitch=-0.0362 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4501 right_y=0.0936 right_z=0.1022 right_yaw=-0.3022 right_pitch=-0.1266 right_roll=-0.0255 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5111, 7.0085, 1.8632, -0.0415, -0.0317, -0.0122, 0.0889, -9.9624, 7.6513, 1.2283, 0.5055, 0.1197, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9238e5d3bd381e9b9ab6f0aacdcaa77dece0e12aafef9f8ffc95cbe441aa3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1887fa6928445747eb8ad13bc494edcd7e0b86edb6f4f766dbdb549299218858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13df92c82918b9da05353c6fccb494e5737a868d99ad43b7b733e4eeb11fd1e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 7.81 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, 0.794, 0.6037, -0.3813, -0.0227, -0.0414, 0.9995, -0.0204, 0.7921, 0.6014, -0.379, -0.0154, -0.033, 0.9984]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1796 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9995 right_x=0.2945 right_y=0.0003 right_z=0.1795 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9984\nstate[joint_eff]: [-0.4718, -1.4427, 10.1538, 1.7753, -0.0366, 0.2808, -0.0611, -0.4855, -1.3333, 10.3453, 1.9267, -0.105, 0.2222, -0.1783]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7982, 0.6029, -0.392, -0.0227, -0.0456, 0.9995, -0.3077, 1.7382, 1.232, -0.6205, -0.8761, -1.0237, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1758 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4101 right_y=0.0159 right_z=0.1407 right_yaw=0.9129 right_pitch=-0.0467 right_roll=0.0129 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.9121, -0.0806, 0.022, -0.0122, 0.3624, -10.3179, 6.3658, 0.3785, -0.6227, -0.0659, -0.1734]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.3912, 1.7699, 1.1069, -0.1722, 0.5262, 0.4503, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1713 left_yaw=0.0043 left_pitch=-0.0362 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4501 right_y=0.0936 right_z=0.1022 right_yaw=-0.3022 right_pitch=-0.1266 right_roll=-0.0255 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5111, 7.0085, 1.8632, -0.0415, -0.0317, -0.0122, 0.0889, -9.9624, 7.6513, 1.2283, 0.5055, 0.1197, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9238e5d3bd381e9b9ab6f0aacdcaa77dece0e12aafef9f8ffc95cbe441aa3a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1887fa6928445747eb8ad13bc494edcd7e0b86edb6f4f766dbdb549299218858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13df92c82918b9da05353c6fccb494e5737a868d99ad43b7b733e4eeb11fd1e1",
        "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_01KV6wrDgnv8Rh1JviuZMix1",
      "input": {
        "note": "The brick now sits between the jaws in the wrist view, long axis nearly vertical but slightly left and forward of the jaw column; descending to grasp height while nudging forward and finishing the yaw alignment.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.47,
          "right_y": 0.1,
          "right_yaw": -0.55,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KV6wrDgnv8Rh1JviuZMix1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0494, 0.9995, 0.4103, 1.8198, 1.1038, -0.1558, 0.5823, 0.5056, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0044 left_pitch=-0.0385 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4494 right_y=0.0934 right_z=0.0859 right_yaw=-0.3571 right_pitch=-0.1246 right_roll=-0.039 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.2786, 7.2684, 1.7265, -0.0611, -0.0366, -0.0122, -0.5812, -9.0188, 6.1744, 1.5018, 0.2027, 0.0757, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88681fae65ae309dc6b67f5356993891005c5e5626e7481cd6accb90e5c5e7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac9d9cb8742665e2329852047ad8ac9686d17c3620a7a7829e8c1c5ce771f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b85060e4b8b5dd0d8b26e4f61fa577aba851296feb06a6882f104a33cafde47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 8.066 s

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

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7982, 0.6029, -0.392, -0.0227, -0.0456, 0.9995, -0.3077, 1.7382, 1.232, -0.6205, -0.8761, -1.0237, 0.9985]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1758 left_yaw=0.0023 left_pitch=-0.0156 left_roll=-0.0032 left_gripper=0.9995 right_x=0.4101 right_y=0.0159 right_z=0.1407 right_yaw=0.9129 right_pitch=-0.0467 right_roll=0.0129 right_gripper=0.9985\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.9121, -0.0806, 0.022, -0.0122, 0.3624, -10.3179, 6.3658, 0.3785, -0.6227, -0.0659, -0.1734]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.3912, 1.7699, 1.1069, -0.1722, 0.5262, 0.4503, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1713 left_yaw=0.0043 left_pitch=-0.0362 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4501 right_y=0.0936 right_z=0.1022 right_yaw=-0.3022 right_pitch=-0.1266 right_roll=-0.0255 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5111, 7.0085, 1.8632, -0.0415, -0.0317, -0.0122, 0.0889, -9.9624, 7.6513, 1.2283, 0.5055, 0.1197, -0.1734]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0494, 0.9995, 0.4103, 1.8198, 1.1038, -0.1558, 0.5823, 0.5056, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0044 left_pitch=-0.0385 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4494 right_y=0.0934 right_z=0.0859 right_yaw=-0.3571 right_pitch=-0.1246 right_roll=-0.039 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.2786, 7.2684, 1.7265, -0.0611, -0.0366, -0.0122, -0.5812, -9.0188, 6.1744, 1.5018, 0.2027, 0.0757, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88681fae65ae309dc6b67f5356993891005c5e5626e7481cd6accb90e5c5e7af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ac9d9cb8742665e2329852047ad8ac9686d17c3620a7a7829e8c1c5ce771f18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b85060e4b8b5dd0d8b26e4f61fa577aba851296feb06a6882f104a33cafde47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSsQkKEAgRGAI4AUIIdGhpbmtpbmcSDMC616vtqxBAzW6rxRoMBrvqpMyDjp6dEY+JIjBvf95qUke0awhC5sRd7A2CDJjoZrlc2sUCqJj3Xt+G4Ot4s7AtGhwt+nBxc7aMo2sqzginpuC5dI66llqKtOpIz3dzUGkThhhauAxJePHFBMQ1KjMUV5q0B0OXVVw500cmp2qSX/KXSpBxF4TWB793lRkuDtPblSDbQ+6TC6YgtH0seiM7KpcGwL7kwPCJbBBs8ogC1slFEOHAuD/9JgqwbGbdFxR324o4+Zc3x5YAB1AO1Epel6/4njQuFAJHQXw5MtTrCfXUZI0GPWDYLYbT2A823u3nOM8gzac3c7QNpVoPdN2hjt9NWorsAiURCT0ulOvSmC8xFjMYzBrcf2YbwALGE+e2ZxACGjvhm70g6d+VlA1YNwFDq+el8nhIZt5a0sBdU32a99gBFdcFhGydp/h7tdzXe0cfM1KO4zwgvEb5ZyjXv6hRsmDiDMpAiqT72bCmQH7ZK00mlHLb/ZrXCe+NE8vdhOmGcjF0aeqPvs63zxiO+34PSMCkv6P+66GguXGiKV+zMb7XqxN556233NISnUW25Ed3XEfcmTMCIc0lgptTN0vBFWI2YpwDBFyAawFWi7/9NKBjfotnQ2gI6KGSIIhk5xM7BVZ9Ifj7RVZn/PUzhmOBKkhkMBfRztULet0w6XLXqWa0Q3CZ7hBo2FkPbsR9b8v7UNt4pYDhaBEP2RGC09pgDDR63n00xJYKY2LMnqPHKb+cIsgSdAHXRWy69re74OKo++2s7tanMJQJIgn1j8W/pNoYbwscAQujd7G0CG6rRfc7CdMZIQ6T3drGuAyB2wLts2fX3H56oYRZ4jV7C27TM58W5CxneDjL2MsDh+/uJ2oCuvuOmK10sQAChVQApxCxf3w4Bz3cPR80s4MuIUmFqM2QHzJNSsRHyJAjGmlYVvIM3lRdOw31Zv7EDbFRq1GmfU9Ps5cNxurYic/VTE+SPhnTNw7LkCS2DHN3299szXbF0SQ8+uJgaAbXYtYAx/BqnwMjyXQzeZgM+r5g0KS6VMxXpKCNME+h2+Iabf8S5qlfMnkEmwYM09FptFhTirGfVNKfB9u/JShmgvkmkN+LD2n7rwf05c3EoDcWvaQXlTchi6IYadINfxQ29UjujbR6Y5wlCqBN4hUemnkfCyQPRCkRetkLfAzSZvSIaDaTkPSl9RiaHRbgZT42wMxR1bksJQ0mLgSMheDCZqp9nNUYD+M6E0Vv7V2IEPP/nsFI1BItYMA0cRRMFwlrEN0tzKEXI1QfM6SyqBphGWD1x4s2qKZB25C3N6jqvJCZz7ZvJ/F2ufTh8ZFbsFrgHplTYQelhYzlioqiwfSvkWD50KowLCUGzWc4A/khvbul+lYO/QgXGd5KcFolhFXhdZYqUxAMCrysLyACPBGAK3SCrZCnG4pK9mRx0NwVFpLzmuXqsCq5iv/qUlW4L347WH3H/wmkwBCGCgtD4SvVqhPexM/htjemVhs1bHa7zC4zipug6nLd4H0RuBaGXRvPjXkLD9hjkeGPHhsCZtepSIEGZC0VJa89fHsemcQ0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FVXEKys6StvscLm3dhxg5k",
      "input": {
        "note": "The arm stalled at z=0.086 and x=0.45, likely near reach; the brick is centered between the jaws in the wrist view. Keeping x at 0.45 and descending straight down to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_y": 0.1,
          "right_yaw": -0.5,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FVXEKys6StvscLm3dhxg5k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0498, 0.9995, 0.4095, 1.8198, 1.1038, -0.1516, 0.5674, 0.4961, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4501 right_y=0.0958 right_z=0.0854 right_yaw=-0.3417 right_pitch=-0.1296 right_roll=-0.0352 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 7.1179, 1.7021, -0.0659, -0.0464, -0.0122, -0.4444, -9.0188, 6.3658, 1.6288, 0.2857, -0.0513, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccdcd8c7840eb10a9837729cf3b73292971fc8f8e8bfd64c4d139e12ef0ee21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4798fd008886b262b5c8bd1f5fe819066669403904d98aeeec9aadaa5b6dfe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c73041caf3057d245e13d20efc5eaeb18820cec21a2c7259a7d2cd7be459f938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 18.39 s

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

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6029, -0.4076, -0.0227, -0.0494, 0.9995, 0.3912, 1.7699, 1.1069, -0.1722, 0.5262, 0.4503, 0.9984]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1713 left_yaw=0.0043 left_pitch=-0.0362 left_roll=-0.0059 left_gripper=0.9995 right_x=0.4501 right_y=0.0936 right_z=0.1022 right_yaw=-0.3022 right_pitch=-0.1266 right_roll=-0.0255 right_gripper=0.9984\nstate[joint_eff]: [-0.1846, -1.5111, 7.0085, 1.8632, -0.0415, -0.0317, -0.0122, 0.0889, -9.9624, 7.6513, 1.2283, 0.5055, 0.1197, -0.1734]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0494, 0.9995, 0.4103, 1.8198, 1.1038, -0.1558, 0.5823, 0.5056, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0044 left_pitch=-0.0385 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4494 right_y=0.0934 right_z=0.0859 right_yaw=-0.3571 right_pitch=-0.1246 right_roll=-0.039 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.2786, 7.2684, 1.7265, -0.0611, -0.0366, -0.0122, -0.5812, -9.0188, 6.1744, 1.5018, 0.2027, 0.0757, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0498, 0.9995, 0.4095, 1.8198, 1.1038, -0.1516, 0.5674, 0.4961, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4501 right_y=0.0958 right_z=0.0854 right_yaw=-0.3417 right_pitch=-0.1296 right_roll=-0.0352 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 7.1179, 1.7021, -0.0659, -0.0464, -0.0122, -0.4444, -9.0188, 6.3658, 1.6288, 0.2857, -0.0513, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ccdcd8c7840eb10a9837729cf3b73292971fc8f8e8bfd64c4d139e12ef0ee21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4798fd008886b262b5c8bd1f5fe819066669403904d98aeeec9aadaa5b6dfe1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c73041caf3057d245e13d20efc5eaeb18820cec21a2c7259a7d2cd7be459f938",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmwoKEAgRGAI4AUIIdGhpbmtpbmcSDMae7Y8Qqc3J19k1mhoM7+1DiAs4O6X/ysQtIjAjQ9Gc65DCehK4zvDdQAmNR2k89xcCdhDAUxdelWBap9fSBImwRsILl6nO1RhIv2YquAllX9awvZkB0+ZKe87XPjZ21SKqhQwgPihyYkDp91WPXU9wOpt2PTdaJxZhB5e3YTykzq96ciQXsKiBsDWOs1pBnmj55SH0NvbtPfu5AvPsANZSGOuxDFOrTRDXiIBDhoj3a63Yw3rUhDRVw8KJOt5akex7KEZ0iTPEa59ZiE2W/GhkhedriDuJI7aVtFqq5MR0kWmHbkHU2Oncba6TFTxyXoN7wXiP4HIzKt62JJMAfB0FTfMcQgLiNLUu8A8MNDqM7cYeKlYu906ahDF+KBvATEQRE+/UXRo6XrTW+O2NRk6zYIOIW6DaWFFM65tz/AMq4UQNttLMhleYF/5EoyiVIJK2VIAaJQ6+qy1FHHOSyul+kei0M3zECoI/G8SZt1eiVD0Dl/LbQcoSAh7itjnpBOFFtuBbAN2oQf+brK9VRRLEaEndnALTkdd9PrdYnHrML8a1lcBJv2/BRxtOqwnF/d5p0zg46NjPRcJsSsSOeNFBQcuLw9h2MUSsuxWrBEpsUie+p25HUhohO+g2xHFmZ1ZE6WBF5dLRIUoO4xj8xRFvD3FGC4jTeyvQkNvzXuR08MAxa8afYTG2SFJwo6dyx3PF50UrwKvtARApYRDRNcA6EQ9iqCJ4Z0wxuOd4WSF+i76ex00JifzJazFH/w4XyzwiXlB9g9uJ8O4M59fdBuD4eD1l96f9bgrkt/0kxEWtMRAxlEHT+H8TqqFS1x/Ak2fzZqxicvffwogLDZbjd/Cmr4L6eBYVVnGo/eqLPHqF3pYq5GJREM8ZhAiCanjgdvNhKkbKNNZEp3hR8Fx0VraQne+wORr+ftlPKIeB0UwDVyxYNSw7owPgcfJrvDkokjkZCD1A5X7GecNPG3t4oxGf6elOaj0N+cU/KZSMPxKkQzS+9/yobENckG/2mIJsXHRII3lxurqPAxsGSbMlayXrY9nhn5agEgUPy2poCddKlZhJYy1gl12BNS2sAtw/VjgNVKrvV6aNZUez6cInSFx0MpFDNzBImdiBe5wMjAGLKQLzrGdlhghNRsnMzj8WG/pSCQtNAgKIvMS/H41q60y9c0lHVXF8bHr6wL0b0xMqE640j5529W6/7AU2BOV1uec3d3SVqXmV58HZEqmE2R2+5SHbBmL28qizixoo/lcFhPHqTMbAiMTc97UQwBD1tY94mvx/Nt8r6FN+nuUzNNS37EtQYJ7RZwUACzZ4bwYezG6baJlI22JEdN+CIeUs9LTGL88GKUuuuGDEHCFZefyJnfuByumnTmm3Fko6nyYMaB73auC251A6jRy7DnuPHCziwsNgJedrZddgSSCM0LbZ1y7pYYqy4hfweuIjQ1RtOj1RIM13I9Td3C47ZutTc3vzuJ6mwE2TZzBJIQ3pKaozb7mmyf+aZksVv8CkhTA0Q34JDAJyQEPzmovqcv2ENBBA/bA67gWPQs+ifloPLTP6qEFIQ8zNZt46VlQm0G0gaqCTptE3bT+cGz5Y1iIjaatwBqeL8PuipJfCfiP7WMoZL8aLOkXAPz1ssUJy4A1ejW6e+OqSiY9YzB768iJ03jE3QULVtuJQgLKQt48z/RDmfVASnV77L8O0/HcegJh1YOH3Fpfl8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014P9pqdeJG4QicBBQfJzZmc",
      "input": {
        "note": "The arm is not moving at all at x=0.45, z=0.085 — it seems stuck at a kinematic limit. Backing off to a closer, higher pose to unstick it before re-approaching.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.1,
          "right_yaw": -0.5,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014P9pqdeJG4QicBBQfJzZmc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6029, -0.408, -0.0223, -0.0498, 0.9995, 0.5098, 1.742, 1.1088, -0.3416, 0.6567, 0.664, 0.9985]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.1702 left_yaw=0.0042 left_pitch=-0.0404 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4138 right_y=0.112 right_z=0.1019 right_yaw=-0.4045 right_pitch=-0.1457 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2786, 7.0085, 1.707, -0.0317, -0.0806, -0.0122, -1.1692, -9.5658, 9.1009, 1.2137, 0.6422, 0.2222, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75c5938ab6b02c617c4c783eac2a788b5e13c500179f48db267d6550ae19b25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9305ae00be71570177331d5d687b68f2a61f6cf1118ec7b394b165af88debe93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27c4841a523a2f5b60dd505a37811b0dbe7e07cceea9a6614610249c05bb0a09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 17.2 s

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

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0494, 0.9995, 0.4103, 1.8198, 1.1038, -0.1558, 0.5823, 0.5056, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0044 left_pitch=-0.0385 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4494 right_y=0.0934 right_z=0.0859 right_yaw=-0.3571 right_pitch=-0.1246 right_roll=-0.039 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.2786, 7.2684, 1.7265, -0.0611, -0.0366, -0.0122, -0.5812, -9.0188, 6.1744, 1.5018, 0.2027, 0.0757, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0498, 0.9995, 0.4095, 1.8198, 1.1038, -0.1516, 0.5674, 0.4961, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4501 right_y=0.0958 right_z=0.0854 right_yaw=-0.3417 right_pitch=-0.1296 right_roll=-0.0352 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 7.1179, 1.7021, -0.0659, -0.0464, -0.0122, -0.4444, -9.0188, 6.3658, 1.6288, 0.2857, -0.0513, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6029, -0.408, -0.0223, -0.0498, 0.9995, 0.5098, 1.742, 1.1088, -0.3416, 0.6567, 0.664, 0.9985]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.1702 left_yaw=0.0042 left_pitch=-0.0404 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4138 right_y=0.112 right_z=0.1019 right_yaw=-0.4045 right_pitch=-0.1457 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2786, 7.0085, 1.707, -0.0317, -0.0806, -0.0122, -1.1692, -9.5658, 9.1009, 1.2137, 0.6422, 0.2222, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75c5938ab6b02c617c4c783eac2a788b5e13c500179f48db267d6550ae19b25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9305ae00be71570177331d5d687b68f2a61f6cf1118ec7b394b165af88debe93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27c4841a523a2f5b60dd505a37811b0dbe7e07cceea9a6614610249c05bb0a09",
        "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_01TXedNttGQme5sAbdAgJfUx",
      "input": {
        "note": "Brick is ahead of the jaws in the wrist view, leaning ~25° right of vertical. Re-approaching lower with more yaw to straighten it between the jaws and a forward pitch to extend reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.45,
          "right_y": 0.1,
          "right_yaw": -0.85,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01TXedNttGQme5sAbdAgJfUx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5854, 2.2295, 1.3075, -0.2432, 1.2026, 1.0431, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1676 left_yaw=0.0046 left_pitch=-0.0518 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4476 right_y=0.1033 right_z=0.0391 right_yaw=-0.7917 right_pitch=0.231 right_roll=-0.0715 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.4291, 7.0496, 1.7363, -0.0269, -0.0513, -0.0122, -0.1299, -10.947, 6.9675, 0.7448, 0.8718, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae83ee1a9a9ccb88bee7cbfabc4d1fde65f860a81ace3a70817ed836108fee0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e2e6e016126810993a84df7cc2b16331403dfa9237ea601f7fedb0e5c4f668b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d39826c29cf8153e84dc4c3d4c9fe051909369b45e5c83be3df1a6016e9cdc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 27.59 s

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

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6029, -0.408, -0.0227, -0.0498, 0.9995, 0.4095, 1.8198, 1.1038, -0.1516, 0.5674, 0.4961, 0.9985]\nstate[eef_state]: left_x=0.2915 left_y=0.0019 left_z=0.1707 left_yaw=0.0046 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9995 right_x=0.4501 right_y=0.0958 right_z=0.0854 right_yaw=-0.3417 right_pitch=-0.1296 right_roll=-0.0352 right_gripper=0.9985\nstate[joint_eff]: [-0.1709, -1.2923, 7.1179, 1.7021, -0.0659, -0.0464, -0.0122, -0.4444, -9.0188, 6.3658, 1.6288, 0.2857, -0.0513, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6029, -0.408, -0.0223, -0.0498, 0.9995, 0.5098, 1.742, 1.1088, -0.3416, 0.6567, 0.664, 0.9985]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.1702 left_yaw=0.0042 left_pitch=-0.0404 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4138 right_y=0.112 right_z=0.1019 right_yaw=-0.4045 right_pitch=-0.1457 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2786, 7.0085, 1.707, -0.0317, -0.0806, -0.0122, -1.1692, -9.5658, 9.1009, 1.2137, 0.6422, 0.2222, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5854, 2.2295, 1.3075, -0.2432, 1.2026, 1.0431, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1676 left_yaw=0.0046 left_pitch=-0.0518 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4476 right_y=0.1033 right_z=0.0391 right_yaw=-0.7917 right_pitch=0.231 right_roll=-0.0715 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.4291, 7.0496, 1.7363, -0.0269, -0.0513, -0.0122, -0.1299, -10.947, 6.9675, 0.7448, 0.8718, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae83ee1a9a9ccb88bee7cbfabc4d1fde65f860a81ace3a70817ed836108fee0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e2e6e016126810993a84df7cc2b16331403dfa9237ea601f7fedb0e5c4f668b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d39826c29cf8153e84dc4c3d4c9fe051909369b45e5c83be3df1a6016e9cdc7",
        "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_01SqFrTUGYhLE4fYeKDGLvC4",
      "input": {
        "note": "The brick fills the space between the jaws in the wrist view at z≈4 cm, tilted right; descending to table level with a small yaw correction so the jaws close across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.45,
          "right_y": 0.1,
          "right_yaw": -0.6,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01SqFrTUGYhLE4fYeKDGLvC4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5777, 2.207, 1.0687, 0.1993, 1.256, 0.8055, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1675 left_yaw=0.0046 left_pitch=-0.0522 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4313 right_y=0.085 right_z=0.0265 right_yaw=-0.752 right_pitch=0.3149 right_roll=-0.0885 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.7607, -0.0464, -0.0757, -0.0122, -1.2103, -3.6444, 1.1282, -0.8132, -1.0085, -1.1306, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2549405b67577ce02ade3776f9f282bda9af950d1f6ab42ac6c82be5928637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc5b9c814fbadd249442566d6e3a5ca0d40769c532f2727ce370f584ea668d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6118999956abc85c423a38cc50a861d38c94bec5971d2388aa264b8e36f3e2cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 10.33 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6029, -0.408, -0.0223, -0.0498, 0.9995, 0.5098, 1.742, 1.1088, -0.3416, 0.6567, 0.664, 0.9985]\nstate[eef_state]: left_x=0.2916 left_y=0.0018 left_z=0.1702 left_yaw=0.0042 left_pitch=-0.0404 left_roll=-0.0063 left_gripper=0.9995 right_x=0.4138 right_y=0.112 right_z=0.1019 right_yaw=-0.4045 right_pitch=-0.1457 right_roll=-0.0347 right_gripper=0.9985\nstate[joint_eff]: [-0.0479, -1.2786, 7.0085, 1.707, -0.0317, -0.0806, -0.0122, -1.1692, -9.5658, 9.1009, 1.2137, 0.6422, 0.2222, -0.1734]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5854, 2.2295, 1.3075, -0.2432, 1.2026, 1.0431, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1676 left_yaw=0.0046 left_pitch=-0.0518 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4476 right_y=0.1033 right_z=0.0391 right_yaw=-0.7917 right_pitch=0.231 right_roll=-0.0715 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.4291, 7.0496, 1.7363, -0.0269, -0.0513, -0.0122, -0.1299, -10.947, 6.9675, 0.7448, 0.8718, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5777, 2.207, 1.0687, 0.1993, 1.256, 0.8055, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1675 left_yaw=0.0046 left_pitch=-0.0522 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4313 right_y=0.085 right_z=0.0265 right_yaw=-0.752 right_pitch=0.3149 right_roll=-0.0885 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.7607, -0.0464, -0.0757, -0.0122, -1.2103, -3.6444, 1.1282, -0.8132, -1.0085, -1.1306, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2549405b67577ce02ade3776f9f282bda9af950d1f6ab42ac6c82be5928637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebc5b9c814fbadd249442566d6e3a5ca0d40769c532f2727ce370f584ea668d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6118999956abc85c423a38cc50a861d38c94bec5971d2388aa264b8e36f3e2cf",
        "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_01AWvvk42BiYsYq3iDGrihx4",
      "input": {
        "note": "The descent stopped at z≈2.7 cm with the brick lying horizontally between the jaws (jaws would span its long side), so a jaw is probably resting on it. Lifting straight up to re-check the brick's orientation before re-aligning.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.09,
          "right_yaw": -0.75,
          "right_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_01AWvvk42BiYsYq3iDGrihx4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5674, 2.2234, 1.0252, 0.4694, 1.2255, 0.5713, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1673 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4436 right_y=0.0899 right_z=0.0291 right_yaw=-0.6794 right_pitch=0.339 right_roll=-0.1085 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -1.3333, 7.0359, 1.6923, -0.0611, -0.0073, -0.0122, -0.5538, -4.9573, 1.5521, -0.1734, -0.7497, -0.6129, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8482a7d6e7bad786394b0403107c8c55678c798ab69f89ae06ace7b64f1e7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b87e99f67e9b4a04bef92c28660cf746d0ef9d3b05b3ebe1eefef6789baee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b5830a083bc15716b543abdb690457102d293d081c902db38e2067feb36aba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 27.47 s

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

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8108, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5854, 2.2295, 1.3075, -0.2432, 1.2026, 1.0431, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1676 left_yaw=0.0046 left_pitch=-0.0518 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4476 right_y=0.1033 right_z=0.0391 right_yaw=-0.7917 right_pitch=0.231 right_roll=-0.0715 right_gripper=0.9985\nstate[joint_eff]: [-0.2256, -1.4291, 7.0496, 1.7363, -0.0269, -0.0513, -0.0122, -0.1299, -10.947, 6.9675, 0.7448, 0.8718, 0.188, -0.1734]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5777, 2.207, 1.0687, 0.1993, 1.256, 0.8055, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1675 left_yaw=0.0046 left_pitch=-0.0522 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4313 right_y=0.085 right_z=0.0265 right_yaw=-0.752 right_pitch=0.3149 right_roll=-0.0885 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.7607, -0.0464, -0.0757, -0.0122, -1.2103, -3.6444, 1.1282, -0.8132, -1.0085, -1.1306, -0.1783]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5674, 2.2234, 1.0252, 0.4694, 1.2255, 0.5713, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1673 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4436 right_y=0.0899 right_z=0.0291 right_yaw=-0.6794 right_pitch=0.339 right_roll=-0.1085 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -1.3333, 7.0359, 1.6923, -0.0611, -0.0073, -0.0122, -0.5538, -4.9573, 1.5521, -0.1734, -0.7497, -0.6129, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8482a7d6e7bad786394b0403107c8c55678c798ab69f89ae06ace7b64f1e7e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b87e99f67e9b4a04bef92c28660cf746d0ef9d3b05b3ebe1eefef6789baee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b5830a083bc15716b543abdb690457102d293d081c902db38e2067feb36aba9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSowsKEAgRGAI4AUIIdGhpbmtpbmcSDHTDnUW0EF3tmgl6HxoMYEnzL092JnaHSmQlIjAi8kzFIYoLpxrIHkIe3DxpoeaeEcU/arf/7FVpl4kOc/U6vUPZu3gCp+ademjZZJwqwAqMu4njmyH79/su/mSsSnV6wO17iAWsSfLwi/P2B0x9pti9jocLpiLx/XrfBT9MayKlQIEpCnQBHZ559xcZQaLB5SzIPU/i0wswLW5SaKXU6KLsFtHRdnBpEzPOFsrLauZ+EmxlNcw0KrpNxc36OK2Xn3WccIrNRwke9bW/EEhGIYS4bu4DG6gMhON6wjfJW4KzvEJN/ewWHmqKO0v/LfznlU3ngJQSHyMGGFBi1rk46ePP7Cu1LrFe2BkJPwDjEljcuuUFAoyiGeTRgMkv7VbSvQCsRGa7TNqj0m08QDhw+jU8WtOUClk/8yWZitfps2s+dWg6Ihq16L/x2LYT/Z+0EwtRiDkiOh+YeKbf/8TQEc8v4lo5WWwsRBKF6v5+VQaaN5xpBf7P9AgolKtNSCeAtVkV5u+eVEwbOXNaU4djPCPCoJqgcdaQWnEx3muADsqkCmtGcwT5hQgg/AiT4+oG2DVU6L0OCdzFF+xrCVonxayFmPjMEiDrfLSqklzfFb4ZNYnzIvkujaWQ9OaZaxmTl5xRZvexdgliSk9tw7GzG4H/nOvybPW+P/h5Pr//DLoxbYQ/YnonAabTYwMdzh7El2N2o5OkHTFXRxpe1lUC8Kl3an95skkvrvEfNJbzLqGw9cPDpBWY+x0endOXz92yAtxm2EwiN0E8Bct2OOLhVBxXWyW39jtpn7Hv5dJRbNjuE6C4e7vYu68NRVNPq+tnuYLijddgYutstlUUA1QK1p++v/PJgk4UoQKOoIlz+QUAhqDd/1vWbSc7ed2vefNZ5L1aa6yn1v0bqHE5YG3zdckKyO/Qmu06Kke+EyG+wgmg6CDpeRH4VJcVn+c2xitQoxqJfGQyTckFFDGg26UNYtgwgInKSKubWkMju8L4KoPLZ6lRz+0NyQubgLEdc2fpUg3PbeWVkQs9IiRxuM1DbgS3hB9wbJpv5QXEf15+cPnoKFNtS5Aq4jDBYDRnLYPMUXLEGze94FqKtolT2F49tdfztt+t6t4ToMD7T+QBO9qoZKS5fWS8tw5fhApNiTAYjGVIYtYEMUbmWIZjZFVKUxj7iM08IB4Sd+shJx9Eq3c+NucuIx7ncnQX7uwWASivCVN3L2jgMCbHmVxkGZcBktwftrWmDDK30Ry70XHIQP+GOCFvk0NEG/8dFv17JG19vK6zeVL5eJ5NIfxFJe9wRR9Ws3OsrvpaonHvBq4SFhePDAawC6AGLLbwTZoziKfXU8b+Yrzwo7xatab/UU6r0IWfOj3IvB7qhXdEwhVjxnf2ZR82tvoEs+3fWJbB+Z1Jx2fDL9IqZX56NItdV0OFa3ynb5Wts5vRlLPPkVDmK7Der7O88A6Th31iQQnhuG0gu9DbgW75u6xakSuwzZUSwYrBc0OdanrSD1Ul9/fzALCPkVv9pDV6+0wSpEGJn2OF7UAlso/dbxHzqFN69J50/QDxYSbQf5WMYTZ2Xwi2b3cYfInZYpHwZoGPviglZWmJ9bQUlAYvZWpYsCty/fXfQSDp2BWBR9RbY2FN2MsbN/yOSQykWEVXrSaKSEom9+elbiyzL0OppPmjZUcIDgEYYGgRROxhT6Bagalz2CQCPLuoXmjXWjjbCqUxRRTCP1htakml9LN7SJZ3+L/hLbNf7r3M9q5teIpC3TJvkdY4+PWQzFacYE6hdqoCeaV6rcKSVkvDqEtGwxEDPsXSo+wX6QOsWyQ1yId63F/Is+V5AmKHKOC4RCc0kX7nwXB9S55sssFiJwuUQVG9UCXfeqDy+ycmSKJEZaSGCC/BZmrY2IAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YDVjer1PvkL2gy1ZcgtXhs",
      "input": {
        "note": "The arm did not lift — it appears held at an awkward IK pose near full reach. Retreating to a closer, higher and less-yawed pose to free it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.08,
          "right_yaw": -0.3,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01YDVjer1PvkL2gy1ZcgtXhs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5346, 1.4097, 0.8001, -0.1623, 0.7692, 0.4641, 0.9985]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3655 right_y=0.0778 right_z=0.1442 right_yaw=-0.3387 right_pitch=0.0419 right_roll=-0.0936 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.2103, 7.0085, 1.7705, -0.0269, -0.0415, -0.0122, -0.4034, -5.9692, 8.9504, 1.4676, 0.2613, -0.1343, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053d6b7884823383ab4254c2306bf549da2efb27c980fe51f70f9927a42040d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5dce618c268fcc2f18b85dac59152ffe60a8589c154f104bee50c670d99c2fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dc56413e3569e2b734f8ef1cd1b405f5b8b1f6bbc6b688f320fdc85340737a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 16.98 s

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

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5777, 2.207, 1.0687, 0.1993, 1.256, 0.8055, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1675 left_yaw=0.0046 left_pitch=-0.0522 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4313 right_y=0.085 right_z=0.0265 right_yaw=-0.752 right_pitch=0.3149 right_roll=-0.0885 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.265, 7.0222, 1.7607, -0.0464, -0.0757, -0.0122, -1.2103, -3.6444, 1.1282, -0.8132, -1.0085, -1.1306, -0.1783]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5674, 2.2234, 1.0252, 0.4694, 1.2255, 0.5713, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1673 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4436 right_y=0.0899 right_z=0.0291 right_yaw=-0.6794 right_pitch=0.339 right_roll=-0.1085 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -1.3333, 7.0359, 1.6923, -0.0611, -0.0073, -0.0122, -0.5538, -4.9573, 1.5521, -0.1734, -0.7497, -0.6129, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5346, 1.4097, 0.8001, -0.1623, 0.7692, 0.4641, 0.9985]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3655 right_y=0.0778 right_z=0.1442 right_yaw=-0.3387 right_pitch=0.0419 right_roll=-0.0936 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.2103, 7.0085, 1.7705, -0.0269, -0.0415, -0.0122, -0.4034, -5.9692, 8.9504, 1.4676, 0.2613, -0.1343, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053d6b7884823383ab4254c2306bf549da2efb27c980fe51f70f9927a42040d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5dce618c268fcc2f18b85dac59152ffe60a8589c154f104bee50c670d99c2fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc56413e3569e2b734f8ef1cd1b405f5b8b1f6bbc6b688f320fdc85340737a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSyR8KEAgRGAI4AUIIdGhpbmtpbmcSDKCwqf4jQ/eTMjxCcRoMJ0kVGcgTuoNfGpQ5IjDhWvJrk0XVRV91I1K/EdY/OiIO0Pk0wJzyqG0bDvXNxA6gK26MWAKx/fesjnj3LXMq5h41vMsYHTKYz/1qTNSKajrOLvqFOOjWLmHaNqtXzI5fZgiGFpsGV4Xp6uWbknYEVqvos3E/DMrpGgwVtPPVIPveqJuCZUBocqHXo+H/IPQMCupu1kvUGAFHT+Eph2sr8lVYEjIHoTp9aJ1vJ991Evu886J/FrDJvRHaIn4MULP0kPp7jF+eXMqnYtIV5IIGtrz7KbV0g+893SqsG4SItqOxhZABsQx16cfCU89GfWU+uNqd7ZRVtjXbhqvfX1nSarVm5WchXRRY19wSGqsvDzfoHZ5XFDO1YfgA4fSiAY3pyW4b8oPeJII0aKPS09HOayubebDuktgV/LXapS36002jw/LESaS0X3M+9pT5KLlzHfYJt4UinpUD0kfFGmqoomhD0MA25oanl16+Nr5FpkN9hdudH/DFMqdoJ8INfJ4gnIyODhpfK49oUwbD/eXgwC0MgTN49NqmfdPrqZ+N1Dtve2mNivinuRacV3/ZZrZHL2k/lIdyMz2JbaqVc/P4k7AZvHLTC+EKSVc206GiC5I94LUO420OV9ksO2qhS1kCFVmOegQW7kCG6Q/DD+BzKmBgK/7X6WP2J/Du1N6pPQFOWzLL7tZrSF4HQlmUjWXv6MlNlk+mJ4EfQ602su9F0SZz2EXfuIkmqJ9sgFr1TDEWcVhiI1T2fGSTgk8n0j0U27z5q4OiL3U6gdyz6dRRwjP/JLykKEom5XZzBX+/LhUmNhIlcVEDfSfMmMIALSXFHBbg2lfGPo/NotUc3wwn9GqRjPw0wrC88btfEESI2UK/CBksrG4ptVtY8PaSL4U/7fNgA+bA8H/Y1lN3+YOb7cAVhSuq0OH85Z4eE3SoB+XKl4Em8btIR5YyIQAsSvefQAuh24J7wdEpoYnKYGCbQGHQchIJ8AJNhvrgszVa/8FfBFuxwYDo7BvBvp19gl9spqg1UOdwZ9SbTV1nbvuE4901XXepxinaHNOHaK6UitdyCRS0Y5lAaoSJanwx7w2KXw+9Nxixxu8gXSENC0u88Xts8OVq+dLgugQuomjZ2y3PbkNtWChUhnKopee7sZnm9M+mX2cnOnbX8WB/Ap8UrZpXJn11GuK8dv6u902EGiyeL87C3eH4ZgGe5/HLmPMZhSfAwFQ6fkhCE2qPGFX8zxdvnhOAQT0yVxX0UqlnhdJu8UD5vT5s0Gl+hMmkhG2TFc/27nK/cwOcR0ubDDGyc77+GAv/GzjHUJd9yNfMRj6oKJME9vD7bxmS4+1INXHQvaXgL16mm69AAoCWn1KkOBia2o3pb7UGA1iCryVxh0G1piBKWLOhhzIEVBfBj0vvT7haN8mCeifbGErjafKVvKz25oljGph3aWlUzDOjYaZ/gGnY4PSspNV29z/GQFGN9KwZ40Bm69jxmbKmwdXYmZFt69dFGg9TQOywcZ8PrCZcNou0AJX06RC/oa0LokaiTFMY3j1rkD3QpZ1YGyN5um7m3TsA0qR6j/cUj4f8uQ0JhRZ5+Ft/3hd1XVJe0sDGT3bVDFDRgqfiubfI1vDWymT0xrCLZA3qMUhQ+7lzezTQVw23gG8vhQTW1FongqTTH/6DimHOWN4v6VocLJmeXRUnXhEhZMlX352WrH0ce6HDSlYfwtQbFkRB/mQj9UCEiZEAsSvdFHg7nawOnL00eMCyB9V+YRbAnBeFIBVQyxkQxo0d63xsb49gF7K/NIhNWIXpO744XC0cK6oa48I56Zg9H89NGm8elnrNhB6Fh0B1TU7CvYmDg1UIH+baq2EwxZGsq3zr9WFtMDNzyM3tDcI/417uRWFwGcy2RBGWMkN0L6ihxzHw0NnzYQ6ZETX0FpBV5HzMwepjT94XdbvSF5+Pl2Cq5eOjO7EQ1KkV5vePQPz2ByVaJ0k6927M1tFQLWPvcDSN1RHfrIF6TU0wB9r98neG5Eo1sX9CP5UUBm3lbXPHOOctorp72k8bdmRz/lSTuiniLdf02QQqw/VESZYIsZRoOe0aVauzCyqShKskrG69PwJ5+k5+PuH8ukRwn1qPgdkmwnr7NITyMzhFyMtBgYuw5bFWLdjTa6I1MQfhN9Um9h7CRmDI9BE1ce3bCe4k2jb35Oo3dtU7tDllt0TmSmlrCVDqReBc6KypZZL9+dVZJH/PIxN9wm3G+A80+sbOvzHwOMeKnp0zL6oZeGuzaIT19SWjBNJtXAONRmz+sN0Hs2MhcBD1rfYtHIOlGTsphBpm1CEPm3ahsVUl68fhevRYOzSIczV/+3awbJVci/xGQHM0qhuN6EygtOVd5+v7uaBmdfyReGz1Q+uOgiy5fWU+3ExXxFzJW30i4mvHGSeJ8epIMcbTHRCfrVrLAlWzrrwYBfFIev5DXComm8mtMalxWfPQMdLnt1O0+QcsJafpCsesDuLxdJSsBbeF3T1xekEn29IAzoq8nhSv77SNudwHx1EimPj/3fzK/x2SC9vHs08dxdsi2SBEXzO58+Yf6NvvrFK9TzmXuDylirK7niJIH/dUrMvIzQDJ5OJmQgItQDNJjCa0tU1+jTUs45PKMRiwLALN+cGLPPM3iDPIvItwNd0DMmcBV+E4zrZzyG5wPwtWOKG/F8aNddX89Ri1WfcmvHVMx/VulPa3UM2VBVKumHHeFe75cqhQLLbj7TO3Cern37tOnE0Y1V7bhYxCyFFPvoLKirOfFLNZkYwmZGuOZNSyGwubi7E+Lip4VXk3IDqHaYbGHaAee8Nq9gNONJEhEVSBmtIf615UK+c2TrnuLlPH83YkKSnMxoEMbwAOJBlsd5uY9+x75rq+R80XH3GoruwB4spieirvsBIaUpoAdW8l8RSbXQ/+/+fQtiMwWAagRgIJQpFUV1JO9VYFzvAKONf+1W4uebhcaz/IvyY3HqHNTbsCPbxmZ1Ja6lY6hwJye9ryb4Rx+Fp5njec/8I9ua237maByw1zc9mdB+qEzVBhY+WVnFVPOETJJ/4EuSIibhy8DBhSXLYtQPg5lF/abUVmEuLxZkvIoTPYNNrJS57OkBCfI2d9maoxdABTm+dvuOSuBKGUwqmpc9+lIxPdLHUxEOTn6zEUnoJICrPeoh13m0xbOdbBjWyDo4U1K62x9pon72HPmCZ4ga4aRCOmXGCFR7intu3WG7pmm+MxE4k3ScDhSe5E3S6h/A8ZYIEhmgjvSlDkU8OggPPfSdFPcAm53Rl2UWUAU9ex2J2tvg0WuXYlkS3cIMs+bWRfV2P/GYC0ss/ObJPK9O57aONgEkgR58jGJ0FcutyLlAea7dqk5rgAcNOHF/Be6Si6KhnRPI8Vq2U1dXd/02DLYbd/GFG/Tc1PQnygDIo3a01hCdMbaO/5qcNeL5Pa7MWXV+5r+VSTqm18kiqn5TnwqvZKRCuk2D+GPV/jdT3V6ku1pL64+gBMnl5CBYFMonkOOKGWqtY3Ym110C+zKKTOGpFLlJTdsx2uD/BcOBEQKNnEv16Xy8bYDR+XW0J2LrFvv333Mtu0D/ctPgTdylq6z0vaKOJoUtS4gW+jFRiI6NyiLwoOrnSrn/PZk3FnAYccKIc66mFVG4e2jd7vcN8UrGiZxLHhigBoEh52xgxqWAMjuC0JUuGl96SV6Jyx14wzIB6ENmy8xx8RiKa6Tdp4IBNR48FCj4qjUEKzPccSkWFMso+/SFRzyn6Kb4nMIgtlofK/bKeVbX8j1zBJdQP7LX18ghggJaY+fBTaOT2gJ3ORE5FSbCknS5iTEj0iXRt8yzzmRfMUiMvPB+z0vmB98OKI3LT7xESnRGbbrdHvWiXFwYkXpTHukABnvT0mHW6i/M5lBomrhCNqd7dNg/FQRBhUSczekGSbc1p9sMtbfwS/A7ndJuLsQ3i86ww1WwIs/KLSL9NgrpwA6B05L3R5FXrVks9u55ElsmJEPcIs2d1+hjl5frSEGKMNs9RSH2mZOlXMO+P8rBCXZpZPvb+UiadmTb7yCPdOLZNCn9fIqgCpHXibiuH5dM1O4aJ3eY7vVVJgfGcM+jtez+ljW4wf1hi+//j4ImfQt4u6KYYTDDgj8pi//+xx1EHoNorJ7k6b0zPCQWjdBryigCfA0QGSGchoGTqELHwigFYmHhAqsMoP+zCQxbRAJC3Th27EOdE58U2XysDryMlbieCpPICrVSEMJKz2HSIKoHdZ2Z+NVxen7RgeLqHaxL8/KqWa/KRxuG8fZOszRkU3dnXdnO+jvoWX47RKD+zmmlPcJuM95XJz8GliepABWPHGKtPQlOORQ1phav0wUKra2m9OS3UDwJBBowbnV6+ze6Gir3pWnBdqdY2ZfRBl3rD6M/tziEQrEH5Yj6lhvnXDXMON+5a/zuEqpTUfd9gAfjcK0nef7+uwkqorsRJSilfRwwZ1+tfXV50xhAj5FpnlXZgSYno5LCf/nD6kWyxDzI/iCsXGOSAAeWiiJsNcDCuP3v+wO5Pr2mTcrIMSqt4tHIa6o+I3QQ8TTkDaUaO6K97Ki3VeW0rlHznSOBCXYuN8SyGaTEFz4SUd3h/byoDX6MDdSaqfrS8dUg+blV5pSVEWqZO7LwGl7zw1edrd9YCDJYk5ou1Z1kCPsB4IXWq+bORgm8+RQcOSCTOFTobnLFreRemen1U3xF2CtjSlSaKjgfJIcHtL8zWyJNQons1loi25/LJ+Dp+2r78fYPuafpczUdkdf/qLU9HuCiiCxwJfztmW4RnTL2LZr1ixEqaQAR7TCLLDix0wrdiRMzFQnBcbL7GDR3T0B52KQ4fBHdOzRVHWBuOjkuPcG4wFgz8OY/35AosM4lxQzsGO7/coGSH9xgqFJ9C0E3QTB64wreVvZBK1MW7CccPWgDwC5TxcO4thUdiI/xuIlfQDtIm1MsTxEb3aJVAObygsAJyEHnhINaVDpc9COu0boNh+HIjhCtZlmDDAEEOhSSzkB/NDw5JuWOw/YPfiHGLAYjFH9Ok7+S32xQ6lxYgs0//2E6Vqw+Ma9sm92VgoXVpCsAZ2hZlg1tIteQVwbBp4KfCUYlq7ihwjC836qSBktYgKLmJaHKUVDJ5tHwdbA0OjwQtu1OzqU/ORK1SgofsPclp2j+yPPVvXJanAnm4jWcQXj9HXdLLr+jXMtaX5DpAAXqS9decRtfi3FJ8U3yarTPrCN6UjVVXH2TocdUzL2b9JGEyouuErcRDoktCAuwfSL5xVPJqiKlW/56UqUIqJsi5SQWFpAnHg7N5A/G7g+mP71xi2O2jp1/Z+/yKRAG/xORaclBl1g3rlVeiLHSMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018gFHm7uh9cRsTxQ6PettQM",
      "input": {
        "note": "Arm is free again; the brick (apparently spun by the earlier jaw contact) lies ahead-left of the jaws, tilted ~25° from horizontal in the wrist view. Moving over it and yawing positive to bring its long axis vertical so the jaws close across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.08,
          "right_yaw": 0.8,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018gFHm7uh9cRsTxQ6PettQM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6029, -0.4168, -0.0227, -0.0498, 0.9995, -0.0582, 1.6386, 0.812, 0.0952, -0.4576, -0.4839, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1651 left_yaw=0.0046 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9995 right_x=0.4222 right_y=0.0572 right_z=0.0833 right_yaw=0.5735 right_pitch=-0.0746 right_roll=-0.0667 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5795, 7.0222, 1.7265, -0.0708, -0.0513, -0.0122, -0.212, -8.5812, 7.2137, 1.3504, -0.3346, -0.0904, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85d74e016643adf6b91b93f22e3ac032c9c60c29a029d1c6a7ea739da7ba3ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2a2cab3e41a2bebe9eb6d5c2b3dfe45ad83339bf1aca49c4270272624d3012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a87f076d4119a5ad3581d5883dd945eca90bcb4fd3680c6737dce3731b2a5fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 8.551 s

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

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6029, -0.4156, -0.0227, -0.0498, 0.9995, 0.5674, 2.2234, 1.0252, 0.4694, 1.2255, 0.5713, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1673 left_yaw=0.0046 left_pitch=-0.053 left_roll=-0.0058 left_gripper=0.9995 right_x=0.4436 right_y=0.0899 right_z=0.0291 right_yaw=-0.6794 right_pitch=0.339 right_roll=-0.1085 right_gripper=0.9984\nstate[joint_eff]: [-0.1299, -1.3333, 7.0359, 1.6923, -0.0611, -0.0073, -0.0122, -0.5538, -4.9573, 1.5521, -0.1734, -0.7497, -0.6129, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5346, 1.4097, 0.8001, -0.1623, 0.7692, 0.4641, 0.9985]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3655 right_y=0.0778 right_z=0.1442 right_yaw=-0.3387 right_pitch=0.0419 right_roll=-0.0936 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.2103, 7.0085, 1.7705, -0.0269, -0.0415, -0.0122, -0.4034, -5.9692, 8.9504, 1.4676, 0.2613, -0.1343, -0.1734]\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 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6029, -0.4168, -0.0227, -0.0498, 0.9995, -0.0582, 1.6386, 0.812, 0.0952, -0.4576, -0.4839, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1651 left_yaw=0.0046 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9995 right_x=0.4222 right_y=0.0572 right_z=0.0833 right_yaw=0.5735 right_pitch=-0.0746 right_roll=-0.0667 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5795, 7.0222, 1.7265, -0.0708, -0.0513, -0.0122, -0.212, -8.5812, 7.2137, 1.3504, -0.3346, -0.0904, -0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85d74e016643adf6b91b93f22e3ac032c9c60c29a029d1c6a7ea739da7ba3ad4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e2a2cab3e41a2bebe9eb6d5c2b3dfe45ad83339bf1aca49c4270272624d3012",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87f076d4119a5ad3581d5883dd945eca90bcb4fd3680c6737dce3731b2a5fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSghQKEAgRGAI4AUIIdGhpbmtpbmcSDErOCidSw8ABSoyYVBoMUPZwdoIM46OHR89qIjCbY4Xap9EQVYfhWFyH9j2ginqVz0pj/8hzivb6j914qpTeh/lZVfQZNNHFK+06MLEqnxNWnR+I3CRCNpH9JHXSmtbI1UYk2UvtKwtbFq490cIkf/+VCCHRqXu9CXMeVZYfoYxiVdtgbdeyZLrMcrrgkxTCWkO0d5tIjxpEBNWJIrZo9AjUlL4s5fMb7b36q08ii0UU3XNoDxlS8KddS4cV1CxTujj1R+zLwROjio8Bnvq3R8BVFMTIk/ll2Hqhf5wlod8zsNRtrYjlaB7pAMBD6F0FKM5zz+McVgRoJq0Yw1eXhSsQ2SGp5kZW2SK6VYPQinp5lrMEUKSTjrC+x6lrceCWMbPJBksaO4Z/rL9fylGVmk0Urk7S16sue72B3GWrgJb7eRRyo9gevma3Da0/ss0w7MU4+CQYYdeX0EHtbqB2+dNk951LTU0R43YpDV6F/wPGhruSFbVYb5rLfI4oprWGcqRkkW0dwSxE4znrk0nTvw9p+UjN623hNmCpWA4N8c2rT4xEMNE3KceiZJ6v3UHYZstDeWipkeSuo7jWt58se1K5JoYCgZWpdQnTZfNur3PSMG6ZYRGYeJpvGD9K/LycnfMpE8BhpKnQnG47pEtKLSFi3FBgzZf4bhx9foZ1qxmWX0SParYArJ2Tk0KaW5WUCln+hte7pWLFg95tCzR6zaIc8+GRSGvHW5QrCV/OfP0UstG912lFexBv2rEBL/xxuEP6J2GUZULRmAwRAGudhQF+6A7AR8XUS6tVuU1zpWF2pTGWcLCpxwDesekmh/6Tgn3Hy4fB4E4U1gtDa7X2YIp2tVu8XbNNLisrciI2nxzEk7HUL6+D6Zf+eomQd1QH31xszWQW1cTz2E8NKiQUz+sy9RnlJr6do7OjdefwqvA3BAPQpPGt8jaGqW6qtP1qjvTyxDX/zzulYb0wSxhD9uKHgnE99BtkIItXMrY3LUUiWZCBXkp4PFlf0DPJtw+3+U/lGF82ZVsr4Rq3jnBCTC+Hpiy4Vi1q40LpSRZ97qDtPL/4C2fuhXAoCUdUW001r9bwS04pp5/wWXA2UtLs+NNICXK56r/P38gnsivHEoyaNZ8oXVxy4XNWTQoSmnBUW+2pRxvQnWU3xL6q1k+IxcjAG9tUvahVfoCcVK5ph1mrc1Ens6U9l46SSxmQW/79jVUyO4sPnn64Nhd1184z7TrhtfMfRVYMF4Vp6RaDfUE5YRjxgFy4Y+hymZOE6UQBC2fs2ibnfeSK7ORRrvmypAS55vdD/vyPQcpdDUGE6PMMPvoWrrKoNw/Q5nTUUIU5+W7ZsMUXXV7A/C757x0uZ1ijaAtsm5ZASqTl7lFVmRjdax+6Da8Rcx9xGRxaGN/8lnVwcR/2x0ypyXZVtOVEXnrbqlEGwWiIzyXSJAVUkaFbBQ688FTdHGopMcAWiu54g2+pxagrNiY9Cd+ac9/09JOzwzQjbM3Jp/khodWAV401xDz+Xg1ZCOitM2ZqK+DbYhEcJ3PF9tSlc5yBhitevFR1C2JaWMkofqCnM+GZeY84tKzuKzr4fBOUnnnQw5zDXSWOSYuskX31IPqyG/M7/333jYYgnFyw4L9YhoZwXt9IJSH8tqKN/0nYYiuyZvFzWVfHJ1Q7jexA6KXPLkP9au+Bx/uW3NfTEHEJSt+YBXNvZQQYr3EmmdayqvBa8vL5ic5BlX4eBK5hrbiuWwNz+hUCd4bqJz6HEwLSDuVbN6+rn6TecSe/E7qiUnl51Jwd/CR3FriQpPCjiWZ3954cb0AtJ5ldts3JS4jBSaJAvmWXwg4QaapD+Mo/DGBh8QTxDGLLjdVZxZRYyHeeOJvxzPf+dDEOn/qNu17MmT/xc6bAKFBzbPmnQ67A5sAnzww4PBJ3y5tWV8jGGPLWSqYYTNgpSMdqYscXV77/WFcXpUm2PaXyqr12+SsExOi23/6Wh+lXkupqF/NpLP3qsLUVuYM3m3QAr/gsQJGhh34BaJzynH1Dkdn72GqtEDoNF3OZP/1sceW/frhPU2tg+sVZbVia0E5GboZYPCWTGLOChM8t63RYA1yo85K2se4CGC/GMXbucAG8tMTZsXIUVwY40E1oUAbp/LqDfE+fePzX4Egj3WMfZynXcxKHaXS2Q4uXnvJKHui5yzEO2zsfBuRt9u2/VcFH60C4iyqJmJbob5jXvp7vgtFbHISZ+MCiSOlaF5JcJoEEwxVOqMTlXLnMht5hksGwczwwFqZU7NjOw8BWJo1G2/WtMW6k2/+qze587ZGZXjjLNa5wfBKN/3BtXLLJsfRAMGlottiXQhQX+TLo47CbmPvPXDZjZfLYqBiqtYaWYOm2RPGzSig54A6Fh3f3lKIInVr2I8viDqcyhiCAbni58TrlMnN3UmmAAuw3QEhTvfNvxDIY2qVazIYf5Ft6i6mhnjtoluMlBXUB0AB2eFGdU8I3E2wtn6OdyqGZFq0kt+BhPOyMoAZbDNWJSl4LL6OkQO0Aq94eTsjK4RKQg9e6XvF+7pmmLWf12hPNmBFsePIt3CIxp2YihsbF/R0kKT4CVg62/5BS5jFGgRLYkrhbVin5uREfvRMbKSl8A1wEPjMHByILR17JRFy6Ue8dLYAx20qlsd0IyH3wn1uE8WghqDdjSh/tI1s7sAPbbIGN3AGNthh+IV8ueZzesIVDO+P9sN9lSwiUGEzX9YDKzrxrz2Ge8HfpbvC+UvK7SZbPuYz7jO8IZt082N3t2KLQYeaTxswWLMkbjpuTGfsj10WvO6YMLxzzZCFTOnA2fUlJyJP2MuwLVpxfyfhU00Zp7dzmK2wPH17Atn7Fujqk7iVTxdyz5WO0rOFp84fEtYcerHy7pCWM3T2uxmfYJVHdV7LR1mljmXTyVSCEkRzq8REKg+U2Q3yszDMbdwmKU1tI4miLYHekFN0XIaBrDPB1J2eO1cRoxGxUuYFw7Ld9bZDxLA6O6tClbSywXsaFkXppAsCN4gghHDm1/W5lLbHnkOxfxRSSn+JIhyfw7Kq6P6bNJ9tHYdIH2iBiHj4FdW39STN0MQvlnZxZ+UiW/cKOymsqGFeAlopvnBonnWu7KhXplMxni9Znk1L7UgcHvz0JqbC+ojulyZQuJu25wlu+DkTmqMca/uEOvSe1dCNguk7EPthaixoSNdtrPvaJKdoTFwm39gTV++Zt737hAEmrA18SL3tQ3hq8PQ4TPT3cD1jtd/XXwmFrZcVEou7A7GkCWZMuP3ISe74wsi57E//H5MBBBKLIG/MJbnfQif44vXnalQ/gfjQcdYWgClzmgmkjUTE+I9JSWOnVI8k2gGBdrNQf4n8ylER3yt+bXtT9gtajZqswzkHTnSG1jgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWZQ95sKvP1NToatHNWQ3H",
      "input": {
        "note": "The brick is now centered just ahead of the jaws but with its long axis along the jaw-closing direction. Rotating the tool ~90° the other way (toward yaw -1.0) and nudging forward so the jaws will span the brick's short side.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.08,
          "right_yaw": -1.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BWZQ95sKvP1NToatHNWQ3H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4202, -0.0227, -0.0498, 0.9995, 0.5114, 2.1487, 1.5959, -0.6037, 0.9035, 1.0401, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.0694 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4816 right_y=0.1152 right_z=0.0915 right_yaw=-0.7518 right_pitch=-0.0326 right_roll=0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 6.9949, 1.7509, -0.0415, -0.0659, -0.0122, -0.1709, -12.6838, 5.1897, 0.0757, 0.7057, 0.2173, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edff22f4ca3e840171ee794ea8dd0b904230203622f35a19b37bf4d46c0ae75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db671bac19f41e9927fe781d2ea59cc6788e47bfa525091cfd2217cef09235c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:88b32f9ae3b23af0ceda91df3646e2bf0d4ce5496e2a0647a9caa4261716d556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 10.35 s

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

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6029, -0.4152, -0.0227, -0.0498, 0.9995, 0.5346, 1.4097, 0.8001, -0.1623, 0.7692, 0.4641, 0.9985]\nstate[eef_state]: left_x=0.2911 left_y=0.0019 left_z=0.1664 left_yaw=0.0046 left_pitch=-0.0564 left_roll=-0.0057 left_gripper=0.9995 right_x=0.3655 right_y=0.0778 right_z=0.1442 right_yaw=-0.3387 right_pitch=0.0419 right_roll=-0.0936 right_gripper=0.9985\nstate[joint_eff]: [-0.0615, -1.2103, 7.0085, 1.7705, -0.0269, -0.0415, -0.0122, -0.4034, -5.9692, 8.9504, 1.4676, 0.2613, -0.1343, -0.1734]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6029, -0.4168, -0.0227, -0.0498, 0.9995, -0.0582, 1.6386, 0.812, 0.0952, -0.4576, -0.4839, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1651 left_yaw=0.0046 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9995 right_x=0.4222 right_y=0.0572 right_z=0.0833 right_yaw=0.5735 right_pitch=-0.0746 right_roll=-0.0667 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5795, 7.0222, 1.7265, -0.0708, -0.0513, -0.0122, -0.212, -8.5812, 7.2137, 1.3504, -0.3346, -0.0904, -0.1734]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4202, -0.0227, -0.0498, 0.9995, 0.5114, 2.1487, 1.5959, -0.6037, 0.9035, 1.0401, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.0694 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4816 right_y=0.1152 right_z=0.0915 right_yaw=-0.7518 right_pitch=-0.0326 right_roll=0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 6.9949, 1.7509, -0.0415, -0.0659, -0.0122, -0.1709, -12.6838, 5.1897, 0.0757, 0.7057, 0.2173, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edff22f4ca3e840171ee794ea8dd0b904230203622f35a19b37bf4d46c0ae75c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db671bac19f41e9927fe781d2ea59cc6788e47bfa525091cfd2217cef09235c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 93):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88b32f9ae3b23af0ceda91df3646e2bf0d4ce5496e2a0647a9caa4261716d556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSrwoKEAgRGAI4AUIIdGhpbmtpbmcSDE0BrTB3aSHk2EMHIRoMsQtPpqx23kLpon3SIjA6dPQeD0wT6b/aa02lctbNKSdf0WzwyJM/OVmCEiGeS3gftYpYT4LQeMDCNsz1A2gqzAkJNvcAFVMpFUm0J7pWeT4XZ1OBmHKXIQrH2eo/Jsd6Twf/AU29LNOZJNen+dCm9mAnWKBJ8sJGoTdbP1avlu6PtpCH9Yb7nyVJZdb23sCBrvrwkdBVLAvz3V4/GZX/Bcpz1ry/utabz0RARXJZqrg0EgOVOqs4nvoKeg5/V+lccfyALK+Sl0t/gavfwIP0QXP7FIC8EYi3MNmFRnECTqwNEUgmim3P9YCSKXlPqA7pi3pD+ztHBKhY2l+bd5Xo3N+eFP0XjxekZvjI7SRvgvyBvCy7zYuHuRUFYwez63f1nhN5yKHe9yU7b7/xwW7pcf6eEG//SuEj3Gw6NIuOFq1uRjH+McubslfnLcKyJ4xIvx/2DssQtVQ/wKbmR3I1Rbk34dSQUXdz/wfPB5BygTVp2r8D1XR4h/E/vj+aj0bK0Gtbu1esbgDjogKSeM8of4bPpCSX2jXv7Eejhu4CZdgWS4Ry8Dyk6Cii7eDXFxCZixCwZ/sesqnsG8Wl++PreUehkRY/CN7wKRa+fSZze4I4pqDejoGtKa32oSLX3DAR60IFhjSwm5FUoE5w8vewkm8o7L5xK1n4RRVa8fl6Z2A6Puxyhb3yJs6UwhV7vFhDqlIs78bmg3fLfT0yCDCJw30HHUuuLpy3k3vjcKPVNifJ2hlZ9IpkCcsL730tI1rcyB1x44eCL5GnGl4mD9RGPMOaRTDWNcHMS7yBslAqdRHoF4xLP5/mOHkvcWALoKeZqG6uVcSOKgI7xOeR3A5VaHi7yHhF6fjaZ84Xf1x1MWIoaCge1Or49UfJsHLKVf8HzqX57HpCMi9Py7U1TEYp4CDoUDuyYBs4p0fSo09KfXatV0vD2U2D02g4kP6h1gjWoMkVTSmrgpSPCA7CVOi5kniyRCem0wtZdCaj1n48pV9SBZcLbPP799fXyD9RqEKBB5aJE652hF+x+tNot9RypCW8AkGQOwcw1JmDp14kA/42eBr8FxZ1JKV57chRw4M/s6Zt+Hw2LQ0CL6+TIQyGGqtT9qv4l1Jvh494Qz2VehIL1JexfNqjZyuf02hjnfqBsE5U1cGqsMNk0mUW70vTQrKq1nppTiO8ktR0aSebdgpYMx55Yb4UX/VE9CT8p3F6avJfVU3ustjPDC+v8HGiPnCtNM1GPbFh5GQCKMXr8wTPSI+EMJhOGgjJnmKQxG7cLL/RLyUyiQYAj2i6iDdo8l0YW3BwI4NV+cvkuE/rvzK91ITFucHApo6LWaNNnFTnXEW73yHzM58ps1lnv0fyLRw9/b50a71uHBlB4hdpoq91SC1DdkMdBhzRvFYbB99/qIb7R2ItVEykTBed4tjbJFZ112AHjzwopakpU2R3g1WTTsIxm11itC0WdNokiUPPdQePvvQKIDrI+xhCXdhggsDFBCQvN2cspMYiipTi0vERmSTpIMhkxqlw5Y36WpE07n3vhjdDeod+BCF6XxDfK3LVdHVFmA4s8+VUQaLDnrfqju8WmO1AJDygfZMmhSBZZoF4lenlTAH41x71UGjSapT64KZU8eU8psPG++458Xl+fFRwRXaxzIp8ay3VMUtxnSJqV+ZKMHdyzJEQsQT5HySrpae/X8xohjTevD/xemRwZB3xlfBrt66N0hjMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VzsGq9jCZH1H4JAdk1NZRJ",
      "input": {
        "note": "The brick now runs vertically between the open jaws in the wrist view, centered on the jaw column. Descending straight down to table level to grasp it across its width.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.48,
          "right_y": 0.115,
          "right_yaw": -0.75,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VzsGq9jCZH1H4JAdk1NZRJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4313, -0.0227, -0.0498, 0.9995, 0.5106, 2.1918, 1.5223, -0.5266, 0.9035, 1.0424, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1605 left_yaw=0.0046 left_pitch=-0.082 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4748 right_y=0.111 right_z=0.0549 right_yaw=-0.7552 right_pitch=-0.0445 right_roll=-0.0336 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.5111, 7.0496, 1.79, -0.0708, -0.022, -0.0122, 0.1846, -12.3419, 6.4889, 1.0379, 0.5104, 0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e18c05fa05d6ea26e8a18ec5b1ba91df74210e45b67a9be237bb243542d14c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6866e19561505aaddb28b6da9a5704b12272a39443af977c5115fb4cb1b222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbb21c64bdccfcf4ccf5fb8e0e90e001f755493aa335135c1e424f459eda8185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 9.78 s

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

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6029, -0.4168, -0.0227, -0.0498, 0.9995, -0.0582, 1.6386, 0.812, 0.0952, -0.4576, -0.4839, 0.9985]\nstate[eef_state]: left_x=0.291 left_y=0.0019 left_z=0.1651 left_yaw=0.0046 left_pitch=-0.0614 left_roll=-0.0056 left_gripper=0.9995 right_x=0.4222 right_y=0.0572 right_z=0.0833 right_yaw=0.5735 right_pitch=-0.0746 right_roll=-0.0667 right_gripper=0.9985\nstate[joint_eff]: [-0.0342, -1.5795, 7.0222, 1.7265, -0.0708, -0.0513, -0.0122, -0.212, -8.5812, 7.2137, 1.3504, -0.3346, -0.0904, -0.1734]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4202, -0.0227, -0.0498, 0.9995, 0.5114, 2.1487, 1.5959, -0.6037, 0.9035, 1.0401, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.0694 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4816 right_y=0.1152 right_z=0.0915 right_yaw=-0.7518 right_pitch=-0.0326 right_roll=0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 6.9949, 1.7509, -0.0415, -0.0659, -0.0122, -0.1709, -12.6838, 5.1897, 0.0757, 0.7057, 0.2173, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4313, -0.0227, -0.0498, 0.9995, 0.5106, 2.1918, 1.5223, -0.5266, 0.9035, 1.0424, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1605 left_yaw=0.0046 left_pitch=-0.082 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4748 right_y=0.111 right_z=0.0549 right_yaw=-0.7552 right_pitch=-0.0445 right_roll=-0.0336 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.5111, 7.0496, 1.79, -0.0708, -0.022, -0.0122, 0.1846, -12.3419, 6.4889, 1.0379, 0.5104, 0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e18c05fa05d6ea26e8a18ec5b1ba91df74210e45b67a9be237bb243542d14c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af6866e19561505aaddb28b6da9a5704b12272a39443af977c5115fb4cb1b222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb21c64bdccfcf4ccf5fb8e0e90e001f755493aa335135c1e424f459eda8185",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSnQoKEAgRGAI4AUIIdGhpbmtpbmcSDLs/NpuaexXIwR2UVRoMhFVSOhiaLsfhHws+IjB2c7rs32fL6gvlZMgzy2DOaYD2an6hSrzi3M8GhOWl51mioOb17LCIMSDu64+M34Equgl0My00C9sYusHIWJ0yx0yIs2gm3bGhpEdDf8mt7Z7WFZXtKEdOf+jFbl6qKEjremu6YvmbmS9XCeoQh/67ES5uRBpRutTrcZm+97WLbExnLzxM/3wxRt5RUp9NCtyQfnhJ34PfjDY3tnTxFk/FFUiLw+TawwIClAEjqGbhOiVfcLwi29Vhk0G4CIbxADLWzYOHYdBohRpD/9J+UvsCq3/gp8wqUw4Dj5qec+2Ja9gMd24SFYvEm0SuGgJxRU91sV90WmYpO7dLoaaiPxUpUoMLgzt1t49xF2HOBjE+A3xPlaDFKT2riPEXm3S73ub7f4HXA9ErpMTjoEhzmuIuBdvl1QDhFRjwBLyxu8GWurmF7vQy1R5sGopXj99Wm0dbByhyrB8W4udWyczURHmpr2mvtduqENw0V6dz9euKTRUxuNFfYtxYE3ZFhXYPoTQ5RZMW9K4S+a5/Vw8v8Vx0ABWmdIxGYSAx2az1of5/7zKlviP7fEQLEPCtFYCpY16n2zFene7LhJpQ9ZFDS9tbhPtpUOMhykqt6lPbKddg8c5A+Ee5xNBOPthQ6lgWEZ8gp4/4uXYSwj/6WhbbFAwUmmwrtgrTjrJkox3VWljiuFvuiXnt8m1pnDuJWfYOFGxMKGn8Pr4uSK5ygg9ok5mzSu/v8ISLqq4fKPPw/sM3PcNX7uvtJPwO+wyRjiUXyINopQZQcq89zCMonPeIoYpUFFBu1b8LSJgLj/9eIqHBs68FF+8qg8Ra64peN6VZArRYh6ZaPet+MaV93/gUv1Hny45ZZE+L5i+C65oU7v/aC0+kdfkbHbAW2tJrx6naiw+7DrIDTHT4Xjxr0ljsnRzYVQ6m0/hLkvLOc6M6/yhZxdu/cFX0LTAjhfb2Z+ceHWepgnZYrETRMm2oOO2rhn3vsdeopbT85YHyu8U5jMWI2K4HVZpvPntkLuOwcvDqFr35t5EZ6bXjF9R37osj7W+869EmAHGUCSGVUiNu/VjbhToWAfzSaFO78iS1rdCIKivMRKoJ/EAtEAA4k3RxbrmHffRtkVILyFlb+cSCdY/XwCWcM8MHv6yTpBa3tQq+YMdv14GWnok4TN7vkALtJ1CLilC8WUOuB3EmhEry9NLg0E7MkbLGNieAEATbdNf/Q13eqKaR4th8tsjE5jvn0NWSBiAJAUFxkqPP/6H3L1laV5Z+uhQ3Cn8CsIBVeO36+XBA8AJAkY6JJAEzJI1V5+ccofsuEYAVMkkRIqV5VmjoIgJiz81OzlnK8Vw5yw+EuiHeGTFy+vHnd72vjGZ/NSzNXb3yyUv7yVVGmQcCyssT8kDWKZbNZXq6wu69sdi9MJRId6ECRBasHOgyVGWKM1DhliNd+9UHRF9B6zKy/W7f4A/N0Wu9nrwf/te5m9uTuhMizQwDDbnphJjOCuDywwbizIgB8tO7+sPtn9dWEfV+0A2W3UkYXW5sDomSHopv0rB/GiB3sEZSiC9UFphFhaZgms74n8LXwuCM741K49F9KijFKg3ywHvSU0FTkch/m/i7jX7MX7Oo7rvd0qylWzpKYD/m+TOMvHpSdFtKEmF6U8LhYIxxvVl9PwVGGhTsqj2rCyYxAFsBaJKZ+hC8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N4RJDgo8MQ65AhTmHTsZqV",
      "input": {
        "note": "Descent stalled at z≈5.5 cm at x=0.475, probably at reach; the brick still lies vertically between the jaws. Pulling in 1.5 cm along the brick's length and descending again to table level.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.105,
          "right_yaw": -0.75,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01N4RJDgo8MQ65AhTmHTsZqV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4335, -0.0227, -0.0498, 0.9995, 0.5114, 2.1918, 1.5223, -0.5175, 0.9005, 1.0344, 0.9984]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1601 left_yaw=0.0046 left_pitch=-0.0842 left_roll=-0.005 left_gripper=0.9995 right_x=0.4761 right_y=0.1125 right_z=0.0551 right_yaw=-0.7486 right_pitch=-0.0446 right_roll=-0.0305 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.4017, 6.9538, 1.6972, -0.0513, -0.0806, -0.0122, -0.0479, -12.5744, 6.4889, 1.0525, 0.5055, -0.0024, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc69f042a3b76a553631403acca3e3cd1d8eb00806b45659212e94c73ecdbf0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d56cd0240869ef2f08cbac0e1528da73959248f9ce7b9c03402c619d9a3acb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:158a0824728e9f71496083a47984baf5375b192c86aa0598c27dbeed2678f703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 7.936 s

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

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8238, 0.6029, -0.4202, -0.0227, -0.0498, 0.9995, 0.5114, 2.1487, 1.5959, -0.6037, 0.9035, 1.0401, 0.9985]\nstate[eef_state]: left_x=0.2907 left_y=0.0019 left_z=0.1632 left_yaw=0.0046 left_pitch=-0.0694 left_roll=-0.0054 left_gripper=0.9995 right_x=0.4816 right_y=0.1152 right_z=0.0915 right_yaw=-0.7518 right_pitch=-0.0326 right_roll=0.0024 right_gripper=0.9985\nstate[joint_eff]: [-0.0889, -1.5111, 6.9949, 1.7509, -0.0415, -0.0659, -0.0122, -0.1709, -12.6838, 5.1897, 0.0757, 0.7057, 0.2173, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4313, -0.0227, -0.0498, 0.9995, 0.5106, 2.1918, 1.5223, -0.5266, 0.9035, 1.0424, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1605 left_yaw=0.0046 left_pitch=-0.082 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4748 right_y=0.111 right_z=0.0549 right_yaw=-0.7552 right_pitch=-0.0445 right_roll=-0.0336 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.5111, 7.0496, 1.79, -0.0708, -0.022, -0.0122, 0.1846, -12.3419, 6.4889, 1.0379, 0.5104, 0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4335, -0.0227, -0.0498, 0.9995, 0.5114, 2.1918, 1.5223, -0.5175, 0.9005, 1.0344, 0.9984]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1601 left_yaw=0.0046 left_pitch=-0.0842 left_roll=-0.005 left_gripper=0.9995 right_x=0.4761 right_y=0.1125 right_z=0.0551 right_yaw=-0.7486 right_pitch=-0.0446 right_roll=-0.0305 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.4017, 6.9538, 1.6972, -0.0513, -0.0806, -0.0122, -0.0479, -12.5744, 6.4889, 1.0525, 0.5055, -0.0024, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc69f042a3b76a553631403acca3e3cd1d8eb00806b45659212e94c73ecdbf0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d56cd0240869ef2f08cbac0e1528da73959248f9ce7b9c03402c619d9a3acb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:158a0824728e9f71496083a47984baf5375b192c86aa0598c27dbeed2678f703",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1wsKEAgRGAI4AUIIdGhpbmtpbmcSDLatAFhGzlO6KOvGUhoMgK0n8XyjJf3bFsDOIjDpOEZyOHlCIlB2naqf9DDY9VuYS7k7wVv/aq0uS4N//TpvcbEODUAu+hgdWaSfr64q9Apha0nPZOMjLMQvs8hH8VDj1pnhXfuhXFGM337rF1dJz/f1uYiWzCiuldtTuqdoPhSVI9keerZ0zDcqOzKu+MfZ5XXw2+9Xr+nbgUBdtGiD+eklWHQ/XA57Us+5AyOHXpcSnZdFFihoAuyT2tSSDlzM5Ktgx+P1D0EfSqUfB/f2P6Q4G3OedN93hM7S+r1Kvg+T7vtnbZ4+622qPINKk9mvGRog88pQc6ZIlS+ZXgoP/qlvGvo/xgX5+tlaxkACZZn6oPpHbM7NuVdJIky84D4IyJqHbq7QXYjoKFQtNoCNhu0tgl5OTebgsSjjqVtbpxubHibhaD1pNEb1mxRBO6nnVySqyzEHtMqOLsUjh7DjNNIWLzOy0E0WP9ClprHNp9Rdpxi8eFSjXV+uV0FZQLd2PyiPlenT1LqGysPoVV2iEPxrbSAhUXLdCY2vzgp5coSPgdV2w9qcWzMnRcfUPNVTSHykevgD1tG0/95Ljig5CA7qQ1I7xHw4d3+xTSqs/KyO2DC4gDVqhvzYb/aynLay+3ZMKViFvLG9bhDOyqNvvAR4a6kKxTr/LL42ewosaYeRk7lYzPijan78FzLG3oUOKSCrxp0ss34xiH58cnOQBOW1FJVoo9YO6b/7TPsUqzI35Q33fc3TajPlsANV+1YlcegNLuBsj6aBz6H+vzk3Lzajsq+/5APOeyCWqFCMiCRNhVa9jKb2EZWzpxN97JgeGlPX9RfnE5gISmVrKGQdDFn7h27+BZmZYwyYQWXT0wIDf9p1slsvRi8Lj1lM1SjDg0eaTHDlHzV7tcrDEgBshaxpJoREZE9waWn4LB/lvU3Gx6idvGpoPN8IqvybFAfvaIvz7YHGMl1aHa3mtH/klN1mt1q/kD5i1nvPsYZTcP/dn4beK6C25mDmsz2slYUGovc44/0h/+ehqBlQFU3EmNPHGy6rdSjDnmTpFuUcrUsoC/N89IYi/ejQ04FMEDosSFLm6M49NgRBrMNZ+V97h+C/dgYb5NuICaMOWm6f83JWT8wg5/A6uhpYmZcRRRmG4cA/B69sU8KBsEe9v7q+HRFXB2OK+M28Vw0YeMDasTHQyK5kn44ziYWAMTTwAEXsObai5YyXvNYmsSXnWEkP5l9IXc0TRqSSiA1wQmQjSUgADuen2XXi7rD8nQGPOXSlmqEo4TMQ4DMG90RT/xiwTuk+NKkQT4qF4CZGvXQGxFDl8q1dhPqz1/kBQy6LldR1/YeFPmv6gatcVgkPIKkpgVxROxfxOLmUpjIhsnjV/a1e1j+4IKlbZbxy1Iv6RRSUBwKq1S+nOqphBdOkG4zQb2Xi23O5gJQzwOwg7VoNNKAVgiT0Kvm8d/0NPyd7pcO/KQq9SXfRWJg+70Sq7utgT4SrKc0F98MqKsFz0tGp2PfxYa7n2LGxagyvRULd6SbRlWGRB25BL9Np1+sAfhE0AkPaUxTWMB5l6Uqk4yAoLKDANBq2egX3SD6IScf50Sfg+VrZ8ITjF18+F5W0EG9b+4i54xz79B0QFGXIjcujZXbiDqTj8lXTSnA63qwJSTKHeQvAnLHgweQrKewZ8OJ4m7dZcrBnk5tKtF2IBeBZynd+VnACY+V00OSLwFzHz/MbCuwjfKXW6DQ81xSMLhZ9XeStpQ20RW/cG/1rlg43YMCxLMAOROFwqe9cya9lfcHubwydrHhXruJpDrWx7TOEkv31gSJnplaAse1f+gVxb53ll/aTIt7FYxWCobvEUM7TFStbD/E8nEaXyHEzCr13VsxiMwpCHF/ISUjTGcOAfyvnEUvzcwtImoPVSb0PRbyt7TMc+3c5jgNhC5D5rKoiFR4yYN4CGlFtoveGgVhRIqnsBFasGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQc6P6DQwQwLEhnMR1Wyxk",
      "input": {
        "note": "The arm is frozen at z=5.5 cm in this extended pose. Adding forward wrist pitch (which earlier allowed a low reach at this distance) and pulling in slightly to get the fingertips down to the brick.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.35,
          "right_x": 0.45,
          "right_y": 0.105,
          "right_yaw": -0.75,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01NQc6P6DQwQwLEhnMR1Wyxk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6025, -0.4412, -0.0227, -0.0498, 0.9995, 0.59, 2.3234, 1.1603, 0.297, 1.2327, 0.8093, 0.9985]\nstate[eef_state]: left_x=0.2878 left_y=0.0019 left_z=0.1577 left_yaw=0.0046 left_pitch=-0.0953 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4531 right_y=0.1071 right_z=0.0057 right_yaw=-0.752 right_pitch=0.3142 right_roll=-0.0056 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.7162, 6.9538, 1.6972, -0.0757, -0.0415, -0.0122, 0.2256, -8.6222, 3.5487, 0.9451, 0.3736, -0.3834, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2579d310fac6aa223f54a5d2aafd18447e9d78dcdd25a80b565a851339f93bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d739783bbe149b0eda6d6984cc419df9167e38c5aa58eee17b3c477ddd7f585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee4d86555d8a148d2f4e091d07b6cb9f110bac94a65f8f2e2b0b9f13813d506b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.052 s

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

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4313, -0.0227, -0.0498, 0.9995, 0.5106, 2.1918, 1.5223, -0.5266, 0.9035, 1.0424, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0019 left_z=0.1605 left_yaw=0.0046 left_pitch=-0.082 left_roll=-0.0051 left_gripper=0.9995 right_x=0.4748 right_y=0.111 right_z=0.0549 right_yaw=-0.7552 right_pitch=-0.0445 right_roll=-0.0336 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -1.5111, 7.0496, 1.79, -0.0708, -0.022, -0.0122, 0.1846, -12.3419, 6.4889, 1.0379, 0.5104, 0.022, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4335, -0.0227, -0.0498, 0.9995, 0.5114, 2.1918, 1.5223, -0.5175, 0.9005, 1.0344, 0.9984]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1601 left_yaw=0.0046 left_pitch=-0.0842 left_roll=-0.005 left_gripper=0.9995 right_x=0.4761 right_y=0.1125 right_z=0.0551 right_yaw=-0.7486 right_pitch=-0.0446 right_roll=-0.0305 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.4017, 6.9538, 1.6972, -0.0513, -0.0806, -0.0122, -0.0479, -12.5744, 6.4889, 1.0525, 0.5055, -0.0024, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6025, -0.4412, -0.0227, -0.0498, 0.9995, 0.59, 2.3234, 1.1603, 0.297, 1.2327, 0.8093, 0.9985]\nstate[eef_state]: left_x=0.2878 left_y=0.0019 left_z=0.1577 left_yaw=0.0046 left_pitch=-0.0953 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4531 right_y=0.1071 right_z=0.0057 right_yaw=-0.752 right_pitch=0.3142 right_roll=-0.0056 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.7162, 6.9538, 1.6972, -0.0757, -0.0415, -0.0122, 0.2256, -8.6222, 3.5487, 0.9451, 0.3736, -0.3834, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2579d310fac6aa223f54a5d2aafd18447e9d78dcdd25a80b565a851339f93bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d739783bbe149b0eda6d6984cc419df9167e38c5aa58eee17b3c477ddd7f585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee4d86555d8a148d2f4e091d07b6cb9f110bac94a65f8f2e2b0b9f13813d506b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Now at z≈0.6 cm with the brick running vertically between the jaws. Closing the gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MiotFonwaoNq8Qav6TKK5Q",
      "input": {
        "note": "Fingertips are at table level with the brick lying lengthwise between the jaws in the wrist view. Closing the gripper to grasp the brick across its width.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.35,
          "right_x": 0.45,
          "right_y": 0.105,
          "right_yaw": -0.75,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MiotFonwaoNq8Qav6TKK5Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4416, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1313, 0.4267, 1.2446, 0.7467, 0.7465]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1575 left_yaw=0.0047 left_pitch=-0.0961 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4543 right_y=0.1067 right_z=0.0067 right_yaw=-0.754 right_pitch=0.3429 right_roll=0.0196 right_gripper=0.7465\nstate[joint_eff]: [-0.0068, -1.306, 7.1316, 1.6288, -0.0317, -0.0611, -0.0122, 0.1436, -9.3607, 3.7128, 1.2674, 0.5055, -0.0317, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37736719f5f9c50fbd0f22d7671daa134fcf858d53033b76cada402758477045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:376cd321869ad239eb2059ff793e3084aab1881781972636297215f3fee20473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:189ad901957743f26e784efcce7293d82df59fdae5cb85a371add8c214041f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 7.074 s

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

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8249, 0.6025, -0.4335, -0.0227, -0.0498, 0.9995, 0.5114, 2.1918, 1.5223, -0.5175, 0.9005, 1.0344, 0.9984]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1601 left_yaw=0.0046 left_pitch=-0.0842 left_roll=-0.005 left_gripper=0.9995 right_x=0.4761 right_y=0.1125 right_z=0.0551 right_yaw=-0.7486 right_pitch=-0.0446 right_roll=-0.0305 right_gripper=0.9984\nstate[joint_eff]: [-0.0615, -1.4017, 6.9538, 1.6972, -0.0513, -0.0806, -0.0122, -0.0479, -12.5744, 6.4889, 1.0525, 0.5055, -0.0024, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6025, -0.4412, -0.0227, -0.0498, 0.9995, 0.59, 2.3234, 1.1603, 0.297, 1.2327, 0.8093, 0.9985]\nstate[eef_state]: left_x=0.2878 left_y=0.0019 left_z=0.1577 left_yaw=0.0046 left_pitch=-0.0953 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4531 right_y=0.1071 right_z=0.0057 right_yaw=-0.752 right_pitch=0.3142 right_roll=-0.0056 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.7162, 6.9538, 1.6972, -0.0757, -0.0415, -0.0122, 0.2256, -8.6222, 3.5487, 0.9451, 0.3736, -0.3834, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4416, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1313, 0.4267, 1.2446, 0.7467, 0.7465]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1575 left_yaw=0.0047 left_pitch=-0.0961 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4543 right_y=0.1067 right_z=0.0067 right_yaw=-0.754 right_pitch=0.3429 right_roll=0.0196 right_gripper=0.7465\nstate[joint_eff]: [-0.0068, -1.306, 7.1316, 1.6288, -0.0317, -0.0611, -0.0122, 0.1436, -9.3607, 3.7128, 1.2674, 0.5055, -0.0317, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37736719f5f9c50fbd0f22d7671daa134fcf858d53033b76cada402758477045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:376cd321869ad239eb2059ff793e3084aab1881781972636297215f3fee20473",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:189ad901957743f26e784efcce7293d82df59fdae5cb85a371add8c214041f98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS6gcKEAgRGAI4AUIIdGhpbmtpbmcSDOOF4ee38LTLJTTT7hoMOgw155Y9p6EPZsw7IjAiS+GTsO25+bRa5BlPKzZ6rmAVQwa5h62PMp36JJuyHT2SPcZQaheyDtSRr/ejMngqhwdSqgZE96efZxaKdBJTa3RwxCoxVBNJtUCqinahLdgDgpg3obdH+rq9jQrCRlN/KNhzCEuB6LJtfU3gLzrnB7E5RnPPvi9Q/WzNfHD7zITChUoFK2tMHrBs6y69annZlt/MV0zJclNO5DkEdPva4m0xNKa8UcG9raPmsBrNAPHQqnm+P22iLzixNXoZSxoRfLuRSqzz/vLFLG2PeTASsWyE2Zlb32ArpA7qdE2GyM+TWIbX/HGaPmJdr81k1sze23uU5Kq80UQq+el/XebnWE4AE989rxFvRyB5UHPm4uaOSKdi5pEif95pJ8hKUWPw50l8Yujg9i2Kj37QWgIVPR+TZwLKGds1Z9RC+S81Jluy3TN+gw+fLToW8bJGfwosIb2ES2nL3vDqaa0eh/jhatsP2ymKFtHjK2agofO0Ad+4w4DLU2M55kebvaHv/qKP7WFELqsOLbTk7XtWZAbX5eoyfThLFbWwHlauKo12spxhQ3pSe1LiAAq1PPb0C8GSVdx6sgvUwpaWEXHF5c38PBlphJCg6H7zWKu56t8IvaXXpkdFbrF7H9aVUHjvdWLdt6VS9hIsSS4fI/yb7h8uEZHQqHomxeNBdhJQ/HA4LWIS5e31rH/CKKMSyomwHBv1ULgdWzea9C4J/e24hCvXNBE3nx4vwVKmYM1AAo7S3tx1c2sgLwdGR4NQ2Ou9j4g1BeK8HRrXlpb9jpMP8LeRGkifu2VODmsqtzrT3OfShePFQtXsTI9tDgkb8bnf+RT6GZgBvfrRJIDw6M5ICWko3jsLuXH+UQGhLOn66sG5nqq6wrHBTQdq+LkirWYaVZGc7N8G96eVe+tyVOM5ukN+QKLdp1w6IliP/mvl5pWWXv3h7R0X68f3WKvuUska8mztMVFXjhoBcipO+OfdZaekmrAt2VrNwpJdRywF6rgaZ+2FFGXwIRNpjoHx533t6UWBceN+2RcViCo/DwN3aeUZ0fVDdVNnP32O9QpkS+/eqGJDwCvc558pYMxcJ789iMDWxJY6o9rhCbTjCiA/2wd9dktgjwkauiigKcyaR/+ySQWxFtC39nqBIZF67KYTHeoRSjrthUSk7ESfu2OzExeNEVwBNlRG1t804cIjR90K78zMcbbiSRpKIAOsA/cafsbY42ytV+rc6cG5hJ+D9B99CfsW95bHriZ6lqnlaaAZXVNHeWRdyRpfSf0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017jD5LSUE8333ckPtFkTVso",
      "input": {
        "note": "The gripper reads 0.75 and is still closing slowly (rate-limited); re-sending the close command to let the jaws settle on the brick.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.35,
          "right_x": 0.45,
          "right_y": 0.105,
          "right_yaw": -0.75,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017jD5LSUE8333ckPtFkTVso",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1164, 0.4725, 1.2411, 0.7181, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1574 left_yaw=0.0047 left_pitch=-0.0964 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4542 right_y=0.1069 right_z=0.007 right_yaw=-0.7462 right_pitch=0.348 right_roll=0.0225 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.6581, -0.0122, -0.022, -0.0171, 0.1026, -10.0991, 3.2889, 1.409, 0.4176, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11d2d997851596a3229664341a8d5165f16d8d7e26ff330f4f074a8e6fa5df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9c975153c8dce807753d75c7718c75706fdd8cee65a034cd7bd13096906ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bd52a2ce8b9dd4ddcb6c898a5c2c4a9f2518bdff91a152122814b7f27d68251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 62.79 s

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

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8284, 0.6025, -0.4412, -0.0227, -0.0498, 0.9995, 0.59, 2.3234, 1.1603, 0.297, 1.2327, 0.8093, 0.9985]\nstate[eef_state]: left_x=0.2878 left_y=0.0019 left_z=0.1577 left_yaw=0.0046 left_pitch=-0.0953 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4531 right_y=0.1071 right_z=0.0057 right_yaw=-0.752 right_pitch=0.3142 right_roll=-0.0056 right_gripper=0.9985\nstate[joint_eff]: [-0.1846, -1.7162, 6.9538, 1.6972, -0.0757, -0.0415, -0.0122, 0.2256, -8.6222, 3.5487, 0.9451, 0.3736, -0.3834, -0.1783]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4416, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1313, 0.4267, 1.2446, 0.7467, 0.7465]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1575 left_yaw=0.0047 left_pitch=-0.0961 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4543 right_y=0.1067 right_z=0.0067 right_yaw=-0.754 right_pitch=0.3429 right_roll=0.0196 right_gripper=0.7465\nstate[joint_eff]: [-0.0068, -1.306, 7.1316, 1.6288, -0.0317, -0.0611, -0.0122, 0.1436, -9.3607, 3.7128, 1.2674, 0.5055, -0.0317, 1.0379]\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 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1164, 0.4725, 1.2411, 0.7181, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1574 left_yaw=0.0047 left_pitch=-0.0964 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4542 right_y=0.1069 right_z=0.007 right_yaw=-0.7462 right_pitch=0.348 right_roll=0.0225 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.6581, -0.0122, -0.022, -0.0171, 0.1026, -10.0991, 3.2889, 1.409, 0.4176, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11d2d997851596a3229664341a8d5165f16d8d7e26ff330f4f074a8e6fa5df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db9c975153c8dce807753d75c7718c75706fdd8cee65a034cd7bd13096906ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bd52a2ce8b9dd4ddcb6c898a5c2c4a9f2518bdff91a152122814b7f27d68251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSmAcKEAgRGAI4AUIIdGhpbmtpbmcSDFLni86ahqyq4skW7BoMHovnsaopk3D46EyuIjBVGDf6DiYs9TYpWJcvVLmQFgVeeedyg0/bITIPJinIBYYJArld81EWijw5RqbSVk8qtQYJqDjPOiCEj3Vx+sUKIZPihUGLjQBUeINnhvkwLP8hBK1m2QezICqUQlWazEFGqbu3ePlU3L38i7siIiPqTAnmNWIF2LuxUEZtF+8W9DHkTkB+VkxGPO/VW8v8AFAD4vvnG3AMRfDUbmcsA/S1lPipfwODQyZFp9KqjCpRlHyPtwHY8i76aDlqzISoHdHqNqImLCdHWO6jc2I7wedlXJqz+JsVn59l7CfaN4plr404zrSJn27+cNW/4cr1P6ZGTRBHY04AzBmar15NVcLdeW1+bGt+o8FgFIJtu+RbZvoOtEJIoeyEHHv3fYVgnQ8w/4gUDirGVpMEpeqfspNW2FoyrNf/HXtT4VXiXnYSIJ4EzDBP/Y8gpU02K5JyOd2ZQauqitd3HH05vSqOkidDmzez0h4hg6ML37+lJmCijz9zz4s4OqfKc3fut7ufv6/VyB8zQHs8a9lz3on+WWnIqjC6BzMuDPK/RjGrUhotinVqfJVUiJPVUx9uKfixeYfsnHkBxhkJBpJpXPFz4aOGtVwBz5Cj9EOV7lZ/+67HMOS1/VX+5thlhK5VzR72KueoS1QwxwJgE0I1nco7A76Lk8430jPluReYjM7E2syVhHXs83zsMw2DHU0UILudz59ZcNxRiM6wHOmT+TE7Lok2qLzjNZZFsG1JxGqdKnvWi65P+wyZ1GduZr+vDgy3fXlCnsS3m3xcoTurfJ5lcArbD0MGI9I25s0qIodfSci3WeM22/HBhFurS9lqD8TVy4ifuRj0sCJ4q6OEy7DZppegGPtwoh2nsphvi+RL2BvWxYS38175x1683umJ86Q+1UAcfIurNaetm+ENgMnb07FR4xImQKFbTpVdh76yDNfEOy8zagatmwi+P39kyt20Ho9M4eWgHKDNCLqzjFunTjyftrAxbjXe2epMJAtEl7QJ9cMZuXsCdwc85GuC8wNthhwnWHGDB2KYSUDBRqZN082HOheERKAP5E8HTTcrVQexzBqaGeDNiy9/ko3PDGFBMZ4mVlK7T8MwLR99/PQo9UOoyisCWDZOSCtcb011+jqn+13YZYZ+m7p5iz9MMRQjSzJybDsKkjuoVhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RbwqsmcXbt97dZDv8jvjQZ",
      "input": {
        "note": "Gripper settled at 0.75 (~7 cm), consistent with the brick's width. Lifting 15 cm to confirm the brick comes with the jaws in the overhead view.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.2,
          "right_x": 0.44,
          "right_y": 0.105,
          "right_yaw": -0.75,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RbwqsmcXbt97dZDv8jvjQZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8307, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.588, 1.9858, 1.2716, -0.3553, 1.0664, 0.9329, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1569 left_yaw=0.0047 left_pitch=-0.0984 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4379 right_y=0.1104 right_z=0.1023 right_yaw=-0.6912 right_pitch=0.1312 right_roll=-0.051 right_gripper=0.7464\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.6337, -0.0366, -0.0659, -0.0122, -0.4308, -14.6393, 9.388, 1.2918, 1.1697, 0.105, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e123f0d0390aff6776440ff3d7f633738fc4be2dc1b455dc97dbfcb8f0d022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5494322c4038de2f5e9952c20bf2fe39523961c50ba5ec3e2fb47370240e564b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebb61aec58911e7051ba8e103947c7ebbabf936cffc13ef4f83db436330b0a40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 8.57 s

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

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4416, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1313, 0.4267, 1.2446, 0.7467, 0.7465]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1575 left_yaw=0.0047 left_pitch=-0.0961 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4543 right_y=0.1067 right_z=0.0067 right_yaw=-0.754 right_pitch=0.3429 right_roll=0.0196 right_gripper=0.7465\nstate[joint_eff]: [-0.0068, -1.306, 7.1316, 1.6288, -0.0317, -0.0611, -0.0122, 0.1436, -9.3607, 3.7128, 1.2674, 0.5055, -0.0317, 1.0379]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1164, 0.4725, 1.2411, 0.7181, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1574 left_yaw=0.0047 left_pitch=-0.0964 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4542 right_y=0.1069 right_z=0.007 right_yaw=-0.7462 right_pitch=0.348 right_roll=0.0225 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.6581, -0.0122, -0.022, -0.0171, 0.1026, -10.0991, 3.2889, 1.409, 0.4176, 0.0904, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8307, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.588, 1.9858, 1.2716, -0.3553, 1.0664, 0.9329, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1569 left_yaw=0.0047 left_pitch=-0.0984 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4379 right_y=0.1104 right_z=0.1023 right_yaw=-0.6912 right_pitch=0.1312 right_roll=-0.051 right_gripper=0.7464\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.6337, -0.0366, -0.0659, -0.0122, -0.4308, -14.6393, 9.388, 1.2918, 1.1697, 0.105, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e123f0d0390aff6776440ff3d7f633738fc4be2dc1b455dc97dbfcb8f0d022",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5494322c4038de2f5e9952c20bf2fe39523961c50ba5ec3e2fb47370240e564b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebb61aec58911e7051ba8e103947c7ebbabf936cffc13ef4f83db436330b0a40",
        "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_01PHtyKUSBAVbfQnrCTLnCJZ",
      "input": {
        "note": "The brick is lifted (its cable now hangs down in the wrist view and shoulder load rose). The pot centre is ~0.6 m from the right base — beyond its reach — so I'll bring the brick to a mid-table handoff pose, turning it lateral so the left arm can grasp its free end.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.32,
          "right_yaw": -1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01PHtyKUSBAVbfQnrCTLnCJZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6018, -0.4526, -0.0227, -0.0498, 0.9995, 0.4892, 2.3634, 1.8153, -1.5265, 0.7952, 2.0602, 0.7464]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1536 left_yaw=0.0047 left_pitch=-0.1132 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3705 right_y=0.0584 right_z=0.0515 right_yaw=-1.4433 right_pitch=-0.0951 right_roll=-0.1148 right_gripper=0.7464\nstate[joint_eff]: [-0.0479, -1.7573, 7.1726, 1.7656, -0.0415, -0.0317, -0.0122, -0.4308, -17.0325, 5.1897, -0.9206, 0.7937, 0.2613, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30cbeefdb79d39647909a47bb3c72b9a2f78bfbae01d8966da7f51f95213595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc6b807d113ef4c1404fa0e83fa5fdd3f7c40e37753ef0736dfe9ad77459be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39dfc61cf851157b4a484c7d08963dd36634a1cad592fad159cab11172bbb0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 9.363 s

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

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.5892, 2.3352, 1.1164, 0.4725, 1.2411, 0.7181, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1574 left_yaw=0.0047 left_pitch=-0.0964 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4542 right_y=0.1069 right_z=0.007 right_yaw=-0.7462 right_pitch=0.348 right_roll=0.0225 right_gripper=0.7464\nstate[joint_eff]: [-0.1709, -1.2923, 6.9538, 1.6581, -0.0122, -0.022, -0.0171, 0.1026, -10.0991, 3.2889, 1.409, 0.4176, 0.0904, 1.0281]\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]: [-0.0196, 0.8307, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.588, 1.9858, 1.2716, -0.3553, 1.0664, 0.9329, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1569 left_yaw=0.0047 left_pitch=-0.0984 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4379 right_y=0.1104 right_z=0.1023 right_yaw=-0.6912 right_pitch=0.1312 right_roll=-0.051 right_gripper=0.7464\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.6337, -0.0366, -0.0659, -0.0122, -0.4308, -14.6393, 9.388, 1.2918, 1.1697, 0.105, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6018, -0.4526, -0.0227, -0.0498, 0.9995, 0.4892, 2.3634, 1.8153, -1.5265, 0.7952, 2.0602, 0.7464]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1536 left_yaw=0.0047 left_pitch=-0.1132 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3705 right_y=0.0584 right_z=0.0515 right_yaw=-1.4433 right_pitch=-0.0951 right_roll=-0.1148 right_gripper=0.7464\nstate[joint_eff]: [-0.0479, -1.7573, 7.1726, 1.7656, -0.0415, -0.0317, -0.0122, -0.4308, -17.0325, 5.1897, -0.9206, 0.7937, 0.2613, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b30cbeefdb79d39647909a47bb3c72b9a2f78bfbae01d8966da7f51f95213595",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc6b807d113ef4c1404fa0e83fa5fdd3f7c40e37753ef0736dfe9ad77459be9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39dfc61cf851157b4a484c7d08963dd36634a1cad592fad159cab11172bbb0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSpAkKEAgRGAI4AUIIdGhpbmtpbmcSDNAGn9hnFqz3DvQFrhoMRxXNsBEvsWV0NEEFIjB3guSf1EmzhewqCZYSOPR86qXAOTQdOg34zKrVYwcNbX7AQOiGA1T2UFbqLaKZxaoqwQhuttvfx2zIf+6UwKVr4PiUqtHM0hGHMpjNK2czYGBVOasRu7UKSAoqVo0RhNdVXNPu15aolbYOPV7iF9j7icuNiL4rCi/38kGyq+zkVkrNKJN44SuqGaBqc4PxkO1oIZyBQsvfqMk1kMsbpIXQa3RvRjMC3C/K1AQtn9qyDnQpTtpONveVss3wgCam8VZ7NbvgOHsb+KTUCpkVVhK2SG972vGMUqJQybkIWdrlvOol9b9+H6iMECd/o4OnYuYqSdBYZpRboWlPryAVLZO+St+LMdxLTAvxbzzm2jB+Tzja7pCT/Xpbe8sJUfhMASui6IqQTBAGU/y2Dr0uXwiIypSbIkclL1eAg760V1+G8cvfHhAStKURuEP4HkFRWZzd0zbf56k/RVZPkApMSktxszAaLp9dzx8GZYPvNmP5uxd/S7S4Hqhox7tMVMCWANS96XIqWzUCvlwD0fPCKIT8y+IFtFP4PXxUW7c2kL0O0SDGGBJFGC4c+xVmezbqrLBmeB96BR69MoyKFfVXHaWanNG2zzt2j39HhCBlkSbnm0xloeAv7xzhXbC3wDSZCizsfPGrXi40Xd1IbKfb39tdVGXe4e9/KnE1MMPA8tOZnGaQ1Hn4jLVUIalx6gsb2QJGeQmbVPBtlFAf6Zd85d3aWBS3ryRvVzdRsJ0xjiwo4cMBAvssvMpNvYLhbk9BxiIjonhBg9K6nJ+nJucvZBxAltDIxTmjp5SXqg6RQnbtqxnqc0lXquUEjaN6UCJ6Kfjc3vKZLdZ1iyE90PGm9fHGwyINobpWFua/A8Y5F042X7vZZC7FiZHw+dLL16TJ3L8K0VwfSgEPrWytzw5x92VybfoBzSK7lnS8qZn1RS4hvAFZvYX12u64pT8KZvBRQBSTEsFvXb3Bb5x8Iw2PnheMFzdtlm4dTcuaTYj9dOKiay49udcZGzvpD2PPRTcAJSl3YlIwnLkiyU/SNhB1lffYiAnKVTFYYi7ZlyzQo4d5Z09oeTQVA1OFiUR3E7+j1ruV9ZQ6iafO5EZD4Ac2zlcH2uiII9eS3IwvHUHMIsZGLyuTb47u7LJFn8S0XgribpP4IjF8Hbsm45yRk6StCelsrwFPUtMAuZazD1F8deIjFVtLtOcaRZJqwbYg4OrwUOoNberJcav8LBg+qpPK3c1j2lB4zS6E+8IeAJgbaw2RhISq88V1jKfI5AnI0RpBQ+LozyMjI8Zln5fL+fQcpZ0gBqmgGBMZzbpKjA4nNHi5aljbr2kDAQCZ3Fj6lUjWv7TcFEHqnso1PpWtx0Z/uJItBiAcc2fWL+l811r11jk2+/GdNHRa5tHz59wBK8nTXGFqCVDoR7MeFAG4kZYLv0rWOhredx3cYQ0rhk3NljSK0yMJI3f83XO3nuDd3/mnEkjgRtGwlNI5QeOgXH5rUqcUpvcKe9EoF8mVaPHW0uscj0c6QgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119DjqcrPe8j4P3omwPZN7V",
      "input": {
        "note": "The arm rotated but sagged to z≈5 cm and did not translate toward the target; the brick is still in the jaws. Raising it back to a safe carrying height first, keeping the position near where it is.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.08,
          "right_yaw": -1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0119DjqcrPe8j4P3omwPZN7V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6018, -0.4599, -0.0227, -0.0498, 0.9995, 0.4526, 2.2955, 1.6886, -1.5204, 0.7765, 2.0605, 0.7462]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1511 left_yaw=0.0047 left_pitch=-0.1247 left_roll=-0.004 left_gripper=0.9995 right_x=0.3463 right_y=0.0347 right_z=0.053 right_yaw=-1.4947 right_pitch=-0.0911 right_roll=-0.1696 right_gripper=0.7462\nstate[joint_eff]: [-0.0205, -1.2239, 6.9265, 1.7021, -0.0464, -0.0757, -0.0122, 0.253, -15.3641, 5.6547, -1.0183, 1.0867, 0.2906, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27f44bca0e928edeefe3cb928ac7656cf3155f1cb2cdcb6f68438762ea03ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ac2dc161984202a02d8bc5048ee2cf9b0f749c0b4dba5ed0a9e14d16f5c02b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c2e6d80753ccd63b2313f0959e47a2a2e586710e3cb00a3a2cb298acdd7cf07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 25.99 s

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

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8307, 0.6025, -0.4419, -0.0227, -0.0498, 0.9995, 0.588, 1.9858, 1.2716, -0.3553, 1.0664, 0.9329, 0.7464]\nstate[eef_state]: left_x=0.2877 left_y=0.0019 left_z=0.1569 left_yaw=0.0047 left_pitch=-0.0984 left_roll=-0.0047 left_gripper=0.9995 right_x=0.4379 right_y=0.1104 right_z=0.1023 right_yaw=-0.6912 right_pitch=0.1312 right_roll=-0.051 right_gripper=0.7464\nstate[joint_eff]: [-0.0342, -1.5932, 7.0085, 1.6337, -0.0366, -0.0659, -0.0122, -0.4308, -14.6393, 9.388, 1.2918, 1.1697, 0.105, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6018, -0.4526, -0.0227, -0.0498, 0.9995, 0.4892, 2.3634, 1.8153, -1.5265, 0.7952, 2.0602, 0.7464]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1536 left_yaw=0.0047 left_pitch=-0.1132 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3705 right_y=0.0584 right_z=0.0515 right_yaw=-1.4433 right_pitch=-0.0951 right_roll=-0.1148 right_gripper=0.7464\nstate[joint_eff]: [-0.0479, -1.7573, 7.1726, 1.7656, -0.0415, -0.0317, -0.0122, -0.4308, -17.0325, 5.1897, -0.9206, 0.7937, 0.2613, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6018, -0.4599, -0.0227, -0.0498, 0.9995, 0.4526, 2.2955, 1.6886, -1.5204, 0.7765, 2.0605, 0.7462]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1511 left_yaw=0.0047 left_pitch=-0.1247 left_roll=-0.004 left_gripper=0.9995 right_x=0.3463 right_y=0.0347 right_z=0.053 right_yaw=-1.4947 right_pitch=-0.0911 right_roll=-0.1696 right_gripper=0.7462\nstate[joint_eff]: [-0.0205, -1.2239, 6.9265, 1.7021, -0.0464, -0.0757, -0.0122, 0.253, -15.3641, 5.6547, -1.0183, 1.0867, 0.2906, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c27f44bca0e928edeefe3cb928ac7656cf3155f1cb2cdcb6f68438762ea03ca9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ac2dc161984202a02d8bc5048ee2cf9b0f749c0b4dba5ed0a9e14d16f5c02b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c2e6d80753ccd63b2313f0959e47a2a2e586710e3cb00a3a2cb298acdd7cf07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS1AoKEAgRGAI4AUIIdGhpbmtpbmcSDFZBZcUd1WJioTrvORoMkS5clAw1UsgjvzZjIjAn3k0tkM1u8pDuxCDbbeHkr91Wi95cyyJC4w4zudKEubouLOfLmvb3RKACYLB/9j4q8QmDfoqpNJOQZplQ2nnr+rSp5dwMtkI7/eYMTRs679E/0lWnbHKvSngfyOk13QXhc721mas0MkM6nQ62gL1hHG4mX7WnbbuI6ExQAPX9NEmr74eIzYRE0C/1aETNqgt5NGYZ+lwjVDNCKCLy6864rDge0OmwdcrELkYtf2pqrIVffdnM01K42rlnzH9sw/cSeGS7nr1rTmuGv8qcPnKNA/gEk/tEa3xOpiJiMMDB/o+KWupPnbgUkPZwvSL/41zk9ueBKXBkfob4bkUqaSpjZep2mVOG9K1hTbjQhvlnSeD8+DHPtibXgaZcHMb0z60rxvITN6MON2y7t2KcgEO5c3JKPtcVPlTIXhpIIiS7hg/DoxDx0qXs+Sg7ABrtiemK/Fb/fXIC3R2ORT4I/dRxgMZRMp1f9uSWDe0nMswvziSDnx0EptQJoGVmxwmJyA+/E0ZAtBcZNouOAdH5Ju1ivjEtYxtGPI6+arGEGiED+mejWSF34wGCaUJa8FYa4ZI1SkMWcB1Ac1TxNyGSB1MAxiHV9t+7Hn2JldaCCRnWq2XHTi0DbCnSxYA/M0nkRs/f7Tm2hiyUVJ63clpi2ayDPgX0FX0ulUYgGtEx0+t2TXDCuQAtcx7XTinNjZSHzOmuSDH4YD2+BvqUICuTImHL7BzRB0QGmokQQ+u9vlSNiTHp+djwOTrChxeCbAY4LS3DLDFULRTVCWNfat/vowyVJhRAyAwlCFzsnKGhV941AVBHhtx/q3RmpXfawDrWSMZFhEx1Ho2EKzSAV/7VYlM8TOtMgxLqZHT10mj17KSp6Tg9bgtFxbAVDPPgs3S/nAbAovQAZzFnoongbCiviKGS7Xq6fyDjWivBCi1FsIE6Q5uJrNJJ+HTBqm0AQM7Xq0lY8W54FSQpozzDNwArDa5IWG9qS08QHePG60W0+GVlyd+6jBhGtLCcGz6CkNwNgRc/lZmltxkvUa79Glf0a4jNuibIxHirkmY9F7nhu5zRyZq43zC35ZtjWC3fLmRoDInVKDt5y8D+gASGtkUtYHM815H3kU+azOZdSsHSf9KoPqwZIDRFfeftg9X5LNkLvhtLWsCOHibpTK22QvAd2WPVBT9e/dbOwAMt3f0aljUCrIYv9xtG60W5pWyxM7Q/pxqHuY2xhT4vzhaicftukvEyHEI6KFN9EPVtnsHp7L9SVo4Vmqcvv7ppO9KskaLWUga1HCkcwD0dvO+izxl2NJX01LVleZIL4AOmp0hcKT944OyJa3bawxVBtgd6uAH0jdBtHDFpW27+xvvd7fFjxD90RFMINcg0Tc2vg1dqJ4DWe4CZEnUZ59qZg19UWuoeMMLIdAztX52pB9YaguLM2DFisYayk0p+KUt8zwNr5IEuiK5SqGTVVx8t8AlXCQca/RQxTWr72RrLBi3yqUfRMXYXb97W4VKsVq7Z1ZOI4ouxqySk4cX/2BDr52ygRSGoPWOZ2FwascS4scQr6LRMsq87azjuIbZQVNkZbP9Ra79co1FGk+Fj9C48nH51mC2c3OYdjA48tFf8IL2uLrB5xq+TuSiO7X+FrKISIC+ERjET0kJ9NCi3QRu3XPBuOUj6V8Pxzrs5WzHOkaDFlpdLj0hg4qaezAKjrztC6V0bX6931CMOD5KUnSwsJK51O3mPPqKb6VtN0Pg2m3OG0CMp19QLF4IceBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BmgECcF3G2VvS86H78ASS2",
      "input": {
        "note": "At yaw -1.5 the arm refuses to rise (likely a wrist joint limit in this IK branch), brick still held near the table. Returning to the yaw -0.75 configuration that tracked well, while raising to carrying height.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.35,
          "right_y": 0.06,
          "right_yaw": -0.75,
          "right_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_01BmgECcF3G2VvS86H78ASS2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8429, 0.6018, -0.4675, -0.0227, -0.0498, 0.9995, 0.5377, 2.0418, 1.4395, -1.2732, 0.8486, 1.7004, 0.7462]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1485 left_yaw=0.0048 left_pitch=-0.1369 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3403 right_y=0.0528 right_z=0.0799 right_yaw=-1.1577 right_pitch=-0.1256 right_roll=-0.19 right_gripper=0.7462\nstate[joint_eff]: [-0.0615, -1.6479, 6.9675, 1.6532, -0.0757, -0.0415, -0.0122, 0.0342, -11.9316, 5.6274, -0.3736, 1.2332, -0.1099, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a08e2212e6505dc6f62ec0fe0f7ec104ebdcc5087c3f37dc23132fed819fdbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18ece122c1abbc39be532261da53cd699e93be3f605c10a30593189093c946d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f8922a8805d06967359fe5ab34ee9e0d17470dfb97cae5a72b8d8a7e2c1cf88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 9.832 s

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

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8341, 0.6018, -0.4526, -0.0227, -0.0498, 0.9995, 0.4892, 2.3634, 1.8153, -1.5265, 0.7952, 2.0602, 0.7464]\nstate[eef_state]: left_x=0.2861 left_y=0.002 left_z=0.1536 left_yaw=0.0047 left_pitch=-0.1132 left_roll=-0.0043 left_gripper=0.9995 right_x=0.3705 right_y=0.0584 right_z=0.0515 right_yaw=-1.4433 right_pitch=-0.0951 right_roll=-0.1148 right_gripper=0.7464\nstate[joint_eff]: [-0.0479, -1.7573, 7.1726, 1.7656, -0.0415, -0.0317, -0.0122, -0.4308, -17.0325, 5.1897, -0.9206, 0.7937, 0.2613, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6018, -0.4599, -0.0227, -0.0498, 0.9995, 0.4526, 2.2955, 1.6886, -1.5204, 0.7765, 2.0605, 0.7462]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1511 left_yaw=0.0047 left_pitch=-0.1247 left_roll=-0.004 left_gripper=0.9995 right_x=0.3463 right_y=0.0347 right_z=0.053 right_yaw=-1.4947 right_pitch=-0.0911 right_roll=-0.1696 right_gripper=0.7462\nstate[joint_eff]: [-0.0205, -1.2239, 6.9265, 1.7021, -0.0464, -0.0757, -0.0122, 0.253, -15.3641, 5.6547, -1.0183, 1.0867, 0.2906, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8429, 0.6018, -0.4675, -0.0227, -0.0498, 0.9995, 0.5377, 2.0418, 1.4395, -1.2732, 0.8486, 1.7004, 0.7462]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1485 left_yaw=0.0048 left_pitch=-0.1369 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3403 right_y=0.0528 right_z=0.0799 right_yaw=-1.1577 right_pitch=-0.1256 right_roll=-0.19 right_gripper=0.7462\nstate[joint_eff]: [-0.0615, -1.6479, 6.9675, 1.6532, -0.0757, -0.0415, -0.0122, 0.0342, -11.9316, 5.6274, -0.3736, 1.2332, -0.1099, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a08e2212e6505dc6f62ec0fe0f7ec104ebdcc5087c3f37dc23132fed819fdbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a18ece122c1abbc39be532261da53cd699e93be3f605c10a30593189093c946d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8922a8805d06967359fe5ab34ee9e0d17470dfb97cae5a72b8d8a7e2c1cf88",
        "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_01E3C7uBvHnxg9myoADwmqdc",
      "input": {
        "note": "Top view shows the pot near the table's centre line, ~0.55 m from the right base; both arms are equally far, so I'll try the right arm with forward pitch to gain reach. Moving toward the pot at a height clearing its rim, with the brick turned tangential to the rim.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_x": 0.36,
          "right_y": 0.25,
          "right_yaw": -0.93,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01E3C7uBvHnxg9myoADwmqdc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.7113, 2.2658, 1.8332, -1.5398, 1.1305, 1.8004, 0.7461]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1476 left_yaw=0.0048 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3895 right_y=0.1294 right_z=0.133 right_yaw=-0.9383 right_pitch=0.1575 right_roll=-0.1737 right_gripper=0.7461\nstate[joint_eff]: [-0.0752, -1.7026, 7.0769, 1.58, -0.0611, -0.0415, -0.0122, -0.5812, -11.8906, 7.8974, -0.696, 1.5458, 0.0269, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896562906166363259235c64a7e5ab43fe56e27ab7a9a01236e06c358b71d843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86458ed4ca7caf8876a11517590ac2e46e747544c1485e7dd3141dff060986c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7462d3d74499e9b87e6ddd89c06baf84dee43029cc4af73c2aab3337015eda6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 10.53 s

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

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8383, 0.6018, -0.4599, -0.0227, -0.0498, 0.9995, 0.4526, 2.2955, 1.6886, -1.5204, 0.7765, 2.0605, 0.7462]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1511 left_yaw=0.0047 left_pitch=-0.1247 left_roll=-0.004 left_gripper=0.9995 right_x=0.3463 right_y=0.0347 right_z=0.053 right_yaw=-1.4947 right_pitch=-0.0911 right_roll=-0.1696 right_gripper=0.7462\nstate[joint_eff]: [-0.0205, -1.2239, 6.9265, 1.7021, -0.0464, -0.0757, -0.0122, 0.253, -15.3641, 5.6547, -1.0183, 1.0867, 0.2906, 1.033]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8429, 0.6018, -0.4675, -0.0227, -0.0498, 0.9995, 0.5377, 2.0418, 1.4395, -1.2732, 0.8486, 1.7004, 0.7462]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1485 left_yaw=0.0048 left_pitch=-0.1369 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3403 right_y=0.0528 right_z=0.0799 right_yaw=-1.1577 right_pitch=-0.1256 right_roll=-0.19 right_gripper=0.7462\nstate[joint_eff]: [-0.0615, -1.6479, 6.9675, 1.6532, -0.0757, -0.0415, -0.0122, 0.0342, -11.9316, 5.6274, -0.3736, 1.2332, -0.1099, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.7113, 2.2658, 1.8332, -1.5398, 1.1305, 1.8004, 0.7461]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1476 left_yaw=0.0048 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3895 right_y=0.1294 right_z=0.133 right_yaw=-0.9383 right_pitch=0.1575 right_roll=-0.1737 right_gripper=0.7461\nstate[joint_eff]: [-0.0752, -1.7026, 7.0769, 1.58, -0.0611, -0.0415, -0.0122, -0.5812, -11.8906, 7.8974, -0.696, 1.5458, 0.0269, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:896562906166363259235c64a7e5ab43fe56e27ab7a9a01236e06c358b71d843",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86458ed4ca7caf8876a11517590ac2e46e747544c1485e7dd3141dff060986c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7462d3d74499e9b87e6ddd89c06baf84dee43029cc4af73c2aab3337015eda6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+gkKEAgRGAI4AUIIdGhpbmtpbmcSDHtfwxm5nlRzdPNCthoMPWUOkoqhFNNXotr6IjAS8jP5jbIZ4WhMkvP/ljDJILNLNKDjSKYKfbY8BLrUP5Wwy8vC0Pk1AYHXg/GBsGYqlwk1jzDBqvXXldTdeTyFi9UKF4TflzNVxxeiYoXMZkPBG+88gi76Paw4NqLr0fpADh7LDn4jj4cGhJAV2RDXResJX2eAbxJkIDgUC3k9002SpKqOHtmNQJ2YpuNdNyUyX0fF5D+pED1htyXQoPfd2+/ynqCCOm48Ha3vHsrb8IVmP3werBGZrE0ME2h9PbdQVtltbzYSjOHrC5CbOHjahORuRUXv/Qu5SLPwcH1vMG+vaUOZCRslA8RBmiJdrPtZ8u5qoYfL7OkC2/FgUedmG/itvdemSwPnseGf/FnpfswKlM4Oww4gEyycC5BUs8IlI+AW2ceTqyvXwx3PxmjCq144yuUpS/6ZXl6Fhyi6XVtqMbO66c16EYKU64MlkCAWwymr1DGK92ccVq5lqeVvlTxu+jDyaqTSxnY0JWkigT8mKe/Y96Vcff4HexgHArz+cs/CvCC9inw+istqFP/vZUpu3aRPP+C0bl8x618ZZ9L6Jz4ntdHde/5AkEDeBHjVUj0STSEZEKWyWwJ6Sem5/QpKPJQlSyL3hZTm/2UT8KHShY1MbboswiHkd6g29pKY9a6hkOfC890sYAyi2bWSHu5JOaOclZAml5N+4SkORt1Sle4Q9Gw686JCrUmxI71cEwApHJxzB1WO8YDu4DSexhjQPdJAc5rfbbZpVtUQ4rxEtr/srPTcHvaJUtp8ewnNHyMqvwLRg2NGDdt1hygeqN50aR3x6b/1gwUVsMl+QxkruHan6Y2LsJcJsDXlVGt/1/s06jKJsdpVbsOMlWuH98CtYy3ZC/8soYrWcEyfX03FMhmGNG9CM3JIPglVQ23SOmWGO5vlv4a6oYnilPlgSteh44cBMcZ5nu7zqfMYotUg6RRF0X1BpeRIySJxa5nwz8WCA51khKt0zMxg4OLM+Sh3a6iJpZIxMZO3sfuIdODfqv0M21d5twikRUxnCPDRtb8ebzsxNP1SCH7NLtotM0SlVph7GtApM2FpBucKD6nJb6rU27/sIUADRwUUt9hAwM2ojWc9hUjvzYkv3ydoeI0d/0A7FCgdJQtsKCImrAjk18mF3Gbtz2JalOP9mketM6HrKvOMVt0k34zkHidf1XylCD0U2fn+Tc4YUCayXHJDyK2p28bqnPaKQeejx+YfRSZUB2WCRECZNQiucNl62obI1px3VczIJbyija0dROQrN1hn6Qz89FxLQIoIEUcmFU8Mez+1LJF4gr0lwmK3hCOkDd0/B3GinEpWXfb4nV3rvigOvmg4KoeB7Uf8249tTSNFDUHio/eUYXMnubIFejGZ25IDJoqX/r/sMIY65oLb8a/Rm+sYN9L1xbVX8Py8/cZlZdbXhzh0ZkWl5RMZGbbxI1n8HpHh85VXW1nBQWR2Js1xLs3lOuBdoG+AkgMUJePMQlqgEodHrUkimGoP4cXkqktlV8e32l+/IY+qW+736BI23ooQPANcfvygl7XPnBI8qW7CdP/4fdsjChtZ79n4LoiDL09kQiTvH+V985uDHjA2D4NprW33yVYSDZegwd1iL75e91FLGKy0k6K/9MpnvacYgKZw0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YT6Dnp9YTKCQXQ9RnqsycZ",
      "input": {
        "note": "Top view: the brick in the right jaws is ~7 cm right of the pot's rim and the arm lags its target. Continuing toward a point above the pot interior (x≈0.42, y≈0.30) at rim-clearing height with forward pitch for reach.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.42,
          "right_y": 0.3,
          "right_yaw": -0.93,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01YT6Dnp9YTKCQXQ9RnqsycZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6018, -0.4686, -0.0227, -0.0498, 0.9995, 0.6453, 2.5835, 2.3989, -1.57, 1.3468, 1.573, 0.7456]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1471 left_yaw=0.0048 left_pitch=-0.1426 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4814 right_y=0.1513 right_z=0.1586 right_yaw=-0.8719 right_pitch=0.3417 right_roll=-0.1697 right_gripper=0.7456\nstate[joint_eff]: [-0.0342, -1.1009, 6.9265, 1.5849, -0.0904, -0.0171, -0.0122, -0.8684, -14.4342, 8.3897, -0.4078, 1.6435, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ea90f0d5a5210364f1601b882160019659b362394d9a084296ac2570b30ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf39917d331e97dd84ed2ff8e963b5b76366ac1827b5bf5581f77d8828ed653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba5d76c4fc4dae5d483f1888c4aecac876f1c1eec7880798ae5978e080650932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 13.72 s

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

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8429, 0.6018, -0.4675, -0.0227, -0.0498, 0.9995, 0.5377, 2.0418, 1.4395, -1.2732, 0.8486, 1.7004, 0.7462]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1485 left_yaw=0.0048 left_pitch=-0.1369 left_roll=-0.0037 left_gripper=0.9995 right_x=0.3403 right_y=0.0528 right_z=0.0799 right_yaw=-1.1577 right_pitch=-0.1256 right_roll=-0.19 right_gripper=0.7462\nstate[joint_eff]: [-0.0615, -1.6479, 6.9675, 1.6532, -0.0757, -0.0415, -0.0122, 0.0342, -11.9316, 5.6274, -0.3736, 1.2332, -0.1099, 1.0232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.7113, 2.2658, 1.8332, -1.5398, 1.1305, 1.8004, 0.7461]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1476 left_yaw=0.0048 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3895 right_y=0.1294 right_z=0.133 right_yaw=-0.9383 right_pitch=0.1575 right_roll=-0.1737 right_gripper=0.7461\nstate[joint_eff]: [-0.0752, -1.7026, 7.0769, 1.58, -0.0611, -0.0415, -0.0122, -0.5812, -11.8906, 7.8974, -0.696, 1.5458, 0.0269, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6018, -0.4686, -0.0227, -0.0498, 0.9995, 0.6453, 2.5835, 2.3989, -1.57, 1.3468, 1.573, 0.7456]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1471 left_yaw=0.0048 left_pitch=-0.1426 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4814 right_y=0.1513 right_z=0.1586 right_yaw=-0.8719 right_pitch=0.3417 right_roll=-0.1697 right_gripper=0.7456\nstate[joint_eff]: [-0.0342, -1.1009, 6.9265, 1.5849, -0.0904, -0.0171, -0.0122, -0.8684, -14.4342, 8.3897, -0.4078, 1.6435, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ea90f0d5a5210364f1601b882160019659b362394d9a084296ac2570b30ca2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbf39917d331e97dd84ed2ff8e963b5b76366ac1827b5bf5581f77d8828ed653",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba5d76c4fc4dae5d483f1888c4aecac876f1c1eec7880798ae5978e080650932",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqwsKEAgRGAI4AUIIdGhpbmtpbmcSDJE6VM6HDJMtvWzZwhoMiI8klUAzHE9jt6PhIjAF4XXlbj/TFa4hHqTlqqdST+G+6NHRQQKl3/VlRaOVPCcU8qKnUtGRMIju08tNXXcqyAp/z9/KLOJvUGXYP0ynH8lndJLvEArb4yWg2jlO9AB2Ytn2l8t2XQq/HRPtXwpQZz4ia+evsyFo0tNFk7nJq+4SOeA4gQdSbi+yIbyfZwpivFBJybS6adinwPBO6BSKfzHfpbPlqE8D9Z6qWh/4kX+CayjIUkiOlmRqT+5MhIaNdt40k/JQysMWiBrZCneRPbRANaG6VA9M26rkbbTaX1U9DfVDZQ4IJHHkJmdnWeKVsp2ck90u1sQppILcZwNHgwNC0HDnLhofeyY6QZYx7W8203pX1PsOZzpfXe/HFMJBU9FL3cusRkQQMMcdR1ANcfuEDl7ZWRqGgIdc/oovLTeeXN87uWnvIU2hfupJ6qtLspQna+PY2x5HWEEpXOrFsDy2TkPNFY1omYWnIQjn8XzsA2AhQ6xcJirZms/5pT0m0b9syieP3fsK2DBDFqqwbv/PcVSyob6NS6t2unKLvFMXIwnuJJorOIrCj90my/Lftx5Qo8D1CGMHOU71Jl1UpkrUcXtkLd/Wt4q2RBaz13HBwuCQ3qTPbz6CudQGWN0E4szRc65hQs8V43JBPvkSxJ2dVYUHaOnJSjh1cgHT03uBoOHLL71MArJ15cICogBUrhW3WTAqosfophi/MJV08Rrz/cVPSUF5bBNExLXAB8fhl/pBlLYIFf4iBFMeDv6QyfXBKqOJiHJFU26yG6lozf1+BqEgSoiV8oYXawPbcvJKXdR5/TKVjHrzrFNxjNArT5avP2vTLF/uNcJdYFzwOY0uC0wLQtUckH8vGoODH3pwv1qimwW6YblR3Lho0Xo6xjULd+skUdgenOi3gm5QDCUExZ5rorCLDqzWLzW7WY08MyUauLidfWCwbfFtfXADDNoKUQ/cFzJx4pSspb/crb5xoB9rzSQ0JiPc25JStRHLmowzZ6ZFW1bI60WWrBa6uwyIBVcLOADxOlj24gtoUjSYdss5pQr+dCgACZimVok+nOx3BK2xb7exg6gtxYKYr3yJ+wL9CZVd0xbWfCfirhTDxGAVVe8+eiPaBbJOOR+cButLeuT/susFT8+4AEzih2/pECXRgN9mEQEMlNzYY5F9kCvh2BAsKlywjdqrZ2B6sE6LUpKiQRTxqxAdk+oJRdSHrSf6mpQtZ+ax2CxUPyFWoeFALemlMNb+nZaEFFmkgQS+/fRs+cQ44yLGamkEKQuHcY2QJdU2wgsj3tgQ2m97rfJLNRZkcQwjji3OhHJFelvlmhhzJviOH+xFpw2f8Q0H70wshrioH7f0bXYUFPXgTWR08zfNgmPl9UnabjDG3EX1DZ/WXC+fGHX++Z9nCcpn08w4HfgqSLqi+4sLta/zGacarhtpPJwEMgXqvZJjrFCW/aof5oPsOHCusArwYp46WJGMN7Fm6jnPdEkbta9MnBPGuyZ6IOnJFvTxfmBkvEYn+NBUFbM5UQkBnR7nuVtKBgrJbHLu/d6DUvsB0c/DCbPslm+fVF6lacEQdjvD8U8HDoH9ETdkqUC1twHRW5MnJy1qRRek891MPbAhiVcQo22kTQ1X6SVRM4CgsqYMxMyWNiF0gACGWUkO4v2r3XCFCzBBZVwB4Wu/emkshHmhBG/Ytv0JjNegsxpHdE1aWbpQnBKARcvCyWU1txBHrg6pZ+1eIopBBBJ+fnJBenpJ1vhJRmYnYhLWBsnG8kYC58XJXJ3fFr/U55DCvbZulFQdA/SUU0jX8i7ImWQdnuCj3fLA1kseXOujTxqmBolVOHxdFVLQVsbOVPVGxS6ujW9CB20npGqNofofWbmqoCT1eVxP4pZBIBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015TYWPLqXzRYpSLjUo8CMRT",
      "input": {
        "note": "The arm drifted forward (x=0.48) instead of leftward; the brick is now just beyond the pot's right rim in the top view. Re-commanding the point above the pot interior with slightly less yaw to relieve the wrist joint that appears saturated.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.42,
          "right_y": 0.3,
          "right_yaw": -0.7,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015TYWPLqXzRYpSLjUo8CMRT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8509, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.6983, 2.7014, 2.484, -1.5642, 1.2816, 1.5364, 0.7457]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1462 left_yaw=0.0048 left_pitch=-0.1456 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4784 right_y=0.1852 right_z=0.1127 right_yaw=-0.804 right_pitch=0.2722 right_roll=-0.2309 right_gripper=0.7457\nstate[joint_eff]: [-0.1162, -1.8256, 7.1043, 1.5946, -0.0806, -0.0659, -0.0122, -0.335, -16.9915, 7.8838, -0.1148, 1.5409, 0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86075e56bb5b9b34138023d588085ff983fa1e8fb1e2486920551d13f9d9240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2325b1809812f457ba1e8d62a139317f597480fa01c1e50d70fa0ab0869e480e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5011ff6b54294939af5e3f29fc5858169c2a0c8323a392fff1eb9b1c585cbd82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 7.907 s

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

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8455, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.7113, 2.2658, 1.8332, -1.5398, 1.1305, 1.8004, 0.7461]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1476 left_yaw=0.0048 left_pitch=-0.1403 left_roll=-0.0036 left_gripper=0.9995 right_x=0.3895 right_y=0.1294 right_z=0.133 right_yaw=-0.9383 right_pitch=0.1575 right_roll=-0.1737 right_gripper=0.7461\nstate[joint_eff]: [-0.0752, -1.7026, 7.0769, 1.58, -0.0611, -0.0415, -0.0122, -0.5812, -11.8906, 7.8974, -0.696, 1.5458, 0.0269, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6018, -0.4686, -0.0227, -0.0498, 0.9995, 0.6453, 2.5835, 2.3989, -1.57, 1.3468, 1.573, 0.7456]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1471 left_yaw=0.0048 left_pitch=-0.1426 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4814 right_y=0.1513 right_z=0.1586 right_yaw=-0.8719 right_pitch=0.3417 right_roll=-0.1697 right_gripper=0.7456\nstate[joint_eff]: [-0.0342, -1.1009, 6.9265, 1.5849, -0.0904, -0.0171, -0.0122, -0.8684, -14.4342, 8.3897, -0.4078, 1.6435, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8509, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.6983, 2.7014, 2.484, -1.5642, 1.2816, 1.5364, 0.7457]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1462 left_yaw=0.0048 left_pitch=-0.1456 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4784 right_y=0.1852 right_z=0.1127 right_yaw=-0.804 right_pitch=0.2722 right_roll=-0.2309 right_gripper=0.7457\nstate[joint_eff]: [-0.1162, -1.8256, 7.1043, 1.5946, -0.0806, -0.0659, -0.0122, -0.335, -16.9915, 7.8838, -0.1148, 1.5409, 0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d86075e56bb5b9b34138023d588085ff983fa1e8fb1e2486920551d13f9d9240",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2325b1809812f457ba1e8d62a139317f597480fa01c1e50d70fa0ab0869e480e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5011ff6b54294939af5e3f29fc5858169c2a0c8323a392fff1eb9b1c585cbd82",
        "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_012AFqBz4tNd2AECqQYGBwYw",
      "input": {
        "note": "The arm is at full extension (radial 0.51) and sagging to z=0.11 right beside the pot's rim. Pulling x back to 0.38 while pushing y toward 0.30 so the arm swings over the pot interior at a shorter, reachable radius and regains height.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.38,
          "right_y": 0.3,
          "right_yaw": -0.7,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012AFqBz4tNd2AECqQYGBwYw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8532, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.799, 2.558, 2.2547, -1.5486, 1.3632, 1.5509, 0.7456]\nstate[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1479 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4437 right_y=0.2132 right_z=0.1395 right_yaw=-0.6668 right_pitch=0.3471 right_roll=-0.2969 right_gripper=0.7456\nstate[joint_eff]: [-0.2393, -1.7436, 6.9812, 1.6337, -0.0806, -0.0366, -0.0122, 0.6496, -19.7949, 8.4855, -0.3639, 1.7363, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:785b51a6f5c722f67bc9a09224c1669a5c3b7358a2c31626257e81fe7b41ae37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88779a72ef07829d79d0fd08c7433a526360447f7c3a95b2ea8fb43e2f39dcf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c46077750711fe9a7d3aa279b0e7e1eaad290d9632b1bc8c22fe3a1c79615bc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 15.9 s

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

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8474, 0.6018, -0.4686, -0.0227, -0.0498, 0.9995, 0.6453, 2.5835, 2.3989, -1.57, 1.3468, 1.573, 0.7456]\nstate[eef_state]: left_x=0.2841 left_y=0.002 left_z=0.1471 left_yaw=0.0048 left_pitch=-0.1426 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4814 right_y=0.1513 right_z=0.1586 right_yaw=-0.8719 right_pitch=0.3417 right_roll=-0.1697 right_gripper=0.7456\nstate[joint_eff]: [-0.0342, -1.1009, 6.9265, 1.5849, -0.0904, -0.0171, -0.0122, -0.8684, -14.4342, 8.3897, -0.4078, 1.6435, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8509, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.6983, 2.7014, 2.484, -1.5642, 1.2816, 1.5364, 0.7457]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1462 left_yaw=0.0048 left_pitch=-0.1456 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4784 right_y=0.1852 right_z=0.1127 right_yaw=-0.804 right_pitch=0.2722 right_roll=-0.2309 right_gripper=0.7457\nstate[joint_eff]: [-0.1162, -1.8256, 7.1043, 1.5946, -0.0806, -0.0659, -0.0122, -0.335, -16.9915, 7.8838, -0.1148, 1.5409, 0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8532, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.799, 2.558, 2.2547, -1.5486, 1.3632, 1.5509, 0.7456]\nstate[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1479 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4437 right_y=0.2132 right_z=0.1395 right_yaw=-0.6668 right_pitch=0.3471 right_roll=-0.2969 right_gripper=0.7456\nstate[joint_eff]: [-0.2393, -1.7436, 6.9812, 1.6337, -0.0806, -0.0366, -0.0122, 0.6496, -19.7949, 8.4855, -0.3639, 1.7363, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:785b51a6f5c722f67bc9a09224c1669a5c3b7358a2c31626257e81fe7b41ae37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88779a72ef07829d79d0fd08c7433a526360447f7c3a95b2ea8fb43e2f39dcf9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c46077750711fe9a7d3aa279b0e7e1eaad290d9632b1bc8c22fe3a1c79615bc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqAkKEAgRGAI4AUIIdGhpbmtpbmcSDMuso0LmqRQaujh3rhoMbbjnTTJGmSOHIzu5IjB9TcMfDxjWboqVcGznwSxxkbRMuYYEfp/EdQ7G4uZe3lUKEFSEu4+POQKMJVQ9AroqxQi5CCA+jLlnQ9ZlY9NzXnz9YolaJQ+zlwkuB7L4OPBjDsTXqDY8WuI3CRApz224ybwmiwvCc/6jKeMMrJdBzqIph1ZacJ8TKm00oA1HPgYHGlFZe0yg8juiTn/VmQeDne81g1fE0uTZQ71r9KZ9yBgvO8THp4d4XVK2gSw5hntbGUfnbjfSvb64NIGWUtZPfVjP/wEO2LCjb1VEchD8Ahs/uwan1l+gxzCyT3xqirSLwdOMYPJtCpGuQuGVLHdtidoQ0qN2bMyLPixhPkWDK3YznMxzWUtqSVBP/dLZRlD/mReopFWpXfK9bNWO+ctuyM1aCcCUH7ioqZOSYPju7Mrjd7aeThfhaHMzARW71k9Nws17H3/PqY8b8Q2S7nqQQ0/s4J4ETKkuIOJ2sZa6v6PbsHCEqE6HStFTITuk1S0fKlczemZaXFmG9UKlB3mC6IxsIs6t/B9Zs4ilSqHwoJJXfo587QdltFt12u1+CLAtbTTkulQwBd1QDTHkLCpuN3blG6t672o3Glm0gr2TvYYi9+6dhLjQStRt1+pvltbo7Et+aI8OtBEUrIySDQkOr3fBkCpBtHHkxnoDCA5vcXye7M2RoiUNtlQD69RcD9qEICO33VzwC+VHr7RIYiTBgXzr7dtO5GgUQcFvitkTZusqgj5vZw5xh8Laou9CTC2phLo/YupEEYZwVgEXzSPz4xfJ755F4LnZECsLtLqo06JDC1yEgmz9dT/WChAK6FFq5ZNpX3rhQvetaUA0ukYaiZRCh+/2fLfX8EsEM/hPq1XAl1a2amnQI1TVW6smpnZvJJKhB+Z71Vzw8E6CKqdYYPVgn+1kRcw8tPSA76ueTqeruOcXcVb3iNvCy3cBiqR036OxvAk+2XsTEdTt7kYG94S2FE1ua1jqV6rLzYM4Zd4auYKIwyzEV3FantZ9Yp17oWPNgIohNPsS0tfTY1PA2h3AutnuIBLk+0ZgCN+K6K6PkSNcruLwHNUjQG9h/l6s/zkIh+4IFLxipL8rY723tAWSNZ+DpyITf/ELTHz6fwFwd9Q/KQ1Mvl00L1M0Tm/m8yKxe374oHGstK7QoNwdd9cqO3qCMj7LXyetd/AFrCFjLGyd5y91gyw02pwveUp/XwuILv+g1XyC/mVfXQNKO3rNDQFUdND67zqzrGaoyMSHl7mFq2+mjgJ5H9v5X/hkvUHXy08CR0OSaC+kFU+qo7qx0rsfk0KgiTMfO/NnG7aXRTgTsL927x4vizfmGEoNrNw+MLPu/I309pHlV8kSWiyTuJgCaCj0jDwSJ04FdYfIKAKy5M9rFOa9EwHaE2l5BpDgN+jg+YcoYm8xcUJ6tQg6gJb/pP8V9rz/GNTBL03abaqsp2FZ90u+/bMYWcddbFRZ2jbRd5H2zg6mRsop7ctrYP2ZliP7XXAtjLtaVF/itgnwcQAEKU62wM45KmlQqa/EovgRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TE2bnRZcduSrXR7DNPyQA8",
      "input": {
        "note": "The brick is now over the pot's right rim in the top view at z≈0.14; the arm converges only a few cm per command. Re-sending the same target to bring the grasp point further over the pot interior and higher.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.38,
          "right_y": 0.3,
          "right_yaw": -0.7,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TE2bnRZcduSrXR7DNPyQA8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8551, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.8066, 2.5679, 2.2635, -1.5482, 1.3003, 1.5444, 0.7456]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1498 left_roll=-0.0034 left_gripper=0.9995 right_x=0.439 right_y=0.2172 right_z=0.1267 right_yaw=-0.6748 right_pitch=0.2859 right_roll=-0.2981 right_gripper=0.7456\nstate[joint_eff]: [-0.0479, -1.7162, 6.9128, 1.6044, -0.0269, -0.0757, -0.0122, -0.5265, -14.3795, 6.7077, -0.3199, 1.4383, 0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b669214d91318cd542497c16b054e2a9bcd20ffac34933e34e4d9cf0dbe5b342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222b5c4ba939e5751251c534a7f7f6747380d17837a143f8dca78dec27e47f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96a8ee754d6dc9810b8e796d2dc67d0a4125ac2699307c35194c9734b5c00b3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 19.66 s

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

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8509, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.6983, 2.7014, 2.484, -1.5642, 1.2816, 1.5364, 0.7457]\nstate[eef_state]: left_x=0.2842 left_y=0.002 left_z=0.1462 left_yaw=0.0048 left_pitch=-0.1456 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4784 right_y=0.1852 right_z=0.1127 right_yaw=-0.804 right_pitch=0.2722 right_roll=-0.2309 right_gripper=0.7457\nstate[joint_eff]: [-0.1162, -1.8256, 7.1043, 1.5946, -0.0806, -0.0659, -0.0122, -0.335, -16.9915, 7.8838, -0.1148, 1.5409, 0.1245, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8532, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.799, 2.558, 2.2547, -1.5486, 1.3632, 1.5509, 0.7456]\nstate[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1479 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4437 right_y=0.2132 right_z=0.1395 right_yaw=-0.6668 right_pitch=0.3471 right_roll=-0.2969 right_gripper=0.7456\nstate[joint_eff]: [-0.2393, -1.7436, 6.9812, 1.6337, -0.0806, -0.0366, -0.0122, 0.6496, -19.7949, 8.4855, -0.3639, 1.7363, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8551, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.8066, 2.5679, 2.2635, -1.5482, 1.3003, 1.5444, 0.7456]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1498 left_roll=-0.0034 left_gripper=0.9995 right_x=0.439 right_y=0.2172 right_z=0.1267 right_yaw=-0.6748 right_pitch=0.2859 right_roll=-0.2981 right_gripper=0.7456\nstate[joint_eff]: [-0.0479, -1.7162, 6.9128, 1.6044, -0.0269, -0.0757, -0.0122, -0.5265, -14.3795, 6.7077, -0.3199, 1.4383, 0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b669214d91318cd542497c16b054e2a9bcd20ffac34933e34e4d9cf0dbe5b342",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:222b5c4ba939e5751251c534a7f7f6747380d17837a143f8dca78dec27e47f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96a8ee754d6dc9810b8e796d2dc67d0a4125ac2699307c35194c9734b5c00b3b",
        "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_01W75zMAWBdHJHPHxLu2cNnm",
      "input": {
        "note": "The arm has stalled with the brick hovering over the pot's near rim, a wrist joint saturated. Changing the yaw target to a different wrist configuration (brick pointing radially into the pot) and asking for more height to free the joint and get the brick over the interior.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.4,
          "right_y": 0.28,
          "right_yaw": 0.6,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01W75zMAWBdHJHPHxLu2cNnm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8597, 0.6018, -0.4812, -0.0227, -0.0502, 0.9995, 1.5871, 1.9076, 1.5402, -0.9508, 1.3289, 0.973, 0.7456]\nstate[eef_state]: left_x=0.2824 left_y=0.002 left_z=0.1415 left_yaw=0.0051 left_pitch=-0.1674 left_roll=-0.0033 left_gripper=0.9995 right_x=0.1616 right_y=0.3881 right_z=0.2205 right_yaw=0.2562 right_pitch=0.3077 right_roll=-0.3223 right_gripper=0.7456\nstate[joint_eff]: [-0.1846, -1.7983, 7.0632, 1.7167, -0.0562, -0.0806, -0.0122, -10.4, -12.4786, 6.9128, 0.9011, 1.9805, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6f254f145a85c552c12b49a006faea6943364869dbbc8b56817565160343c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2433cfc9b537f66c4ce1cea20f3d904d049ac8d884025f8f24c7f59588e13dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9461ced3dcff64a903561305fd1e3cae9a584ad8fa3b80af7d16e51f7d7c0f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 11.08 s

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

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8532, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.799, 2.558, 2.2547, -1.5486, 1.3632, 1.5509, 0.7456]\nstate[eef_state]: left_x=0.2843 left_y=0.002 left_z=0.1456 left_yaw=0.0048 left_pitch=-0.1479 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4437 right_y=0.2132 right_z=0.1395 right_yaw=-0.6668 right_pitch=0.3471 right_roll=-0.2969 right_gripper=0.7456\nstate[joint_eff]: [-0.2393, -1.7436, 6.9812, 1.6337, -0.0806, -0.0366, -0.0122, 0.6496, -19.7949, 8.4855, -0.3639, 1.7363, 0.0708, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8551, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.8066, 2.5679, 2.2635, -1.5482, 1.3003, 1.5444, 0.7456]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1498 left_roll=-0.0034 left_gripper=0.9995 right_x=0.439 right_y=0.2172 right_z=0.1267 right_yaw=-0.6748 right_pitch=0.2859 right_roll=-0.2981 right_gripper=0.7456\nstate[joint_eff]: [-0.0479, -1.7162, 6.9128, 1.6044, -0.0269, -0.0757, -0.0122, -0.5265, -14.3795, 6.7077, -0.3199, 1.4383, 0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8597, 0.6018, -0.4812, -0.0227, -0.0502, 0.9995, 1.5871, 1.9076, 1.5402, -0.9508, 1.3289, 0.973, 0.7456]\nstate[eef_state]: left_x=0.2824 left_y=0.002 left_z=0.1415 left_yaw=0.0051 left_pitch=-0.1674 left_roll=-0.0033 left_gripper=0.9995 right_x=0.1616 right_y=0.3881 right_z=0.2205 right_yaw=0.2562 right_pitch=0.3077 right_roll=-0.3223 right_gripper=0.7456\nstate[joint_eff]: [-0.1846, -1.7983, 7.0632, 1.7167, -0.0562, -0.0806, -0.0122, -10.4, -12.4786, 6.9128, 0.9011, 1.9805, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f6f254f145a85c552c12b49a006faea6943364869dbbc8b56817565160343c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2433cfc9b537f66c4ce1cea20f3d904d049ac8d884025f8f24c7f59588e13dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9461ced3dcff64a903561305fd1e3cae9a584ad8fa3b80af7d16e51f7d7c0f1f",
        "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_01Une6cb64nmhpZkeVfp82PF",
      "input": {
        "note": "The IK jumped to a different branch and swung the arm to the left side (x=0.16, y=0.39) with the brick still held at z=0.22. Now approaching the pot from this side along the base's radial direction, in a first step to x=0.30.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.4,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_yaw": 0.6,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Une6cb64nmhpZkeVfp82PF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8642, 0.6018, -0.4923, -0.0227, -0.0498, 0.9995, 1.1046, 1.6161, 0.82, 0.3756, 0.7204, -0.1768, 0.7455]\nstate[eef_state]: left_x=0.2807 left_y=0.0023 left_z=0.1383 left_yaw=0.0057 left_pitch=-0.183 left_roll=-0.0026 left_gripper=0.9995 right_x=0.2949 right_y=0.3347 right_z=0.16 right_yaw=0.5779 right_pitch=0.2065 right_roll=-0.4281 right_gripper=0.7455\nstate[joint_eff]: [-0.2667, -1.7709, 7.0085, 1.6532, -0.022, -0.0659, -0.0122, -0.1162, -11.1521, 8.2256, 3.1624, 0.4567, 0.0757, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672a25bd81dee9322f5dbad57fd1191bf2f42dcda356dfea1d4386558e681c8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88641135e146f9e2f819cc541732dbd19c74d632f43e20caacdeaaf58b4b730c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e6142ff4cb31ce1a87e3e7060be8c1edf08523154827519e16a9f808c4fb0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 14.41 s

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

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8551, 0.6018, -0.4683, -0.0227, -0.0498, 0.9995, 0.8066, 2.5679, 2.2635, -1.5482, 1.3003, 1.5444, 0.7456]\nstate[eef_state]: left_x=0.2844 left_y=0.002 left_z=0.1451 left_yaw=0.0048 left_pitch=-0.1498 left_roll=-0.0034 left_gripper=0.9995 right_x=0.439 right_y=0.2172 right_z=0.1267 right_yaw=-0.6748 right_pitch=0.2859 right_roll=-0.2981 right_gripper=0.7456\nstate[joint_eff]: [-0.0479, -1.7162, 6.9128, 1.6044, -0.0269, -0.0757, -0.0122, -0.5265, -14.3795, 6.7077, -0.3199, 1.4383, 0.1099, 1.033]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8597, 0.6018, -0.4812, -0.0227, -0.0502, 0.9995, 1.5871, 1.9076, 1.5402, -0.9508, 1.3289, 0.973, 0.7456]\nstate[eef_state]: left_x=0.2824 left_y=0.002 left_z=0.1415 left_yaw=0.0051 left_pitch=-0.1674 left_roll=-0.0033 left_gripper=0.9995 right_x=0.1616 right_y=0.3881 right_z=0.2205 right_yaw=0.2562 right_pitch=0.3077 right_roll=-0.3223 right_gripper=0.7456\nstate[joint_eff]: [-0.1846, -1.7983, 7.0632, 1.7167, -0.0562, -0.0806, -0.0122, -10.4, -12.4786, 6.9128, 0.9011, 1.9805, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8642, 0.6018, -0.4923, -0.0227, -0.0498, 0.9995, 1.1046, 1.6161, 0.82, 0.3756, 0.7204, -0.1768, 0.7455]\nstate[eef_state]: left_x=0.2807 left_y=0.0023 left_z=0.1383 left_yaw=0.0057 left_pitch=-0.183 left_roll=-0.0026 left_gripper=0.9995 right_x=0.2949 right_y=0.3347 right_z=0.16 right_yaw=0.5779 right_pitch=0.2065 right_roll=-0.4281 right_gripper=0.7455\nstate[joint_eff]: [-0.2667, -1.7709, 7.0085, 1.6532, -0.022, -0.0659, -0.0122, -0.1162, -11.1521, 8.2256, 3.1624, 0.4567, 0.0757, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672a25bd81dee9322f5dbad57fd1191bf2f42dcda356dfea1d4386558e681c8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88641135e146f9e2f819cc541732dbd19c74d632f43e20caacdeaaf58b4b730c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 262):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e6142ff4cb31ce1a87e3e7060be8c1edf08523154827519e16a9f808c4fb0eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSogsKEAgRGAI4AUIIdGhpbmtpbmcSDP/eonk5UCjUHMUNhBoMGvnM43bnrqhOKwvXIjB+Ozeq4wW9G4nftdzo3cYhhalWbZRaQ8Zk+mz+UvgeVu3a/9OrhDgNZ9x2q4iZ320qvwp5e/nSnm+88/6nD3oKGwyTstRZ+mq/1O0bDzG5t08GqHRStXQvrfZteeku1+fJlawUBIJEtmGRpM9yI0MTEQDcwiT/vLI1yppE0xQOSLp/MIFaGo9vAtwOGyVqM5hOmfW2XbvUkgpGBmZYssNRNvKI2Egoii5CvadgtbAskqPz2nNGovCDU3Bf66bDd9OxEFFQZUSG9raoWgycK6zBqFGq2rywHkjp9ScVII9o6GS7M2jMavoxr2UvFQW8hav5KFkRwAwK1j3rBBuithk9ZpTAh6K3RafVdoaBk8nxsfsciubQrGQxeo5hfJpL6MjmEku7qK2Ppqk92IuuneBzr6sh6YmeNpDZ3PQje0MVxg9gkzYQEk/1mxXuWZ+pzBk9iIwuAJMV9CFSQM7McgjYYlaz0HXBYJkX/F1ibKZ8Pmbi5iY0MHGOA+q8XWG7Gh5mCaJX8H+qBk29ZYSlcc1MO3ND3k0NX/twfr1z3DhWT/ywTqvHqc/Ao4fMIYh8t6KV1wuFCTmqyFGNHzWnrhRZR58Pn/2Szv4Ln6XVYOe/Gs8d5Abog5y6Gdxy4VBgaBevjqQGLFoEcUsmaeH4LFyYtE/ynN10Fo0M4fhAF2HeE25ybTc+isX6XS6/JEiIVKHuJ4l1j+xjx/oz66nnM48J8lGjxh58kgCwonBjZ46Nw9YsTh4UDzdzJFDsVi2up4Dqhg23IDTQ+S1d+1m8eO6aTluAiI0tPXWrRC6QaoVCxulQrTe4cKJCswd0LvEROSysVX+bLXZ2WTT2N8W1InDRd7TKBac3xVYz04DHENtHwOgYRBPSPhKMMVvwxDlc5Th5KQy7zM/crI4JA1m4LO98CgIt85x3PPGlH8o0aT/cZ43AhWCv18Au+SPCSJb0zG3XNL7hXvl3moUgcLwJAnH9fruiE/h2HidAZuXpLmIHmWjlo2BA9W3f5P++TL303TFh1KWzgYu0cu6IosHY4GVLbb96bw9jjsRmDfJeoy6Ljzi955kiXd+bFeCdrY7V81OXcwwAYqJcsHOyt3jQXr+0mwMnWuGrv0VZBs0HnIukRD6NXek5QkL2hN1Agf+DZLyzTsseeiIaLpTyDw5wxIM1Pk4U98wp01nU9JICv/Q59y3IK/FvFESh8uJZofxexqzgiqNJBoErYU+8j+sriV71U5ed7r/rNJLgRTSz5rV08FK2fWM/fBO2OU9Yi819JMFiyAXwG7V/aGwq2g/XKH2pC6NAMZMAW3NHJ2PfctNJyQC8elL9ncbmIioSlrREMkg27TR2JGzN9CE0ValPNOm1V3TboY2d4z+9aVWLwx8VW0kTTaohWXqKtb2RaB/QOjZteLpFDLhLxKCQNpZbsSFCcqd8Ia6w5SJ7OcBsaGxLCJ9kdb2+7ChbIx1ZKccnrwH2RPaYwTxge0IrE0g1Qe/hBfnVth0wSABgWXASj+bHgahYgrRDbX0Xz2sVyVLzeFxLQNJF6noUkMWqvXNCTkc//VTh9KmAj1o/ruHREs5K7hn2NQzlvCZyM9zGc81iFk+aF7AtSo9a5jUwzOb98gK3LXkfHTTBw5EX2kLbFBsGS5ARtVpan2vNKp1S1L1H4cCHr/cXD5xj72/sk5TwLFfN0Ij9XURQQ9XAcwBqsB5kYAn7Em8a9nIfVEefkkmS/5zxrSJKj04OCsj6dT82hFqoBJAbkfGUQ/mu2uAHsq85cQGy2f+vdVKbVYo52bcmVZzDj7p6iG428LgwFVUne5j53/kw1QDgJ4/fhA+7teQImqe0c5apGacBgFRHax01gqMaARgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016yvhFrz3QvLRHEY1MvmpyS",
      "input": {
        "note": "The brick is now just short of the pot's near rim, pointing toward the pot in the wrist view. Moving forward ~10 cm and up to clear the rim so the brick hangs over the pot interior.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.4,
          "right_y": 0.34,
          "right_yaw": 0.6,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016yvhFrz3QvLRHEY1MvmpyS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8661, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8677, 1.8263, 0.9058, 0.6281, 0.4858, -0.3733, 0.7455]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1376 left_yaw=0.0057 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3833 right_y=0.3302 right_z=0.1438 right_yaw=0.6304 right_pitch=0.2471 right_roll=-0.4889 right_gripper=0.7455\nstate[joint_eff]: [-0.0479, -1.7162, 7.0769, 1.5409, -0.0659, -0.0464, -0.0122, -0.5538, -10.3179, 11.2205, 3.3431, 0.2759, -0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f85b3a2f26289e48f2929b8c83012bcc08b79745d3161392aef7a99caf94cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02448f78dc76bf548fccada6bffbc2322e5336c73157e6feee646ef15a580eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:327277d7fc6b2a5793e55abe02ace3cada684248d1d86d3d6cbc3c864f9dd858",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 9.984 s

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

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8597, 0.6018, -0.4812, -0.0227, -0.0502, 0.9995, 1.5871, 1.9076, 1.5402, -0.9508, 1.3289, 0.973, 0.7456]\nstate[eef_state]: left_x=0.2824 left_y=0.002 left_z=0.1415 left_yaw=0.0051 left_pitch=-0.1674 left_roll=-0.0033 left_gripper=0.9995 right_x=0.1616 right_y=0.3881 right_z=0.2205 right_yaw=0.2562 right_pitch=0.3077 right_roll=-0.3223 right_gripper=0.7456\nstate[joint_eff]: [-0.1846, -1.7983, 7.0632, 1.7167, -0.0562, -0.0806, -0.0122, -10.4, -12.4786, 6.9128, 0.9011, 1.9805, 0.1441, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0189, 0.8642, 0.6018, -0.4923, -0.0227, -0.0498, 0.9995, 1.1046, 1.6161, 0.82, 0.3756, 0.7204, -0.1768, 0.7455]\nstate[eef_state]: left_x=0.2807 left_y=0.0023 left_z=0.1383 left_yaw=0.0057 left_pitch=-0.183 left_roll=-0.0026 left_gripper=0.9995 right_x=0.2949 right_y=0.3347 right_z=0.16 right_yaw=0.5779 right_pitch=0.2065 right_roll=-0.4281 right_gripper=0.7455\nstate[joint_eff]: [-0.2667, -1.7709, 7.0085, 1.6532, -0.022, -0.0659, -0.0122, -0.1162, -11.1521, 8.2256, 3.1624, 0.4567, 0.0757, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8661, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8677, 1.8263, 0.9058, 0.6281, 0.4858, -0.3733, 0.7455]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1376 left_yaw=0.0057 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3833 right_y=0.3302 right_z=0.1438 right_yaw=0.6304 right_pitch=0.2471 right_roll=-0.4889 right_gripper=0.7455\nstate[joint_eff]: [-0.0479, -1.7162, 7.0769, 1.5409, -0.0659, -0.0464, -0.0122, -0.5538, -10.3179, 11.2205, 3.3431, 0.2759, -0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f85b3a2f26289e48f2929b8c83012bcc08b79745d3161392aef7a99caf94cac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02448f78dc76bf548fccada6bffbc2322e5336c73157e6feee646ef15a580eb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:327277d7fc6b2a5793e55abe02ace3cada684248d1d86d3d6cbc3c864f9dd858",
        "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_01FWcyrrEmqxYsV42Ua2ioNq",
      "input": {
        "note": "The brick's far end is over the pot rim (white interior visible left of it in the wrist view) but the grasp point is still at the rim at z≈0.14. Pushing 4 cm further forward with maximum forward pitch so the brick tips nose-down over the pot interior.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.6,
          "right_x": 0.42,
          "right_y": 0.34,
          "right_yaw": 0.6,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01FWcyrrEmqxYsV42Ua2ioNq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8688, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8341, 1.8969, 0.9646, 0.7616, 0.4629, -0.4625, 0.7455]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1369 left_yaw=0.0057 left_pitch=-0.1887 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4077 right_y=0.3374 right_z=0.1626 right_yaw=0.6537 right_pitch=0.3412 right_roll=-0.5451 right_gripper=0.7455\nstate[joint_eff]: [-0.0889, -1.853, 6.8855, 1.5311, -0.0513, -0.0464, -0.0122, -0.8684, -9.935, 11.6855, 3.4017, 0.1832, 0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bff79f2bf9b0d9749654b3c71a1a22698c7015a9b99a7eb7b3d4076813a7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8a720517c0c9aaa463a9d880f67691f21a9f19fb3e7e2bad44e377bd685004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ee44c213e061cb0e25581e22acb88af34d37ff4064ffd2536501256a1c3bd22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.963 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]: [-0.0189, 0.8642, 0.6018, -0.4923, -0.0227, -0.0498, 0.9995, 1.1046, 1.6161, 0.82, 0.3756, 0.7204, -0.1768, 0.7455]\nstate[eef_state]: left_x=0.2807 left_y=0.0023 left_z=0.1383 left_yaw=0.0057 left_pitch=-0.183 left_roll=-0.0026 left_gripper=0.9995 right_x=0.2949 right_y=0.3347 right_z=0.16 right_yaw=0.5779 right_pitch=0.2065 right_roll=-0.4281 right_gripper=0.7455\nstate[joint_eff]: [-0.2667, -1.7709, 7.0085, 1.6532, -0.022, -0.0659, -0.0122, -0.1162, -11.1521, 8.2256, 3.1624, 0.4567, 0.0757, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0189, 0.8661, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8677, 1.8263, 0.9058, 0.6281, 0.4858, -0.3733, 0.7455]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1376 left_yaw=0.0057 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3833 right_y=0.3302 right_z=0.1438 right_yaw=0.6304 right_pitch=0.2471 right_roll=-0.4889 right_gripper=0.7455\nstate[joint_eff]: [-0.0479, -1.7162, 7.0769, 1.5409, -0.0659, -0.0464, -0.0122, -0.5538, -10.3179, 11.2205, 3.3431, 0.2759, -0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8688, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8341, 1.8969, 0.9646, 0.7616, 0.4629, -0.4625, 0.7455]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1369 left_yaw=0.0057 left_pitch=-0.1887 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4077 right_y=0.3374 right_z=0.1626 right_yaw=0.6537 right_pitch=0.3412 right_roll=-0.5451 right_gripper=0.7455\nstate[joint_eff]: [-0.0889, -1.853, 6.8855, 1.5311, -0.0513, -0.0464, -0.0122, -0.8684, -9.935, 11.6855, 3.4017, 0.1832, 0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bff79f2bf9b0d9749654b3c71a1a22698c7015a9b99a7eb7b3d4076813a7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b8a720517c0c9aaa463a9d880f67691f21a9f19fb3e7e2bad44e377bd685004",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee44c213e061cb0e25581e22acb88af34d37ff4064ffd2536501256a1c3bd22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7AoKEAgRGAI4AUIIdGhpbmtpbmcSDE1HLSa/cqFXhjjx/xoM9O0k7LxguCuiiBBgIjBOyFoHQTRUAFkebtP37d5tSQccDxgiGbElvBGtUH21IC3vs01sHxlzFqLeI35vy+UqiQrOfXUGeIg5cn1a4GpGUN8sFbXTGxhku8QAA/vxfEhQusE7iJNxC++CLlt5lEwEReckjHzElFeisE2e/mVOCZRTF9nGKbiq99LW/AxlcdteBdDEq1fkHUdL1EjgRpMafIUBX9nfu0ZZ+51qKY81fida1g6FqTZK3hfF+AWS16MyYSrC27Vi0rvY3bpvmyaLM8ebSLOX6bgVrHbvjXkQ668eGVFyVAowLqSVGHDCQ4Crq6fyB3uOgK7jPMT+wqcS40gASchFPY017zPkAT4ouFucPYLHdMbiSmTjEDyE1QSxBUNBYZ6hbsHikf0EXG5aEWlQKkVOPBSUJPe6dFdwqmnjeznenH93O/jaQBRMyKCVsIlwxvHqkcs9+MGKAMdXR476N8M5G28TBcmPRtCJ7u5Gze2GzXbIp0Wj9TH7kWvlKe86TDK5Bbdr4qRxb6IN+ECczBdoXWaeOR3QCnSFFTjObNpuzi67vSm4jFx93ByaG7Nmel1+oPZfgvLUCkTnwG5Th/bSw+X9HGcWus3uJih3dfVCk32NzArDUqTo5k/aTlVRHLK+z+CY7dWp79xTxewrwHyyawuv0AyZqF3ILOvV6b4c73I5Dmb2D/9lwRw5rtbVMLzQesCIOMOyeLS2GpC7fS8mVZzQhWEqjlxqvWz9vJR/Wx3dkzMZABJ/9cF3F40/kNCdzEwrMxeeF7CjRW3867eB5D2xHdqwibr47zit6ZA24PrpMMBDS6glXLVl/TkQNkCDJfKzVMbyc/T9mSuaGP9dYSqHydGI60WE9+WbP7ckFAArSoyY5TMCs9tMEAqFmq3hYfDNo9Zh5VypTd7UPHFXCgGpA/9K0s5P6uXL9zgEFOe196PWwAnCN5KlLECaAIwxLSn8/1NjEKqH+RheQxTYAZznRD4gx4+lA0UjO4CsAfzqsGoGiYHslSyrGwS3cyabCE/yinX5165LQTgblNmNQDDN3rZCttI//pjPFghBW0EpyF9PKGJ42ITjQCXslA3KpqMh563aFzylKNjRmSeVv1gv4+DaR6VVNjaUSQQxG0SPhBuErenDXbYqOxhMUWaRPM7zIvkTlzw3qKNKssfBo4WeocFi3RYo8c/ixoqGgJFhPrQV2m0Gll4/sXsxSImp+s/eY6Urp6D+pTDgkgdV4LcJtQAzYMO5/VvksrP1cESrCoD4cDGEB0Gni6wpcaSL927JsyKLq0f+qntlNdcEJmWa6s6M+iehoQn08gLTPf1zW3rRGPW7PK8hgaOgYsH0Dl6okzGL9KGxCboN5XDvlcxycpOlFuwLh3qDDngE/CiFyrQHn8yFkmPN5xxwFKEPKErEpLSNlY5BFzF5S28azJyRGtwbkmw7l09xNAstn6+vlOPMgjeKgvW+3izsmJMT8C7Ick/xFjdHQa2OI7w+GQGXy5F+mlq4HMxm18U0h6iAa8fzTPdGoNJdvNSonDeqNrrAHj5QbyOFNcm7kO9LzSapCFErXdwtCXsH4+kwtlqFuEMHEUXkHb2DuH0skVvvsItnEMsD6rvztn+RIuk8lWVhT3U34zYLhOWmt4BAAm2sfaYuRfGhlCLL7H5Ydgq1rpyjx8Xk8KljpSnPgfZXLaA4H6vZw/Ql83isIk7/oIPQmcMN9O7TmMyd8rzqDxQdNdSjibQ1WTbIU9xBkygVp8UsrU0itUq60DD7w/nyr3gR+rL+XT5vUHeDkX1ny0CuJOfLwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017YATQUbBdECsg2yqUbeHrp",
      "input": {
        "note": "The brick now hangs over the pot interior (inside the rim outline in the top view, water surface visible around it in the wrist view). Opening the gripper to drop it into the pot.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.6,
          "right_x": 0.41,
          "right_y": 0.34,
          "right_yaw": 0.65,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017YATQUbBdECsg2yqUbeHrp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.87, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 0.836, 2.0834, 0.902, 1.1831, 0.4625, -0.511, 0.8954]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1366 left_yaw=0.0057 left_pitch=-0.1903 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4088 right_y=0.3402 right_z=0.1389 right_yaw=0.667 right_pitch=0.4972 right_roll=-0.5629 right_gripper=0.8954\nstate[joint_eff]: [-0.0889, -1.1692, 6.9128, 1.5263, -0.0122, -0.0317, -0.0122, 0.0752, -9.347, 5.9829, 2.1026, 0.0171, 0.0366, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1521f8fb8877fc48cd205dc4d3f02f956d00a1e0386e4968ce65c4c8dea1b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99991a7a9889325e08ba0815f9469297c9c21eb6fffdb1bbdfeedadf1554f06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e62d7f346f45a00042e286e94fbfddbbd10c8dfa0f44515063ec02ae51209cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 29.96 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8661, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8677, 1.8263, 0.9058, 0.6281, 0.4858, -0.3733, 0.7455]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1376 left_yaw=0.0057 left_pitch=-0.1861 left_roll=-0.0025 left_gripper=0.9995 right_x=0.3833 right_y=0.3302 right_z=0.1438 right_yaw=0.6304 right_pitch=0.2471 right_roll=-0.4889 right_gripper=0.7455\nstate[joint_eff]: [-0.0479, -1.7162, 7.0769, 1.5409, -0.0659, -0.0464, -0.0122, -0.5538, -10.3179, 11.2205, 3.3431, 0.2759, -0.0562, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8688, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8341, 1.8969, 0.9646, 0.7616, 0.4629, -0.4625, 0.7455]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1369 left_yaw=0.0057 left_pitch=-0.1887 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4077 right_y=0.3374 right_z=0.1626 right_yaw=0.6537 right_pitch=0.3412 right_roll=-0.5451 right_gripper=0.7455\nstate[joint_eff]: [-0.0889, -1.853, 6.8855, 1.5311, -0.0513, -0.0464, -0.0122, -0.8684, -9.935, 11.6855, 3.4017, 0.1832, 0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.87, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 0.836, 2.0834, 0.902, 1.1831, 0.4625, -0.511, 0.8954]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1366 left_yaw=0.0057 left_pitch=-0.1903 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4088 right_y=0.3402 right_z=0.1389 right_yaw=0.667 right_pitch=0.4972 right_roll=-0.5629 right_gripper=0.8954\nstate[joint_eff]: [-0.0889, -1.1692, 6.9128, 1.5263, -0.0122, -0.0317, -0.0122, 0.0752, -9.347, 5.9829, 2.1026, 0.0171, 0.0366, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1521f8fb8877fc48cd205dc4d3f02f956d00a1e0386e4968ce65c4c8dea1b3e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99991a7a9889325e08ba0815f9469297c9c21eb6fffdb1bbdfeedadf1554f06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e62d7f346f45a00042e286e94fbfddbbd10c8dfa0f44515063ec02ae51209cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0AkKEAgRGAI4AUIIdGhpbmtpbmcSDIEBB6itZVA67wABERoMJbnjtOWUlaLu02fTIjBpNWYk/iEV27s3lPYt5sa8GJR2aOc8KYwkNeyoZ9UMJhXtdVDbgHrpgLjb8/BE3f0q7QgeQ+KSjQjOGs2mk/tglZPjrDNI8VJqzvPia00beJe45LR3OF+yloFDPDkA0HOMZIaOeIQoDNMlxWjlMFAJ4DSXSwzFtP4JDPp5lM3kgYcLskkLpIyxsU2tMxcJ1i/N92Q8aKwCOrpyL6eab2CHi/0KON7pHiEeitE0tmg71ShBX51aNrgVAuNE3CiTKuVAs7ic3Wtew461KAWaBaQP43irKdftZhF643iTmN+2BnKBUimQIeBxlykokhSRJOQFbDTYprIliZhwdyUNByCaWFzLFsigznqSqnBM007Tpnl+1BnKMt9KHbQKDKJ0TrPwiSkuFr7gsIMqf/rtiQ7kF7RKonLFKxGQBQXNZyDQQc/YGIaJj5Ab6iWmiq7eUciY+atTGs1tQ0dpxs/HVQtg6KOyLZrwr2bCz14n7kTZ2Oo6Rtj4fUxXXGni2CD3enuJ3I7x617b8t9YAsDzAycLJFuWZjLk28nPxnWwGMce/Ad8FAxrTN5YtIllf1ktrKoRFjMc86G62o3Wy3o4bgLByiYSnyy3o3NFLIiGa2a1ltkD8EC3/o82UfQgHWpeG521H8dh2P4IwCh4GSBxKO/4Clk8/e4KeEsTwSw4UgEpVsZfLOjoOrV4wIkmEYXKEOGD/8hyLexD/NrtCJFgHmJi5B+M++estE32mQ90igpjPOmJzyDXm6h7km+s5x2mXcsQFDnV1TUz5K59edFFL/cI7FLnII9J7Wcudix6/DXD36fkn7v3k4CPMr/hjlVC8PEy+eBXSgu33KVuCpS9wWivbrHkRZ2Kdj6oasRyciPW6D4Z2SlCZ+B8q6WIImNoO4w2t9T0YAN1ZZg8r359ba2zkM34cA2O7lrXHK3zOqS9OdB1mjpWkseQ55e34xZRWyFjLio+7xfXhxlR8U0uY/VhNiIeliqBc8GxbLJls92QksakErf0YhEFFFWBqvTIK2sGGuIEo/7ttchu4pq066cDFlbO8mUGgnDSWIDYvFdVu/JhdBpeyV8zUFaDIEdET9EMTSsTu8zpQCwGAf2OSNtAmaDWasPnHoplIqjxMxXBg5rlntkt+fQ08RpZhHFFeCM5j+juVUz20kpo2We0UyC+Jv3gW3gcfeXzZpIV91zpc/JqPfKu5CSzxTkLG7cNXugerlbg6v/pjkFcbqefdIAR0zCYfppxAqWXiMIGRSc6GquR8Wi7r9d9TIF6LYJfXPkyNGB6zSBbJQ7STivF9pobLsXFdiesxQZfk7SK9SeK4/AgdgQjWcG9nVs8/kXtGyivxrVh+CWU4O4lJOzjmC+yU4G4zQdY+d4NU0Qp2GstgSxqAT9GFmnGyEqFpKIapjCPTeJtsxjHCFllQpc0KTPIqrd1L0aSc5StZmcUJS5/uv3Ef6uojJvaQBe1zgOYGUpPI300Ah2iA9wJ1MFTirPrkQ/vcrGcy+zlU6rjGrd+CVG1dTagtCbVuYRUVT4G8CAb2rc+UiL4g9SPueq4iCv660Kq7x783K7rJrlD+uzfwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JY7b9meLNFisURHLNBiZan",
      "input": {
        "note": "Gripper is open; the wrist camera still shows the brick just below the jaws, so I can't tell if it dropped into the pot or onto the rim. Retracting the arm toward the base to get a clear overhead view.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.28,
          "right_y": 0.3,
          "right_yaw": 0.6,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JY7b9meLNFisURHLNBiZan",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8726, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 1.1069, 1.4509, 0.7498, 0.3595, 0.7326, -0.3569, 0.9978]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1359 left_yaw=0.0058 left_pitch=-0.1929 left_roll=-0.0023 left_gripper=0.9995 right_x=0.2834 right_y=0.3103 right_z=0.1946 right_yaw=0.6488 right_pitch=0.2318 right_roll=-0.5647 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -1.853, 6.9949, 1.5311, -0.0415, -0.0708, -0.0122, 0.1026, -6.7077, 9.4974, 1.7509, 0.2662, 0.1343, -0.232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146993b089fb58f0267567d39839a67ea09de3cf7ac00d22a1b6680d40940959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4c71ca23fd0a054dc49229b6d8a5b2f2ac6fa836c720103923f641dc1b6bfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:411fb53950177c9fb386c838513348c3985b6466850910714f7a35212e792093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 6.077 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8688, 0.6018, -0.4934, -0.0227, -0.0498, 0.9995, 0.8341, 1.8969, 0.9646, 0.7616, 0.4629, -0.4625, 0.7455]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1369 left_yaw=0.0057 left_pitch=-0.1887 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4077 right_y=0.3374 right_z=0.1626 right_yaw=0.6537 right_pitch=0.3412 right_roll=-0.5451 right_gripper=0.7455\nstate[joint_eff]: [-0.0889, -1.853, 6.8855, 1.5311, -0.0513, -0.0464, -0.0122, -0.8684, -9.935, 11.6855, 3.4017, 0.1832, 0.0269, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.87, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 0.836, 2.0834, 0.902, 1.1831, 0.4625, -0.511, 0.8954]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1366 left_yaw=0.0057 left_pitch=-0.1903 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4088 right_y=0.3402 right_z=0.1389 right_yaw=0.667 right_pitch=0.4972 right_roll=-0.5629 right_gripper=0.8954\nstate[joint_eff]: [-0.0889, -1.1692, 6.9128, 1.5263, -0.0122, -0.0317, -0.0122, 0.0752, -9.347, 5.9829, 2.1026, 0.0171, 0.0366, -0.1099]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8726, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 1.1069, 1.4509, 0.7498, 0.3595, 0.7326, -0.3569, 0.9978]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1359 left_yaw=0.0058 left_pitch=-0.1929 left_roll=-0.0023 left_gripper=0.9995 right_x=0.2834 right_y=0.3103 right_z=0.1946 right_yaw=0.6488 right_pitch=0.2318 right_roll=-0.5647 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -1.853, 6.9949, 1.5311, -0.0415, -0.0708, -0.0122, 0.1026, -6.7077, 9.4974, 1.7509, 0.2662, 0.1343, -0.232]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:146993b089fb58f0267567d39839a67ea09de3cf7ac00d22a1b6680d40940959",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e4c71ca23fd0a054dc49229b6d8a5b2f2ac6fa836c720103923f641dc1b6bfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:411fb53950177c9fb386c838513348c3985b6466850910714f7a35212e792093",
        "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_01JZYa8zFXB9f7Aomn4Xr8WQ",
      "input": {
        "note": "The brick missed: the top view shows it on the table just right of the pot's near rim, under the jaws in the wrist view with its long axis along the jaw direction. Dropping lower over it and rotating ~90° so the jaws can close across its width for a second attempt.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.32,
          "right_y": 0.33,
          "right_yaw": -0.9,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JZYa8zFXB9f7Aomn4Xr8WQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0193, 0.8806, 0.5819, -0.498, -0.0433, -0.0525, 0.9989, 0.9112, 2.4775, 1.8328, -1.2442, 0.9936, 1.3251, 0.9978]\nstate[eef_state]: left_x=0.2763 left_y=0.0059 left_z=0.1247 left_yaw=0.0248 left_pitch=-0.2244 left_roll=0.0117 left_gripper=0.9989 right_x=0.3638 right_y=0.2334 right_z=0.0176 right_yaw=-0.5502 right_pitch=-0.0561 right_roll=-0.5023 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -2.3726, 8.4171, 1.5263, 0.0659, -0.0269, -0.0708, 2.8239, -11.9453, 3.7812, -0.5592, -2.4103, -0.4469, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04fa1a09b5d9f5a0d7b29c7bda27413fcfb20ae10da36c898de90b8726a2377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40662ff8ea65a5b30cfdea90167f3daf5b9c081f5ab3c4a4ac9f48f31f0d5e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb18718c310576ea2b7bcce419dc0b5ca9c6ec96a857644305ba48943e37bc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 18.18 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.87, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 0.836, 2.0834, 0.902, 1.1831, 0.4625, -0.511, 0.8954]\nstate[eef_state]: left_x=0.2805 left_y=0.0023 left_z=0.1366 left_yaw=0.0057 left_pitch=-0.1903 left_roll=-0.0024 left_gripper=0.9995 right_x=0.4088 right_y=0.3402 right_z=0.1389 right_yaw=0.667 right_pitch=0.4972 right_roll=-0.5629 right_gripper=0.8954\nstate[joint_eff]: [-0.0889, -1.1692, 6.9128, 1.5263, -0.0122, -0.0317, -0.0122, 0.0752, -9.347, 5.9829, 2.1026, 0.0171, 0.0366, -0.1099]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8726, 0.6018, -0.4938, -0.0227, -0.0498, 0.9995, 1.1069, 1.4509, 0.7498, 0.3595, 0.7326, -0.3569, 0.9978]\nstate[eef_state]: left_x=0.2806 left_y=0.0023 left_z=0.1359 left_yaw=0.0058 left_pitch=-0.1929 left_roll=-0.0023 left_gripper=0.9995 right_x=0.2834 right_y=0.3103 right_z=0.1946 right_yaw=0.6488 right_pitch=0.2318 right_roll=-0.5647 right_gripper=0.9978\nstate[joint_eff]: [-0.1026, -1.853, 6.9949, 1.5311, -0.0415, -0.0708, -0.0122, 0.1026, -6.7077, 9.4974, 1.7509, 0.2662, 0.1343, -0.232]\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 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0193, 0.8806, 0.5819, -0.498, -0.0433, -0.0525, 0.9989, 0.9112, 2.4775, 1.8328, -1.2442, 0.9936, 1.3251, 0.9978]\nstate[eef_state]: left_x=0.2763 left_y=0.0059 left_z=0.1247 left_yaw=0.0248 left_pitch=-0.2244 left_roll=0.0117 left_gripper=0.9989 right_x=0.3638 right_y=0.2334 right_z=0.0176 right_yaw=-0.5502 right_pitch=-0.0561 right_roll=-0.5023 right_gripper=0.9978\nstate[joint_eff]: [-0.2803, -2.3726, 8.4171, 1.5263, 0.0659, -0.0269, -0.0708, 2.8239, -11.9453, 3.7812, -0.5592, -2.4103, -0.4469, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04fa1a09b5d9f5a0d7b29c7bda27413fcfb20ae10da36c898de90b8726a2377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40662ff8ea65a5b30cfdea90167f3daf5b9c081f5ab3c4a4ac9f48f31f0d5e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb18718c310576ea2b7bcce419dc0b5ca9c6ec96a857644305ba48943e37bc17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvwcKEAgRGAI4AUIIdGhpbmtpbmcSDDfPrkPqiA2Zo5sCpxoMR3RTjkbaSTxm8ANNIjDYgWtTqZJe/ab1rHt1AFyr1RAx0jdttJlfZDaksY0spsrBd+OZqfuAGk0xhYLt3/wq3AaM7Om39MNNeoaZDOxQ0PJkcqS7AfFIgM7kpxq6RMFgmGbggQ91PndvD7zcgf767YrkpaBDjwtGsB9bT1eqIYEUZhALCSpNjgMVtDjJ11wVERkbW4QNuWJgVFJxDr7qxefTZ09smm0+egU7g1gWx0mQQ/eLRliJjXtTBvDqfvMTjuAXfdotgxpeNS+rQz98adzS1xeF/J4EH+tkE1xtfx0nQHi2wMmmEh2zMzVqSFAaaCbXyYMVUA+6ec7iWRvvPcYk2CKblmqY+RwX4EkGZq5FkqgoOHDggNq89zXDZEMa5XHU7VTTryq9sxC9UM/j9LYVJ8O7gvCeJQZov9Q9N4OxkHiggfmCPWwq37RQpeZEDtDshdy6iIke/nHAVvQyEL9SjiLJouGKciJWulY/l4vkyXLkMlJWUrbv0nj9wz17ruOmAkdaCg8KOKMOo2qVL4BPrj9KYLcEzkr19De8andMdGYBDgq8vUMYzQetjlUTgPKtIrq7gJw9FxXnyvglWMAZ7csJFPwK8VKKpHoGxyhOJ6WtrcMSoivV9+iMykFslMMT5fuGLiXf0UZtfZ2uurrJNfELsbhs5NtXhQZ5qmzn+Xv0SsOer51ZgxbxYweVmljiehEViYfrZhFxAxsZl573ep093Uw1cUGdAvPvv5p/Hbqn93iFqvKaOp8bHIe2KkXItXcNxFrxhbgZatppOZEzfKzKcx24wGcvrYRs+9Zx9/eag6ETZjSEWsdZZ2ruFCjnUeQb9LS11Xz0FESCkT4sDQjKaOPFsFbC3myOM5ZPBuEsqJMk2/YE1hCGuhZF6EBlPz3j/I5jecSee6PX4O7N1n/AfpqCXyz+9VzlZNQJY61aJYdlo3+sDCavZQ7VjxwJestjuvtB+92CflZQ6ZZS4Dcy0YwL+78+Pc/IUDo5N1v62xIPIZgDQkmlMffXj00oPb8ZQplalmxxxaVzWiacW7TBm16OW78jC2BWEYAci6ihsTqAODFfOTMFIk3g9QIaff7W8JeDivntzvMe7GREm184bO+Z65qs6t8ITAoTQsCEZqkjVPuqTBIUFoVdk2bthnf6UX5lwNknkp3HJcYAIVIvfyxzO1c2+w9ZqNx3SRjDpPOu1TQ9tc0OANJDkWuiE5+16QKq5kjgUhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014JRDR4eyGRTuzkrRu4mbTB",
      "input": {
        "note": "The arm ended up low at z≈2 cm with the brick running vertically between the open jaws in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.364,
          "right_y": 0.233,
          "right_yaw": -0.55,
          "right_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_014JRDR4eyGRTuzkrRu4mbTB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0189, 0.8845, 0.5819, -0.5056, -0.0418, -0.0525, 0.9989, 0.9733, 2.6469, 2.1769, -1.5707, 0.9607, 1.4273, 0.0079]\nstate[eef_state]: left_x=0.275 left_y=0.0058 left_z=0.1224 left_yaw=0.024 left_pitch=-0.2359 left_roll=0.011 left_gripper=0.9989 right_x=0.3531 right_y=0.2679 right_z=0.0275 right_yaw=-0.5576 right_pitch=-0.0694 right_roll=-0.5686 right_gripper=0.0079\nstate[joint_eff]: [-0.1983, -1.9897, 6.8718, 1.5458, -0.0708, 0.0024, -0.0171, -0.1026, -12.2735, 6.0239, -0.3053, 0.6276, 0.0806, 0.5299]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64dc296da2c72ee508db99b253151ac66d0b25f3242284f792a91423d96b488f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab5997787a303b11338ebaecc7226b09f1f1cb8627ab59d935bc7c6e8238ee5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:631296177f46447b0782b5850aa2c64379820108ffc3764f951b8e26a4efe2e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]