adhoc - adhoc_e82aaf3f.json

policy: agent
embodiment: yam_arms
action_horizon: 1
api_key_env: null
base_url: https://api.anthropic.com/v1
depth: render
effort: medium
image_horizon: 2
images: always
max_llm_calls: 40
max_output_tokens: 16000
max_speed_frac: 0.25
model: claude-fable-5-1
pre_check: null
prior_learnings: null
prior_learnings_sha256: null
replan_interval: null
speed: null
temperature: null
transcript_echo: false
wire: messages
wire_capture: true
seed: 0
max steps: 900
duration: 445.8 s
total steps: 274

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-left of the right gripper in the right wrist view (top cam ~(150,88)); the pot is on the left side. Flying the right arm to hover above the estimated brick position to check alignment in the wrist camera.

move_to

right_x0.3400right_y0.1800right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0414, 0.9994, -0.0216, 0.7921, 0.6025, -0.3782, -0.0135, -0.0196, 0.9987] state[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9994 right_x=0.2947 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9987 state[joint_eff]: [-0.5402, -1.4564, 10.1675, 1.7558, -0.0366, 0.2515, -0.0757, -0.4308, -1.3607, 10.1538, 1.9267, -0.1343, 0.0269, -0.149] 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": 0.34, "right_y": 0.18, "right_z": 0.15, "right_gripper": 1.0}, "note": "The black brick sits ahead-left of the right gripper in the right wrist view (top cam ~(150,88)); the pot is on the left side. Flying the right arm to hover above the estimated brick position to check alignment in the wrist camera."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteThe brick is centered on the jaw column in the right wrist view with empty floor below it, so it's a few cm beyond the fingertips. Advancing ~4 cm forward and descending to just above brick height.

move_to

right_x0.3700right_y0.1750right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0425, 0.9993, 0.7357, 1.375, 0.7799, -0.181, 0.5674, 0.4152, 0.9987] state[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3294 right_y=0.1749 right_z=0.13 right_yaw=0.0441 right_pitch=-0.0652 right_roll=-0.0475 right_gripper=0.9987 state[joint_eff]: [-0.1983, -1.5521, 6.8171, 1.8046, -0.0171, -0.0562, -0.0171, 0.2256, -5.6137, 9.2103, 1.7949, 0.442, 0.149, -0.149] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.37, "right_y": 0.175, "right_z": 0.05, "right_gripper": 1.0}, "note": "The brick is centered on the jaw column in the right wrist view with empty floor below it, so it's a few cm beyond the fingertips. Advancing ~4 cm forward and descending to just above brick height."})

tool

executing move_to over 6 steps (0.6s)

step 22

assistant

agent noteThe brick fills the jaw column but its near end is still just above the jaw tips in the wrist view. Advancing ~3 cm more so the jaws straddle the brick's middle, and descending to grasp height.

move_to

right_x0.3950right_y0.1700right_z0.0100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.3885, -0.0227, -0.0425, 0.9993, 0.6491, 1.6699, 0.6926, 0.1558, 0.5068, 0.3504, 0.9987] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1778 left_yaw=0.001 left_pitch=-0.013 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3571 right_y=0.1678 right_z=0.0409 right_yaw=0.0354 right_pitch=-0.1304 right_roll=-0.0918 right_gripper=0.9987 state[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7167, -0.0171, -0.0757, -0.0122, -0.6496, -7.2137, 5.6, 1.6532, 0.105, 0.0073, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.395, "right_y": 0.17, "right_z": 0.01, "right_gripper": 1.0}, "note": "The brick fills the jaw column but its near end is still just above the jaw tips in the wrist view. Advancing ~3 cm more so the jaws straddle the brick's middle, and descending to grasp height."})

tool

executing move_to over 3 steps (0.3s)

step 25

assistant

agent noteThe brick is between the jaws at table height in the wrist view. Closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3912, -0.0227, -0.0456, 0.9993, 0.5934, 1.85, 0.7452, 0.2638, 0.4686, 0.3092, 0.9987] state[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3811 right_y=0.1651 right_z=0.0043 right_yaw=0.0296 right_pitch=-0.1647 right_roll=-0.1105 right_gripper=0.9987 state[joint_eff]: [-0.1299, -1.4564, 7.2137, 1.8095, -0.0171, -0.0024, -0.0122, -0.2393, -8.8957, 6.9128, 1.5311, 0.2515, -0.0855, -0.1441] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

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

tool

executing move_to over 10 steps (1.0s)

step 35

assistant

agent noteThe close was empty (reading 0.01): the jaws met just short of the brick's near end. Opening and advancing ~4 cm further forward to get the brick between the jaws.

move_to

right_x0.4250right_y0.1680right_z0.0050right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3935, -0.0223, -0.0494, 0.9993, 0.5819, 1.8706, 0.7559, 0.289, 0.4545, 0.2901, 0.0095] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.176 left_yaw=0.0044 left_pitch=-0.0209 left_roll=-0.0064 left_gripper=0.9993 right_x=0.3873 right_y=0.1663 right_z=0.0027 right_yaw=0.0407 right_pitch=-0.1583 right_roll=-0.1078 right_gripper=0.0095 state[joint_eff]: [-0.1846, -1.1692, 7.1726, 1.7705, -0.0513, -0.022, -0.0122, -0.1436, -8.0615, 6.612, 1.5507, 0.1832, 0.0708, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.425, "right_y": 0.168, "right_z": 0.005, "right_gripper": 1.0}, "note": "The close was empty (reading 0.01): the jaws met just short of the brick's near end. Opening and advancing ~4 cm further forward to get the brick between the jaws."})

tool

executing move_to over 10 steps (1.0s)

step 45

assistant

agent noteThe brick is now between the jaws but sits a bit left of the jaw column in the wrist view. Shifting the gripper ~2 cm left to centre it before closing.

move_to

right_x0.4200right_y0.1900right_z0.0030right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4007, -0.0227, -0.0494, 0.9993, 0.532, 1.9427, 0.8696, 0.2596, 0.4099, 0.2417, 0.9953] state[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1743 left_yaw=0.0047 left_pitch=-0.029 left_roll=-0.006 left_gripper=0.9993 right_x=0.4175 right_y=0.1682 right_z=0.0028 right_yaw=0.0531 right_pitch=-0.1667 right_roll=-0.1095 right_gripper=0.9953 state[joint_eff]: [-0.1846, -1.306, 7.0085, 1.8095, -0.0317, -0.0366, -0.0122, -0.7179, -7.7744, 7.2547, 1.453, 0.2369, -0.0024, -0.2418] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.19, "right_z": 0.003, "right_gripper": 1.0}, "note": "The brick is now between the jaws but sits a bit left of the jaw column in the wrist view. Shifting the gripper ~2 cm left to centre it before closing."})

tool

executing move_to over 2 steps (0.2s)

step 47

assistant

Brick is now roughly between the jaws; closing.

agent noteThe brick lies between the open jaws in the right wrist view. Closing the gripper to grasp it across its width.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4061, -0.0227, -0.0498, 0.9993, 0.5568, 1.9579, 0.8986, 0.2367, 0.4221, 0.2562, 0.9982] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1732 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4178 right_y=0.179 right_z=0.0028 right_yaw=0.0596 right_pitch=-0.1697 right_roll=-0.1109 right_gripper=0.9982 state[joint_eff]: [-0.1709, -1.2103, 7.1179, 1.7411, -0.0317, -0.0415, -0.0122, 0.8137, -7.8017, 7.241, 1.3993, 0.2564, 0.1245, -0.2027] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]

assistant

Brick is now roughly between the jaws; closing.

move_to({"targets": {"right_gripper": 0.0}, "note": "The brick lies between the open jaws in the right wrist view. Closing the gripper to grasp it across its width."})

tool

executing move_to over 10 steps (1.0s)

step 57

assistant

agent noteEmpty again — the top view shows the gripper sitting at the brick's near end, so the brick is still ~4 cm beyond the fingertips. Opening, lifting slightly and advancing to x=0.46 before descending onto the brick's middle.

move_to

right_x0.4600right_y0.1850right_z0.0500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.5598, 1.969, 0.9009, 0.2359, 0.4099, 0.2516, 0.0095] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0047 left_pitch=-0.0358 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4162 right_y=0.182 right_z=-0.0019 right_yaw=0.074 right_pitch=-0.1826 right_roll=-0.1109 right_gripper=0.0095 state[joint_eff]: [-0.2256, -1.306, 7.0222, 1.7265, -0.0562, -0.0317, -0.0122, -0.4855, -10.3043, 4.8889, 1.4725, 0.2662, 0.0415, 0.7839] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.185, "right_z": 0.05, "right_gripper": 1.0}, "note": "Empty again \u2014 the top view shows the gripper sitting at the brick's near end, so the brick is still ~4 cm beyond the fingertips. Opening, lifting slightly and advancing to x=0.46 before descending onto the brick's middle."})

tool

executing move_to over 10 steps (1.0s)

step 67

assistant

agent noteThe brick now sits squarely between the open jaws in the wrist view. Descending to table level before closing.

move_to

right_x0.4600right_y0.1850right_z-0.0100right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5129, 1.969, 1.1034, 0.0029, 0.3733, 0.202, 0.9948] state[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0362 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4476 right_y=0.1823 right_z=0.0296 right_yaw=0.0806 right_pitch=-0.2256 right_roll=-0.1359 right_gripper=0.9948 state[joint_eff]: [-0.1026, -1.306, 7.159, 1.663, -0.0366, -0.0269, -0.0122, -0.841, -11.1111, 8.6632, 1.5409, 0.1734, 0.1587, 0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.185, "right_z": -0.01, "right_gripper": 1.0}, "note": "The brick now sits squarely between the open jaws in the wrist view. Descending to table level before closing."})

tool

executing move_to over 3 steps (0.3s)

step 70

assistant

agent noteGripper is at table level with the brick between the jaws, its near end at the jaw tips. Closing to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5098, 2.0666, 1.1156, 0.0971, 0.3588, 0.2058, 0.9982] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4575 right_y=0.1889 right_z=0.0022 right_yaw=0.0881 right_pitch=-0.2219 right_roll=-0.1192 right_gripper=0.9982 state[joint_eff]: [-0.1436, -1.306, 7.0222, 1.6777, -0.0562, -0.0562, -0.0122, -0.8547, -8.8547, 5.5726, 0.3297, 0.1636, -0.2271, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Gripper is at table level with the brick between the jaws, its near end at the jaw tips. Closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 80

assistant

agent noteEmpty close again; the top view shows the brick is actually much farther out (~x 0.5) than first estimated, just beyond the fingertips. Opening and reaching to the workspace limit x=0.49 with the tool pitched forward to grab the brick's near end.

move_to

right_x0.4900right_y0.1900right_z0.0000right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.807, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5117, 2.0777, 1.1183, 0.1085, 0.3538, 0.2039, 0.0099] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0381 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4584 right_y=0.1914 right_z=-0.0005 right_yaw=0.0953 right_pitch=-0.2208 right_roll=-0.1158 right_gripper=0.0099 state[joint_eff]: [-0.1026, -1.2239, 7.0085, 1.6728, -0.0611, -0.0513, -0.0122, -0.4855, -11.5624, 5.2855, 1.3797, 0.232, 0.0073, 0.7888] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.49, "right_y": 0.19, "right_z": 0.0, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "Empty close again; the top view shows the brick is actually much farther out (~x 0.5) than first estimated, just beyond the fingertips. Opening and reaching to the workspace limit x=0.49 with the tool pitched forward to grab the brick's near end."})

tool

executing move_to over 15 steps (1.5s)

step 95

assistant

agent noteReached x=0.49 with the brick's near end now clearly between the open jaws in the wrist view. Closing the gripper.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.511, 2.2539, 0.9668, 0.8597, 0.4339, 0.0711, 0.9969] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4905 right_y=0.1939 right_z=0.003 right_yaw=0.104 right_pitch=0.1787 right_roll=-0.1018 right_gripper=0.9969 state[joint_eff]: [-0.2393, -1.1556, 7.0359, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -9.5248, 3.5487, 1.5897, 0.2222, -0.1001, -0.0708] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "Reached x=0.49 with the brick's near end now clearly between the open jaws in the wrist view. Closing the gripper."})

tool

executing move_to over 10 steps (1.0s)

step 105

assistant

agent noteStill empty: the jaw tips keep landing exactly at the brick's near edge and nudging it forward. Opening and pitching the tool further forward to extend the fingertips ~3 cm deeper past the brick's near end at the reach limit.

move_to

right_x0.5200right_y0.2000right_z0.0000right_pitch0.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5137, 2.2642, 0.96, 0.8757, 0.4294, 0.0704, 0.0095] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4883 right_y=0.1952 right_z=-0.0012 right_yaw=0.111 right_pitch=0.1769 right_roll=-0.1012 right_gripper=0.0095 state[joint_eff]: [-0.0342, -1.265, 7.0632, 1.6874, -0.0366, -0.0757, -0.0171, -0.5949, -11.7812, 4.8342, 1.6679, 0.1343, 0.0073, 0.7888] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.52, "right_y": 0.2, "right_z": 0.0, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "Still empty: the jaw tips keep landing exactly at the brick's near edge and nudging it forward. Opening and pitching the tool further forward to extend the fingertips ~3 cm deeper past the brick's near end at the reach limit."})

tool

executing move_to over 11 steps (1.1s)

step 116

assistant

agent noteWith the tool pitched forward the jaws now flank the brick in the wrist view, but the grasp point is 2 cm up. Pressing down to table level before closing.

move_to

right_x0.5200right_y0.2000right_z-0.0100right_pitch0.5000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5037, 2.5259, 1.0744, 1.4166, 0.4324, -0.0372, 0.9956] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=0.0049 left_pitch=-0.0392 left_roll=-0.0061 left_gripper=0.9993 right_x=0.52 right_y=0.2062 right_z=0.0206 right_yaw=0.103 right_pitch=0.5353 right_roll=-0.0507 right_gripper=0.9956 state[joint_eff]: [-0.0205, -1.3197, 7.0496, 1.6777, -0.0611, -0.0708, -0.0122, -0.6632, -8.9368, 4.3419, 1.2821, 0.0904, -0.2222, -0.149] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.52, "right_y": 0.2, "right_z": -0.01, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "With the tool pitched forward the jaws now flank the brick in the wrist view, but the grasp point is 2 cm up. Pressing down to table level before closing."})

tool

executing move_to over 2 steps (0.2s)

step 118

assistant

agent noteThe descent has stalled (likely fingertips on the table) and the brick is between the jaws in the wrist view. Closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.5011, 2.5378, 1.0885, 1.4509, 0.4248, -0.0483, 0.9982] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5226 right_y=0.2073 right_z=0.0267 right_yaw=0.1061 right_pitch=0.5687 right_roll=-0.0469 right_gripper=0.9982 state[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.7167, -0.0366, -0.0708, -0.0122, -1.1009, -6.5026, 4.041, 1.4432, -0.0073, 0.0708, -0.2076] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.0}, "note": "The descent has stalled (likely fingertips on the table) and the brick is between the jaws in the wrist view. Closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 128

assistant

agent noteThe jaws keep closing just short of the brick and nudging it further out of reach. New plan: put the closed jaws on top of the brick's near end and drag it back toward the base. First moving above the brick's near end.

move_to

right_x0.5500right_y0.2050right_z0.0600right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.495, 2.5462, 1.0943, 1.4899, 0.4072, -0.0265, 0.0097] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.524 right_y=0.2074 right_z=0.033 right_yaw=0.0944 right_pitch=0.6026 right_roll=-0.0043 right_gripper=0.0097 state[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.7558, -0.0513, -0.0562, -0.0122, -0.4308, -7.0496, 3.8496, 1.3407, 0.0415, 0.0269, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.55, "right_y": 0.205, "right_z": 0.06, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The jaws keep closing just short of the brick and nudging it further out of reach. New plan: put the closed jaws on top of the brick's near end and drag it back toward the base. First moving above the brick's near end."})

tool

executing move_to over 4 steps (0.4s)

step 132

assistant

agent noteThe arm is at its reach limit at x≈0.54 with the closed jaws over the brick's near end. Pressing down onto the brick's top so friction can drag it back.

move_to

right_x0.5400right_y0.2050right_z0.0150right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4709, 2.4557, 1.1194, 1.2694, 0.3756, -0.0074, 0.0073] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5391 right_y=0.2058 right_z=0.0394 right_yaw=0.1138 right_pitch=0.5052 right_roll=-0.027 right_gripper=0.0073 state[joint_eff]: [-0.3624, -1.306, 7.2547, 1.6874, -0.0708, -0.0513, -0.0122, -0.7179, -15.3231, 6.4752, 1.8877, -0.022, 0.1001, 0.7448] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.54, "right_y": 0.205, "right_z": 0.015, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The arm is at its reach limit at x\u22480.54 with the closed jaws over the brick's near end. Pressing down onto the brick's top so friction can drag it back."})

tool

executing move_to over 2 steps (0.2s)

step 134

assistant

agent noteThe descent stopped at z≈0.037 with shoulder effort going positive, so the closed jaws are pressing on the brick's top. Dragging back 10 cm toward the base to pull the brick into reach.

move_to

right_x0.4400right_y0.2000right_z0.0200right_pitch0.5000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.4648, 2.4805, 1.1461, 1.277, 0.3767, -0.0006, 0.0073] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5445 right_y=0.2044 right_z=0.0368 right_yaw=0.1005 right_pitch=0.5143 right_roll=-0.0154 right_gripper=0.0073 state[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.6923, -0.0806, -0.0659, -0.0171, 0.0889, -9.4701, 4.4786, 0.6716, -0.022, -0.0757, 0.7448] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.2, "right_z": 0.02, "right_pitch": 0.5, "right_gripper": 0.0}, "note": "The descent stopped at z\u22480.037 with shoulder effort going positive, so the closed jaws are pressing on the brick's top. Dragging back 10 cm toward the base to pull the brick into reach."})

tool

executing move_to over 9 steps (0.9s)

step 143

assistant

agent noteThe drag didn't move the arm at all — it's wedged at full extension against the brick. Lifting and pulling back slightly to free it before retrying.

move_to

right_x0.5000right_y0.2000right_z0.1000right_pitch0.3000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8108, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4648, 2.5179, 1.1465, 1.3293, 0.3759, -0.0006, 0.0072] state[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1712 left_yaw=0.0049 left_pitch=-0.0423 left_roll=-0.006 left_gripper=0.9993 right_x=0.5425 right_y=0.2035 right_z=0.0283 right_yaw=0.0981 right_pitch=0.5285 right_roll=-0.0091 right_gripper=0.0072 state[joint_eff]: [-0.3624, -1.1966, 7.1179, 1.6777, -0.0708, -0.0562, -0.0122, 0.1709, -10.7556, 4.041, 1.6972, -0.1001, -0.0415, 0.7399] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": 0.2, "right_z": 0.1, "right_pitch": 0.3, "right_gripper": 0.0}, "note": "The drag didn't move the arm at all \u2014 it's wedged at full extension against the brick. Lifting and pulling back slightly to free it before retrying."})

tool

executing move_to over 8 steps (0.8s)

step 151

assistant

agent noteTop view shows the brick (a power bank with a cable) now at x≈0.55, just past table-level reach. Retrying the friction drag: lowering the closed, forward-pitched jaws onto the brick's near top edge from a less extended pose.

move_to

right_x0.5350right_y0.2000right_z0.0300right_pitch0.5500right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.4145, -0.0227, -0.0498, 0.9993, 0.4965, 2.0777, 0.9825, 0.8547, 0.3836, 0.0715, 0.0072] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1686 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.5055 right_y=0.2028 right_z=0.097 right_yaw=0.1136 right_pitch=0.345 right_roll=-0.0113 right_gripper=0.0072 state[joint_eff]: [-0.0479, -1.347, 7.0769, 1.8388, -0.0904, -0.0806, -0.0122, 0.2256, -12.6427, 5.6684, 1.8828, 0.1832, 0.022, 0.7399] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.535, "right_y": 0.2, "right_z": 0.03, "right_pitch": 0.55, "right_gripper": 0.0}, "note": "Top view shows the brick (a power bank with a cable) now at x\u22480.55, just past table-level reach. Retrying the friction drag: lowering the closed, forward-pitched jaws onto the brick's near top edge from a less extended pose."})

tool

executing move_to over 7 steps (0.7s)

step 158

assistant

agent noteThe fingertips land on the table just short of the brick, so friction-dragging its top isn't possible. The brick has a cable trailing toward the right; moving over the cable's likely position to check if I can grasp the cable and pull the brick closer.

move_to

right_x0.4700right_y0.1300right_z0.1000right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8207, 0.6075, -0.416, -0.0227, -0.0498, 0.9993, 0.4652, 2.4847, 1.0782, 1.2991, 0.3573, 0.001, 0.0072] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0049 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5291 right_y=0.2005 right_z=0.0163 right_yaw=0.1277 right_pitch=0.4668 right_roll=-0.0314 right_gripper=0.0072 state[joint_eff]: [-0.1573, -1.7299, 7.2821, 1.6728, -0.0269, -0.0513, -0.0122, -0.5675, -11.1385, 4.7795, 1.5995, 0.022, -0.0464, 0.7448] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.1, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The fingertips land on the table just short of the brick, so friction-dragging its top isn't possible. The brick has a cable trailing toward the right; moving over the cable's likely position to check if I can grasp the cable and pull the brick closer."})

tool

executing move_to over 10 steps (1.0s)

step 168

assistant

agent noteThe cable leaves the brick's right side and runs down-right toward the base in the wrist view. Shifting right ~6 cm to get the cable under the jaw column before descending to pinch it.

move_to

right_x0.4600right_y0.0700right_z0.0800right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4301, -0.0227, -0.0502, 0.9993, 0.3523, 1.9156, 0.7273, 0.9287, 0.2459, 0.0174, 0.9949] state[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1625 left_yaw=0.0052 left_pitch=-0.0801 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4734 right_y=0.1321 right_z=0.0938 right_yaw=0.1245 right_pitch=0.3156 right_roll=-0.0387 right_gripper=0.9949 state[joint_eff]: [-0.0889, -1.5521, 7.0359, 1.8877, -0.022, -0.0757, -0.0171, -0.3487, -9.935, 5.2581, 1.8437, -0.0415, 0.0415, -0.2173] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.07, "right_z": 0.08, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The cable leaves the brick's right side and runs down-right toward the base in the wrist view. Shifting right ~6 cm to get the cable under the jaw column before descending to pinch it."})

tool

executing move_to over 6 steps (0.6s)

step 174

assistant

agent noteThe wrist view shows the cable running from the brick to an orange plug sitting right at the jaw tips, slightly right. Descending onto the orange plug to grasp it and use the cable to pull the brick closer.

move_to

right_x0.4650right_y0.0500right_z-0.0050right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4339, -0.0227, -0.0498, 0.9993, 0.1852, 1.887, 0.6037, 0.9775, 0.1089, -0.02, 0.9981] state[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.1612 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9993 right_x=0.4586 right_y=0.07 right_z=0.0713 right_yaw=0.1008 right_pitch=0.2631 right_roll=-0.0443 right_gripper=0.9981 state[joint_eff]: [-0.0205, -1.2786, 7.1179, 1.7363, -0.0366, -0.0855, -0.0122, -0.5128, -8.4718, 4.6291, 2.21, -0.1294, -0.0806, -0.2076] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.465, "right_y": 0.05, "right_z": -0.005, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The wrist view shows the cable running from the brick to an orange plug sitting right at the jaw tips, slightly right. Descending onto the orange plug to grasp it and use the cable to pull the brick closer."})

tool

executing move_to over 5 steps (0.5s)

step 179

assistant

agent noteThe orange plug got nudged forward, but the top view shows the brick's cable running straight back toward the base across reachable table. Moving over the cable at x≈0.38 to pinch it and pull the brick closer.

move_to

right_x0.3800right_y0.1700right_z0.0800right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4408, -0.0223, -0.0498, 0.9993, 0.1249, 2.2562, 0.6174, 1.3636, 0.0483, -0.0338, 0.9983] state[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1586 left_yaw=0.0047 left_pitch=-0.0972 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4648 right_y=0.0534 right_z=0.0011 right_yaw=0.1009 right_pitch=0.2923 right_roll=-0.0382 right_gripper=0.9983 state[joint_eff]: [-0.0479, -1.5795, 7.1179, 1.79, -0.0464, -0.022, -0.0122, -0.1846, -9.3607, 3.535, 0.2027, 0.5495, -0.5104, -0.1978] 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": 0.38, "right_y": 0.17, "right_z": 0.08, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The orange plug got nudged forward, but the top view shows the brick's cable running straight back toward the base across reachable table. Moving over the cable at x\u22480.38 to pinch it and pull the brick closer."})

tool

executing move_to over 10 steps (1.0s)

step 189

assistant

agent noteThe last move stalled — the arm didn't budge from its extended pose. Raising and retracting first to free it; the orange object turned out to be a pepper, and the brick's cable runs back toward the base just left of the gripper.

move_to

right_x0.4200right_y0.1000right_z0.1200right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4416, -0.0227, -0.0498, 0.9993, 0.1165, 2.2711, 0.6209, 1.3968, 0.0425, -0.0311, 0.9982] state[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1585 left_yaw=0.005 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9993 right_x=0.4667 right_y=0.0507 right_z=0.0033 right_yaw=0.096 right_pitch=0.3141 right_roll=-0.0334 right_gripper=0.9982 state[joint_eff]: [-0.0342, -1.4564, 6.9812, 1.707, -0.0317, -0.0708, -0.0122, -0.1573, -7.3641, 2.7009, 1.9951, -0.0317, -0.1587, -0.1978] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.1, "right_z": 0.12, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "The last move stalled \u2014 the arm didn't budge from its extended pose. Raising and retracting first to free it; the orange object turned out to be a pepper, and the brick's cable runs back toward the base just left of the gripper."})

tool

executing move_to over 8 steps (0.8s)

step 197

assistant

agent noteThe brick is out of table-level reach, but its cable runs back toward the base on the left side of the right arm in the top view. Moving over the cable near x≈0.30 to locate it in the wrist camera for a pinch grasp.

move_to

right_x0.3000right_y0.1800right_z0.0800right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.4507, -0.0227, -0.0498, 0.9993, 0.3134, 1.5936, 0.5583, 0.712, 0.1951, 0.0235, 0.9982] state[eef_state]: left_x=0.2875 left_y=0.002 left_z=0.1554 left_yaw=0.0051 left_pitch=-0.1121 left_roll=-0.0043 left_gripper=0.9993 right_x=0.422 right_y=0.1045 right_z=0.1187 right_yaw=0.1304 right_pitch=0.2504 right_roll=-0.0312 right_gripper=0.9982 state[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.8095, -0.0366, -0.0464, -0.0122, -0.212, -6.7077, 8.335, 1.7998, 0.1929, 0.0415, -0.2027] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.18, "right_z": 0.08, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "The brick is out of table-level reach, but its cable runs back toward the base on the left side of the right arm in the top view. Moving over the cable near x\u22480.30 to locate it in the wrist camera for a pinch grasp."})

tool

executing move_to over 10 steps (1.0s)

step 207

assistant

agent noteThe arm only crept ~1.5 cm toward the last target; it seems to track slowly from this awkward pose. Re-sending a retracted target with neutral pitch to bring the gripper back over the cable region.

move_to

right_x0.3000right_y0.1600right_z0.1200right_pitch0.0000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8383, 0.6075, -0.453, -0.0227, -0.0498, 0.9993, 0.358, 1.5707, 0.519, 0.6876, 0.2237, 0.0326, 0.9982] state[eef_state]: left_x=0.2871 left_y=0.002 left_z=0.155 left_yaw=0.0051 left_pitch=-0.1144 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4061 right_y=0.1139 right_z=0.1069 right_yaw=0.1472 right_pitch=0.2125 right_roll=-0.0403 right_gripper=0.9982 state[joint_eff]: [-0.0615, -1.4564, 6.9538, 1.6337, -0.0464, -0.0659, -0.0122, -0.212, -6.1744, 5.7504, 2.1612, 0.1099, 0.0024, -0.2027] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.16, "right_z": 0.12, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The arm only crept ~1.5 cm toward the last target; it seems to track slowly from this awkward pose. Re-sending a retracted target with neutral pitch to bring the gripper back over the cable region."})

tool

executing move_to over 9 steps (0.9s)

step 216

assistant

agent noteIn the wrist view the brick's cable runs from beside the pepper off to the right (toward −y). Moving the gripper right and forward to hover low over that cable segment so I can pinch it.

move_to

right_x0.4400right_y0.0200right_z0.0600right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.4603, -0.0227, -0.0502, 0.9993, 0.717, 1.2102, 0.503, 0.0738, 0.4622, 0.2493, 0.9982] state[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1522 left_yaw=0.0053 left_pitch=-0.127 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3028 right_y=0.1642 right_z=0.1105 right_yaw=0.1991 right_pitch=0.0084 right_roll=-0.0477 right_gripper=0.9982 state[joint_eff]: [-0.0068, -1.4564, 6.9949, 1.7265, -0.0464, -0.0611, -0.0122, 0.0889, -4.4513, 9.9624, 1.6923, 0.2808, 0.149, -0.2027] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.44, "right_y": 0.02, "right_z": 0.06, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "In the wrist view the brick's cable runs from beside the pepper off to the right (toward \u2212y). Moving the gripper right and forward to hover low over that cable segment so I can pinch it."})

tool

executing move_to over 13 steps (1.3s)

step 229

assistant

agent noteThe wrist view shows the cable with a connector end lying ~6 cm right of the jaw column and a few cm beyond the tips. Descending onto the connector end to pinch it.

move_to

right_x0.4750right_y-0.0350right_z-0.0050right_pitch0.2000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.849, 0.6071, -0.4686, -0.0227, -0.0498, 0.9993, -0.0223, 1.8057, 0.5053, 0.8341, -0.1421, -0.1211, 0.9982] state[eef_state]: left_x=0.285 left_y=0.002 left_z=0.149 left_yaw=0.0052 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4242 right_y=0.0191 right_z=0.0387 right_yaw=0.1631 right_pitch=0.1059 right_roll=-0.0357 right_gripper=0.9982 state[joint_eff]: [-0.0205, -1.8393, 6.9538, 1.746, -0.0708, -0.0366, -0.0122, -0.1299, -7.5829, 5.9009, 2.1026, -0.1587, -0.0317, -0.1978] camera 'top_cam' (step 229): [image omitted: streamed camera frame] camera 'left_cam' (step 229): [image omitted: streamed camera frame] camera 'right_cam' (step 229): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.475, "right_y": -0.035, "right_z": -0.005, "right_pitch": 0.2, "right_gripper": 1.0}, "note": "The wrist view shows the cable with a connector end lying ~6 cm right of the jaw column and a few cm beyond the tips. Descending onto the connector end to pinch it."})

tool

executing move_to over 5 steps (0.5s)

step 234

assistant

agent noteThe connector end is on the jaw column but ~3 cm beyond the fingertips. Advancing forward with the tool pitched forward so the jaws straddle it.

move_to

right_x0.5000right_y-0.0300right_z-0.0100right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8547, 0.6071, -0.4694, -0.0227, -0.0498, 0.9993, -0.1795, 2.1674, 0.6762, 1.0885, -0.2916, -0.1616, 0.9982] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1473 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4701 right_y=-0.03 right_z=-0.0026 right_yaw=0.1572 right_pitch=0.1827 right_roll=-0.0281 right_gripper=0.9982 state[joint_eff]: [-0.0889, -1.935, 6.9128, 1.6337, -0.0757, -0.0806, -0.0122, -0.4308, -8.6632, 3.3299, 1.3797, 0.2027, -0.0659, -0.2027] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.5, "right_y": -0.03, "right_z": -0.01, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "The connector end is on the jaw column but ~3 cm beyond the fingertips. Advancing forward with the tool pitched forward so the jaws straddle it."})

tool

executing move_to over 4 steps (0.4s)

step 238

assistant

agent noteForward moves at table level stall because the fingertips drag on the table. Lifting 3 cm while advancing so the jaws can get over the connector, then I'll descend.

move_to

right_x0.5050right_y-0.0300right_z0.0300right_pitch0.3000right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1619, 0.9982] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1574 right_pitch=0.202 right_roll=-0.0299 right_gripper=0.9982 state[joint_eff]: [-0.1162, -1.4564, 6.9128, 1.5604, -0.0806, -0.0708, -0.0122, -0.2393, -8.4444, 3.6991, 1.873, -0.1197, -0.1392, -0.2027] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.505, "right_y": -0.03, "right_z": 0.03, "right_pitch": 0.3, "right_gripper": 1.0}, "note": "Forward moves at table level stall because the fingertips drag on the table. Lifting 3 cm while advancing so the jaws can get over the connector, then I'll descend."})

tool

executing move_to over 4 steps (0.4s)

step 242

assistant

agent noteThe arm didn't move at all, so the last target was likely unreachable and held. Sending a closer target with more forward pitch to extend the fingertips over the connector.

move_to

right_x0.4900right_y-0.0300right_z0.0200right_pitch0.4500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0502, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1616, 0.9982] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0054 left_pitch=-0.1476 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1572 right_pitch=0.202 right_roll=-0.0296 right_gripper=0.9982 state[joint_eff]: [-0.0889, -1.388, 6.9538, 1.5946, -0.0513, -0.0757, -0.0122, -0.2393, -8.2803, 3.7128, 1.8828, -0.1294, -0.1197, -0.1978] approver: 1 step(s) modified (delta_clamped). 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": 0.49, "right_y": -0.03, "right_z": 0.02, "right_pitch": 0.45, "right_gripper": 1.0}, "note": "The arm didn't move at all, so the last target was likely unreachable and held. Sending a closer target with more forward pitch to extend the fingertips over the connector."})

tool

executing move_to over 9 steps (0.9s)

step 251

assistant

agent noteThe cable's connector end now lies between the open jaws on the jaw column. Closing to pinch it so I can pull the brick closer via the cable.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8566, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1867, 2.3436, 0.709, 1.4528, -0.305, -0.0933, 0.9982] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.147 left_yaw=0.0052 left_pitch=-0.1483 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4856 right_y=-0.0341 right_z=0.0098 right_yaw=0.1448 right_pitch=0.3941 right_roll=-0.0312 right_gripper=0.9982 state[joint_eff]: [-0.1709, -1.6342, 7.1043, 1.5995, -0.0611, -0.0464, -0.0122, 0.6496, -8.4991, 4.2051, 2.0977, -0.1245, 0.1148, -0.1978] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "The cable's connector end now lies between the open jaws on the jaw column. Closing to pinch it so I can pull the brick closer via the cable."})

tool

executing move_to over 10 steps (1.0s)

step 261

assistant

agent noteThe cable appears to run into the closed jaws in the wrist view. Pulling back 15 cm toward the base to test whether the cable is held and drags the brick closer.

move_to

right_x0.3300right_y0.0000right_z0.0400right_pitch0.2000right_gripper0.0000

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.857, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1852, 2.3474, 0.7067, 1.4628, -0.3054, -0.0967, 0.0102] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1469 left_yaw=0.0052 left_pitch=-0.1487 left_roll=-0.0034 left_gripper=0.9993 right_x=0.485 right_y=-0.0332 right_z=0.0097 right_yaw=0.1492 right_pitch=0.3976 right_roll=-0.0362 right_gripper=0.0102 state[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6142, -0.0464, -0.0415, -0.0122, -0.212, -10.1128, 2.865, 1.8046, -0.0562, -0.0073, 0.7741] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.33, "right_y": 0.0, "right_z": 0.04, "right_pitch": 0.2, "right_gripper": 0.0}, "note": "The cable appears to run into the closed jaws in the wrist view. Pulling back 15 cm toward the base to test whether the cable is held and drags the brick closer."})

tool

executing move_to over 12 steps (1.2s)

step 273

assistant

agent noteThe black brick (a power-bank shaped object) sits at about right_x≈0.55, right_y≈0.2 — just beyond the right arm's table-level reach — and is out of the left arm's workspace box (left_y≈-0.45). Every grasp attempt closed just in front of its near edge and nudged it further out; a friction-drag and a cable-pull attempt both failed. With few calls remaining I cannot bring the brick within reach.

give_up

hindsight1) Top-cam forward (image-y) distances are far more compressed than assumed: an object that appears ~5 cm ahead of a gripper hovering at z=0.18 can actually be 20+ cm further forward. The gripper hovering at 0.18 m appears LOWER in the image than its table footprint, so don't use the raised gripper's pixel position as a table-level reference. 2) Right arm table-level reach at y≈0.2 tops out around x≈0.49–0.53 even with pitch +0.5; targets beyond that are simply held (the arm does not move at all) — zero motion means an unreachable target, not a slow controller. 3) Forward moves at z≈0 stall because the fingertips drag on the table; lift 3 cm before advancing. 4) In the wrist cam an object whose near edge is at row ~200 is still at/just beyond the fingertips; closing on it nudges it forward rather than grasping. Get the object's near edge up to row ~150 or descend from above onto its middle. 5) Before committing to an arm, check whether the object is inside its reach; this brick at ~x 0.55 was out of reach for both arms from the start — better to give up early or ask the operator to move it. 6) The orange object next to the brick is a bell pepper, and the cable near it is not reliably attached to the brick.

Raw transcript

user

Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8612, 0.6071, -0.4675, -0.0227, -0.0502, 0.9993, -0.1493, 1.7058, 0.0952, 1.2648, -0.2665, -0.1356, 0.0078] state[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.146 left_yaw=0.0054 left_pitch=-0.1521 left_roll=-0.0036 left_gripper=0.9993 right_x=0.336 right_y=0.0001 right_z=0.0451 right_yaw=0.1553 right_pitch=0.2342 right_roll=-0.0305 right_gripper=0.0078 state[joint_eff]: [-0.1026, -1.8667, 6.9128, 1.5946, -0.0415, -0.0659, -0.0122, 0.4034, -4.0547, 3.6581, 1.7118, 0.1099, -0.1148, 0.8034] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]

assistant

give_up({"reason": "The black brick (a power-bank shaped object) sits at about right_x\u22480.55, right_y\u22480.2 \u2014 just beyond the right arm's table-level reach \u2014 and is out of the left arm's workspace box (left_y\u2248-0.45). Every grasp attempt closed just in front of its near edge and nudged it further out; a friction-drag and a cable-pull attempt both failed. With few calls remaining I cannot bring the brick within reach.", "hindsight": "1) Top-cam forward (image-y) distances are far more compressed than assumed: an object that appears ~5 cm ahead of a gripper hovering at z=0.18 can actually be 20+ cm further forward. The gripper hovering at 0.18 m appears LOWER in the image than its table footprint, so don't use the raised gripper's pixel position as a table-level reference. 2) Right arm table-level reach at y\u22480.2 tops out around x\u22480.49\u20130.53 even with pitch +0.5; targets beyond that are simply held (the arm does not move at all) \u2014 zero motion means an unreachable target, not a slow controller. 3) Forward moves at z\u22480 stall because the fingertips drag on the table; lift 3 cm before advancing. 4) In the wrist cam an object whose near edge is at row ~200 is still at/just beyond the fingertips; closing on it nudges it forward rather than grasping. Get the object's near edge up to row ~150 or descend from above onto its middle. 5) Before committing to an arm, check whether the object is inside its reach; this brick at ~x 0.55 was out of reach for both arms from the start \u2014 better to give up early or ask the operator to move it. 6) The orange object next to the brick is a bell pepper, and the cable near it is not reliably attached to the brick."})

tool

give_up: The black brick (a power-bank shaped object) sits at about right_x≈0.55, right_y≈0.2 — just beyond the right arm's table-level reach — and is out of the left arm's workspace box (left_y≈-0.45). Every grasp attempt closed just in front of its near edge and nudged it further out; a friction-drag and a cable-pull attempt both failed. With few calls remaining I cannot bring the brick within reach.

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"
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"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 · 52.63 s

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

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

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0414, 0.9994, -0.0216, 0.7921, 0.6025, -0.3782, -0.0135, -0.0196, 0.9987]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9994 right_x=0.2947 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -1.4564, 10.1675, 1.7558, -0.0366, 0.2515, -0.0757, -0.4308, -1.3607, 10.1538, 1.9267, -0.1343, 0.0269, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8553aa2d8ea53e26210fdc2ec7d7d8f74e03437a3f7e17f8b1d3c94489a614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee6106d1d5eaec3bfc32d021f4d3492eb3a32a8237899de87134fd5f7d35b4d",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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        "data": "$blob:11298244f6eb932c02b76cf103c5c7f51e1600d57cfd48aae2d7e4661b9f9661",
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        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 6.728 s

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

message 1 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0414, 0.9994, -0.0216, 0.7921, 0.6025, -0.3782, -0.0135, -0.0196, 0.9987]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9994 right_x=0.2947 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -1.4564, 10.1675, 1.7558, -0.0366, 0.2515, -0.0757, -0.4308, -1.3607, 10.1538, 1.9267, -0.1343, 0.0269, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a8553aa2d8ea53e26210fdc2ec7d7d8f74e03437a3f7e17f8b1d3c94489a614",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee6106d1d5eaec3bfc32d021f4d3492eb3a32a8237899de87134fd5f7d35b4d",
        "media_type": "image/png",
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    {
      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZKxcsRiJor5deJT5xmpRp",
      "input": {
        "note": "The black brick sits ahead-left of the right gripper in the right wrist view (top cam ~(150,88)); the pot is on the left side. Flying the right arm to hover above the estimated brick position to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.18,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01XZKxcsRiJor5deJT5xmpRp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6075, -0.3866, -0.0227, -0.0425, 0.9993, 0.7357, 1.375, 0.7799, -0.181, 0.5674, 0.4152, 0.9987]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3294 right_y=0.1749 right_z=0.13 right_yaw=0.0441 right_pitch=-0.0652 right_roll=-0.0475 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.5521, 6.8171, 1.8046, -0.0171, -0.0562, -0.0171, 0.2256, -5.6137, 9.2103, 1.7949, 0.442, 0.149, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ffb7a5e39f18418c0d6c48cf97a0c685b0451da0e8c5b91670f0aea0d07f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70030dc8680dca5692eab3f14c93d50fd2a4131a9d4b0bde3fc12edf6f9a47b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:159dc9dd1366aa07401fb6a7791f80f0f43084c6e7f103150079b75a9f96c25e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 6.953 s

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

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0414, 0.9994, -0.0216, 0.7921, 0.6025, -0.3782, -0.0135, -0.0196, 0.9987]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9994 right_x=0.2947 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -1.4564, 10.1675, 1.7558, -0.0366, 0.2515, -0.0757, -0.4308, -1.3607, 10.1538, 1.9267, -0.1343, 0.0269, -0.149]",
      "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, 0.7986, 0.6075, -0.3866, -0.0227, -0.0425, 0.9993, 0.7357, 1.375, 0.7799, -0.181, 0.5674, 0.4152, 0.9987]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3294 right_y=0.1749 right_z=0.13 right_yaw=0.0441 right_pitch=-0.0652 right_roll=-0.0475 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.5521, 6.8171, 1.8046, -0.0171, -0.0562, -0.0171, 0.2256, -5.6137, 9.2103, 1.7949, 0.442, 0.149, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ffb7a5e39f18418c0d6c48cf97a0c685b0451da0e8c5b91670f0aea0d07f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70030dc8680dca5692eab3f14c93d50fd2a4131a9d4b0bde3fc12edf6f9a47b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159dc9dd1366aa07401fb6a7791f80f0f43084c6e7f103150079b75a9f96c25e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4wcKEAgRGAI4AUIIdGhpbmtpbmcSDMuI/l4oylaTg67zqRoMOq8JIPxkorgwC0etIjB2RR2X4bzGYbenCiiH2YmS7P4rn4jaSeIotWUjQkbZkGtVe4OQsJbWLayF8S504oAqgAdQK7BIWaCMOB/ePzjy2f3BFClq+Q+/bGMw4WyD618wqgnuGMcAvXU/OSk62511L6Hl8Dbu7BtI45j2AJjp5Vj+lB1J3PbMbvieDA9o7o7xabC35o4Fd9CJrcuKlCXPnOPX92IGZNTTMtV1Z9sRykLU71EnM2lGR5ZlgoDUjc5TYtEaZjE7tUKiC4IArzW2oUrIWcmGIghCRsmG44XmXORaoBumPsLToYANFkk4rcfXUcA+hMAcQ2ql2QgnSOOf/XxCNtUrfjaA8jDPpVuNoR6HeFy0vaRkmZ6TcEtmCXvBlK8QffBdj2ilEZSd7GWYuXvvetBjKuGIl1e/1fcVBTD766fl5sHExL2HbJiACV3y0svRGTB8bsKQPrEJmJdirwOzkad3eCSbwszEOiVliCbY+H8SfrlGsXX48Lp6xJcxRdSDxCVJdBXU286RiO+Z2YrwvNi2suJ9knuBI1o4Oev+Om0uIux3poW/ZJkrjumA0aLzJW5RLgEO6rtx3mdzX+2PPn2Qv43d3unMGjZ+4qW8gmUMjXNn0G/Ewur6ZZJqJ7LzvXsji1pwBog/qP6u2XbxmiZ+tDyuGnFHQR5JgvLlbH0MjwrXnt14V+RNmGNEvEAMMQXaMFdh+rIaFwQR0V1UeclEeNFCcSDAEW9pvbfKlqkvY3+UYYB3eVchjU9D1VcH+GBQN3uhhw75tFtyTSSwVDF/7FEh5qQbPwlLRMJupFancBV2SslQGyYkFZCtTR9tW62nuxSXVsdl7Ar+hKjfaJ5hKmud1cPXNrrMJZ71T02EHeqPUIhJjpi4L2Ho00jyEZL9eDS6v+piUooifmTnBm1FZ3q0xwZvzeFM+CYVdncRMhh51OfzBmPKdp3eWcDhALbAb9oVpd1ilKd32tdw+o4Eg989/mDpTriYcD9dZ+h81nex9LdzO4rahfi7gQQHweRG5tq4tinMMR38sWUpwMvLt5dNr4FuHPgiOBetviS/xBY/A0ofJ0nwH9vKpWAYAv0QC0o8aEgD1K6TQYvMAjLsFIgVjG8XIJmnJr6NxheAxifZHhOYmSSUuB32QqtmqVIRroGMdXnPCkFwXo46j8G3k1wqbNSyw0sH1F1lIOpeZe0FdsClMwTOG+4Hc5elHedz8hzBEyvcRMDTpQhA4J+5edj1CQgnAa7CJ+FufsV2hTPOLybJRQ7fzY8dvRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DoTj4PNcCAAxY7NizR1rXG",
      "input": {
        "note": "The brick is centered on the jaw column in the right wrist view with empty floor below it, so it's a few cm beyond the fingertips. Advancing ~4 cm forward and descending to just above brick height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.37,
          "right_y": 0.175,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DoTj4PNcCAAxY7NizR1rXG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8013, 0.6075, -0.3885, -0.0227, -0.0425, 0.9993, 0.6491, 1.6699, 0.6926, 0.1558, 0.5068, 0.3504, 0.9987]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1778 left_yaw=0.001 left_pitch=-0.013 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3571 right_y=0.1678 right_z=0.0409 right_yaw=0.0354 right_pitch=-0.1304 right_roll=-0.0918 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7167, -0.0171, -0.0757, -0.0122, -0.6496, -7.2137, 5.6, 1.6532, 0.105, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f241dc88b1f3b17ef1334ade1035cd9d990626de35b392776a92ee724a6426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb58eef4ec140f2a99ce3263f75ed47e18faebde3c2226c05f23e3b7d7b33ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:490e858ccce76b63521596bbba47f69d2c65c8a8f805158678d1b5980084c2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 5.67 s

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

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.02, 0.7944, 0.6044, -0.379, -0.0227, -0.0414, 0.9994, -0.0216, 0.7921, 0.6025, -0.3782, -0.0135, -0.0196, 0.9987]\nstate[eef_state]: left_x=0.295 left_y=0.0017 left_z=0.1803 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9994 right_x=0.2947 right_y=-0.0004 right_z=0.1802 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9987\nstate[joint_eff]: [-0.5402, -1.4564, 10.1675, 1.7558, -0.0366, 0.2515, -0.0757, -0.4308, -1.3607, 10.1538, 1.9267, -0.1343, 0.0269, -0.149]",
      "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, 0.7986, 0.6075, -0.3866, -0.0227, -0.0425, 0.9993, 0.7357, 1.375, 0.7799, -0.181, 0.5674, 0.4152, 0.9987]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3294 right_y=0.1749 right_z=0.13 right_yaw=0.0441 right_pitch=-0.0652 right_roll=-0.0475 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.5521, 6.8171, 1.8046, -0.0171, -0.0562, -0.0171, 0.2256, -5.6137, 9.2103, 1.7949, 0.442, 0.149, -0.149]",
      "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, 0.8013, 0.6075, -0.3885, -0.0227, -0.0425, 0.9993, 0.6491, 1.6699, 0.6926, 0.1558, 0.5068, 0.3504, 0.9987]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1778 left_yaw=0.001 left_pitch=-0.013 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3571 right_y=0.1678 right_z=0.0409 right_yaw=0.0354 right_pitch=-0.1304 right_roll=-0.0918 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7167, -0.0171, -0.0757, -0.0122, -0.6496, -7.2137, 5.6, 1.6532, 0.105, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38f241dc88b1f3b17ef1334ade1035cd9d990626de35b392776a92ee724a6426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb58eef4ec140f2a99ce3263f75ed47e18faebde3c2226c05f23e3b7d7b33ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:490e858ccce76b63521596bbba47f69d2c65c8a8f805158678d1b5980084c2f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQShAgKEAgRGAI4AUIIdGhpbmtpbmcSDCMCARZ/ALk/RK+qRhoMPlGnmvWOc+yzpXpNIjDYABDabI8lBw+nOqHBATtbPopW0Z0x+clPU1ozDuzGeJDNnjH0NQrI/UqvvApmpIoqoQfXTpOZIoXghzM2GGV+IOmUGmE9KykoIAvESm4HEhIKXvM+kOGXO6iwu3sPYY7c/Qv/uUPMYf4pXEoKjwKl8N6cukEoi9aGAUHmQMBuNXPpFTfJHVjs1O6cYIPVI0yyKQfHP6XGPEgWyhl2VkJkwOSWBPJTHAAQPOUF/w2cANCrcZSsC3YwYeP6YZIPiXTIU1vSS90DV/XZjtjREJMh+GDpWS8qgP6E/BkZYMiEPP/dUl7W81+Rq0ADMgDNkSx5cd5sreBOQi2o/l6jexk7eE+mOP9VxrUFHXTTUkcgmpdY1QbPjX09u0EdLnCRxrb1jGxLUdgPb6HSibeu2+pRXgB4IuByyacTvzVVf+zchsTfXmxxJE333nkshSN3wWmxV1wDKC17vn+RyqoBXR+WHxYDtvXsBo2OvRkgPgu6SeV4rK4xgj2kenm90xdN3cleyt20PLkueD2MGW8eAgL8L9oSPOpp0EYsgEZwQTnBthcxLK20f2bmHVMeZkqXfQSVv9fiNokWHirZpWoPJqeY+LOOUtocxI8E57WxF1dlWSLB104xgFE7DQ6GbVkTr6ZyNnlPAnjG7UqVRDGwhWX5Ti4ZawKl8lQQQPF0KDEfWOaxOOOy95gLe/F5ZaxHu9dhu/tXlMcM1l/InNIs6dFCw/ze4ZprEdsyxyUnymNdRbUunhqDB1OKzSj9ZJarofFGXufvdaHfkI+hjcN3TtairtcIfaMXO/oDjakdm63KkB+NSS4NhCY8COk0VTON1ZccDEPJ064XSOWE+APmHEOY7AcnXxkBkXuFO0qxTO2ahAGucvNg85WyTosmNDcioW0Wps+x4NGSc7XWEyFGzaYTrn/bHCWKnTzAAHat5NWi10yz6nQ7QcSn1mdKibZD3P2r75TWZMUWng2NWxY7ZBX1bdRcd5RL/gGc+7bya4c5/sN9fR61UNpDmLfvR5tF5G4MzsgZic+gqlevyt8D6jpJUMMXmzXrYsGx1T4jjPFALf01bo3NNJpfdBZDqykySnhtdFfH6XMAWiYHA+SqUItWy8FaAeGXjhwQFy7qegviKo12D68q2U4ynThnbUFYscVPCUStIt1R8ZfjFs73c9VrvhekCSMsU6GOzGk7WXbfnqQtWiniO6UFecO8hTHGcrYt0yGTpjGadyEd6NVLvhLPfc3k4IvPdtwon/qu/qqNZ+vdpDwgE1QIZUUSF6qzwEoGjGmJsFmhJW/1i98FVlXJRInqqxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019ayix8ajhoM21ZbmTgkJib",
      "input": {
        "note": "The brick fills the jaw column but its near end is still just above the jaw tips in the wrist view. Advancing ~3 cm more so the jaws straddle the brick's middle, and descending to grasp height.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.395,
          "right_y": 0.17,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019ayix8ajhoM21ZbmTgkJib",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3912, -0.0227, -0.0456, 0.9993, 0.5934, 1.85, 0.7452, 0.2638, 0.4686, 0.3092, 0.9987]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3811 right_y=0.1651 right_z=0.0043 right_yaw=0.0296 right_pitch=-0.1647 right_roll=-0.1105 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -1.4564, 7.2137, 1.8095, -0.0171, -0.0024, -0.0122, -0.2393, -8.8957, 6.9128, 1.5311, 0.2515, -0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96499ab657b211493b3a70b6c8b767527fe727f6c3158809788b4d8630b54df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b66f27ecf193e2a6d2ef50bb6d300ecde496343a8d19515f0c7c6e1a9280daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6942ccaf7751d1bcc5ef017b69d66ae0a321d715ab08cbfa0239ed1e97580fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.987 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, 0.7986, 0.6075, -0.3866, -0.0227, -0.0425, 0.9993, 0.7357, 1.375, 0.7799, -0.181, 0.5674, 0.4152, 0.9987]\nstate[eef_state]: left_x=0.2946 left_y=0.0018 left_z=0.1789 left_yaw=0.001 left_pitch=-0.0084 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3294 right_y=0.1749 right_z=0.13 right_yaw=0.0441 right_pitch=-0.0652 right_roll=-0.0475 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.5521, 6.8171, 1.8046, -0.0171, -0.0562, -0.0171, 0.2256, -5.6137, 9.2103, 1.7949, 0.442, 0.149, -0.149]",
      "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, 0.8013, 0.6075, -0.3885, -0.0227, -0.0425, 0.9993, 0.6491, 1.6699, 0.6926, 0.1558, 0.5068, 0.3504, 0.9987]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1778 left_yaw=0.001 left_pitch=-0.013 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3571 right_y=0.1678 right_z=0.0409 right_yaw=0.0354 right_pitch=-0.1304 right_roll=-0.0918 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7167, -0.0171, -0.0757, -0.0122, -0.6496, -7.2137, 5.6, 1.6532, 0.105, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3912, -0.0227, -0.0456, 0.9993, 0.5934, 1.85, 0.7452, 0.2638, 0.4686, 0.3092, 0.9987]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3811 right_y=0.1651 right_z=0.0043 right_yaw=0.0296 right_pitch=-0.1647 right_roll=-0.1105 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -1.4564, 7.2137, 1.8095, -0.0171, -0.0024, -0.0122, -0.2393, -8.8957, 6.9128, 1.5311, 0.2515, -0.0855, -0.1441]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96499ab657b211493b3a70b6c8b767527fe727f6c3158809788b4d8630b54df2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b66f27ecf193e2a6d2ef50bb6d300ecde496343a8d19515f0c7c6e1a9280daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6942ccaf7751d1bcc5ef017b69d66ae0a321d715ab08cbfa0239ed1e97580fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQStwYKEAgRGAI4AUIIdGhpbmtpbmcSDBLpsAUqYWCqkhJwkxoM28ROCG5UwdAHq/fkIjAR23QtX5TvIPs8KgoRfuoAXH35X89tQCI6qa9ZDpy5KrWdjGeJ+tN0SEvr4bTLe3Qq1AUarW2DqHCeNwzff0Vz9ZYqVbVG0mkET/1Gnnn73CY/K9RNwd4ofdWAdlfRNavZTPwDcmLebmvCp6KPnzNZtm+BOgr/8wioHBdjU+scfec8fBMIPigaWRoVEXSbGbbH15WR8gJIlIeXCzB+4RiMonD4s39PmvDArOSxnaXscUN2ACJVyjSG4HPL8p29RmQKoFOUBtcASjh2EorPhpXfC3yGwzb1USx8ivopgEhUgx4b2rTG+Z9kxvfZNCFh3+BjUFqg9lMojJJDlm61G1ThmUM7IOMs7UncaE3WfHgQwyzr8ET7nx8qd414neAVh+84jBn3MNcUY+aL23nEvsoivX+jEf5sjK/XwJu7pZsiAPZ2+pp9u6aHhuYCBG3PIdypKTcvbWzoa9UEd6jmCkCAoncuguWtbqr1FK5RQY9HAFmXJu39Ldf7pPYAf09Ywmy3OS1v7DtjD4h8w19kYii9bpBXr1PIpYbBfTMt4n0pajMy5OMd4+QOeugnKbyFpknEsCyiaEznhapmfwhNx7XHzNANg3hS6rqzbIhh1l+/8eXE7Svtk9cLgmmjmNGmwf2I8TZjtFMA0I6Y00a/op7KVF5AJY9eZMrJxZXXDQ/TUwXkIehrrlOT9fTpWIGrdwiSHe+VkVycB74JDTuo5JxbpxoT37Pxz1pCN7y2eUCBlv4MyR7AVtMuMC7fyuCWd226IRbPw3cBm/ljMaxHeK0W+DrqzIPZs6rQIEHfJ0xmhx87oxmnlF9VXMQeeqztDPsRZ2mzOGdYtbVwxsF0mGMkv6O92Ey37sHxv93BlmLaAKfS8bGAsCUEPYlMqe7U9nrQUEufUhc8cv34fdIVVrPiH0j671qMI6gfl09YZRgQbpulNv+1mLU537wPo314tMGKKSX2BPJ2xw0ia1eboHRPx2wIPiaeGQ7dWOt9BM1I1z84RzJVBCjGF6J5xqwAFGZTX4I+XhtmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VmwggvojfgUza6tpezbeRU",
      "input": {
        "note": "The brick is between the jaws at table height in the wrist view. Closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VmwggvojfgUza6tpezbeRU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3935, -0.0223, -0.0494, 0.9993, 0.5819, 1.8706, 0.7559, 0.289, 0.4545, 0.2901, 0.0095]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.176 left_yaw=0.0044 left_pitch=-0.0209 left_roll=-0.0064 left_gripper=0.9993 right_x=0.3873 right_y=0.1663 right_z=0.0027 right_yaw=0.0407 right_pitch=-0.1583 right_roll=-0.1078 right_gripper=0.0095\nstate[joint_eff]: [-0.1846, -1.1692, 7.1726, 1.7705, -0.0513, -0.022, -0.0122, -0.1436, -8.0615, 6.612, 1.5507, 0.1832, 0.0708, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15067c6ec38666c90d7a89f35e72f6d61bc22828401c9886a146c8a3cc1c5b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd404cb13f2ea6e2bf49f471f3985bf9ab23acf24cec1b3e7592005e5c53ae74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9914a848a5a849e8fa8926c0c3f23cc1824831e5ae46c0b47723f6f9de5184d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 7.789 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, 0.8013, 0.6075, -0.3885, -0.0227, -0.0425, 0.9993, 0.6491, 1.6699, 0.6926, 0.1558, 0.5068, 0.3504, 0.9987]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1778 left_yaw=0.001 left_pitch=-0.013 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3571 right_y=0.1678 right_z=0.0409 right_yaw=0.0354 right_pitch=-0.1304 right_roll=-0.0918 right_gripper=0.9987\nstate[joint_eff]: [-0.0205, -1.5111, 7.0222, 1.7167, -0.0171, -0.0757, -0.0122, -0.6496, -7.2137, 5.6, 1.6532, 0.105, 0.0073, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.3912, -0.0227, -0.0456, 0.9993, 0.5934, 1.85, 0.7452, 0.2638, 0.4686, 0.3092, 0.9987]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3811 right_y=0.1651 right_z=0.0043 right_yaw=0.0296 right_pitch=-0.1647 right_roll=-0.1105 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -1.4564, 7.2137, 1.8095, -0.0171, -0.0024, -0.0122, -0.2393, -8.8957, 6.9128, 1.5311, 0.2515, -0.0855, -0.1441]\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, 0.8043, 0.6075, -0.3935, -0.0223, -0.0494, 0.9993, 0.5819, 1.8706, 0.7559, 0.289, 0.4545, 0.2901, 0.0095]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.176 left_yaw=0.0044 left_pitch=-0.0209 left_roll=-0.0064 left_gripper=0.9993 right_x=0.3873 right_y=0.1663 right_z=0.0027 right_yaw=0.0407 right_pitch=-0.1583 right_roll=-0.1078 right_gripper=0.0095\nstate[joint_eff]: [-0.1846, -1.1692, 7.1726, 1.7705, -0.0513, -0.022, -0.0122, -0.1436, -8.0615, 6.612, 1.5507, 0.1832, 0.0708, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15067c6ec38666c90d7a89f35e72f6d61bc22828401c9886a146c8a3cc1c5b7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd404cb13f2ea6e2bf49f471f3985bf9ab23acf24cec1b3e7592005e5c53ae74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9914a848a5a849e8fa8926c0c3f23cc1824831e5ae46c0b47723f6f9de5184d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSlAgKEAgRGAI4AUIIdGhpbmtpbmcSDDKL7CetAkMcqWgSVhoM1pyoOU7/E4igFvJ9IjDsV0HemlHsROGQLrWzPZmtnbW7OvYWsaFXxF50amvgfp7GkcbmVyUiWUayrsNbGOEqsQdltHPKKyT+mknsBT/EQoAd7LYiXybzwyfiUHW/9QAf9QMZnNQCTvAfD4Nd8QbZiQ7OcPmDxRGA59tPQERALkdObL36gXBfnmG3soLBDl/1E5rHCljp2snBBUrJ3JGzz0hEzF0VkP3R2HYTmQ3A/AU7Q2qgddUypx/lxeCLo8l1ZE18cNPu0pVrcEhEkVirvkozBagZDFdZTghf80fiu8K/NGcvNsis0H3MzNp5FYoElB8VSWNx0i5N8C6dTieKupb6hjkr/GNrEzEFrWK4rQ62FLHglh2KOQFYf3mTVESZ7BKriySfYsIoguHP7CesEsbyx8iUirbUXwTIGA564aUnMHqjaqogMyu2Wbqv0rn+odHqqZLSSRKq/GV/cA68CIy7pMdpYkoPhWhstgiJYFf2BlNbWbIDvDQKYfmvEVyjzt7FgiLUfthpXlDQOcrEsbjESCXFMnZ54nDD+vtYznvFliiKSvmPjqOA4RJ5ml1V5Zwdzw4ErP1DZFvjsYkFrMmAiXklxwOA22uo4C0RPm296KNEZuGkt9iM0a+5EdTB9m0U6ANCR+5A/GQ/6PCZCLmZfzH9alNLELzvfNcN/l63PLXwo3LHEcZy1MSDKozP7F2PnrhYRUsGKhV3V2M/piXwG73904MfnbaQTkzHtGx3tQU6HINpPV8OpIEEKiL+FVEUsO3DH1+3DRU1joH7KKkPKSJQJb4ax4SiBG1mXX3gR4BUYlHfwctgBzpg5P1keGCLQ8uAoODDV9QmbTKR/5tIw+s2w/3LCscaUeq9UPIDX8G9zxRupER78JF0UHHTzsx3HFw6rcB6hjnOmoE5nEfBCrAOvnsAvkSYl2S3wLmdt3TtOxmS6ql/5g2UuO/DVtsIhMZ+QFzf5sTZVoxzdw/nAlz+4U0lby3Mr8rq9Qjg0csxOcRGeUSj8muGsoiW5YGYOKnemJrB9I6ggodAsPd1InfFQIH1bgMhKCzmW+FJ7dtt5LOTMHG/qEFe/JPTnOiereSkB51Z014xuxWDXCPnM95UOTOn3RR+pdO7sRA+ycgclVPa0PrKqouNmlabAIpYKpMtu8rOr/1PDWyf1bJCDABQBhK/YKM2A1+ZWAfvDdiGtkKwJ96Sb+Tdq+bDPp7yNW6QWKYRqII48mkqii6Za4KLoccwXds007xBLg+vFdehpcxcClv24m7s8C3mRYtdNfSMUha3zjmZ4FIaMfPAJB8hHQeWq5rdt5A5ApmLEF8ebJL2n9nJegrW03wDxe4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013sHjDGz5UHnEdbhVGLVNjS",
      "input": {
        "note": "The close was empty (reading 0.01): the jaws met just short of the brick's near end. Opening and advancing ~4 cm further forward to get the brick between the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.425,
          "right_y": 0.168,
          "right_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013sHjDGz5UHnEdbhVGLVNjS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4007, -0.0227, -0.0494, 0.9993, 0.532, 1.9427, 0.8696, 0.2596, 0.4099, 0.2417, 0.9953]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1743 left_yaw=0.0047 left_pitch=-0.029 left_roll=-0.006 left_gripper=0.9993 right_x=0.4175 right_y=0.1682 right_z=0.0028 right_yaw=0.0531 right_pitch=-0.1667 right_roll=-0.1095 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.8095, -0.0317, -0.0366, -0.0122, -0.7179, -7.7744, 7.2547, 1.453, 0.2369, -0.0024, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77eccaf2e3ccc87b107660c33a1b57fb7a9297a2240b29ff677655fbd8a38be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:427f10a006b6fc960a53475e360e8b3a27a21898ec0fce07e7911a8259face57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:528fd03517d00cf7419320b8a7dd34c6132faf1d3dc5737c1b5ba3c64d80c718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 6.651 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, 0.6075, -0.3912, -0.0227, -0.0456, 0.9993, 0.5934, 1.85, 0.7452, 0.2638, 0.4686, 0.3092, 0.9987]\nstate[eef_state]: left_x=0.2944 left_y=0.0018 left_z=0.1762 left_yaw=0.0026 left_pitch=-0.0194 left_roll=-0.0031 left_gripper=0.9993 right_x=0.3811 right_y=0.1651 right_z=0.0043 right_yaw=0.0296 right_pitch=-0.1647 right_roll=-0.1105 right_gripper=0.9987\nstate[joint_eff]: [-0.1299, -1.4564, 7.2137, 1.8095, -0.0171, -0.0024, -0.0122, -0.2393, -8.8957, 6.9128, 1.5311, 0.2515, -0.0855, -0.1441]\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, 0.8043, 0.6075, -0.3935, -0.0223, -0.0494, 0.9993, 0.5819, 1.8706, 0.7559, 0.289, 0.4545, 0.2901, 0.0095]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.176 left_yaw=0.0044 left_pitch=-0.0209 left_roll=-0.0064 left_gripper=0.9993 right_x=0.3873 right_y=0.1663 right_z=0.0027 right_yaw=0.0407 right_pitch=-0.1583 right_roll=-0.1078 right_gripper=0.0095\nstate[joint_eff]: [-0.1846, -1.1692, 7.1726, 1.7705, -0.0513, -0.022, -0.0122, -0.1436, -8.0615, 6.612, 1.5507, 0.1832, 0.0708, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4007, -0.0227, -0.0494, 0.9993, 0.532, 1.9427, 0.8696, 0.2596, 0.4099, 0.2417, 0.9953]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1743 left_yaw=0.0047 left_pitch=-0.029 left_roll=-0.006 left_gripper=0.9993 right_x=0.4175 right_y=0.1682 right_z=0.0028 right_yaw=0.0531 right_pitch=-0.1667 right_roll=-0.1095 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.8095, -0.0317, -0.0366, -0.0122, -0.7179, -7.7744, 7.2547, 1.453, 0.2369, -0.0024, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77eccaf2e3ccc87b107660c33a1b57fb7a9297a2240b29ff677655fbd8a38be8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:427f10a006b6fc960a53475e360e8b3a27a21898ec0fce07e7911a8259face57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528fd03517d00cf7419320b8a7dd34c6132faf1d3dc5737c1b5ba3c64d80c718",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSqAkKEAgRGAI4AUIIdGhpbmtpbmcSDFbk2nLxoTlVdXEGBRoMJe5GPffmr42eE3YQIjA3bhNWe7gwHX7uX13jGjkLww++qwe1Q509wmphxT+MBlB7T5hU/q5scXTZkqfEEy4qxQheupztlOo797n0SyCAkwz2EsvYQM2UrBhUb+M1x0wCKGnD/ZNEji+yYPUGA5dybCqjtarr0Yhjf9OkQMLrYjt9UTUP3sa02Z/RVypMgMOMWEeXl4AoAkHpgjCBq9BGVPwap1IUmtFQ54f3fDPVZqvQIJHEMB7MPE3L6dWWXL+HDnBFNaPELZfRL0GYPIWzBF+BLyf6TfLdl0rS8HoGAuoVtIQmVQcJGBic8B0yMQPH8ojjOCAFFqckiYMBZlM64DJDnW4iSLoGE9eJG+epjuC456Qgp7kGfI0qWAaERtVCkqwpB5e/mv/MjUt8dU27lt6e8xmyv+LH7/bfGA2yFFIlXEdXDqR1v9MeFg9O109Q72TS3Z6w6Yr2R4mBcewCMQBIPRouXueSFqyvxAZO3EKLh1xw6z6wpwujVzqWr7EhEiCnaR7D2dXecCfyM2Db6o1x/3tIb2BDjREcxLDXb/QX3Bz6qH3V3bOmvvd8UjAmKlaYSqVCPHd+qaoIlHiG1uP0qCcTvG4Y6JfRQPIjER7CA8Y3y2HICiZWnz85T0XR4g1RinPoJN0O4GgsaUvfL8mSvzUAe9Ch4Z/daLy/N3hlJrQhtV1jJW82zxI5sv0sh0cewOWU187ZvBPBLW5kL+pUSFZPdjlOCI7Q2vmH9rFvyHnnDE37hKTkcghtXzYEWlkwi9KIhNjeks3TP2A+1hJuc9etiwklcLXhHhkZXO1UOtf1iQB4XWR0gIQvcDHxb1QnKzUTRQbyLLSlzwKdEWVKjToKNap9DhAG28kZfyMkBf8c9hTqLJ58uxkd6lQKE7OD9sUiuHe7VVJqtqag9MkzNViO2UdrwQxmxnFsDt336TO9VpzhwlUE2hESxQ93TrsU4ZKfvYIYhgV96JskIZwKgdOFn2D/zH2LyzH/tcy7CSkoHkpO2K2F/3QIPshJeCs330NiKiAIj7WVoeo+wBwsjK+KnWh/paT0IU0JrfI8JV7z1hEuxk7SAqFrvEmjfz6KrfNUlk1ohWSNyqw0OaJUQjuoJmzRbn14fxx5Lmd/dXQCTOBYFLJ8lFrb4byBElu5X4undZ+kshckcHkl3GF7rQJe66VdC3P1hDkvkW9+Kn6MxiFxXh87czW+rJXjFjTllmF3tVSf2OvfLvDuAHZPNc97GY2Om6qBT+T9MCN6MQON1Tbs2WOSIiSP8z/CmuBPf3ZzGi1IvQVrNSuoAZ7DKG8U4mEJ1B3WxSOEcVgZrWHbeIX3/VSP8BCGWQ+KP62afjA0ke8s+ao2UjNsbtDa0qfWclFbdXg5vutu0kzhw7fw00NoJKgOcgayHepuZkz1hgMHclaNku4izoeI27OpfU6lJQsZ2sIUKaWt0ZbfYhGwkyV++BinTm1uWIO05FaPPl86EePmMeidsQ16ETiJsjnlheLRffOUIVRW8l80LzBEnu+pfijYWLdTShYZNYXCos7uGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AMovdE217EPeR1ycxKfJ8S",
      "input": {
        "note": "The brick is now between the jaws but sits a bit left of the jaw column in the wrist view. Shifting the gripper ~2 cm left to centre it before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.19,
          "right_z": 0.003
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AMovdE217EPeR1ycxKfJ8S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4061, -0.0227, -0.0498, 0.9993, 0.5568, 1.9579, 0.8986, 0.2367, 0.4221, 0.2562, 0.9982]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1732 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4178 right_y=0.179 right_z=0.0028 right_yaw=0.0596 right_pitch=-0.1697 right_roll=-0.1109 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.2103, 7.1179, 1.7411, -0.0317, -0.0415, -0.0122, 0.8137, -7.8017, 7.241, 1.3993, 0.2564, 0.1245, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdb1733caecc278b899ceb05f011bd290636d5aa80d82ec10524e1f0c433e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab76ca94f0fb6f173adfd3d6172b35311f7d9c413fe21885ff1351fb5c73162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2485462e7c9e6b44c8039b32c204b50ef81cf512319d6a5cb7e96aca3462306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 15.78 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, 0.8043, 0.6075, -0.3935, -0.0223, -0.0494, 0.9993, 0.5819, 1.8706, 0.7559, 0.289, 0.4545, 0.2901, 0.0095]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.176 left_yaw=0.0044 left_pitch=-0.0209 left_roll=-0.0064 left_gripper=0.9993 right_x=0.3873 right_y=0.1663 right_z=0.0027 right_yaw=0.0407 right_pitch=-0.1583 right_roll=-0.1078 right_gripper=0.0095\nstate[joint_eff]: [-0.1846, -1.1692, 7.1726, 1.7705, -0.0513, -0.022, -0.0122, -0.1436, -8.0615, 6.612, 1.5507, 0.1832, 0.0708, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4007, -0.0227, -0.0494, 0.9993, 0.532, 1.9427, 0.8696, 0.2596, 0.4099, 0.2417, 0.9953]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1743 left_yaw=0.0047 left_pitch=-0.029 left_roll=-0.006 left_gripper=0.9993 right_x=0.4175 right_y=0.1682 right_z=0.0028 right_yaw=0.0531 right_pitch=-0.1667 right_roll=-0.1095 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.8095, -0.0317, -0.0366, -0.0122, -0.7179, -7.7744, 7.2547, 1.453, 0.2369, -0.0024, -0.2418]\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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4061, -0.0227, -0.0498, 0.9993, 0.5568, 1.9579, 0.8986, 0.2367, 0.4221, 0.2562, 0.9982]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1732 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4178 right_y=0.179 right_z=0.0028 right_yaw=0.0596 right_pitch=-0.1697 right_roll=-0.1109 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.2103, 7.1179, 1.7411, -0.0317, -0.0415, -0.0122, 0.8137, -7.8017, 7.241, 1.3993, 0.2564, 0.1245, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdb1733caecc278b899ceb05f011bd290636d5aa80d82ec10524e1f0c433e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ab76ca94f0fb6f173adfd3d6172b35311f7d9c413fe21885ff1351fb5c73162",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2485462e7c9e6b44c8039b32c204b50ef81cf512319d6a5cb7e96aca3462306",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "text": "Brick is now roughly between the jaws; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UwFPa8D8ajPVekJpPTNBty",
      "input": {
        "note": "The brick lies between the open jaws in the right wrist view. Closing the gripper to grasp it across its width.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UwFPa8D8ajPVekJpPTNBty",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.5598, 1.969, 0.9009, 0.2359, 0.4099, 0.2516, 0.0095]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0047 left_pitch=-0.0358 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4162 right_y=0.182 right_z=-0.0019 right_yaw=0.074 right_pitch=-0.1826 right_roll=-0.1109 right_gripper=0.0095\nstate[joint_eff]: [-0.2256, -1.306, 7.0222, 1.7265, -0.0562, -0.0317, -0.0122, -0.4855, -10.3043, 4.8889, 1.4725, 0.2662, 0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c7bb3e96226dadfc3aa8160e9de717ffb3817d8e4d28c14bf5f3afdb983320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17e3453219cef3049af0faca53379d7e375307b2c50c6a1fc96cf2f1c7348508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08d7912b35724ba2f4b2d2be68a401c4ed579987db540c624892c0c2b40358fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 7.122 s

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

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4007, -0.0227, -0.0494, 0.9993, 0.532, 1.9427, 0.8696, 0.2596, 0.4099, 0.2417, 0.9953]\nstate[eef_state]: left_x=0.2931 left_y=0.0018 left_z=0.1743 left_yaw=0.0047 left_pitch=-0.029 left_roll=-0.006 left_gripper=0.9993 right_x=0.4175 right_y=0.1682 right_z=0.0028 right_yaw=0.0531 right_pitch=-0.1667 right_roll=-0.1095 right_gripper=0.9953\nstate[joint_eff]: [-0.1846, -1.306, 7.0085, 1.8095, -0.0317, -0.0366, -0.0122, -0.7179, -7.7744, 7.2547, 1.453, 0.2369, -0.0024, -0.2418]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8051, 0.6075, -0.4061, -0.0227, -0.0498, 0.9993, 0.5568, 1.9579, 0.8986, 0.2367, 0.4221, 0.2562, 0.9982]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1732 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4178 right_y=0.179 right_z=0.0028 right_yaw=0.0596 right_pitch=-0.1697 right_roll=-0.1109 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.2103, 7.1179, 1.7411, -0.0317, -0.0415, -0.0122, 0.8137, -7.8017, 7.241, 1.3993, 0.2564, 0.1245, -0.2027]",
      "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, 0.8051, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.5598, 1.969, 0.9009, 0.2359, 0.4099, 0.2516, 0.0095]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0047 left_pitch=-0.0358 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4162 right_y=0.182 right_z=-0.0019 right_yaw=0.074 right_pitch=-0.1826 right_roll=-0.1109 right_gripper=0.0095\nstate[joint_eff]: [-0.2256, -1.306, 7.0222, 1.7265, -0.0562, -0.0317, -0.0122, -0.4855, -10.3043, 4.8889, 1.4725, 0.2662, 0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07c7bb3e96226dadfc3aa8160e9de717ffb3817d8e4d28c14bf5f3afdb983320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17e3453219cef3049af0faca53379d7e375307b2c50c6a1fc96cf2f1c7348508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08d7912b35724ba2f4b2d2be68a401c4ed579987db540c624892c0c2b40358fe",
        "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_01XGTEDU2839QqoR1fQnGNSy",
      "input": {
        "note": "Empty again — the top view shows the gripper sitting at the brick's near end, so the brick is still ~4 cm beyond the fingertips. Opening, lifting slightly and advancing to x=0.46 before descending onto the brick's middle.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.185,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XGTEDU2839QqoR1fQnGNSy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5129, 1.969, 1.1034, 0.0029, 0.3733, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0362 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4476 right_y=0.1823 right_z=0.0296 right_yaw=0.0806 right_pitch=-0.2256 right_roll=-0.1359 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 7.159, 1.663, -0.0366, -0.0269, -0.0122, -0.841, -11.1111, 8.6632, 1.5409, 0.1734, 0.1587, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a25dcedb7a22101052df182bcfc2d597cc319b8307c93141dde7fac2528f161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711e23cf8ac0b97bc2624e34111f4e1847569a8655a64776fe029f806f3b0724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ff656821cf7c14861b06325f9c584ab4bf68d148810d5443d55d3458a980d781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 4.031 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, 0.8051, 0.6075, -0.4061, -0.0227, -0.0498, 0.9993, 0.5568, 1.9579, 0.8986, 0.2367, 0.4221, 0.2562, 0.9982]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1732 left_yaw=0.0049 left_pitch=-0.0343 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4178 right_y=0.179 right_z=0.0028 right_yaw=0.0596 right_pitch=-0.1697 right_roll=-0.1109 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.2103, 7.1179, 1.7411, -0.0317, -0.0415, -0.0122, 0.8137, -7.8017, 7.241, 1.3993, 0.2564, 0.1245, -0.2027]",
      "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, 0.8051, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.5598, 1.969, 0.9009, 0.2359, 0.4099, 0.2516, 0.0095]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0047 left_pitch=-0.0358 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4162 right_y=0.182 right_z=-0.0019 right_yaw=0.074 right_pitch=-0.1826 right_roll=-0.1109 right_gripper=0.0095\nstate[joint_eff]: [-0.2256, -1.306, 7.0222, 1.7265, -0.0562, -0.0317, -0.0122, -0.4855, -10.3043, 4.8889, 1.4725, 0.2662, 0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5129, 1.969, 1.1034, 0.0029, 0.3733, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0362 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4476 right_y=0.1823 right_z=0.0296 right_yaw=0.0806 right_pitch=-0.2256 right_roll=-0.1359 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 7.159, 1.663, -0.0366, -0.0269, -0.0122, -0.841, -11.1111, 8.6632, 1.5409, 0.1734, 0.1587, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a25dcedb7a22101052df182bcfc2d597cc319b8307c93141dde7fac2528f161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:711e23cf8ac0b97bc2624e34111f4e1847569a8655a64776fe029f806f3b0724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff656821cf7c14861b06325f9c584ab4bf68d148810d5443d55d3458a980d781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSkwkKEAgRGAI4AUIIdGhpbmtpbmcSDG7BmJcLuZom94cfDxoMpm6+b35L/qOjqeYbIjAcBm/DnG0y1WQqULmDU3hTo/npH17SB6q8Z9XR0nPLO/eWXa6uzMSvKrIPTtjPEC4qsAg8MMS8yKLlMNEOUoJefFF3dpn4CMisa4V2R9FZaCtU3jFPt8y66nvprXDSZae05BpvTd3Zr/XgbzmQaJml6V9lMnSv/h1HxwmJuKyiPaP/kbE+rnFraej5lCMuX8Lq2vlhwKS23VY4eT2F6vT7eI9VJVFPcSVbX9MbrXLleihEN2NUEMRuTAWEDaSQsFrnQitIFuInfVCMMz2N1uxYh+P0YTD1c9h19Tq0ab/oti0bnbcyfjxcOZJPFvmWuISlYO+zXB6PiRqtVjx9l3PvFfny8RmbWNvakwYcheX94MJxFZmYN0Ionu/eRd2cVu67IbrgR/15T+S2jSw1kagl9bx1bChOwT66wJ4/wuVHbiSt9q+239g9rP5sgOkeUGzvx7dL2AFUgUoArU2x8b1J97eOIaSne2BPQA0heu0fjGAeeiMH2RHCkrY7mcL4chPwaROnSdfrZhfTLBzzMowu05kH42EXIphSewpq/vQCDm2lhSvRi2925uG6T1SGFB4qXpdOnjNYC80XECiKCwJ3XRojuLRWXoOzf21KzzA4UYKzlIAZLdfbGA9Y/RjrOGL8LxTNDG7LlSXqjRQ6Q4KbW+ij9BsZjsxvmSrLwGUJ4c+QmmeMo2/iBAPa3G1i/end9Swl55lBVp/szbYAjnH1+rO46/a9rmYbucLYJTBlbtwxvyBnmHpod+A5IVnxVWY3kBw26poKO9SS5MSh92XpAc1Fv8pqDsq2YbxmP3HxaPKgzODljd0PUGXm+mWb0or58j9dUJ7n8G5Kiz13NEfxVVPDkliQtLI7KDhnXa1hEIYvNi+Q58UIvMwd3OZFKiU3MLKH7QDn0NjT5csknhvji5iTCpkk8f8xp2sGJPGmFDxZAGHJS1lSHePfb0M0a9eVLOCSMhHByyQ9Lhsx17gM4RhKPmCh/+7EeDHPp5bjbaLGUb7wNRB5Or18YTcu0CaIC6p0StM4SZQJ3uqU9FWn8lPi/tU7mUHyZfXybtDJLpbfy9FE3LmHE51U25Gszf49TAJmW6I/VdT+VMw7TabBUFDxo8Sv2KMCE8jK7zFj2XTw09GPtIrSEN61EcbJBtbSLhCRNoDZYrqC9LJ/5w+2OAxkKMedvUncX55+CK/Ea+UoUu1wt31WwpXDlNXt1E+w+HiQPbWwqUW+cSbJDDvibOU/JoFEhR8FT8NRZXDiKKLtum2POk/EsyldCtJ1urOfbx9MetSStwNJxVLaIdznC+9X7lOJEg/6A9uO6I1GxDOgj+2rfHiO+pIqYqgaH8v7FQliOYSBnFF7pZmto6vw6C5PpdlOPSlFOq6HhVi5vK9XXEltxvsnWsiQPCLhUEZ1hgJ3J0cP11sHCI4dJEPpm4HTUaqYMsYHiCVHy1NXD81jdelNVqlctOepZALQfZ1smH89AGCMarY+0jE+O9EPv9EZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TYQ6peXVCMuzmrh1QL497x",
      "input": {
        "note": "The brick now sits squarely between the open jaws in the wrist view. Descending to table level before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.185,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01TYQ6peXVCMuzmrh1QL497x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5098, 2.0666, 1.1156, 0.0971, 0.3588, 0.2058, 0.9982]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4575 right_y=0.1889 right_z=0.0022 right_yaw=0.0881 right_pitch=-0.2219 right_roll=-0.1192 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.306, 7.0222, 1.6777, -0.0562, -0.0562, -0.0122, -0.8547, -8.8547, 5.5726, 0.3297, 0.1636, -0.2271, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e17180c7d1bb9920b496467be9bc18ee34e1cd21a76bedb79e3bac11ac3958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcb2ee99b5569b45457227db9b1d0052d44451ede0e6f0f4706228834a97b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2554c26d7cc6459dd7df9083165aa95218077ee114880c7bdd23b27ae1cc7437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 25.65 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, 0.8051, 0.6075, -0.4076, -0.0227, -0.0494, 0.9993, 0.5598, 1.969, 0.9009, 0.2359, 0.4099, 0.2516, 0.0095]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1729 left_yaw=0.0047 left_pitch=-0.0358 left_roll=-0.0059 left_gripper=0.9993 right_x=0.4162 right_y=0.182 right_z=-0.0019 right_yaw=0.074 right_pitch=-0.1826 right_roll=-0.1109 right_gripper=0.0095\nstate[joint_eff]: [-0.2256, -1.306, 7.0222, 1.7265, -0.0562, -0.0317, -0.0122, -0.4855, -10.3043, 4.8889, 1.4725, 0.2662, 0.0415, 0.7839]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5129, 1.969, 1.1034, 0.0029, 0.3733, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0362 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4476 right_y=0.1823 right_z=0.0296 right_yaw=0.0806 right_pitch=-0.2256 right_roll=-0.1359 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 7.159, 1.663, -0.0366, -0.0269, -0.0122, -0.841, -11.1111, 8.6632, 1.5409, 0.1734, 0.1587, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5098, 2.0666, 1.1156, 0.0971, 0.3588, 0.2058, 0.9982]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4575 right_y=0.1889 right_z=0.0022 right_yaw=0.0881 right_pitch=-0.2219 right_roll=-0.1192 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.306, 7.0222, 1.6777, -0.0562, -0.0562, -0.0122, -0.8547, -8.8547, 5.5726, 0.3297, 0.1636, -0.2271, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e17180c7d1bb9920b496467be9bc18ee34e1cd21a76bedb79e3bac11ac3958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcb2ee99b5569b45457227db9b1d0052d44451ede0e6f0f4706228834a97b9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2554c26d7cc6459dd7df9083165aa95218077ee114880c7bdd23b27ae1cc7437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PZcUmTCUV85C2vaHfkzaRw",
      "input": {
        "note": "Gripper is at table level with the brick between the jaws, its near end at the jaw tips. Closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PZcUmTCUV85C2vaHfkzaRw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5117, 2.0777, 1.1183, 0.1085, 0.3538, 0.2039, 0.0099]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0381 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4584 right_y=0.1914 right_z=-0.0005 right_yaw=0.0953 right_pitch=-0.2208 right_roll=-0.1158 right_gripper=0.0099\nstate[joint_eff]: [-0.1026, -1.2239, 7.0085, 1.6728, -0.0611, -0.0513, -0.0122, -0.4855, -11.5624, 5.2855, 1.3797, 0.232, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27996b77dea0c4a3b3ea99124ea49f458e6bebbd186817fba2170ba700305f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2b75391a402610d311ddb834deecfbbce687f2d58bda576ffc5c443899cc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dba2d4b7faa6011e23b97a269873b0f990a5cc4e2df51176e03bccd05effccca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 5.118 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, 0.8051, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5129, 1.969, 1.1034, 0.0029, 0.3733, 0.202, 0.9948]\nstate[eef_state]: left_x=0.2921 left_y=0.0019 left_z=0.1728 left_yaw=0.0049 left_pitch=-0.0362 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4476 right_y=0.1823 right_z=0.0296 right_yaw=0.0806 right_pitch=-0.2256 right_roll=-0.1359 right_gripper=0.9948\nstate[joint_eff]: [-0.1026, -1.306, 7.159, 1.663, -0.0366, -0.0269, -0.0122, -0.841, -11.1111, 8.6632, 1.5409, 0.1734, 0.1587, 0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 28 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5098, 2.0666, 1.1156, 0.0971, 0.3588, 0.2058, 0.9982]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4575 right_y=0.1889 right_z=0.0022 right_yaw=0.0881 right_pitch=-0.2219 right_roll=-0.1192 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.306, 7.0222, 1.6777, -0.0562, -0.0562, -0.0122, -0.8547, -8.8547, 5.5726, 0.3297, 0.1636, -0.2271, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5117, 2.0777, 1.1183, 0.1085, 0.3538, 0.2039, 0.0099]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0381 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4584 right_y=0.1914 right_z=-0.0005 right_yaw=0.0953 right_pitch=-0.2208 right_roll=-0.1158 right_gripper=0.0099\nstate[joint_eff]: [-0.1026, -1.2239, 7.0085, 1.6728, -0.0611, -0.0513, -0.0122, -0.4855, -11.5624, 5.2855, 1.3797, 0.232, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27996b77dea0c4a3b3ea99124ea49f458e6bebbd186817fba2170ba700305f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f2b75391a402610d311ddb834deecfbbce687f2d58bda576ffc5c443899cc72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dba2d4b7faa6011e23b97a269873b0f990a5cc4e2df51176e03bccd05effccca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": 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7FIGGBELiRWeaYj37YPT6waOixcXb27pf40eFghJuAEovgSTiJftescu24HG5CwaCWKUE28EnK74ah86NQ16GyWD60Q2HY7DtSPfGm42h1Khr68Q2HWPKdwSChj3+9AFNz1SCIjFX+KY9mGLcZT0LcKjVlXO5OCvqkbEt+aea0jxdAM2JPt49NIYXhwLThyauQTgtOYiv3XfwCmfRzWLALvAD5dh2T5+ZNX1zSIrUEzvhT68DtnQ9QVqIeB8qTaQ4BMkXlHqbzTEue5I065GCf2qvzZkN8C6ABP+keiJsag0eSc0OfX4acaJSFqNGq4Q8WIFKiSwGPz6A2CXT19asGHaG7jyTFy/71Vc+gqnj7K6sw9rghKSqociiFkOR6tykm34VyTc4B3obBfayQsCM/ziixMKSIaPOuJEaBQIHFCoib/lCmdepOLXsBFI8MS8g0iR/n0C4Kkrw3MAzkE1phvBZ0rqEgVPuBdrMViSqY9Yf7Wbl5bmbJmVIyVpYHxHtIAvX33rOmpaxe1KzEuldzMPmQIqs2B+rSVW1hn+dcebesTWwc66eypgn/j2JPhccj+ynSRSD6akLA2nTCXcadRZySg4Fhn9cUFWzsBA8NC0DtS2EIw74jpREi4QWgDTCl/VsclTVHpsowe2wu1JXgjQKVT0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011gg4NSUzZXpBsAzDCcNnBS",
      "input": {
        "note": "Empty close again; the top view shows the brick is actually much farther out (~x 0.5) than first estimated, just beyond the fingertips. Opening and reaching to the workspace limit x=0.49 with the tool pitched forward to grab the brick's near end.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.49,
          "right_y": 0.19,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_011gg4NSUzZXpBsAzDCcNnBS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.511, 2.2539, 0.9668, 0.8597, 0.4339, 0.0711, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4905 right_y=0.1939 right_z=0.003 right_yaw=0.104 right_pitch=0.1787 right_roll=-0.1018 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.1556, 7.0359, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -9.5248, 3.5487, 1.5897, 0.2222, -0.1001, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f2223b924173dc8f17fc8a1691727736969d2e375e6fbd5149184e81e0b426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:070a9724f51a61c392445d5661fb23b69ddeaa63f53f47bfc8209153771c7d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c2fabe62c5a8ab3289ee2010d2d33486d06f10a6ebd215339463c8d76e38c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 24.16 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, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5098, 2.0666, 1.1156, 0.0971, 0.3588, 0.2058, 0.9982]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0049 left_pitch=-0.0373 left_roll=-0.0062 left_gripper=0.9993 right_x=0.4575 right_y=0.1889 right_z=0.0022 right_yaw=0.0881 right_pitch=-0.2219 right_roll=-0.1192 right_gripper=0.9982\nstate[joint_eff]: [-0.1436, -1.306, 7.0222, 1.6777, -0.0562, -0.0562, -0.0122, -0.8547, -8.8547, 5.5726, 0.3297, 0.1636, -0.2271, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 31 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.807, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5117, 2.0777, 1.1183, 0.1085, 0.3538, 0.2039, 0.0099]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0381 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4584 right_y=0.1914 right_z=-0.0005 right_yaw=0.0953 right_pitch=-0.2208 right_roll=-0.1158 right_gripper=0.0099\nstate[joint_eff]: [-0.1026, -1.2239, 7.0085, 1.6728, -0.0611, -0.0513, -0.0122, -0.4855, -11.5624, 5.2855, 1.3797, 0.232, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.511, 2.2539, 0.9668, 0.8597, 0.4339, 0.0711, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4905 right_y=0.1939 right_z=0.003 right_yaw=0.104 right_pitch=0.1787 right_roll=-0.1018 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.1556, 7.0359, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -9.5248, 3.5487, 1.5897, 0.2222, -0.1001, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f2223b924173dc8f17fc8a1691727736969d2e375e6fbd5149184e81e0b426",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:070a9724f51a61c392445d5661fb23b69ddeaa63f53f47bfc8209153771c7d59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c2fabe62c5a8ab3289ee2010d2d33486d06f10a6ebd215339463c8d76e38c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS5AYKEAgRGAI4AUIIdGhpbmtpbmcSDIIpdPzOSFB1SMCLzRoMTVikxu3Pfi/2kOuyIjAhoqRReFByTqec98yDFGf9VC+vJa+qV+Ky/jxI/wbNU6W1HBZ7Z4Izdaz7MJd/EBUqgQaxBPaXaDtncWwQPEFU46/5dpCpCt+svPYEstrTSnR7f8kbiMGM+/7pqmAZVYUD1ORerL2tdntUyEDnPnyAsE0JxnI3Q/9DOqiZuZWD6AjUtPI6/SRbO3/TW6LcLRICvtx1KbaIdsJ1CypibQGZMK5c8HaHquIxyvIB5uZrR+HtY0CdtsV8xToeicqSgyfBjUU3le0YqiT2ez7yt7bu02rxze/At7fIPqmamI/WnY/btjbEcw+C7eBy+ycgo2xl7bsk1McIrb/uYRheqdnB9KA1HIIAmzyKtn1tOfOczR2oCYcBSgExDMksafFBUL2iBYuPffzFqHVy5jTsRVSWhedkEr/01jQ8Xmnhp8QqNu3RE+fK85Z5LtFhLcqXar8Dv5Mu49Lv97vWHXgfRbBYMzQw5pUzoQGgKybzYd0wvA2Zdy60LrxSbHqNolzzG9TT/oluqU7qh5jbFipwOYZeLYk+Vzb974cXe5cksfnq1eMBW077uIooTs+tSQP0bRDyALXdtPInYz9H7+eM+d5+XNagwY3+GbLCksZaIPXzKSo+vIRBkaCqVeCrd914NPg8D2/IH8kWINgtUyoPzTKqKkDj6D1iQcKbGaih0n7OGkjW+ODf7vD0lpI0nqEXQJ01V2TfmEHg55Zzch/2ArB3QNv9JvWjk8eacOymvSj9crsFTvfv6ZbsNWKBNEXNirtr4BQ8vp102tRS0a/5jTKUxc+jYkipe3l5VjRMhaHIMo8arM3AtIvvY+oSBn5X/B/GSSlDJh5M7nKkUG9qRwH6liQKLjioFNqoBlbifoGD6d9AsL+qOtyUD6sBwgTYWYm+DMhuqjuQ8fx1HKGqKIv0QMfXjTQMLnHHDbWN/kzQyeIEJFPNytA4vzvI3N2PyhahroGTItQidebVgpr4R/+Vp68jUokkU1h8mdBFr/qQkwAhy4vD1lZRQbcYmBEdBWEEi5EIQdjaqa4ZmSqUlAzCctOM8F0LNiCb9J5VUbQsunDCL2Du47U/4fmC2s05pyIlUr1/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jp1WLpbxz2GhZZqL42cpnq",
      "input": {
        "note": "Reached x=0.49 with the brick's near end now clearly between the open jaws in the wrist view. Closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Jp1WLpbxz2GhZZqL42cpnq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5137, 2.2642, 0.96, 0.8757, 0.4294, 0.0704, 0.0095]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4883 right_y=0.1952 right_z=-0.0012 right_yaw=0.111 right_pitch=0.1769 right_roll=-0.1012 right_gripper=0.0095\nstate[joint_eff]: [-0.0342, -1.265, 7.0632, 1.6874, -0.0366, -0.0757, -0.0171, -0.5949, -11.7812, 4.8342, 1.6679, 0.1343, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe073b556e51db06049aadbe359d327b3ff3f4d5a52a29566277c9c2528f1865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bbb18c959c31056093a8b87d93599de2c6d35c45bfec03a6394663cd44920a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66bdad1cbdc5366f37871f73703b1913cd290d96332632cf8059384fd341af4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 8.038 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, 0.807, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5117, 2.0777, 1.1183, 0.1085, 0.3538, 0.2039, 0.0099]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1723 left_yaw=0.0049 left_pitch=-0.0381 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4584 right_y=0.1914 right_z=-0.0005 right_yaw=0.0953 right_pitch=-0.2208 right_roll=-0.1158 right_gripper=0.0099\nstate[joint_eff]: [-0.1026, -1.2239, 7.0085, 1.6728, -0.0611, -0.0513, -0.0122, -0.4855, -11.5624, 5.2855, 1.3797, 0.232, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 34 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.511, 2.2539, 0.9668, 0.8597, 0.4339, 0.0711, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4905 right_y=0.1939 right_z=0.003 right_yaw=0.104 right_pitch=0.1787 right_roll=-0.1018 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.1556, 7.0359, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -9.5248, 3.5487, 1.5897, 0.2222, -0.1001, -0.0708]",
      "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, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5137, 2.2642, 0.96, 0.8757, 0.4294, 0.0704, 0.0095]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4883 right_y=0.1952 right_z=-0.0012 right_yaw=0.111 right_pitch=0.1769 right_roll=-0.1012 right_gripper=0.0095\nstate[joint_eff]: [-0.0342, -1.265, 7.0632, 1.6874, -0.0366, -0.0757, -0.0171, -0.5949, -11.7812, 4.8342, 1.6679, 0.1343, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe073b556e51db06049aadbe359d327b3ff3f4d5a52a29566277c9c2528f1865",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bbb18c959c31056093a8b87d93599de2c6d35c45bfec03a6394663cd44920a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66bdad1cbdc5366f37871f73703b1913cd290d96332632cf8059384fd341af4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": 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7TeZ3Ft6A8Ssn1sAk83IEv0ehBazVwBFtw0HvpoZ8SQhuQOp0UuCaLjLC/Wv8ZR8wwm7cov4X/iZXL+cK/Aab6kvR0f6sRG0D0jfg/NGjERGMsaIDX/4TsaiZ+qaY/BS47ByVm/xiIzuYhQLoQfUP/0cPMTVSW7gFgmk38R1srRx+LxGp4gUve7yiUUhKDKOwQGCd2Z8Y0s+VWK7sTpx5OVOznUiKiTLUfqXElp8SUewNCY5hcM+BdzT6DudiyAkzHgWPu+qfUuRZUbwTTV8QtoSbtAy5p9x2egYNKJ7cM1R6AVG4a1idvHUHrCNF3h08jSRMVRHT8vRCHEdSNJqr9qJSUWzVMKTAzE13AJ5t3Qm60lX5qojS8KMreTxVh/6M6OEPLComcTh8eXq8hR7xNkgckbcnj9LXFdSBhpzWpZnDBv91ujzaPjYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RkVR34GZ9UuTcEhKfGyiNB",
      "input": {
        "note": "Still empty: the jaw tips keep landing exactly at the brick's near edge and nudging it forward. Opening and pitching the tool further forward to extend the fingertips ~3 cm deeper past the brick's near end at the reach limit.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.52,
          "right_y": 0.2,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01RkVR34GZ9UuTcEhKfGyiNB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5037, 2.5259, 1.0744, 1.4166, 0.4324, -0.0372, 0.9956]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=0.0049 left_pitch=-0.0392 left_roll=-0.0061 left_gripper=0.9993 right_x=0.52 right_y=0.2062 right_z=0.0206 right_yaw=0.103 right_pitch=0.5353 right_roll=-0.0507 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3197, 7.0496, 1.6777, -0.0611, -0.0708, -0.0122, -0.6632, -8.9368, 4.3419, 1.2821, 0.0904, -0.2222, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b71318b65fa1180fdb3118614633b88fe8de8ff421386faa751e1feba8faea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a693b3c956fa8c67450f96795337d3705009beef39927317af2ee1372b56330b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:32fe957104a0524a4c21ca59373882eb3a188ad563664196fbce882e2b15bf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 5.995 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, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.511, 2.2539, 0.9668, 0.8597, 0.4339, 0.0711, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4905 right_y=0.1939 right_z=0.003 right_yaw=0.104 right_pitch=0.1787 right_roll=-0.1018 right_gripper=0.9969\nstate[joint_eff]: [-0.2393, -1.1556, 7.0359, 1.7118, -0.0513, -0.0513, -0.0122, -0.2667, -9.5248, 3.5487, 1.5897, 0.2222, -0.1001, -0.0708]",
      "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, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5137, 2.2642, 0.96, 0.8757, 0.4294, 0.0704, 0.0095]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4883 right_y=0.1952 right_z=-0.0012 right_yaw=0.111 right_pitch=0.1769 right_roll=-0.1012 right_gripper=0.0095\nstate[joint_eff]: [-0.0342, -1.265, 7.0632, 1.6874, -0.0366, -0.0757, -0.0171, -0.5949, -11.7812, 4.8342, 1.6679, 0.1343, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5037, 2.5259, 1.0744, 1.4166, 0.4324, -0.0372, 0.9956]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=0.0049 left_pitch=-0.0392 left_roll=-0.0061 left_gripper=0.9993 right_x=0.52 right_y=0.2062 right_z=0.0206 right_yaw=0.103 right_pitch=0.5353 right_roll=-0.0507 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3197, 7.0496, 1.6777, -0.0611, -0.0708, -0.0122, -0.6632, -8.9368, 4.3419, 1.2821, 0.0904, -0.2222, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b71318b65fa1180fdb3118614633b88fe8de8ff421386faa751e1feba8faea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a693b3c956fa8c67450f96795337d3705009beef39927317af2ee1372b56330b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32fe957104a0524a4c21ca59373882eb3a188ad563664196fbce882e2b15bf3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSygkKEAgRGAI4AUIIdGhpbmtpbmcSDFf3akzBMuoQNgMVRRoME5RbjTymTD0W+BrxIjBZ1dq5irtj4BeqZI3jcjqsXvxHXUAd6ZlaOY+pt+mBrNak5RZXYDfIhLbktJi/TdIq5wjTrjrxIdswN5LFlS7/Y/vUG1iZknSOSGu8vMDxVNNkBMFSqv33jzlKRhr/jBez+0x74t2pFUGDl0bkjJbmSEUiBxoFjHunOdiucuDlzK6he+Gbp3ee7mfab/infFs5n1wN40XHuo000IlKVHEKxfORqUfAe3dPA55W15u4EyAVCateb5fnaE1hT9tTRP9Hxzhdub6JBHd8EQZxMK39jGAvVap/HKpe3RaOCEMkFKgCivSaMFIrqD8I+kyJqlJX4QpYCMCsB9pNSFckTd6R2PrjehHyn26RyFKRcIba7QH05PcHEBUeqP5BXwrfv8c0HLT7W9A2v6wBlw1Lgxmfk+THKinkMxinNW8mPdV4rqW9S5SVusf3kqIAhs9QLi2d/ezdBd7j2FYOA2IQNct+Hox1uWaRFCC/2TD3newDtbzcWhzenYjq8PsuWee110oC/lYwGALw4OSCe8qlGNI6rv9fWZmPZG4y8hA11s4bSWoS3DMdtCZfCERci+mrYFp82azr0NZp4YSFFnKPN/edzm/u3IGO3FpQN3np0MLu5Wk0jM79Vlz/1qmddj1fTwcUefxeu2lL/lCDWX3Fy9nzQyu8BRtK2bSwvU2P8z3uaPnSilESl7HjLQ9Jgj/4bfIlAv3A8wmZr9LQVSvDob1HI+LWCWk72z6WsR1H1qCltRWo4oAg6WCtLZ1z0cu3PpxA5o3gi09J59h/WhyqdhyTzL/HbPpTQiGkYI8bQuD4ShnhPfc0z/yTxPvl8UPbEEX/wAHhVtaZGiy2M8E9CoC3Y6wurCrU0E7IlV2rqFAEybtPNmPRMIrnBH1G1fHZhHuzBEJICSSFoziV2vanPdqsmMAo7b6fKH5tmbh0dAShDyO3g4eP73V9wOZyA5vnXM+rCtg7AtN6UMzoO8M8ttz6Tg+gnbz0NJ88LTr/u1sZVCUFtVKMPyzxUtkBWZdfiWooWDqIBqn5EdyHeOD1N7QTfYvpGvp/igmXnPimgKIijyCTZeCLYC1OghjcVHgDFNClWxErhnVW0hTpxqiCGMdN3g9vMkPp4ToP2aaN7tKKYCyf6it16qhqGK4NuXh6R1ea1ge76k5e/xOPSSPVLbr+QLr5Uc/2PVQIArJtjgAUbA2w8PiqdgXYy4JtJTojnfgQIn6E5Y8JCAc/EyIMBitpxI1RlE3JOv56JqkvL14SrMAp3lJMQntlqFAoVRNw0iv7aX796oMuJRqNl6Lw4wqp4e1DYS4dpQd53TDbl24JqsenvJbgquqgXIj7QyJFT4YwioLxrFsC9g/9IM2Z//c+1mNoyOCU7oBdC2YPM/8CkA/3ocMpyfJoClVqKwO2dEayq5Six4gtXJH66UVAillNid+SeiKSqEFP3pwUGINlXwbfXOe3XiYzDPlC1F+hv07I1yCkEAjThfhV+g9+h15HZ3GmPfoTuGlIL5vrKUAdiu7GBf5lgK7BEP7HPCVlrvjnsUQMyPCWj2vvVKfd+Tx6LTydd4NMp8hHQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LSWrMhwWL57AdeVHEYBwy2",
      "input": {
        "note": "With the tool pitched forward the jaws now flank the brick in the wrist view, but the grasp point is 2 cm up. Pressing down to table level before closing.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.52,
          "right_y": 0.2,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01LSWrMhwWL57AdeVHEYBwy2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.5011, 2.5378, 1.0885, 1.4509, 0.4248, -0.0483, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5226 right_y=0.2073 right_z=0.0267 right_yaw=0.1061 right_pitch=0.5687 right_roll=-0.0469 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.7167, -0.0366, -0.0708, -0.0122, -1.1009, -6.5026, 4.041, 1.4432, -0.0073, 0.0708, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8bc1762162e720be27094df6e56c05ee54f904c5f6b3f4864b04711b6ab8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639161559a396d39eba1dfdfc9ff47c44bcadded0d378a25e2a646cf6095d980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:284a8a2a2e1e7c6e90a4405fa5aa8d83109ed266c782a0ff61de07dd97b18fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 14.52 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, 0.8074, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5137, 2.2642, 0.96, 0.8757, 0.4294, 0.0704, 0.0095]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1722 left_yaw=0.0049 left_pitch=-0.0385 left_roll=-0.0061 left_gripper=0.9993 right_x=0.4883 right_y=0.1952 right_z=-0.0012 right_yaw=0.111 right_pitch=0.1769 right_roll=-0.1012 right_gripper=0.0095\nstate[joint_eff]: [-0.0342, -1.265, 7.0632, 1.6874, -0.0366, -0.0757, -0.0171, -0.5949, -11.7812, 4.8342, 1.6679, 0.1343, 0.0073, 0.7888]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 40 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8082, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5037, 2.5259, 1.0744, 1.4166, 0.4324, -0.0372, 0.9956]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=0.0049 left_pitch=-0.0392 left_roll=-0.0061 left_gripper=0.9993 right_x=0.52 right_y=0.2062 right_z=0.0206 right_yaw=0.103 right_pitch=0.5353 right_roll=-0.0507 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3197, 7.0496, 1.6777, -0.0611, -0.0708, -0.0122, -0.6632, -8.9368, 4.3419, 1.2821, 0.0904, -0.2222, -0.149]",
      "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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.5011, 2.5378, 1.0885, 1.4509, 0.4248, -0.0483, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5226 right_y=0.2073 right_z=0.0267 right_yaw=0.1061 right_pitch=0.5687 right_roll=-0.0469 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.7167, -0.0366, -0.0708, -0.0122, -1.1009, -6.5026, 4.041, 1.4432, -0.0073, 0.0708, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f8bc1762162e720be27094df6e56c05ee54f904c5f6b3f4864b04711b6ab8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:639161559a396d39eba1dfdfc9ff47c44bcadded0d378a25e2a646cf6095d980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:284a8a2a2e1e7c6e90a4405fa5aa8d83109ed266c782a0ff61de07dd97b18fe9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSywcKEAgRGAI4AUIIdGhpbmtpbmcSDKhS8CI/0/e6dhvP6BoMzH1HJlT+EOuIjMocIjAF2/NrCJGybp61v2V41eLoc7AaGqED5PYm3cROIXYqVTIL0n4Tk6H7k4en8QYr4g0q6AYCf+fYF10QBqXwoJO9TXFeUjAoBzjKRe7Diq7YTX0Ls33+aODNTAdwwBmOOc8eGcGGXJe+tvY6b3Tqd1YWknqVhbEJtelXTOrOMBw9JlJr03V94doCHlW5OBKFOdfgf5wiIs8QAKo6CHf2FWoN6R6RB1k0M0r12wcgbAHhXGDGpdiHH+V18AP5uL3N/+tZVPEgemPr+z8m7l9Jmt+bWz6G6DAUfXs7d6vXkQrXKjBdm9C2Qw5TkuVhOtgZDghY0eubkGlJX2se+fuFCFBKiE6noGWduNLy52QcrpwkRzVS0UYTMO4d0GqstsxdtInOBtzj6p/8QkHIK/0sP93msATarFPu6LZprNAGzavzsD6ZiKzWN+4y3lqVuFzMbNDPTkuZu/1rDNN/jnlaDIFfEyuk4mF3eZfoWYyyarqH6jFu2olqO+l92wnfd7QAHbfR1aiQKtYMVMeLfNlBqwV+8uQ/rKJxLZlYe6wjLVwmIFhh0KkbXXoOlWD/ANyxt5wbkQrFjz47PjjELJsdFoK9uypsAB3XKvd4BlwufrIa5202Wm6P31ZflA9JFDnXFhMaKdLi0Gm1TSVeEA0UqFP+qptYz7ll7ESiIplhFgFCv7XZE0WDpaJP/4iwHR9ggysgNNmomslQWqmSKJJi8DYqi2kRqRvfXWZuCG2XnD/j+gKyLOXls70gpeotri0oP1Yu4jzFGTdXwy9B1qaujcdrgekXaUZ1EU2BueTKzW0HaNg9Q/g9xwHtpMYHAfzOnVjHdBtWWTrW+lqePHDi6IXU14eRwqRgFNIfO6/52VlIHh2ZydIWL9UPgDzbZ0l6kXywK/dRMMPunR11HEQDVj9rVmXJwfuav9AXZuvPLt1qMYgz8x4ZRhVn9h8PH4WsUCCMkplJcw4tnkRJDSwYpUnnJZwtRfFTN+64PzaTd88Drp9GtdGOpmF7pbvDFwtLhKaHp01e6kwEV83W/PEHa84fp7OObRtTSFPUKjGlkZyVorGBjC3mdO/JrQe0C/vNig0A3wfBQMaAr6qVOmggW2C6r9jVslKRiOcM8jgGeSeQXHXrMd5KA5zcl69vPFMRb6PvKLtwa0vsuuP3ErDIZAtMEf7eRk2ThdY9Q/Vf9BFwyGscDuBBq2VmUev8KfXU5vXlmwnDgpt1fRZubRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DE8kaLooYiJYe6GRDEZpKJ",
      "input": {
        "note": "The descent has stalled (likely fingertips on the table) and the brick is between the jaws in the wrist view. Closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DE8kaLooYiJYe6GRDEZpKJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.495, 2.5462, 1.0943, 1.4899, 0.4072, -0.0265, 0.0097]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.524 right_y=0.2074 right_z=0.033 right_yaw=0.0944 right_pitch=0.6026 right_roll=-0.0043 right_gripper=0.0097\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.7558, -0.0513, -0.0562, -0.0122, -0.4308, -7.0496, 3.8496, 1.3407, 0.0415, 0.0269, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50400cd18bffbd427457275ed688a9ddcc359c600654d9dfe797531de9c0416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815eb31c878317d982d348a28e5161f82a7119b0f7c238840c7281ba80f22e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3a9446385a16f153527d8dbe32483a08e0cdc6e4a088d5565202dc43cc3c7fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 8.721 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, 0.8082, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.5037, 2.5259, 1.0744, 1.4166, 0.4324, -0.0372, 0.9956]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.172 left_yaw=0.0049 left_pitch=-0.0392 left_roll=-0.0061 left_gripper=0.9993 right_x=0.52 right_y=0.2062 right_z=0.0206 right_yaw=0.103 right_pitch=0.5353 right_roll=-0.0507 right_gripper=0.9956\nstate[joint_eff]: [-0.0205, -1.3197, 7.0496, 1.6777, -0.0611, -0.0708, -0.0122, -0.6632, -8.9368, 4.3419, 1.2821, 0.0904, -0.2222, -0.149]",
      "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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.5011, 2.5378, 1.0885, 1.4509, 0.4248, -0.0483, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5226 right_y=0.2073 right_z=0.0267 right_yaw=0.1061 right_pitch=0.5687 right_roll=-0.0469 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.7167, -0.0366, -0.0708, -0.0122, -1.1009, -6.5026, 4.041, 1.4432, -0.0073, 0.0708, -0.2076]",
      "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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.495, 2.5462, 1.0943, 1.4899, 0.4072, -0.0265, 0.0097]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.524 right_y=0.2074 right_z=0.033 right_yaw=0.0944 right_pitch=0.6026 right_roll=-0.0043 right_gripper=0.0097\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.7558, -0.0513, -0.0562, -0.0122, -0.4308, -7.0496, 3.8496, 1.3407, 0.0415, 0.0269, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50400cd18bffbd427457275ed688a9ddcc359c600654d9dfe797531de9c0416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:815eb31c878317d982d348a28e5161f82a7119b0f7c238840c7281ba80f22e1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a9446385a16f153527d8dbe32483a08e0cdc6e4a088d5565202dc43cc3c7fe",
        "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_01A7QPvku5c2AsQiCGo33yvm",
      "input": {
        "note": "The jaws keep closing just short of the brick and nudging it further out of reach. New plan: put the closed jaws on top of the brick's near end and drag it back toward the base. First moving above the brick's near end.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.55,
          "right_y": 0.205,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01A7QPvku5c2AsQiCGo33yvm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4709, 2.4557, 1.1194, 1.2694, 0.3756, -0.0074, 0.0073]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5391 right_y=0.2058 right_z=0.0394 right_yaw=0.1138 right_pitch=0.5052 right_roll=-0.027 right_gripper=0.0073\nstate[joint_eff]: [-0.3624, -1.306, 7.2547, 1.6874, -0.0708, -0.0513, -0.0122, -0.7179, -15.3231, 6.4752, 1.8877, -0.022, 0.1001, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285b572b29aed020048d0f0f8330863805eba3b98ee16273a4411469776bcb91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1190ff64c096c2382a0a2ff397b4e85fe150231d43106571e2d3e795514c1afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6601ce9cff649fec75e9fa4da4e95e310dfea1580a5d61ef47afc28d86217bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 6.44 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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.5011, 2.5378, 1.0885, 1.4509, 0.4248, -0.0483, 0.9982]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5226 right_y=0.2073 right_z=0.0267 right_yaw=0.1061 right_pitch=0.5687 right_roll=-0.0469 right_gripper=0.9982\nstate[joint_eff]: [-0.0479, -1.4838, 7.0085, 1.7167, -0.0366, -0.0708, -0.0122, -1.1009, -6.5026, 4.041, 1.4432, -0.0073, 0.0708, -0.2076]",
      "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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.495, 2.5462, 1.0943, 1.4899, 0.4072, -0.0265, 0.0097]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.524 right_y=0.2074 right_z=0.033 right_yaw=0.0944 right_pitch=0.6026 right_roll=-0.0043 right_gripper=0.0097\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.7558, -0.0513, -0.0562, -0.0122, -0.4308, -7.0496, 3.8496, 1.3407, 0.0415, 0.0269, 0.7741]\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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4709, 2.4557, 1.1194, 1.2694, 0.3756, -0.0074, 0.0073]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5391 right_y=0.2058 right_z=0.0394 right_yaw=0.1138 right_pitch=0.5052 right_roll=-0.027 right_gripper=0.0073\nstate[joint_eff]: [-0.3624, -1.306, 7.2547, 1.6874, -0.0708, -0.0513, -0.0122, -0.7179, -15.3231, 6.4752, 1.8877, -0.022, 0.1001, 0.7448]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285b572b29aed020048d0f0f8330863805eba3b98ee16273a4411469776bcb91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1190ff64c096c2382a0a2ff397b4e85fe150231d43106571e2d3e795514c1afa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6601ce9cff649fec75e9fa4da4e95e310dfea1580a5d61ef47afc28d86217bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvQkKEAgRGAI4AUIIdGhpbmtpbmcSDGkPIxAPBAq+yPHDXRoMtNTWttDAGS+SX06rIjBb8/WdFZAXXIhnOIaz+Y7pfF9hQP2Bdxq7aOqdq4Ngv3MNgrlATvA1uYx0JUUVSzcq2gghjO5xz1J+BPKC8WnDc/by2zqc6J7HywEPOudeHzlML8VxQsbP0D4odXOlPE5W4mNBBzEEEJkURyaj5STIspkAhtLL5mPPJjtFwNFQIViDyoebKj0WWHqogAuqT/BuBgVG8ehB4A67USIV78twwOKpHc8cBN5YTssEiBsoFMWlBSI3+yt/QKBKbCyuwgpN1/jEKdafWSPP7OgNB/dgCNX61iqGwbSB9AJwn2PxrlmgyDys4g80bg7c8M+HZFz1W0y9J8Wr0+9XD5SAfyxW6GVygtrE4GGS/Lzrwbz4gnvrcjzaUF7NjBCE+13WP4Ljf//j+/PcpauC3uubTY2WvYGvfcBJz4LNmBIWW6LTy6DuPA8bW/IUU11ixXI4FhEeZn5Qwm9YsqsREGUYe+JPF9tljZJ9DHKix1ou4DlsnkWZepIXYx6khNVW5WAy73yL9lA9hUoeVVbVIqgs4h/8KU6k6cFnuCf25y7cVzW/WqG0prxhUd3Zilb1b7+QmdNaDJtxo1ELWCzVmfq1io2cSaD4+UiteBXNMTf9VnEayhOqrjxVFMrUuG00+QvuzrZ87j/wo0M4KQSVw8MwQS0M3wPOiZ/a2KxbZ1sI9YjWxgAcFVKr12A4FCeizykuTTuBc93jf9niCGRIGs2WfxT1ps7hUT0GNjXv9WGJ4QQSnsXhMx3hEGPnjOyBCYag2GMN5oLcrPKrXTV0KR+xbVLiWEWKC9DPZbvpX+mhHrl7K8Q+rken0rKBARAa1R8jGB8ADy7l8+FQfuAE1QDFCR+93Kv5na0zThp+uyazmowwYzXjCA8zqWqkgYDuzZapxtfWZutTMOLHzElJSJGbg9YRp800T5q8oInUToydAMtep0JJc2Ff2F/QhsqanDEQv4Ua2Xtngsfmomln4+xH9q5QvkGcqGzdr5tL5r03eJ2fcFaxGaqOaNKJnhfBPp6WdtKEW4NGz2TxhYJFVBT4y9Ah4QMQ1r7eXt3VRl77S/xwfcpfgVdGC3bI69ThVnD6a4hKPNu4J2UheadJ/NHQC8G7LrDlVS17zG6rBmh2shNLW1eCm+RHeHnN8yf0JgKBCDmXYNngGYGWY1h29IYNZ7oJVbluq96pdB1bj06uPXCN5m2ISGoZuKuFvM+gpTyQmbwuRYTmjaKIQguAxVdD85Pgw53xJsi7nYCw15ZfHO7xVgYUx37Sm8Edau/z37HPz6ef9fK+jRSI65Hxr3Wv3sypqErAE/+oGv4p3Mqelhj5X39PvMoogtEy67Hh/rb7okwewOEe2Dkz03u+zelSaw/q4AfYkudd0WaWsT1VW9P2Eu/9Rz5+GlP3rH8wN3SDqnQsZR0uuvP6UdnCQkzwstJPk8HLbiIGOXBliBuNiy/OiTVXB1AIdAZvWBinOql3iJ0J3DZJfXz3Q92AXaBH1rxppoTNuuTlXGbZDywfy8E4x/jaK2xKu8dIryaB7KuQq5CfJA43i41NjXtHxQ0lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012RaUJDuhcrdSzYGtTa4Foy",
      "input": {
        "note": "The arm is at its reach limit at x≈0.54 with the closed jaws over the brick's near end. Pressing down onto the brick's top so friction can drag it back.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.54,
          "right_y": 0.205,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_012RaUJDuhcrdSzYGtTa4Foy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.4648, 2.4805, 1.1461, 1.277, 0.3767, -0.0006, 0.0073]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5445 right_y=0.2044 right_z=0.0368 right_yaw=0.1005 right_pitch=0.5143 right_roll=-0.0154 right_gripper=0.0073\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.6923, -0.0806, -0.0659, -0.0171, 0.0889, -9.4701, 4.4786, 0.6716, -0.022, -0.0757, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a77330c7ee1a5c288c54fa3006301b1ad2c1e24f3f0c1f6bda8ef81e35c810d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e026076e3607ad69b6202a56c100988443e9419079967ab7e541cf4017f759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9de83ad5c66310cbaf41a3eb6d2cadaadc04aaa1b5dae636ba91e1e974103ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 6.968 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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.495, 2.5462, 1.0943, 1.4899, 0.4072, -0.0265, 0.0097]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.524 right_y=0.2074 right_z=0.033 right_yaw=0.0944 right_pitch=0.6026 right_roll=-0.0043 right_gripper=0.0097\nstate[joint_eff]: [-0.0342, -1.1419, 7.0085, 1.7558, -0.0513, -0.0562, -0.0122, -0.4308, -7.0496, 3.8496, 1.3407, 0.0415, 0.0269, 0.7741]\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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4709, 2.4557, 1.1194, 1.2694, 0.3756, -0.0074, 0.0073]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5391 right_y=0.2058 right_z=0.0394 right_yaw=0.1138 right_pitch=0.5052 right_roll=-0.027 right_gripper=0.0073\nstate[joint_eff]: [-0.3624, -1.306, 7.2547, 1.6874, -0.0708, -0.0513, -0.0122, -0.7179, -15.3231, 6.4752, 1.8877, -0.022, 0.1001, 0.7448]",
      "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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.4648, 2.4805, 1.1461, 1.277, 0.3767, -0.0006, 0.0073]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5445 right_y=0.2044 right_z=0.0368 right_yaw=0.1005 right_pitch=0.5143 right_roll=-0.0154 right_gripper=0.0073\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.6923, -0.0806, -0.0659, -0.0171, 0.0889, -9.4701, 4.4786, 0.6716, -0.022, -0.0757, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a77330c7ee1a5c288c54fa3006301b1ad2c1e24f3f0c1f6bda8ef81e35c810d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63e026076e3607ad69b6202a56c100988443e9419079967ab7e541cf4017f759",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9de83ad5c66310cbaf41a3eb6d2cadaadc04aaa1b5dae636ba91e1e974103ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7wcKEAgRGAI4AUIIdGhpbmtpbmcSDOmZK3KmcJ/p1ODmdhoM/fx4KvtcbzTArrpOIjAQWirXEVWjB6mN4mDQzoDkq2uPncZ4MxNOtUih/W089nQsGJskMfNGtEAKwZ/dLgcqjAc6oYx+tsHVY7otmX9Yl5MGujvJIZZrE6To9psM9ocnhCv29rntWAdgqgZKBf0tJ/b/hGRfhay9ksCYhUeuc1ANwHIjNZVLPekHYO2773nSSOZkagbZfblxE8CLR1Ks5hbhAD/ocft1TZZ2etciDzkO8B7s/Oz7l8B1h5muV+y0r352UPt7SXqcqKRmMMYMQbFa1ARTG+MLZXqzT2fsF6EVOxhzmrmqKA9VCRWYxwqerKNIYQcgCyafWljbU/4FR1J4UgRvjRe6c8EvCa9Oh+b3YwcI2dCLPXOsy9PFcNR97sKxP1tF4qseJT0Tle5ijFVPxHn6yS26//1lX5DL/c88um3mvbpiLxFiFS1BKfgrby03qLAJovTbduj0v2pAAjzRPDSd8rzcLvGC7Lrgy8+xgBv8+ohNJ9jX2QXQ4aENjSurGzvAAXjzGe5UTz4T1qlnK2bnLNItkiitWqxXVJV+t7tV+5ZMHZlFlVcZi7L9nA0bFIVoSFaFEq/everXx2mAYZSND8ZGyEA1GytKXVS6LBxb6bnTxUleqtCaGywjs2F6xYPAmn4m71u+ftYs46c/OCqx0djAjL93SWHCYnmd551yjLG8gHlxxYxFX3VDftuzx3O2vyQob8TZBMvBC76OgOoJOnRWKy7tEz9rO31570k8IUkoPg7el+28FaJ0b7Z88gPaIt7iGD/F8gV7MsXINvMHpQrGDQL3qLs6NluzTiFmAiAiINZ8YPewGH9pRuEg9eY31DqEaRb5G8gQP4pvcciVMj27IdPqv7ub9/K49TgYqVCzOUqs9PeNyw22h4VFSLFi5+nKLZAHYS7Ia7+jIj22LVMxMAgJVNCQpdowJg/85dqKENC1YqDxFeIfPN1N2ndC4R6YJJXhXjmNRgJiUmwdJ5JlNfC/oqzlaIShOI00Y7CakHVVXTcav6+uINIEE04FiQHbH3cmxp/8inbr0j7uFwR/DVesx8ZONNwqIt42Sr3TUMLbmRF0GWgBE0jgR+IM9hHWGa0gt4BCG8+b/yH+X4rVMWflDF+Q2VJB+WsztWdksLpg+Tl0daxiO8V/uhbR1nh5Fdt3g762xcXKcjHq/ogsVhFj7h3oUc1QdxtRuY4vmK3Ytezry/nqMemewaFF980WapzDBvQ4vT1pJ1L0xwQ5aHMsHepi2ch+sYAnJylCuf3vAHEgzoXgJyuAiTsRnTf91kbmjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JDXAjX1Ciazyq4Wi9VGHbH",
      "input": {
        "note": "The descent stopped at z≈0.037 with shoulder effort going positive, so the closed jaws are pressing on the brick's top. Dragging back 10 cm toward the base to pull the brick into reach.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.5,
          "right_x": 0.44,
          "right_y": 0.2,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JDXAjX1Ciazyq4Wi9VGHbH",
      "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, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4648, 2.5179, 1.1465, 1.3293, 0.3759, -0.0006, 0.0072]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1712 left_yaw=0.0049 left_pitch=-0.0423 left_roll=-0.006 left_gripper=0.9993 right_x=0.5425 right_y=0.2035 right_z=0.0283 right_yaw=0.0981 right_pitch=0.5285 right_roll=-0.0091 right_gripper=0.0072\nstate[joint_eff]: [-0.3624, -1.1966, 7.1179, 1.6777, -0.0708, -0.0562, -0.0122, 0.1709, -10.7556, 4.041, 1.6972, -0.1001, -0.0415, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db290488639490d2d1d5fc743cd415bb19ec0ecb1fae3fd1d3e7f6a1012aeaa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7550eed030b6ad261d0d2e799f5658de10cbbeccfec7a5766e2751e8f21ccfa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed15c394e8ad74fce94c4f22c44b5eec91ed210e07230ad5cf1f9cc967551255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 19.81 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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4709, 2.4557, 1.1194, 1.2694, 0.3756, -0.0074, 0.0073]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0415 left_roll=-0.006 left_gripper=0.9993 right_x=0.5391 right_y=0.2058 right_z=0.0394 right_yaw=0.1138 right_pitch=0.5052 right_roll=-0.027 right_gripper=0.0073\nstate[joint_eff]: [-0.3624, -1.306, 7.2547, 1.6874, -0.0708, -0.0513, -0.0122, -0.7179, -15.3231, 6.4752, 1.8877, -0.022, 0.1001, 0.7448]",
      "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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.4648, 2.4805, 1.1461, 1.277, 0.3767, -0.0006, 0.0073]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5445 right_y=0.2044 right_z=0.0368 right_yaw=0.1005 right_pitch=0.5143 right_roll=-0.0154 right_gripper=0.0073\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.6923, -0.0806, -0.0659, -0.0171, 0.0889, -9.4701, 4.4786, 0.6716, -0.022, -0.0757, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8108, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4648, 2.5179, 1.1465, 1.3293, 0.3759, -0.0006, 0.0072]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1712 left_yaw=0.0049 left_pitch=-0.0423 left_roll=-0.006 left_gripper=0.9993 right_x=0.5425 right_y=0.2035 right_z=0.0283 right_yaw=0.0981 right_pitch=0.5285 right_roll=-0.0091 right_gripper=0.0072\nstate[joint_eff]: [-0.3624, -1.1966, 7.1179, 1.6777, -0.0708, -0.0562, -0.0122, 0.1709, -10.7556, 4.041, 1.6972, -0.1001, -0.0415, 0.7399]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db290488639490d2d1d5fc743cd415bb19ec0ecb1fae3fd1d3e7f6a1012aeaa6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7550eed030b6ad261d0d2e799f5658de10cbbeccfec7a5766e2751e8f21ccfa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed15c394e8ad74fce94c4f22c44b5eec91ed210e07230ad5cf1f9cc967551255",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSvAgKEAgRGAI4AUIIdGhpbmtpbmcSDFnKLZSlNS5v5YmKBxoMe4FOtzRSY9c1oo2TIjDb5tWMdaOU2KoTnxNDLq6o+xcRmo2G5n6SSr855LUzs7Wj/QN4od3o52t3IF1HMwgq2QeKbP/LMjBGmaa4pNKsicavo+5jE1yd0w02sQ7Kz1B3gfHk4xT8gR6+Al1C2fsz9lqWXU27wPJLJ54TDjoqLCtGjsBpiYZMIyra7n014FjEja9p7B4EnGZUfK31S3Iv7zB6dSq75FETHWPe6NhPtswH8joCh/vGMOPIM2lhO/EDbO5DYw2uDDTEvQMrnioaEXgKWZQ+EsS/l+BeraoY7VcwxpjOzdV+OSCOHzao7+PafcmuvOHH1VBUPrdI86UA8QxtCwGhLp3oLTn95DtP86FQAlEOQvgR5ApASuUW0Ozt15QGrVBHIUB2jJNb26EnUyF/veTosZHC78UlgB5ATHDCBErbLa/tFY5EsFT3j5o1KcW7AlOd40IwKHyWdKI/u4jPsRlpIMx3PKHWAAO/q6w+Pi3u224tnrbqr6WQULaHt6gl/DiWRetfI+hgW2ww41fm3lOgwc8HfNkeUfo+dbDvaYaUd6EnS8RvC7lcY3qQwteJeW0I2eKpMjIBvaFKH0a2JeDsIW+3BRDk5rg9dT9m34RqHOmb5L30kWB8cCitYaNvy/ZjpeG7hwE3d/L21am77IJTK8lZfQOsmGvEMeQstzXPdTNsIdPqTklVJBs/AVkI/9T5GX+RCivVxGM9KptyYrNf2I3dVyJ4IELtrY2ijYCJ9jkkzs1Y0L8T0n3tGnanYwQ/3zLIhCWqyzEbNk6MfKvG7R+fcgtRy6v+D5RvkhLLdVODM+BiSTa5/yY7rFKx7MvCsLEpnAvMhvoPm0H2iHPzEEhKgS8xowC0W5X9zbjJdSWuUhi7HIUHK9W94HM40p5dxUNyHAjR9DPs1V5S7jNtwYaNQXhHJzKfGit0J6PCiVSaj0a0kYZRESI+NqYfBdqt+JIVRQDdTE12cRnPM+/E9WWJeKDn+8lDTtkDIXTVhHiLePUNggnQfcD6F1aSP8jLDOUUhI5MWZ/FXOD2L/64+9plZupJnRtYHV8XApdLOajsRriIjitXweIL/U7ocW98CYAYlIq5KT/8Jk51mEow0CPH9Ysr2KgHQEw7riemmcxmPXChaeTm8PaANgARv3SFsgvLqbBt30kKd1rtmyeo6J+uvXFqCjXtl09Y11Z86b6uGWTRIYztu+FNBrVqAmZox/BHuejnd2mItntyZGU1jy+iwieBje9nnGKYdLWNgTeyoAykk2QGnqu2q4kBOM42XwFfnWxLejyYj88vPMVxELl5p3vsdZiFibOJV+d8zdPMXh6z+caoT+lpndCev8o9c3j8C2kURYsar7pZcjHUMmXhzFUjSau23V/CieOlNTpKyLrcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwNJQBK9XERYcGxAVdfXvC",
      "input": {
        "note": "The drag didn't move the arm at all — it's wedged at full extension against the brick. Lifting and pulling back slightly to free it before retrying.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_x": 0.5,
          "right_y": 0.2,
          "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_01GwNJQBK9XERYcGxAVdfXvC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8158, 0.6075, -0.4145, -0.0227, -0.0498, 0.9993, 0.4965, 2.0777, 0.9825, 0.8547, 0.3836, 0.0715, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1686 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.5055 right_y=0.2028 right_z=0.097 right_yaw=0.1136 right_pitch=0.345 right_roll=-0.0113 right_gripper=0.0072\nstate[joint_eff]: [-0.0479, -1.347, 7.0769, 1.8388, -0.0904, -0.0806, -0.0122, 0.2256, -12.6427, 5.6684, 1.8828, 0.1832, 0.022, 0.7399]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b7279e577be5c9cac07cf1dd595e18e50d5d7ba48633909e2d7c368e5b433a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72a1b5767406002a0d63cda76327a44b4cc91fa653530a4eb1db31ada543558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:807a0a6c0cad97302088e8b6e1e211daaa6a65d27036684b82e1d64d46dfd488",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 25.23 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, 0.8101, 0.6075, -0.408, -0.0227, -0.0498, 0.9993, 0.4648, 2.4805, 1.1461, 1.277, 0.3767, -0.0006, 0.0073]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1714 left_yaw=0.0049 left_pitch=-0.0412 left_roll=-0.0061 left_gripper=0.9993 right_x=0.5445 right_y=0.2044 right_z=0.0368 right_yaw=0.1005 right_pitch=0.5143 right_roll=-0.0154 right_gripper=0.0073\nstate[joint_eff]: [-0.1846, -1.2923, 7.0222, 1.6923, -0.0806, -0.0659, -0.0171, 0.0889, -9.4701, 4.4786, 0.6716, -0.022, -0.0757, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8108, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4648, 2.5179, 1.1465, 1.3293, 0.3759, -0.0006, 0.0072]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1712 left_yaw=0.0049 left_pitch=-0.0423 left_roll=-0.006 left_gripper=0.9993 right_x=0.5425 right_y=0.2035 right_z=0.0283 right_yaw=0.0981 right_pitch=0.5285 right_roll=-0.0091 right_gripper=0.0072\nstate[joint_eff]: [-0.3624, -1.1966, 7.1179, 1.6777, -0.0708, -0.0562, -0.0122, 0.1709, -10.7556, 4.041, 1.6972, -0.1001, -0.0415, 0.7399]",
      "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, 0.8158, 0.6075, -0.4145, -0.0227, -0.0498, 0.9993, 0.4965, 2.0777, 0.9825, 0.8547, 0.3836, 0.0715, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1686 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.5055 right_y=0.2028 right_z=0.097 right_yaw=0.1136 right_pitch=0.345 right_roll=-0.0113 right_gripper=0.0072\nstate[joint_eff]: [-0.0479, -1.347, 7.0769, 1.8388, -0.0904, -0.0806, -0.0122, 0.2256, -12.6427, 5.6684, 1.8828, 0.1832, 0.022, 0.7399]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b7279e577be5c9cac07cf1dd595e18e50d5d7ba48633909e2d7c368e5b433a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72a1b5767406002a0d63cda76327a44b4cc91fa653530a4eb1db31ada543558",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807a0a6c0cad97302088e8b6e1e211daaa6a65d27036684b82e1d64d46dfd488",
        "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_014kauL3XFpkHpWiQDMY1hoz",
      "input": {
        "note": "Top view shows the brick (a power bank with a cable) now at x≈0.55, just past table-level reach. Retrying the friction drag: lowering the closed, forward-pitched jaws onto the brick's near top edge from a less extended pose.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.55,
          "right_x": 0.535,
          "right_y": 0.2,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014kauL3XFpkHpWiQDMY1hoz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8207, 0.6075, -0.416, -0.0227, -0.0498, 0.9993, 0.4652, 2.4847, 1.0782, 1.2991, 0.3573, 0.001, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0049 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5291 right_y=0.2005 right_z=0.0163 right_yaw=0.1277 right_pitch=0.4668 right_roll=-0.0314 right_gripper=0.0072\nstate[joint_eff]: [-0.1573, -1.7299, 7.2821, 1.6728, -0.0269, -0.0513, -0.0122, -0.5675, -11.1385, 4.7795, 1.5995, 0.022, -0.0464, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43d96329453c2a3b47f31f79304016935340a0a977a7fa7b60cc719a8179301c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6297cb42f7270800ba70b7d9efe184f25e97b3a1d511bca2202b493eba2ef7ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61ca1bc13d65f47f2f2103061eccd3f0e55691a627eede97ea93071d1a11b4a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 11.26 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, 0.8108, 0.6075, -0.4084, -0.0227, -0.0498, 0.9993, 0.4648, 2.5179, 1.1465, 1.3293, 0.3759, -0.0006, 0.0072]\nstate[eef_state]: left_x=0.2924 left_y=0.0019 left_z=0.1712 left_yaw=0.0049 left_pitch=-0.0423 left_roll=-0.006 left_gripper=0.9993 right_x=0.5425 right_y=0.2035 right_z=0.0283 right_yaw=0.0981 right_pitch=0.5285 right_roll=-0.0091 right_gripper=0.0072\nstate[joint_eff]: [-0.3624, -1.1966, 7.1179, 1.6777, -0.0708, -0.0562, -0.0122, 0.1709, -10.7556, 4.041, 1.6972, -0.1001, -0.0415, 0.7399]",
      "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, 0.8158, 0.6075, -0.4145, -0.0227, -0.0498, 0.9993, 0.4965, 2.0777, 0.9825, 0.8547, 0.3836, 0.0715, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1686 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.5055 right_y=0.2028 right_z=0.097 right_yaw=0.1136 right_pitch=0.345 right_roll=-0.0113 right_gripper=0.0072\nstate[joint_eff]: [-0.0479, -1.347, 7.0769, 1.8388, -0.0904, -0.0806, -0.0122, 0.2256, -12.6427, 5.6684, 1.8828, 0.1832, 0.022, 0.7399]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8207, 0.6075, -0.416, -0.0227, -0.0498, 0.9993, 0.4652, 2.4847, 1.0782, 1.2991, 0.3573, 0.001, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0049 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5291 right_y=0.2005 right_z=0.0163 right_yaw=0.1277 right_pitch=0.4668 right_roll=-0.0314 right_gripper=0.0072\nstate[joint_eff]: [-0.1573, -1.7299, 7.2821, 1.6728, -0.0269, -0.0513, -0.0122, -0.5675, -11.1385, 4.7795, 1.5995, 0.022, -0.0464, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43d96329453c2a3b47f31f79304016935340a0a977a7fa7b60cc719a8179301c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6297cb42f7270800ba70b7d9efe184f25e97b3a1d511bca2202b493eba2ef7ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ca1bc13d65f47f2f2103061eccd3f0e55691a627eede97ea93071d1a11b4a5",
        "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_015Z6Z6vbyzv53Q3uVSj81VZ",
      "input": {
        "note": "The fingertips land on the table just short of the brick, so friction-dragging its top isn't possible. The brick has a cable trailing toward the right; moving over the cable's likely position to check if I can grasp the cable and pull the brick closer.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.47,
          "right_y": 0.13,
          "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_015Z6Z6vbyzv53Q3uVSj81VZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4301, -0.0227, -0.0502, 0.9993, 0.3523, 1.9156, 0.7273, 0.9287, 0.2459, 0.0174, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1625 left_yaw=0.0052 left_pitch=-0.0801 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4734 right_y=0.1321 right_z=0.0938 right_yaw=0.1245 right_pitch=0.3156 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5521, 7.0359, 1.8877, -0.022, -0.0757, -0.0171, -0.3487, -9.935, 5.2581, 1.8437, -0.0415, 0.0415, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb57d60d2a61694cf36d89cb7b50e14c95d6b7dddee2e24ac195a937eecd68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb5525147d5787d3498eb83342286c932abe86c29e08c9e94574d91b08cbf330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae528a80be1e33575135684309c9be84ba154f9c452733b241d7d2807c0846af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 10.37 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, 0.8158, 0.6075, -0.4145, -0.0227, -0.0498, 0.9993, 0.4965, 2.0777, 0.9825, 0.8547, 0.3836, 0.0715, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1686 left_yaw=0.0049 left_pitch=-0.0534 left_roll=-0.0058 left_gripper=0.9993 right_x=0.5055 right_y=0.2028 right_z=0.097 right_yaw=0.1136 right_pitch=0.345 right_roll=-0.0113 right_gripper=0.0072\nstate[joint_eff]: [-0.0479, -1.347, 7.0769, 1.8388, -0.0904, -0.0806, -0.0122, 0.2256, -12.6427, 5.6684, 1.8828, 0.1832, 0.022, 0.7399]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8207, 0.6075, -0.416, -0.0227, -0.0498, 0.9993, 0.4652, 2.4847, 1.0782, 1.2991, 0.3573, 0.001, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0049 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5291 right_y=0.2005 right_z=0.0163 right_yaw=0.1277 right_pitch=0.4668 right_roll=-0.0314 right_gripper=0.0072\nstate[joint_eff]: [-0.1573, -1.7299, 7.2821, 1.6728, -0.0269, -0.0513, -0.0122, -0.5675, -11.1385, 4.7795, 1.5995, 0.022, -0.0464, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4301, -0.0227, -0.0502, 0.9993, 0.3523, 1.9156, 0.7273, 0.9287, 0.2459, 0.0174, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1625 left_yaw=0.0052 left_pitch=-0.0801 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4734 right_y=0.1321 right_z=0.0938 right_yaw=0.1245 right_pitch=0.3156 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5521, 7.0359, 1.8877, -0.022, -0.0757, -0.0171, -0.3487, -9.935, 5.2581, 1.8437, -0.0415, 0.0415, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3eb57d60d2a61694cf36d89cb7b50e14c95d6b7dddee2e24ac195a937eecd68a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb5525147d5787d3498eb83342286c932abe86c29e08c9e94574d91b08cbf330",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae528a80be1e33575135684309c9be84ba154f9c452733b241d7d2807c0846af",
        "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_01GjnBxi76QwXPRHUdivf32C",
      "input": {
        "note": "The cable leaves the brick's right side and runs down-right toward the base in the wrist view. Shifting right ~6 cm to get the cable under the jaw column before descending to pinch it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.46,
          "right_y": 0.07,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01GjnBxi76QwXPRHUdivf32C",
      "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, 0.6075, -0.4339, -0.0227, -0.0498, 0.9993, 0.1852, 1.887, 0.6037, 0.9775, 0.1089, -0.02, 0.9981]\nstate[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.1612 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9993 right_x=0.4586 right_y=0.07 right_z=0.0713 right_yaw=0.1008 right_pitch=0.2631 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2786, 7.1179, 1.7363, -0.0366, -0.0855, -0.0122, -0.5128, -8.4718, 4.6291, 2.21, -0.1294, -0.0806, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4686993e789e41d627cd4f8aa403de53980a58752e01c5321018f826651ee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f37c34c288729d3bd54d5119e943024ab5c5966e20d34ad33a03d1fe26317b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f779fac31b154427fb6fb2a21baaef60611e768caca4efab7b4f6cae19fa08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 11.64 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, 0.8207, 0.6075, -0.416, -0.0227, -0.0498, 0.9993, 0.4652, 2.4847, 1.0782, 1.2991, 0.3573, 0.001, 0.0072]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1669 left_yaw=0.0049 left_pitch=-0.0598 left_roll=-0.0056 left_gripper=0.9993 right_x=0.5291 right_y=0.2005 right_z=0.0163 right_yaw=0.1277 right_pitch=0.4668 right_roll=-0.0314 right_gripper=0.0072\nstate[joint_eff]: [-0.1573, -1.7299, 7.2821, 1.6728, -0.0269, -0.0513, -0.0122, -0.5675, -11.1385, 4.7795, 1.5995, 0.022, -0.0464, 0.7448]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8268, 0.6075, -0.4301, -0.0227, -0.0502, 0.9993, 0.3523, 1.9156, 0.7273, 0.9287, 0.2459, 0.0174, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1625 left_yaw=0.0052 left_pitch=-0.0801 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4734 right_y=0.1321 right_z=0.0938 right_yaw=0.1245 right_pitch=0.3156 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5521, 7.0359, 1.8877, -0.022, -0.0757, -0.0171, -0.3487, -9.935, 5.2581, 1.8437, -0.0415, 0.0415, -0.2173]\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 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8288, 0.6075, -0.4339, -0.0227, -0.0498, 0.9993, 0.1852, 1.887, 0.6037, 0.9775, 0.1089, -0.02, 0.9981]\nstate[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.1612 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9993 right_x=0.4586 right_y=0.07 right_z=0.0713 right_yaw=0.1008 right_pitch=0.2631 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2786, 7.1179, 1.7363, -0.0366, -0.0855, -0.0122, -0.5128, -8.4718, 4.6291, 2.21, -0.1294, -0.0806, -0.2076]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a4686993e789e41d627cd4f8aa403de53980a58752e01c5321018f826651ee9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f37c34c288729d3bd54d5119e943024ab5c5966e20d34ad33a03d1fe26317b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f779fac31b154427fb6fb2a21baaef60611e768caca4efab7b4f6cae19fa08f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS+Q0KEAgRGAI4AUIIdGhpbmtpbmcSDC+nIxLsBefkxsdSaxoMEkTHtp1SqDOMwSksIjDdtqnvh7+0bCRgwx9GfT+AK7+kZQwD91z4RKXSarwE3V2PgoPTt+RPCXMuvZhk47oqlg1WDW97LVTimluTaJsG0vdOXd+BYnxtG6CishcTL46cJeE1glvNpJ786T/jSCn0k2spcSNpIyHL6KvF569S64N+QI27/bDNo2YYaxNOy8jNGzRcJ6mwPUIb9OclgHveMKjCDf/TBkeE7mzPiCRqCtmDglGjKvv1KJm/pLcO/Tj38BUO2mM+YqEEWxRV1uqong0f6DsFG/gbcBLkD0WlUTFAtf3oW9T+GiVZ1dkyMQByQ9LhYkTu5HfavupOrdFrRBNJLq5gM/2O9iMvYJvhUcpD0mpOEFjn2E2YHC0IhypNF5xzJmOG3w6x5q6ZPQuNVky9z4odltK/VlZsmvkiJdw2LyYb2DUrAO5+Tq3Vw5qxaTFOs2YM0M5qS0jn5VDYd/SBQP6DqaTY3q7O0Wq30SGQH0UFoRgsiLz9NmIsqUVjAcfd/aLn13JChUmdmW1h+MbkDS2RgtX/2Es/ewmFXGoevljvwLYj02X1msHHiT+wdRY//gNxnW3iFFH7ZzqijSwsZ81DbHUEp9ZbaSZsJk79Ry1yGao3VZ7FJn0vsw6MXv+bhKO+337YpoJgHg4Ol8dr2ieyPb9CBz97O4nFfE3XD03AI6/gafopX7eZOsvU3eeC5M1JdrkVwNHsm06DtLqI2WYk960M8ZwzHVL7S4eeAN+6dWQLN25uOVJ7g1PEWdj18drmW+P/sK22lnTWCTLkER4Q2ZViNVrQzOhjeTaNgyPWi0kOJCEEIHh9024kxF7H2Y8a82VktDhAptAF0d4uHfcKJrW0pOzSo/GGArgSzJQ5e+CimZn7si8TO5tT9ZKzm7UdfBgVjeiV7P5E7w3o+LIot6yd4/1/2v0VUsH+CLzrVBsFMs5IoEQy87wKDPY0C0WVBNzSXVJP8pykXkQa94IeKG5qmymXOlq936ZNQue1OWOc3NBKR9NdQrsLVM4SPyA59zyRYgxB3t3XhmEv5Jhfnhj1xO6PMCMp2eNGL7KTJ5Wn/gnec6/zvTX+D8JtphPGHAVARvXuzi2OZWra+KVmaRHLjQj16UXFIn+IGMt0+1IcN7mYxLdl2z9vdVShJ4dgl5ldlhw8X4Z3ED4t/TEkVG0lRouhdBKiPEoCXFfVxH3MWt9Lb35Os0Lcd/hSh5HBTENPiMP6l7/r/m3nZ+t43mVI5GiKI7n/D4pkx0tFeUqEWWNroMtVnFRoJWMo3cL5qtnubrKvjazDSDIIXm4KDbOFQqpXv0HvV5cInlAXyFTS88c6bi6Acjwv0RA0OvJBou/Dj4szngvZrpykkFTxj6N4HV9QoDelkIn2Py/0RDm/TPrGA1jmZOqzGvfKvT1+7/SlraVlfve5iSrNp7tgs3CSZdHx7951VtE46qzKEsHE9GQzX1Tg/AxTaRy7G2jwpISS49xVPUO6vgh0f6MLv5pifaCJooeruoQc9S7PkT3rfFFHVoGttsnk+Y4isU3F6O4Fo9YyT8qVVvpbiTA/MY9mBUt7IEAek2U2Nq4pOXva7+5GVNI8ueCMLSqEpLrzjlH65UL07hnh4K+5l9mZwSaQXn/+h8khz06xxBB2oyZNPRptVJnfxzTA61rJ31/qLN9XeGvf/hhVexv6aZ28yQ1CpahRIvm3jHeGSDqvPsiikTttikKMNSFTq7/f13do/ykCHQ2lc1OzkV5YfWmeYSaL47x4SS5d9TraO3aJLghpNGrL1FpDLnzk8LMjLgqVbqA2vj5Eq5Y2Z/nlCc+8iXa84Tyhz/BlYaEVTsXMji9oaR4NdM3AThpKWzj5+80OEq4ja+2v2Gvq+feC3vHZTqN1/KyyUVm4ShsfLaMkGjcH54Jcw3FMgK0YLMC0rt29o56VRu/e5i2kNfPhll8vnrQNrUisNht/ShxOtPPTVsYmH2qZb0KPqbkB71uWUeS5djmB/rvid9OBYSrI48JEw1lPPZkZfVRIGg/lLMQIuNeHpJkJMGheEAWi3CZuyK3GiaZZynFu5G/u7Eree095cFvce9LQTSnqN8YUoy7JjCIhkWY51/GA6BHZ4UYRSxUdpwqAX8KydBy/lm7+iiARk+n45v7O80bigquBulL19MdERVCPp0wUhWmu9TJ8jNtB/2s8iu8acRhM0+QcuAGnBJlcWZzSTSlN4UnwnC8FCjSJKiO8Zhjq8I7Sj1aMv4GQP6ixTc5dzBSjqwUG3fONf5OZQGkq2uOZzWtn+EyrDRYgWl5JH+mD6FfalmVg7nGN5NxxQGUjuV+aADPrctrHt48YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PSHdxesqgpDuZWQKQLjrZW",
      "input": {
        "note": "The wrist view shows the cable running from the brick to an orange plug sitting right at the jaw tips, slightly right. Descending onto the orange plug to grasp it and use the cable to pull the brick closer.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.465,
          "right_y": 0.05,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01PSHdxesqgpDuZWQKQLjrZW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4408, -0.0223, -0.0498, 0.9993, 0.1249, 2.2562, 0.6174, 1.3636, 0.0483, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1586 left_yaw=0.0047 left_pitch=-0.0972 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4648 right_y=0.0534 right_z=0.0011 right_yaw=0.1009 right_pitch=0.2923 right_roll=-0.0382 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.5795, 7.1179, 1.79, -0.0464, -0.022, -0.0122, -0.1846, -9.3607, 3.535, 0.2027, 0.5495, -0.5104, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900a318085d7b6e5a10e34a8bfd0354506e46959bee8a01a50d0d44075a9b24c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd3e9f3858e45c86513deb1dc031de39cef21b58e07b76d61ee9946c05ce5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bec7fba531bdf6300018baec8f0fcae3c63c9272bf25d16e51654c29808ff63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 10.35 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, 0.8268, 0.6075, -0.4301, -0.0227, -0.0502, 0.9993, 0.3523, 1.9156, 0.7273, 0.9287, 0.2459, 0.0174, 0.9949]\nstate[eef_state]: left_x=0.2901 left_y=0.0019 left_z=0.1625 left_yaw=0.0052 left_pitch=-0.0801 left_roll=-0.0054 left_gripper=0.9993 right_x=0.4734 right_y=0.1321 right_z=0.0938 right_yaw=0.1245 right_pitch=0.3156 right_roll=-0.0387 right_gripper=0.9949\nstate[joint_eff]: [-0.0889, -1.5521, 7.0359, 1.8877, -0.022, -0.0757, -0.0171, -0.3487, -9.935, 5.2581, 1.8437, -0.0415, 0.0415, -0.2173]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8288, 0.6075, -0.4339, -0.0227, -0.0498, 0.9993, 0.1852, 1.887, 0.6037, 0.9775, 0.1089, -0.02, 0.9981]\nstate[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.1612 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9993 right_x=0.4586 right_y=0.07 right_z=0.0713 right_yaw=0.1008 right_pitch=0.2631 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2786, 7.1179, 1.7363, -0.0366, -0.0855, -0.0122, -0.5128, -8.4718, 4.6291, 2.21, -0.1294, -0.0806, -0.2076]",
      "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, 0.8333, 0.6075, -0.4408, -0.0223, -0.0498, 0.9993, 0.1249, 2.2562, 0.6174, 1.3636, 0.0483, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1586 left_yaw=0.0047 left_pitch=-0.0972 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4648 right_y=0.0534 right_z=0.0011 right_yaw=0.1009 right_pitch=0.2923 right_roll=-0.0382 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.5795, 7.1179, 1.79, -0.0464, -0.022, -0.0122, -0.1846, -9.3607, 3.535, 0.2027, 0.5495, -0.5104, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:900a318085d7b6e5a10e34a8bfd0354506e46959bee8a01a50d0d44075a9b24c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd3e9f3858e45c86513deb1dc031de39cef21b58e07b76d61ee9946c05ce5c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec7fba531bdf6300018baec8f0fcae3c63c9272bf25d16e51654c29808ff63e",
        "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_01NER3KR1MtmiYxrqhspF6P9",
      "input": {
        "note": "The orange plug got nudged forward, but the top view shows the brick's cable running straight back toward the base across reachable table. Moving over the cable at x≈0.38 to pinch it and pull the brick closer.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.38,
          "right_y": 0.17,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NER3KR1MtmiYxrqhspF6P9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6075, -0.4416, -0.0227, -0.0498, 0.9993, 0.1165, 2.2711, 0.6209, 1.3968, 0.0425, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1585 left_yaw=0.005 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9993 right_x=0.4667 right_y=0.0507 right_z=0.0033 right_yaw=0.096 right_pitch=0.3141 right_roll=-0.0334 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -1.4564, 6.9812, 1.707, -0.0317, -0.0708, -0.0122, -0.1573, -7.3641, 2.7009, 1.9951, -0.0317, -0.1587, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee2f88c58b18d4ac33a270be16a5e06815164424326bc5256437a48f127521f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eb58ef88c50f86a858069e03fe36e40e864b6bcfa71a14dce8de9332f11ea02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c91850655ecaae1acc6e28cdb22d52dee3b441a8994dfe9c76a65dbceab80881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 13.91 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, 0.8288, 0.6075, -0.4339, -0.0227, -0.0498, 0.9993, 0.1852, 1.887, 0.6037, 0.9775, 0.1089, -0.02, 0.9981]\nstate[eef_state]: left_x=0.2896 left_y=0.0019 left_z=0.1612 left_yaw=0.005 left_pitch=-0.0858 left_roll=-0.005 left_gripper=0.9993 right_x=0.4586 right_y=0.07 right_z=0.0713 right_yaw=0.1008 right_pitch=0.2631 right_roll=-0.0443 right_gripper=0.9981\nstate[joint_eff]: [-0.0205, -1.2786, 7.1179, 1.7363, -0.0366, -0.0855, -0.0122, -0.5128, -8.4718, 4.6291, 2.21, -0.1294, -0.0806, -0.2076]",
      "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, 0.8333, 0.6075, -0.4408, -0.0223, -0.0498, 0.9993, 0.1249, 2.2562, 0.6174, 1.3636, 0.0483, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1586 left_yaw=0.0047 left_pitch=-0.0972 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4648 right_y=0.0534 right_z=0.0011 right_yaw=0.1009 right_pitch=0.2923 right_roll=-0.0382 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.5795, 7.1179, 1.79, -0.0464, -0.022, -0.0122, -0.1846, -9.3607, 3.535, 0.2027, 0.5495, -0.5104, -0.1978]",
      "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, 0.8333, 0.6075, -0.4416, -0.0227, -0.0498, 0.9993, 0.1165, 2.2711, 0.6209, 1.3968, 0.0425, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1585 left_yaw=0.005 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9993 right_x=0.4667 right_y=0.0507 right_z=0.0033 right_yaw=0.096 right_pitch=0.3141 right_roll=-0.0334 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -1.4564, 6.9812, 1.707, -0.0317, -0.0708, -0.0122, -0.1573, -7.3641, 2.7009, 1.9951, -0.0317, -0.1587, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ee2f88c58b18d4ac33a270be16a5e06815164424326bc5256437a48f127521f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eb58ef88c50f86a858069e03fe36e40e864b6bcfa71a14dce8de9332f11ea02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c91850655ecaae1acc6e28cdb22d52dee3b441a8994dfe9c76a65dbceab80881",
        "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_01RrjifVoxtHgrtNY2kYzXa9",
      "input": {
        "note": "The last move stalled — the arm didn't budge from its extended pose. Raising and retracting first to free it; the orange object turned out to be a pepper, and the brick's cable runs back toward the base just left of the gripper.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.42,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01RrjifVoxtHgrtNY2kYzXa9",
      "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, 0.6075, -0.4507, -0.0227, -0.0498, 0.9993, 0.3134, 1.5936, 0.5583, 0.712, 0.1951, 0.0235, 0.9982]\nstate[eef_state]: left_x=0.2875 left_y=0.002 left_z=0.1554 left_yaw=0.0051 left_pitch=-0.1121 left_roll=-0.0043 left_gripper=0.9993 right_x=0.422 right_y=0.1045 right_z=0.1187 right_yaw=0.1304 right_pitch=0.2504 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.8095, -0.0366, -0.0464, -0.0122, -0.212, -6.7077, 8.335, 1.7998, 0.1929, 0.0415, -0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d71a2c58274a1226acdb795007c0f73ab1513ba552a5bfdfd79ab4b1cf39e763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7d8738462cbf730ca274e94dd18d9fb842f68f81c6c7f1dff04593df667eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7ec83a9925a48b4a74759a83e9305f787fe1edab0f9aaeb424ddef20f1dd343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 7.7 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, 0.8333, 0.6075, -0.4408, -0.0223, -0.0498, 0.9993, 0.1249, 2.2562, 0.6174, 1.3636, 0.0483, -0.0338, 0.9983]\nstate[eef_state]: left_x=0.2888 left_y=0.0019 left_z=0.1586 left_yaw=0.0047 left_pitch=-0.0972 left_roll=-0.0049 left_gripper=0.9993 right_x=0.4648 right_y=0.0534 right_z=0.0011 right_yaw=0.1009 right_pitch=0.2923 right_roll=-0.0382 right_gripper=0.9983\nstate[joint_eff]: [-0.0479, -1.5795, 7.1179, 1.79, -0.0464, -0.022, -0.0122, -0.1846, -9.3607, 3.535, 0.2027, 0.5495, -0.5104, -0.1978]",
      "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, 0.8333, 0.6075, -0.4416, -0.0227, -0.0498, 0.9993, 0.1165, 2.2711, 0.6209, 1.3968, 0.0425, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1585 left_yaw=0.005 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9993 right_x=0.4667 right_y=0.0507 right_z=0.0033 right_yaw=0.096 right_pitch=0.3141 right_roll=-0.0334 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -1.4564, 6.9812, 1.707, -0.0317, -0.0708, -0.0122, -0.1573, -7.3641, 2.7009, 1.9951, -0.0317, -0.1587, -0.1978]",
      "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, 0.8383, 0.6075, -0.4507, -0.0227, -0.0498, 0.9993, 0.3134, 1.5936, 0.5583, 0.712, 0.1951, 0.0235, 0.9982]\nstate[eef_state]: left_x=0.2875 left_y=0.002 left_z=0.1554 left_yaw=0.0051 left_pitch=-0.1121 left_roll=-0.0043 left_gripper=0.9993 right_x=0.422 right_y=0.1045 right_z=0.1187 right_yaw=0.1304 right_pitch=0.2504 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.8095, -0.0366, -0.0464, -0.0122, -0.212, -6.7077, 8.335, 1.7998, 0.1929, 0.0415, -0.2027]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d71a2c58274a1226acdb795007c0f73ab1513ba552a5bfdfd79ab4b1cf39e763",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7d8738462cbf730ca274e94dd18d9fb842f68f81c6c7f1dff04593df667eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ec83a9925a48b4a74759a83e9305f787fe1edab0f9aaeb424ddef20f1dd343",
        "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_01Edn7GwVJycjmEYTBs4hZAN",
      "input": {
        "note": "The brick is out of table-level reach, but its cable runs back toward the base on the left side of the right arm in the top view. Moving over the cable near x≈0.30 to locate it in the wrist camera for a pinch grasp.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.3,
          "right_y": 0.18,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Edn7GwVJycjmEYTBs4hZAN",
      "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, 0.6075, -0.453, -0.0227, -0.0498, 0.9993, 0.358, 1.5707, 0.519, 0.6876, 0.2237, 0.0326, 0.9982]\nstate[eef_state]: left_x=0.2871 left_y=0.002 left_z=0.155 left_yaw=0.0051 left_pitch=-0.1144 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4061 right_y=0.1139 right_z=0.1069 right_yaw=0.1472 right_pitch=0.2125 right_roll=-0.0403 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4564, 6.9538, 1.6337, -0.0464, -0.0659, -0.0122, -0.212, -6.1744, 5.7504, 2.1612, 0.1099, 0.0024, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5aa7c5172db1b8d1f63ddb2cec06c2da12c75dd9e185e8b940ca27430981ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85cb4e51faae81e3b6707bb1fe22d3d1c471722b3406093c9fa4f533419951d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ccf412e8319bc3c8358b7e8c66b16a20340c3c88ec975e0f5ee758022b716891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 15.95 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, 0.8333, 0.6075, -0.4416, -0.0227, -0.0498, 0.9993, 0.1165, 2.2711, 0.6209, 1.3968, 0.0425, -0.0311, 0.9982]\nstate[eef_state]: left_x=0.2887 left_y=0.0019 left_z=0.1585 left_yaw=0.005 left_pitch=-0.098 left_roll=-0.0047 left_gripper=0.9993 right_x=0.4667 right_y=0.0507 right_z=0.0033 right_yaw=0.096 right_pitch=0.3141 right_roll=-0.0334 right_gripper=0.9982\nstate[joint_eff]: [-0.0342, -1.4564, 6.9812, 1.707, -0.0317, -0.0708, -0.0122, -0.1573, -7.3641, 2.7009, 1.9951, -0.0317, -0.1587, -0.1978]",
      "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, 0.8383, 0.6075, -0.4507, -0.0227, -0.0498, 0.9993, 0.3134, 1.5936, 0.5583, 0.712, 0.1951, 0.0235, 0.9982]\nstate[eef_state]: left_x=0.2875 left_y=0.002 left_z=0.1554 left_yaw=0.0051 left_pitch=-0.1121 left_roll=-0.0043 left_gripper=0.9993 right_x=0.422 right_y=0.1045 right_z=0.1187 right_yaw=0.1304 right_pitch=0.2504 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.8095, -0.0366, -0.0464, -0.0122, -0.212, -6.7077, 8.335, 1.7998, 0.1929, 0.0415, -0.2027]\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, 0.8383, 0.6075, -0.453, -0.0227, -0.0498, 0.9993, 0.358, 1.5707, 0.519, 0.6876, 0.2237, 0.0326, 0.9982]\nstate[eef_state]: left_x=0.2871 left_y=0.002 left_z=0.155 left_yaw=0.0051 left_pitch=-0.1144 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4061 right_y=0.1139 right_z=0.1069 right_yaw=0.1472 right_pitch=0.2125 right_roll=-0.0403 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4564, 6.9538, 1.6337, -0.0464, -0.0659, -0.0122, -0.212, -6.1744, 5.7504, 2.1612, 0.1099, 0.0024, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5aa7c5172db1b8d1f63ddb2cec06c2da12c75dd9e185e8b940ca27430981ad8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85cb4e51faae81e3b6707bb1fe22d3d1c471722b3406093c9fa4f533419951d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccf412e8319bc3c8358b7e8c66b16a20340c3c88ec975e0f5ee758022b716891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS4ggKEAgRGAI4AUIIdGhpbmtpbmcSDNvgRE7/1h/H23uMOhoMfCt2qIWQ4+q9I2EwIjDeUsEE9gXH7IAfa3excSp1w/5oNVeyoNUwb/YaF5wgIKQsUU+fLG9nv3QT+WEL7Lcq/weV8Cm204+dXzoBUmJJCmh/bNOwJJxzX/Drol9SHrqnJ6AQX9B5aBFamKXMpexwbcQzQHxKfTq0cWgGbJYK/AjVxJ4zTlNldzVeEpRtqLaGD8VcY8fk2ONnIGKH/X0Uujf/C7VE8LVDoSEKrMohm187EefpfUPue/5SRmPfujykbhyCyg8LUOtMC09HAGlNNALSDrXRbMu4d0AbgI/rMEL78yqtekkjMxYi2YX5TmeewE7SFwZIyDyXywbiYv1NaVzm12KCNKvxmRVTYYfC2wUhnFVw0tjGScTWNxlwyh6kMmplshCxt3OkoPAWfquMjAJGbn/1pznqZ/rhsXstzP4Ty7VAcqEEVXj9Hur00Ji2mIJiBqiDkvNXSkBW9Du5GyIvqfWeZhSyyv+WLJ/hBkz+V+NrZrqfsmlWaHQzHrBsfkmrm+kFmllLglsQM35qV2YvDFyVWaLTqMKfDvSCfX6gsESLIhNXdmQs4JqdaK3TwrmKPHNl/3U1Hz3LJXtp3WMmh7YhMPP7O9KUkIXVuNWYK/YWVAfx5Md2vs8zxnAdv3CtgCHNauFXlwG7D/uTbkmY85iMc5tMyr1HbeAZN+qlFF/Ndd+ivPqStucqbTuT5iYMAD0wYH6ebRhddrC4cefecHa1akZjW5QN7S3aj0Mt8mX3Wa0iXplrBIGdVhzgOHyOCvvH2p+69IGGWhrvTts1IE+KPy83DAPAeIm9IQW5VyWIEEi+U53rMlTXpnlK54WZYB8b7PjLP2ctbx1eCh9CDf/vzxCPxFWENkwOZf575vITvjTJIsMKyl9ilsgDRXsY5hfCCtq+wOmRBub6BlP02lrEyXnLp6pOhKlL9Fi70ua6L6dXDibO0//ne+nmrTY26GuE7xKlPYadhxLuyi3C94+hYoakP7upJJCV2A+5vZJqx39q2kbYvmm+qGOUKhZCDe4pUtQl8WPlGeUW7oQv39Y9aFQVImQaua/D7QvpoKL8NW5Yt4Rc4CL5IIP7J52BUQWOru5pp+NoxA5Jg8Snuj/SgGlH9bbpc1WSaSsVR7NqelUfIHNkuQIYQM3GUVCYQM92z20nuwih1qlMnQl5WJmt8P5KD8a3UR6Ru2ta7xNyXIgYEGsAwLJSn+MXV8X2Oh9FSC/8alhhjggtdFKOw9dIlm5D5ztAT4AFFg/g+0dm8RXrOMiO0GqU8oxPiXHjEu3d137dlROtwXM5AO8UX4FaSRiFKRYHv7iagyGWbVpDzXv7HW5WFG10r7rQWkDJrcwgsw2Kjv8fyMI9lnW4QgFPs8PI3HFU4M/mHKWAWeXEtYpuPs7gZAstu0LrTGpfjGSY0EGZysgphaSozftUjdHVEtuFyChj7qBewqIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TJqGtmPos7y2PPKS5hNCzG",
      "input": {
        "note": "The arm only crept ~1.5 cm toward the last target; it seems to track slowly from this awkward pose. Re-sending a retracted target with neutral pitch to bring the gripper back over the cable region.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.16,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01TJqGtmPos7y2PPKS5hNCzG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.4603, -0.0227, -0.0502, 0.9993, 0.717, 1.2102, 0.503, 0.0738, 0.4622, 0.2493, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1522 left_yaw=0.0053 left_pitch=-0.127 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3028 right_y=0.1642 right_z=0.1105 right_yaw=0.1991 right_pitch=0.0084 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 6.9949, 1.7265, -0.0464, -0.0611, -0.0122, 0.0889, -4.4513, 9.9624, 1.6923, 0.2808, 0.149, -0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae85e4182c2283144c771a6fb3d23a8e3f7b275e0d967786ada68f53980ad30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40318077f77c7338d5322640e5cf0de6241530aca701c0c69a57aac1fb720a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ebe33ad893c1eb01bbce5d447afa706215e9432cfddc4f38a0f814b2f8559996",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 11.47 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, 0.8383, 0.6075, -0.4507, -0.0227, -0.0498, 0.9993, 0.3134, 1.5936, 0.5583, 0.712, 0.1951, 0.0235, 0.9982]\nstate[eef_state]: left_x=0.2875 left_y=0.002 left_z=0.1554 left_yaw=0.0051 left_pitch=-0.1121 left_roll=-0.0043 left_gripper=0.9993 right_x=0.422 right_y=0.1045 right_z=0.1187 right_yaw=0.1304 right_pitch=0.2504 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4017, 6.9812, 1.8095, -0.0366, -0.0464, -0.0122, -0.212, -6.7077, 8.335, 1.7998, 0.1929, 0.0415, -0.2027]\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, 0.8383, 0.6075, -0.453, -0.0227, -0.0498, 0.9993, 0.358, 1.5707, 0.519, 0.6876, 0.2237, 0.0326, 0.9982]\nstate[eef_state]: left_x=0.2871 left_y=0.002 left_z=0.155 left_yaw=0.0051 left_pitch=-0.1144 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4061 right_y=0.1139 right_z=0.1069 right_yaw=0.1472 right_pitch=0.2125 right_roll=-0.0403 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4564, 6.9538, 1.6337, -0.0464, -0.0659, -0.0122, -0.212, -6.1744, 5.7504, 2.1612, 0.1099, 0.0024, -0.2027]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.4603, -0.0227, -0.0502, 0.9993, 0.717, 1.2102, 0.503, 0.0738, 0.4622, 0.2493, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1522 left_yaw=0.0053 left_pitch=-0.127 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3028 right_y=0.1642 right_z=0.1105 right_yaw=0.1991 right_pitch=0.0084 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 6.9949, 1.7265, -0.0464, -0.0611, -0.0122, 0.0889, -4.4513, 9.9624, 1.6923, 0.2808, 0.149, -0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ae85e4182c2283144c771a6fb3d23a8e3f7b275e0d967786ada68f53980ad30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40318077f77c7338d5322640e5cf0de6241530aca701c0c69a57aac1fb720a73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebe33ad893c1eb01bbce5d447afa706215e9432cfddc4f38a0f814b2f8559996",
        "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_018dTyWHaaEpmtLzXRFZZ32d",
      "input": {
        "note": "In the wrist view the brick's cable runs from beside the pepper off to the right (toward −y). Moving the gripper right and forward to hover low over that cable segment so I can pinch it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.44,
          "right_y": 0.02,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018dTyWHaaEpmtLzXRFZZ32d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.849, 0.6071, -0.4686, -0.0227, -0.0498, 0.9993, -0.0223, 1.8057, 0.5053, 0.8341, -0.1421, -0.1211, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.149 left_yaw=0.0052 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4242 right_y=0.0191 right_z=0.0387 right_yaw=0.1631 right_pitch=0.1059 right_roll=-0.0357 right_gripper=0.9982\nstate[joint_eff]: [-0.0205, -1.8393, 6.9538, 1.746, -0.0708, -0.0366, -0.0122, -0.1299, -7.5829, 5.9009, 2.1026, -0.1587, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab3f6d31ddb63dff1093268b300ddca3086c3ff29ac41ba97006d57c9c72aa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7947482a1cfef7114739d6f807edb087d6d3ccd95e7e76268fa3d4432db46f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1afd19540f6c87a5f38195d64244f48d5645e531d02e3660e6b27a7692655afc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 7.876 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, 0.8383, 0.6075, -0.453, -0.0227, -0.0498, 0.9993, 0.358, 1.5707, 0.519, 0.6876, 0.2237, 0.0326, 0.9982]\nstate[eef_state]: left_x=0.2871 left_y=0.002 left_z=0.155 left_yaw=0.0051 left_pitch=-0.1144 left_roll=-0.0042 left_gripper=0.9993 right_x=0.4061 right_y=0.1139 right_z=0.1069 right_yaw=0.1472 right_pitch=0.2125 right_roll=-0.0403 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.4564, 6.9538, 1.6337, -0.0464, -0.0659, -0.0122, -0.212, -6.1744, 5.7504, 2.1612, 0.1099, 0.0024, -0.2027]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.4603, -0.0227, -0.0502, 0.9993, 0.717, 1.2102, 0.503, 0.0738, 0.4622, 0.2493, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1522 left_yaw=0.0053 left_pitch=-0.127 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3028 right_y=0.1642 right_z=0.1105 right_yaw=0.1991 right_pitch=0.0084 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 6.9949, 1.7265, -0.0464, -0.0611, -0.0122, 0.0889, -4.4513, 9.9624, 1.6923, 0.2808, 0.149, -0.2027]\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 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.849, 0.6071, -0.4686, -0.0227, -0.0498, 0.9993, -0.0223, 1.8057, 0.5053, 0.8341, -0.1421, -0.1211, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.149 left_yaw=0.0052 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4242 right_y=0.0191 right_z=0.0387 right_yaw=0.1631 right_pitch=0.1059 right_roll=-0.0357 right_gripper=0.9982\nstate[joint_eff]: [-0.0205, -1.8393, 6.9538, 1.746, -0.0708, -0.0366, -0.0122, -0.1299, -7.5829, 5.9009, 2.1026, -0.1587, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab3f6d31ddb63dff1093268b300ddca3086c3ff29ac41ba97006d57c9c72aa91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7947482a1cfef7114739d6f807edb087d6d3ccd95e7e76268fa3d4432db46f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 229):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1afd19540f6c87a5f38195d64244f48d5645e531d02e3660e6b27a7692655afc",
        "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_01HjoytCniVjz5HNw2meYPgc",
      "input": {
        "note": "The wrist view shows the cable with a connector end lying ~6 cm right of the jaw column and a few cm beyond the tips. Descending onto the connector end to pinch it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.2,
          "right_x": 0.475,
          "right_y": -0.035,
          "right_z": -0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HjoytCniVjz5HNw2meYPgc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8547, 0.6071, -0.4694, -0.0227, -0.0498, 0.9993, -0.1795, 2.1674, 0.6762, 1.0885, -0.2916, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1473 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4701 right_y=-0.03 right_z=-0.0026 right_yaw=0.1572 right_pitch=0.1827 right_roll=-0.0281 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.935, 6.9128, 1.6337, -0.0757, -0.0806, -0.0122, -0.4308, -8.6632, 3.3299, 1.3797, 0.2027, -0.0659, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0cb2998e668ea5bafa0ba302b741d4c220a4f30499e6d014a6dfbe3642b12f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c40d092f437d9990afdeffa1d64f5e8769d0a45d5260a047ca9d52e2b6478d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac75b636ee2a824f2b4683bcc3e7e069ce7a60dcabe4f6b59b72d17768841a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 8.274 s

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

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8436, 0.6075, -0.4603, -0.0227, -0.0502, 0.9993, 0.717, 1.2102, 0.503, 0.0738, 0.4622, 0.2493, 0.9982]\nstate[eef_state]: left_x=0.2862 left_y=0.002 left_z=0.1522 left_yaw=0.0053 left_pitch=-0.127 left_roll=-0.0042 left_gripper=0.9993 right_x=0.3028 right_y=0.1642 right_z=0.1105 right_yaw=0.1991 right_pitch=0.0084 right_roll=-0.0477 right_gripper=0.9982\nstate[joint_eff]: [-0.0068, -1.4564, 6.9949, 1.7265, -0.0464, -0.0611, -0.0122, 0.0889, -4.4513, 9.9624, 1.6923, 0.2808, 0.149, -0.2027]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.849, 0.6071, -0.4686, -0.0227, -0.0498, 0.9993, -0.0223, 1.8057, 0.5053, 0.8341, -0.1421, -0.1211, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.149 left_yaw=0.0052 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4242 right_y=0.0191 right_z=0.0387 right_yaw=0.1631 right_pitch=0.1059 right_roll=-0.0357 right_gripper=0.9982\nstate[joint_eff]: [-0.0205, -1.8393, 6.9538, 1.746, -0.0708, -0.0366, -0.0122, -0.1299, -7.5829, 5.9009, 2.1026, -0.1587, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8547, 0.6071, -0.4694, -0.0227, -0.0498, 0.9993, -0.1795, 2.1674, 0.6762, 1.0885, -0.2916, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1473 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4701 right_y=-0.03 right_z=-0.0026 right_yaw=0.1572 right_pitch=0.1827 right_roll=-0.0281 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.935, 6.9128, 1.6337, -0.0757, -0.0806, -0.0122, -0.4308, -8.6632, 3.3299, 1.3797, 0.2027, -0.0659, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0cb2998e668ea5bafa0ba302b741d4c220a4f30499e6d014a6dfbe3642b12f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2c40d092f437d9990afdeffa1d64f5e8769d0a45d5260a047ca9d52e2b6478d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac75b636ee2a824f2b4683bcc3e7e069ce7a60dcabe4f6b59b72d17768841a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQSwwkKEAgRGAI4AUIIdGhpbmtpbmcSDIE7iYVCBeS2cjz2nRoMwSLXiLZUUX3B6UCzIjC2e2uuDT8/jC8ZsDpEJU1QOMzMaRJlD54iQ3BtnFygj58Pc4y9KHvO1rv5xzA3xIEq4AgMm7AjUOGlRWUA7wOrBnakZsN+64hlSOgzmRRmtWSfUAujTNEGbNAVxQ6wctjiLILt0aEznfXRqdHoUWHJD3pOfZhjyTpVzklIWzRITBhSSehMbS8HvkSCrtoBYDUIv3uBTCitKE/KWgPhFV4ZSUEd2YX2JlHQQP+xgFCKqRXiSK00TawbnuuEadNniB0K9s3yU34rVG1KTKfcckU3tosWe+LCTdltRVtRWEu/fiTgxSb/VpjEOpyOz1AnRyEoRpLS0si4iiQbtrpFqXPsyj7hoWUZqC7d186r8M9OBKz0i5kmp6mXTIyw9G9NjO+AMD+WLyNf9CHpYtHJSG+OCS5Dn/C0A1bHuUCTUqXYU6Frouf/FdJyB8CzBvoVatwf5lp5voGBGlvFITmJpabIaNQu9sM+pMQvV30KayuIdxNMq2MOHYCauSoDf3PchkBM6ZWsHueE9B9PVETsLECoFSRD60n7d5h4OYq3L7kVcyVEqAovwjGZ2fS6ANOVeTPU0b78mCfkhRZ7+JGtye8wBXOe8xOVj2Ktlh1yQ9Qimcl6gNBbO59H3dxQHWpGIv98EsCvZI/TDG9A6AC9vNJgJbkDGpOE7xZMNYy2LCtsASAvmsUg8GP4wovf2OjUz6JYPo0S6s0ZBjxBBXt+GL12cdzHXG0QuCVSawl1DWl/7kp6ETzFBfpDSDA2T63zhDx75R7jtZUw1Wy4BfEbIvnHefIZsbmJpYufk6dY29pbrvzVCVDg/aWeFBtvk3DPZejCvX9DTDtEK38xsUBhYvoBRStR3AbHJS+L7OAHC7p3P+PwlaDsRDI6eh2l1I+DAl48on7tRpx5mBI98gYUHirc2CNKpn4/RfM7+mGRLuth25a6t/7xZtgWfK0fJKFhcQQYyLDlOlPH2HAY1eGuzdtBxnPaITRAWuCoa8z7lo56lxYWZbiIbXsXposJPkN5MFwLulb4YKF2rXhBk7CZxmDziXXneHdReTocUKdaUyjgGs7SreSmOboAtJeN0y0lzkztnaQRgJft/PvwBJD9Gt1aJ5hRWGNuXjR+v1OpK69FEDpyi74dYO8bBnf17+CHY3ZV9bLOjVPNpu5RlML/G254uKZJREMCxBthtxMDhy1RhKd1JF9i3OoJsulx3HdhBwCzcxqyh5yhbCPfIQw64KiMQTDDv6OOVlqhzyblD0Q4KvdqZdgDrUE20Zq5cF77UPBAzpUZxcn1CJ3U86lXhH419LOdxXcS50BgM+lhJytpjFU6CyoQ1Cixq0zha10S4Gv5K41CTXj/vNAR0kWpjLtg3iWzcPhkjqEAY2nrAQ8GmRHkF4DKtNrSapE/FbiUbMZb5w/Cwoxaq3ZxZsO9EMVYCBer8P08+kvmqgQp3DGh0r7yqrNY30qUT2BjaWXMMRo5MYhgjGE15nAIgggTj28E7xBchQd+J+OUSLgNKdH1Wm1bFn37TaEUVHoMklPMy/0dwhopA+mWKWGwi46T80QRmGIJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LBFtQrKtZyrB8JPmaW8jBJ",
      "input": {
        "note": "The connector end is on the jaw column but ~3 cm beyond the fingertips. Advancing forward with the tool pitched forward so the jaws straddle it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.5,
          "right_y": -0.03,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LBFtQrKtZyrB8JPmaW8jBJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1619, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1574 right_pitch=0.202 right_roll=-0.0299 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -1.4564, 6.9128, 1.5604, -0.0806, -0.0708, -0.0122, -0.2393, -8.4444, 3.6991, 1.873, -0.1197, -0.1392, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3bdc53bdac4dac6656c4bad35b555a7c3184eabdb4bb57785d0ff8d1f4a226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4500c4242e8067d921278b16525e1a112efe8f04062ea064e8445032ee1a9880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28e23143371fae673e760ec9d742ece55e7db3c76ced7a95ebd38118d6ea62b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 6.141 s

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

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.849, 0.6071, -0.4686, -0.0227, -0.0498, 0.9993, -0.0223, 1.8057, 0.5053, 0.8341, -0.1421, -0.1211, 0.9982]\nstate[eef_state]: left_x=0.285 left_y=0.002 left_z=0.149 left_yaw=0.0052 left_pitch=-0.1411 left_roll=-0.0036 left_gripper=0.9993 right_x=0.4242 right_y=0.0191 right_z=0.0387 right_yaw=0.1631 right_pitch=0.1059 right_roll=-0.0357 right_gripper=0.9982\nstate[joint_eff]: [-0.0205, -1.8393, 6.9538, 1.746, -0.0708, -0.0366, -0.0122, -0.1299, -7.5829, 5.9009, 2.1026, -0.1587, -0.0317, -0.1978]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8547, 0.6071, -0.4694, -0.0227, -0.0498, 0.9993, -0.1795, 2.1674, 0.6762, 1.0885, -0.2916, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1473 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4701 right_y=-0.03 right_z=-0.0026 right_yaw=0.1572 right_pitch=0.1827 right_roll=-0.0281 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.935, 6.9128, 1.6337, -0.0757, -0.0806, -0.0122, -0.4308, -8.6632, 3.3299, 1.3797, 0.2027, -0.0659, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1619, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1574 right_pitch=0.202 right_roll=-0.0299 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -1.4564, 6.9128, 1.5604, -0.0806, -0.0708, -0.0122, -0.2393, -8.4444, 3.6991, 1.873, -0.1197, -0.1392, -0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f3bdc53bdac4dac6656c4bad35b555a7c3184eabdb4bb57785d0ff8d1f4a226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4500c4242e8067d921278b16525e1a112efe8f04062ea064e8445032ee1a9880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28e23143371fae673e760ec9d742ece55e7db3c76ced7a95ebd38118d6ea62b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS0gkKEAgRGAI4AUIIdGhpbmtpbmcSDGUk+9jU++b3/hPiPBoM8V7iSHizyx5zM1D2IjCUdM99of2N9SrhJJOJngByCVwzQSrYbsWARuBAGLxbyjlsA1/+ydr8JH6yadz00LAq7wg1wbEihZSX7om0Rax8pEDjnw0NgV8VH4HcJV5jVOutu56Gd2aqshQM0XNsqImZ19To7suF4TughLZjHMOBDgBIvr5ZHy+csvnWYu3G7c9gTsU5J+086hsbb4ITWDpUNKI7dEv0GEwf7Bl0gWvto/G4neLG3iLeqcPheyUK3qRs8nQEtVz6J1xMcx6QmiFwIS5ckPZzTmhfl1eMmIGxkC6lZd3JCUz6Fvn+y1qUcIDftVL6J/QuWsbjiqIR42SMkbpxfoNrQe7LjblpxCFQYS6RILZEwmEeT61/XSxDsbUx8jSAyFS968Tadc6qQE4bvAc76yJaJzz70mxqW6rURH1iJnx1Fv4T1sHArW1IwgY0Drti0xKuiXXReMZvJvXQ0/LkyTMQyYERtZUzR6FZGZuNGp2ez10RJ0s/4FcENf2oPvXrYGHzluSsTUCEJYb+gf4j0Suj/UlrPmPVVETYF2w2f2AC61LsclH8NuoZZpXydgeqsoz0M8NmPVw29Cvz5gCo3ytBJLV84wwrKKrnj4JVBeRHS0KSEKMf1r5fHyXLjCOV7g9ZFWqcdF9ff7O6mEOEKK5N7SzZpu66+bEN9tIFO/fD8JBdqHfr6KN9xCTMqHBTtypUju2OOjTd9W+zWhLk7+gvPc6iuIS/L/p6AyNFEIOXcwJvNQiNrcR7n3+IT4i3A8nKpABDIPQK5mBFuofzz3J0+OdcEEcGjXcxO90HXprmJZShrISsIk2rOa2/1o3UXG8aAHCzG6igpumqxBO6bi93XPFqYkloIfq/12pVwdcvvUcj6YK1g7sdxQ0tdd6hJybiFq6lNTrNyofD/CfW1LI/oPodLs20hEdlgiR35lDd0HHNFGYBt0sw/GthkuOIiOzSFlBKl6tBEc8wxe10mTtoMLFy/+CswCdFW5WINMhUr2G2jO5USqxdFAJ9DpaNnmGjhf1zDTfrXCqR/ZZdd5ot7fIE7fl307ej/x+QcTTxSep6/ZjElxJctHvDDnNybCuPUsK12NVIUKmRM2XmSLrqAweZQgQRQhN9q/05kWoVNvLDE22+V5PyoGJWz9HpMEnv5Ih8vvbpFKnH//ahOC6wGxpFa46Hd1Rohc40cM+M1J8csHgJRpwBATEh2inbxmuhZd5ylshi7X+o4doSfTURZt7lOrK7cLSUIw/8EDTSdLrnzNh+etYw+kkey1GzqDeJ2R4R5Dl+dqHlQWpzMVxJFDFsdytCt7fKrbHUvAUCwPqYtVVj+Go3seZ+mFqsJjKuIr3jQ1xcbcE00E2eTssIkgNgesI65/rvBkq/klDOXKPsu6SBaZXXAPml2QjUxGkiEZOBBqWmmtE8SOV9YmlyxbMddPnpGIgVsQjP+D+GeGPegUcMLbyXx9xX+WfwAD6J8rD7ojUJtVHSbCH9FKNWA31W57snrQqjTGvA1F7hbhHzIQoxvr/p4NjnZYuEGYQWEOrx/Y7pVohVNIg2cipVFgVaMe/i5gX2oQyzbR/nrD9dkdtJvACU46JKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JndZPNhzYgqWT16xgaTfW",
      "input": {
        "note": "Forward moves at table level stall because the fingertips drag on the table. Lifting 3 cm while advancing so the jaws can get over the connector, then I'll descend.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.3,
          "right_x": 0.505,
          "right_y": -0.03,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019JndZPNhzYgqWT16xgaTfW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0502, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0054 left_pitch=-0.1476 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1572 right_pitch=0.202 right_roll=-0.0296 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.388, 6.9538, 1.5946, -0.0513, -0.0757, -0.0122, -0.2393, -8.2803, 3.7128, 1.8828, -0.1294, -0.1197, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c577fa2790549d719e11172d6fab1fc904fe1823fd757db1186c5e2ae23a098e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da8b528010bea63f78dc9553e51301a72db1623847a5ed5d7ef95b983f11934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c682cdf83c8b1f662935571d2e2f268a8f583b180460d98bce65996669be9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.315 s

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

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8547, 0.6071, -0.4694, -0.0227, -0.0498, 0.9993, -0.1795, 2.1674, 0.6762, 1.0885, -0.2916, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1473 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4701 right_y=-0.03 right_z=-0.0026 right_yaw=0.1572 right_pitch=0.1827 right_roll=-0.0281 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.935, 6.9128, 1.6337, -0.0757, -0.0806, -0.0122, -0.4308, -8.6632, 3.3299, 1.3797, 0.2027, -0.0659, -0.2027]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1619, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1574 right_pitch=0.202 right_roll=-0.0299 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -1.4564, 6.9128, 1.5604, -0.0806, -0.0708, -0.0122, -0.2393, -8.4444, 3.6991, 1.873, -0.1197, -0.1392, -0.2027]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0502, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0054 left_pitch=-0.1476 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1572 right_pitch=0.202 right_roll=-0.0296 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.388, 6.9538, 1.5946, -0.0513, -0.0757, -0.0122, -0.2393, -8.2803, 3.7128, 1.8828, -0.1294, -0.1197, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c577fa2790549d719e11172d6fab1fc904fe1823fd757db1186c5e2ae23a098e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8da8b528010bea63f78dc9553e51301a72db1623847a5ed5d7ef95b983f11934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c682cdf83c8b1f662935571d2e2f268a8f583b180460d98bce65996669be9dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS7QcKEAgRGAI4AUIIdGhpbmtpbmcSDMPJ78ajku7DPBY/zhoMisr3V90leg3UbsQ6IjCUAIrVPoCCPo/puNoYZaD+1umIu7pXPgBfenzKrRc1xqqehWNuytRmfy9Jj7L2L0EqigcxFyofNwcpADdiDMUWpZMBGC0ONKHoCMBe1955E4iPLT6+53gsVg2c0BgCBAa9r9MB3BfihvYuVysPvD6HlVDlCn5PFXFeijn7gPxbe/+GQW8ld5xCfS0ruZ29ozvRO6+0We9y8OGtFOtkhmMhHqqehyiLfYbmKIx/SrzAj3B2OdaspcXpP/O99GqBRHm5pfb+ghzi1kJsraMpXl1nnyrH8R6WSqiBfSLNcpZHUrJ10Dc+Iqn3tJLmHNHfdrQpJfR5/spg91xqXLQL2PwXtDnLsYiXaqq8bUhO+FW2bRJK/ZrXE/O31uqMVV7tVAm7UerfntdADIDyA0iqvsS1WWe5EsNgKhWLNRo/ejNch8emICd/f+n7TDGlLAELXaDy4K58CGyEf04kmzMO+TEu0Z2Jap/SJcsk2C7BQRZ1UIPvZUIOWVPdmErXj/ercpUDCwlIPR9SMqVLnP2K9vX0iXektasifGkZLmfi9qGgUb26XwbntnLu75J8sh08tzeP6QYrzKA4qiGmC0OLz/6rh8Nj+3jwiraFqTPzerGJiKqOBcjvFGxkfQ0np77a5+9DhkoS53s8AMan3rvL/hq6z/iI5zXfJH4jFBcJHC8wlS/tgC4aS8dJEnQXkK12luyjAcnk0gdm6fSYQcVszR0a5baoUUgUJMKX+tTjvjN4RuUhdvff9/+aK8jk7GiVg6/qBDjPUcRu35Suouso9kzaBAnKZPZq05Un+rW+ihiUZSlIFyKKNkpbhixeJA/rAMqcJWGnhlYbX2Jq1oyWgSfbERmM3TK0pAB8uNulTJ1YI88tWKj+jODE3QXPmqA/e32A+yJZmdbPVnJmGpNgxaOUyjIOgD0HSLuBIp6cB3JKFYkiBNk3doKtC7olmlvzPgcxZuLFt55ohj63oPJ3BNOohNnlWdpYHV2dy8NdvxYjzdRpHUk8EKVYVthFB6XjYrX19U7ceaORSvSV7uXs4m1PXvadt0NBs+L8BpgY5lrfJwONAm5CWBsGAd8ru12nWddOFzdmeMaLGbAz2s/JIsgHLgnQgMetkX6LhZ6pQzRXvXjPiXxwQsYvwQFz2RkgV80wZw5KzxOI2ti1xTsJQglBMqW7gmQcGvQKOiV7aKtMuYm69y+muPZPWbQwHfhVcmc0lQ0QLOZgjp/FO8Hh+2jei3zsA4XJSneIuU5uPZsYTStG3fuOQZAa7xeZjdwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WVZMZzbFWpctBCN3uQXLN7",
      "input": {
        "note": "The arm didn't move at all, so the last target was likely unreachable and held. Sending a closer target with more forward pitch to extend the fingertips over the connector.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.45,
          "right_x": 0.49,
          "right_y": -0.03,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01WVZMZzbFWpctBCN3uQXLN7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8566, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1867, 2.3436, 0.709, 1.4528, -0.305, -0.0933, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.147 left_yaw=0.0052 left_pitch=-0.1483 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4856 right_y=-0.0341 right_z=0.0098 right_yaw=0.1448 right_pitch=0.3941 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.6342, 7.1043, 1.5995, -0.0611, -0.0464, -0.0122, 0.6496, -8.4991, 4.2051, 2.0977, -0.1245, 0.1148, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8b0744a1bf47ee790e75085cc9cf6746b2f50a3f96e3207a630d1edc969c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb10908ba34277e4a21384c78f48d54f90fb50c288e3ea677e9e0757d75babf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6fb97bf7d1c9ede06737752b89176963e3aa4cb5b777970d596502b82d8c9b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 7.168 s

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

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1619, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0052 left_pitch=-0.1476 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1574 right_pitch=0.202 right_roll=-0.0299 right_gripper=0.9982\nstate[joint_eff]: [-0.1162, -1.4564, 6.9128, 1.5604, -0.0806, -0.0708, -0.0122, -0.2393, -8.4444, 3.6991, 1.873, -0.1197, -0.1392, -0.2027]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0502, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0054 left_pitch=-0.1476 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1572 right_pitch=0.202 right_roll=-0.0296 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.388, 6.9538, 1.5946, -0.0513, -0.0757, -0.0122, -0.2393, -8.2803, 3.7128, 1.8828, -0.1294, -0.1197, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8566, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1867, 2.3436, 0.709, 1.4528, -0.305, -0.0933, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.147 left_yaw=0.0052 left_pitch=-0.1483 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4856 right_y=-0.0341 right_z=0.0098 right_yaw=0.1448 right_pitch=0.3941 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.6342, 7.1043, 1.5995, -0.0611, -0.0464, -0.0122, 0.6496, -8.4991, 4.2051, 2.0977, -0.1245, 0.1148, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8b0744a1bf47ee790e75085cc9cf6746b2f50a3f96e3207a630d1edc969c6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb10908ba34277e4a21384c78f48d54f90fb50c288e3ea677e9e0757d75babf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fb97bf7d1c9ede06737752b89176963e3aa4cb5b777970d596502b82d8c9b00",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS8wYKEAgRGAI4AUIIdGhpbmtpbmcSDKVSaaLNm+9XbeIWThoMnHAzdlvVp3NDYR9YIjCVex377pJJcZ6ukOpta0mciQA+sFRXc7jnE2M4AHdU3QEE4KsXfZnbo/tynQBNHD4qkAYRtpEbneEC46IKx0m/eX9x8d2L2/L2bYZszd0z/xs2G5RO7pQRmuf56C6MpZFcAO0Ao2Rc/Fd/XqMt++ebqz0CKRFy1rTc17T1ozoGwJ6QGZ6Ke3EByMqA+YI/a+V+W+8BXuz1B6PShlkcXexVnFFOHYWDvJQxr2TFJ3qAlkzpZjIs1OsoourolcNo6yXmivPWKB6DkF8ILAmt4/Oea6/OHCRwdJzfx+7kUXfLe3m3L4jdlnb5H+a0LEhzbENUFyIfU4ksPylf/4SM5SEhj5TdTaiLFJuDJ8nXue9v0xl3y8Xam4E4on+uNnql9UPFSQ3/Rvi3g7UiEskMUPAGtM0sl3DEeSM3ilXS9wwlTxDJAHNYARXu+23hD0d3SnTBZlzCJKE69C+dF01dzf/iuYs4hN9XYoPslo8Um3Xf04Mx9dS/INs6vIwxq3bMQZX4kvZAyDPo9ytNwLSWtlv0Lw9QaNLz17Tys4UP/I/6bQCATVBjjZJ7wD+zaw2o75bRhoCg18jyBAwu1Y5QJeosjrPBAcNJWe2zMhmidR8+Vq0T00T/kRGMDGidgWHPY69NU+zQxahtaA/0DUoBt/YaVO7Uc6E+F69xMJ7qDOmJkUwX1tcfZWsTtu4XGkifArRI238uASDl+IXYhGD3mEKR2SkrRjt5K9JLNkKZgc9Yq5ZpuO2glygw9kV9NpuAukpmdODmt6FbJEZzctHL+Q3zeAJc3wSxjH4X5IoDgv0Dp1ck74+CDdSkkqCtR3b6sRvoNez9Gj4xtyZyjIXjCgU4QRuqgOacGDxsHhUTHeyYABhXi6jtwNQxqkiISN0/sV4LpOWEqlX7qHMgCTbF5AIZiUpj5gG+r3pPW0eTK5epU/L/7GyuV0GNbte/c8XNvyq2p/frGnYehbcPKatDAuq2UMINN61IFowLjjhtqOzn7FbYhs13ArFJ/3TZeg2KzFkCrRWLwRJrV+q0R127sgvhbsrVVJUxUwnY4wzW7o0Wm6fi8+X1E3OsQGE0yOEUlItX2UkH5odG0BpM8rjB2OpfOxFwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQjUFGU3kRUyQ3gxt4tP1R",
      "input": {
        "note": "The cable's connector end now lies between the open jaws on the jaw column. Closing to pinch it so I can pull the brick closer via the cable.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QQjUFGU3kRUyQ3gxt4tP1R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.857, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1852, 2.3474, 0.7067, 1.4628, -0.3054, -0.0967, 0.0102]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1469 left_yaw=0.0052 left_pitch=-0.1487 left_roll=-0.0034 left_gripper=0.9993 right_x=0.485 right_y=-0.0332 right_z=0.0097 right_yaw=0.1492 right_pitch=0.3976 right_roll=-0.0362 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6142, -0.0464, -0.0415, -0.0122, -0.212, -10.1128, 2.865, 1.8046, -0.0562, -0.0073, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdd15af08f8f6ace990f396bd09be5c4c951e53020f45e92d9eaee8e09bd14b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b9e5b5beef8f749c88541de1134a7817d80984518beafeb9311ca1b769c523f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfea5a3ca65927a560a040d24f6a8b9d5a38635515db7117d9bc239cd3a4b721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 15.77 s

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

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8558, 0.6071, -0.4683, -0.0227, -0.0502, 0.9993, -0.1921, 2.1891, 0.693, 1.1122, -0.305, -0.1616, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1472 left_yaw=0.0054 left_pitch=-0.1476 left_roll=-0.0037 left_gripper=0.9993 right_x=0.4747 right_y=-0.0346 right_z=-0.0019 right_yaw=0.1572 right_pitch=0.202 right_roll=-0.0296 right_gripper=0.9982\nstate[joint_eff]: [-0.0889, -1.388, 6.9538, 1.5946, -0.0513, -0.0757, -0.0122, -0.2393, -8.2803, 3.7128, 1.8828, -0.1294, -0.1197, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 97 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8566, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1867, 2.3436, 0.709, 1.4528, -0.305, -0.0933, 0.9982]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.147 left_yaw=0.0052 left_pitch=-0.1483 left_roll=-0.0034 left_gripper=0.9993 right_x=0.4856 right_y=-0.0341 right_z=0.0098 right_yaw=0.1448 right_pitch=0.3941 right_roll=-0.0312 right_gripper=0.9982\nstate[joint_eff]: [-0.1709, -1.6342, 7.1043, 1.5995, -0.0611, -0.0464, -0.0122, 0.6496, -8.4991, 4.2051, 2.0977, -0.1245, 0.1148, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 100 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.857, 0.6071, -0.4683, -0.0227, -0.0498, 0.9993, -0.1852, 2.3474, 0.7067, 1.4628, -0.3054, -0.0967, 0.0102]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1469 left_yaw=0.0052 left_pitch=-0.1487 left_roll=-0.0034 left_gripper=0.9993 right_x=0.485 right_y=-0.0332 right_z=0.0097 right_yaw=0.1492 right_pitch=0.3976 right_roll=-0.0362 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -1.4564, 7.1043, 1.6142, -0.0464, -0.0415, -0.0122, -0.212, -10.1128, 2.865, 1.8046, -0.0562, -0.0073, 0.7741]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdd15af08f8f6ace990f396bd09be5c4c951e53020f45e92d9eaee8e09bd14b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b9e5b5beef8f749c88541de1134a7817d80984518beafeb9311ca1b769c523f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfea5a3ca65927a560a040d24f6a8b9d5a38635515db7117d9bc239cd3a4b721",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAQS3AkKEAgRGAI4AUIIdGhpbmtpbmcSDB0a3rPCiyx/6/ItrxoMVlvMhT4Qmnh96IbnIjBlISv7KB981BXyyIxXyGkxQe/RdmpBZrdyC/FtNO7Asti4uuFFab95II0igjKjezkq+QiK69o48v5GZKZEsv4uobospAU48b5ziMYj4xFcK3r7x71nV23NJ5+aGOPd3kPK3sVDynxOB6oYnzoNVvZLLMCgjuWFG+NG97dA7axiht9rwpgHN2E1V6aUgZ2ZKHh7yAm3WKbPSX7rieW7rhrTiS+iEDgVJDj7qOE33aQZgOYnjYGQ+mcinJI11JrgRDLHzSzC8AQKl1iKumFTHWNnt32ijLGpufXvA8mGurvOn96znfP9jwW7iu5U59t1bZW6NOlqo1th/RBgiVqQFEckt7LgaoF7jl2Y7m2pPyr2ngZKu0khZl7L4rcnO6MP7y/jX0ZDD/n9JoJbNmDuppur2ZYrPMbnhaBTjgPa0e8dd4X/k/hnGPjh9xBK3Ub2HwtXzIRNR+WyYa3CAJP1umv77+xxmPlxHaQLUAHIgLT/0EH66iy+j66+YutZVe23v42pHtTFN9TGr3VMLkWZXfyOXnc2En608zrzl1LHhGmbikUcn/3UswIpcwPKFV4up3FEGt9oDyB1oAPLa/o+jp30yvWDXAKStbnQGOXTDTgBUexiYEI5cR1OCeQzebIVtYGJBLfzZJIHBVI3B58URUZGI1crW3VCTLgIkhZA+3REEZKex06ZiZZjvIEdjbUNmbTvC/SDWmGWU7g1eSG+J6vQGiiweBvwMBkp9/y3u0V+qrWIOb+8ngQEt82EtIzhToAolXF3v2uZ7YYjpfg7lrvEVI2miaM0nsf2f4u/78bFKutrCr+yeXbAoSFfbAsDlXTqzQLpn5w8YHocSdNyxuOjoOXD/r5/sZPsxVaulHQqZCxPU8DleqWeM+gxuS1v7q8u7s/GgQXo/OD+XYVp5bly6achDrO8phgKwhhSrQr9dSswCAWFSbAg/2hJcAuVrvJaywnPJODL1A+MlK3RqroyJVyLYcPBO3jzX4yGTmFgq8IECy6HeX0vH1JSzQE0Ar9pp8yjptC4/DV1nrpIXp7wEH8yrk/1y9EhpQ8Unkc7ZfRpVtYBQaWMgkMJYKcaJSeef9th31PA/7SVzZglkzyCpZLtY25p979LDuOFKxZE61LR66KQ+Wp8X2qInL9/azUjGG1UCcd5e7kJJXuC6RlDrXJnbhsbrEMX2hDfztl9zllS/vZlz8nq77tpxjbpHDn0uD+mmA09aVNzje2RArYMjCoa7hhfuTUOo7cSlCvxhvEepL4pTMVYU/Yk11MSjBT7YfCqACUVceQZftmgIq36v5ibXI37igEXDOZZqsJDiwUq4D8hX2vIDWZdc4sdMPgu7HH3ASoNQj/aUhorwuNeqxS4AQ+ydcNvy6ZChWWizefcwJ0A1eGwD4yTPSxN9rrEPoqeyFDvaGNsXK9BRwX/0u44tC7FGYaDqvTnNw2cAYA+1tq704eNNC8tdQYVuQaIM7Uc7li3iXG3JTzD5h+tgb4Bf9LHytqEkX0+4P7s3/+n7+/ofVqMz5tyJJRU15tbXxdehVX3YgYk5b7vwWTmVAlhYvFoauZyXzG5Wb9d5dEheDLdvrVYeq14wxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128QMtSdAKedLvYu4Rppdne",
      "input": {
        "note": "The cable appears to run into the closed jaws in the wrist view. Pulling back 15 cm toward the base to test whether the cable is held and drags the brick closer.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.2,
          "right_x": 0.33,
          "right_y": 0.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0128QMtSdAKedLvYu4Rppdne",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8612, 0.6071, -0.4675, -0.0227, -0.0502, 0.9993, -0.1493, 1.7058, 0.0952, 1.2648, -0.2665, -0.1356, 0.0078]\nstate[eef_state]: left_x=0.2856 left_y=0.002 left_z=0.146 left_yaw=0.0054 left_pitch=-0.1521 left_roll=-0.0036 left_gripper=0.9993 right_x=0.336 right_y=0.0001 right_z=0.0451 right_yaw=0.1553 right_pitch=0.2342 right_roll=-0.0305 right_gripper=0.0078\nstate[joint_eff]: [-0.1026, -1.8667, 6.9128, 1.5946, -0.0415, -0.0659, -0.0122, 0.4034, -4.0547, 3.6581, 1.7118, 0.1099, -0.1148, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7a49a6f046203d6c15c56f5fd5d70e611c849324a2ce05940d7a0b8ba156d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4152d9356a71ad6fcd023eeaec3c99b92158336a27ddd5afac36b001b5442018",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5203365190ef538c495312d15dd3b3574e6c88344c16193f3d30a2c0a18659a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]