adhoc

completed
2026-09-18T19:10:39.902666+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
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
80
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
1800
duration
859.9 s
total steps
483
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

pour the left container into the red cup, then pour the right container into the red cup

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
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 80 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: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
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 80 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: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start with the left arm: approach the left white bottle from above with the gripper open, then check the wrist view.
agent noteThe left white bottle sits straight ahead of the left arm in the wrist view, about 8-10 cm beyond the fingertips. Moving the left gripper forward and slightly down to hover near the bottle's upper body.
move_to
left_x0.3700left_y0.0000left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.0257, 0.9996, -0.0322, 0.7967, 0.6106, -0.3851, -0.02, -0.033, 0.9997] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0024 right_z=0.1812 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9997 state[joint_eff]: [-0.5402, -1.4701, 9.2786, 1.7753, -0.0806, 0.0708, -0.0562, 0.5812, -1.306, 9.9897, 1.8291, -0.0464, 0.1294, -0.0415] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start with the left arm: approach the left white bottle from above with the gripper open, then check the wrist view.
move_to({"targets": {"left_x": 0.37, "left_y": 0.0, "left_z": 0.14, "left_gripper": 1.0}, "note": "The left white bottle sits straight ahead of the left arm in the wrist view, about 8-10 cm beyond the fingertips. Moving the left gripper forward and slightly down to hover near the bottle's upper body."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteThe bottle now fills the left wrist view, slightly right of the jaw column and a few cm ahead of the fingertips. Advancing ~4 cm and shifting 2 cm right so the jaws straddle the bottle body.
move_to
left_x0.4100left_y-0.0200left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0189, 1.2079, 0.5945, 0.004, -0.0223, -0.0311, 0.9996, -0.0322, 0.7986, 0.6086, -0.392, -0.0196, -0.0299, 0.9997] state[eef_state]: left_x=0.3637 left_y=0.0007 left_z=0.1258 left_yaw=0.0036 left_pitch=-0.0499 left_roll=-0.0032 left_gripper=0.9996 right_x=0.294 right_y=-0.0024 right_z=0.1784 right_yaw=-0.0022 right_pitch=-0.0107 right_roll=0.003 right_gripper=0.9997 state[joint_eff]: [-0.3214, -4.8479, 7.5829, 2.0195, -0.0855, -0.0171, -0.0562, -0.1709, -1.3744, 7.2, 1.7998, -0.0317, -0.0952, -0.0122] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.02, "left_z": 0.11, "left_gripper": 1.0}, "note": "The bottle now fills the left wrist view, slightly right of the jaw column and a few cm ahead of the fingertips. Advancing ~4 cm and shifting 2 cm right so the jaws straddle the bottle body."})
tool
executing move_to over 4 steps (0.4s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe bottle body sits centered ahead of the left jaws; the arm stopped a bit short, likely touching the bottle. Nudging forward 2 cm while closing the gripper to grasp the bottle body.
move_to
left_x0.4200left_y-0.0200left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0944, 1.457, 0.6724, 0.1078, -0.0792, -0.0795, 0.9996, -0.0322, 0.8032, 0.6083, -0.3923, -0.0196, -0.0296, 0.9997] state[eef_state]: left_x=0.3977 left_y=-0.02 left_z=0.0896 left_yaw=0.0025 left_pitch=-0.1151 left_roll=-0.004 left_gripper=0.9996 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.016 right_roll=0.0035 right_gripper=0.9997 state[joint_eff]: [-0.0068, -6.4889, 8.6359, 1.9805, -0.1392, -0.0171, -0.0562, -0.0889, -1.6615, 7.0496, 1.7851, -0.0269, -0.0562, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.02, "left_z": 0.09, "left_gripper": 0.0}, "note": "The bottle body sits centered ahead of the left jaws; the arm stopped a bit short, likely touching the bottle. Nudging forward 2 cm while closing the gripper to grasp the bottle body."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe close was empty (reading 0.008) - the bottle is still ahead of the fingertips in the wrist view. Opening and advancing another 5 cm, raising slightly to counter the sag.
move_to
left_x0.4600left_y-0.0200left_z0.1200left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0902, 1.5391, 0.7219, 0.0978, -0.0784, -0.0864, 0.0076, -0.0322, 0.8032, 0.6083, -0.3923, -0.02, -0.0296, 0.9997] state[eef_state]: left_x=0.4082 left_y=-0.0194 left_z=0.0762 left_yaw=0.0103 left_pitch=-0.1573 left_roll=-0.0056 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.0037 right_gripper=0.9997 state[joint_eff]: [0.1846, -6.1333, 8.6769, 1.7411, 0.0024, 0.0806, 0.7888, -0.212, -1.0872, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.02, "left_z": 0.12, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The close was empty (reading 0.008) - the bottle is still ahead of the fingertips in the wrist view. Opening and advancing another 5 cm, raising slightly to counter the sag."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe bottle body now fills the left wrist view between the jaws. Closing the gripper to grasp it.
move_to
left_x0.4600left_y-0.0200left_z0.1000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0883, 1.6157, 0.8268, 0.1707, -0.0792, -0.0864, 0.9988, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0299, 0.9997] state[eef_state]: left_x=0.4476 left_y=-0.022 left_z=0.1017 left_yaw=0.0118 left_pitch=-0.0566 left_roll=-0.0153 left_gripper=0.9988 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0032 right_gripper=0.9997 state[joint_eff]: [0.3624, -6.8991, 8.9504, 1.9463, -0.0611, 0.1392, -0.1343, -0.1573, -1.306, 7.0085, 1.7753, -0.0269, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.02, "left_z": 0.1, "left_gripper": 0.0}, "note": "The bottle body now fills the left wrist view between the jaws. Closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteEmpty close again; the bottle seems to have been nudged forward and its base still shows ahead of the jaws in the wrist view. Opening and advancing another 5 cm to get the body between the jaws.
move_to
left_x0.5000left_y-0.0200left_z0.1100left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0837, 1.6497, 0.8379, 0.1543, -0.0784, -0.0902, 0.0076, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0296, 0.9997] state[eef_state]: left_x=0.4478 left_y=-0.0201 left_z=0.0884 left_yaw=0.018 left_pitch=-0.0958 left_roll=-0.0148 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.0164 right_roll=0.0035 right_gripper=0.9997 state[joint_eff]: [0.1709, -6.4342, 9.2103, 1.8437, 0.0122, 0.0513, 0.7839, -0.2256, -1.2513, 7.0085, 1.7216, -0.0366, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.02, "left_z": 0.11, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Empty close again; the bottle seems to have been nudged forward and its base still shows ahead of the jaws in the wrist view. Opening and advancing another 5 cm to get the body between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe bottle body fills the wrist view with no base visible, so it should be between the jaws now. Closing to grasp.
move_to
left_x0.5000left_y-0.0200left_z0.0900left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0753, 1.7737, 0.9623, 0.1799, -0.078, -0.0975, 0.9951, -0.0322, 0.8032, 0.6083, -0.3931, -0.02, -0.0296, 0.9997] state[eef_state]: left_x=0.4842 left_y=-0.0191 left_z=0.089 left_yaw=0.0297 left_pitch=-0.07 left_roll=-0.0236 left_gripper=0.9951 right_x=0.2941 right_y=-0.0024 right_z=0.1767 right_yaw=-0.0021 right_pitch=-0.0168 right_roll=0.0037 right_gripper=0.9997 state[joint_eff]: [0.0205, -8.2256, 9.2923, 1.9609, -0.0562, 0.1978, -0.1148, -0.0752, -1.2103, 7.241, 1.7167, -0.0415, -0.0513, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.02, "left_z": 0.09, "left_gripper": 0.0}, "note": "The bottle body fills the wrist view with no base visible, so it should be between the jaws now. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteThird empty close; the bottle keeps getting nudged forward by the fingertips and is now near the far edge of the table. Opening, raising to z=0.15 and pitching the tool forward to extend reach another 5 cm.
move_to
left_x0.5400left_y-0.0200left_z0.1500left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0753, 1.8126, 0.9997, 0.144, -0.0788, -0.1081, 0.0096, -0.0322, 0.8032, 0.6083, -0.3927, -0.02, -0.0296, 0.9997] state[eef_state]: left_x=0.4884 left_y=-0.0193 left_z=0.0791 left_yaw=0.0364 left_pitch=-0.1072 left_roll=-0.0276 left_gripper=0.0096 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.0164 right_roll=0.0037 right_gripper=0.9997 state[joint_eff]: [-0.0342, -8.0889, 9.3197, 1.7949, -0.0464, 0.1099, 0.7399, -0.1846, -1.1692, 7.1726, 1.707, -0.0513, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.54, "left_y": -0.02, "left_z": 0.15, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "Third empty close; the bottle keeps getting nudged forward by the fingertips and is now near the far edge of the table. Opening, raising to z=0.15 and pitching the tool forward to extend reach another 5 cm."})
tool
executing move_to over 14 steps (1.4s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe wrist view shows the bottle's handle region filling the frame right between the jaws. Closing to grasp the bottle.
move_to
left_x0.5400left_y-0.0200left_z0.1300left_pitch0.3000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0753, 1.8694, 0.9825, 0.5499, -0.1055, -0.0864, 0.9972, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997] state[eef_state]: left_x=0.5313 left_y=-0.0179 left_z=0.1313 left_yaw=0.05 left_pitch=0.2241 left_roll=-0.0348 left_gripper=0.9972 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997 state[joint_eff]: [-0.4308, -8.8, 7.7744, 2.1709, -0.0269, 0.1099, 0.0122, -0.1436, -1.1966, 7.159, 1.7265, -0.0171, -0.0269, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.54, "left_y": -0.02, "left_z": 0.13, "left_pitch": 0.3, "left_gripper": 0.0}, "note": "The wrist view shows the bottle's handle region filling the frame right between the jaws. Closing to grasp the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteStill empty; the bottle has been pushed to the far edge of the table and its handle shows just ahead of the jaws. One more attempt: opening, extending to x=0.58 with more forward pitch to reach it.
move_to
left_x0.5800left_y-0.0200left_z0.1500left_pitch0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0753, 1.916, 0.9699, 0.6601, -0.1139, -0.0864, 0.0095, -0.0322, 0.8032, 0.6079, -0.3927, -0.0196, -0.0296, 0.9997] state[eef_state]: left_x=0.5374 left_y=-0.0168 left_z=0.1278 left_yaw=0.059 left_pitch=0.2751 left_roll=-0.039 left_gripper=0.0095 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0024 right_pitch=-0.0168 right_roll=0.0035 right_gripper=0.9997 state[joint_eff]: [-0.4444, -8.4444, 5.9966, 2.1807, 0.022, 0.0708, 0.7106, -0.0752, -1.2786, 7.241, 1.7363, -0.0269, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.02, "left_z": 0.15, "left_pitch": 0.5, "left_gripper": 1.0}, "note": "Still empty; the bottle has been pushed to the far edge of the table and its handle shows just ahead of the jaws. One more attempt: opening, extending to x=0.58 with more forward pitch to reach it."})
tool
executing move_to over 10 steps (1.0s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteBoth jaws are now visible at the bottom corners of the wrist view with the bottle handle between them. Closing to grasp.
move_to
left_x0.5800left_y-0.0200left_z0.1300left_pitch0.5000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0753, 2.0907, 1.055, 0.8921, -0.1314, -0.0746, 0.9953, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997] state[eef_state]: left_x=0.571 left_y=-0.0163 left_z=0.1261 left_yaw=0.0755 left_pitch=0.4167 left_roll=-0.0443 left_gripper=0.9953 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997 state[joint_eff]: [-0.3487, -10.2906, 8.4444, 2.3077, -0.0317, 0.1343, -0.0757, -0.1162, -1.265, 7.0632, 1.7314, -0.0317, -0.0317, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.58, "left_y": -0.02, "left_z": 0.13, "left_pitch": 0.5, "left_gripper": 0.0}, "note": "Both jaws are now visible at the bottom corners of the wrist view with the bottle handle between them. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe left bottle has been pushed against the far fence out of reach; its body is wider than the jaws so closing on it shoved it away. Parking the left arm and bringing the right arm high above the right bottle to look at its handle for a top grasp.
move_to
left_x0.3000left_y0.0000left_z0.1800left_pitch0.0000left_gripper1.0000right_x0.3800right_y0.0800right_z0.2800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 2.1414, 1.0592, 0.9787, -0.1425, -0.0711, 0.0093, -0.0322, 0.8032, 0.6079, -0.3927, -0.02, -0.0299, 0.9997] state[eef_state]: left_x=0.5749 left_y=-0.0179 left_z=0.1209 left_yaw=0.081 left_pitch=0.4565 left_roll=-0.0459 left_gripper=0.0093 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0019 right_pitch=-0.0168 right_roll=0.0034 right_gripper=0.9997 state[joint_eff]: [-0.4308, -9.3333, 7.2274, 2.1368, 0.0513, 0.0562, 0.7204, -0.2256, -1.1419, 7.0769, 1.7411, -0.0317, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18, "left_pitch": 0.0, "left_gripper": 1.0, "right_x": 0.38, "right_y": 0.08, "right_z": 0.28, "right_gripper": 1.0}, "note": "The left bottle has been pushed against the far fence out of reach; its body is wider than the jaws so closing on it shoved it away. Parking the left arm and bringing the right arm high above the right bottle to look at its handle for a top grasp."})
tool
executing move_to over 22 steps (2.2s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteThe right wrist view shows the bottle top about 7 cm to the left and a few cm ahead of the jaw column. Shifting the right gripper left and forward to hover directly over the bottle's top so I can see the handle.
move_to
right_x0.4200right_y0.1400right_z0.2700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8421, 0.5774, -0.2497, -0.1284, -0.1429, 0.9982, 0.3141, 1.2682, 1.2007, -0.5838, 0.2512, 0.144, 0.9997] state[eef_state]: left_x=0.3112 left_y=0.001 left_z=0.1823 left_yaw=0.0906 left_pitch=0.049 left_roll=-0.0509 left_gripper=0.9982 right_x=0.3755 right_y=0.0796 right_z=0.2613 right_yaw=0.0228 right_pitch=-0.0568 right_roll=-0.018 right_gripper=0.9997 state[joint_eff]: [-0.3077, -1.6889, 9.4427, 1.9023, 0.0024, 0.0171, 0.0513, 0.2667, -4.6017, 10.0171, 1.6972, 0.1832, 0.2564, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.14, "right_z": 0.27, "right_gripper": 1.0}, "note": "The right wrist view shows the bottle top about 7 cm to the left and a few cm ahead of the jaw column. Shifting the right gripper left and forward to hover directly over the bottle's top so I can see the handle."})
tool
executing move_to over 6 steps (0.6s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe bottle is uncapped; its open spout shows just ahead and slightly left of the jaw column. The body is too wide to grasp, so I'll target the narrow neck: moving forward/left to put the spout directly between the fingertips.
move_to
right_x0.4600right_y0.1750right_z0.2400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8482, 0.5766, -0.268, -0.128, -0.1436, 0.9983, 0.4454, 1.5116, 1.3975, -0.6163, 0.3305, 0.2035, 0.9997] state[eef_state]: left_x=0.3092 left_y=0.0011 left_z=0.1762 left_yaw=0.0906 left_pitch=0.0242 left_roll=-0.0474 left_gripper=0.9983 right_x=0.4125 right_y=0.1373 right_z=0.2492 right_yaw=0.0542 right_pitch=-0.1128 right_roll=-0.045 right_gripper=0.9997 state[joint_eff]: [-0.253, -1.9761, 7.1453, 1.9121, -0.0952, -0.0415, -0.0073, 0.3487, -7.0906, 9.388, 1.536, 0.2906, 0.1685, -0.0415] 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": 0.46, "right_y": 0.175, "right_z": 0.24, "right_gripper": 1.0}, "note": "The bottle is uncapped; its open spout shows just ahead and slightly left of the jaw column. The body is too wide to grasp, so I'll target the narrow neck: moving forward/left to put the spout directly between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe spout is now just ahead of and roughly centered on the jaw column in the right wrist view. Descending ~3 cm and nudging forward so the open jaws straddle the neck below the lip.
move_to
right_x0.4700right_y0.1700right_z0.1900right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4732, 1.7298, 1.5436, -0.6174, 0.3401, 0.2142, 0.9997] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4507 right_y=0.1686 right_z=0.2161 right_yaw=0.0643 right_pitch=-0.1773 right_roll=-0.0718 right_gripper=0.9997 state[joint_eff]: [-0.3077, -1.8393, 7.3368, 1.7411, -0.1148, -0.0611, -0.0171, 0.6359, -10.2085, 10.2222, 1.5214, 0.3004, 0.1099, -0.0415] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.17, "right_z": 0.19, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The spout is now just ahead of and roughly centered on the jaw column in the right wrist view. Descending ~3 cm and nudging forward so the open jaws straddle the neck below the lip."})
tool
executing move_to over 6 steps (0.6s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe right arm did not descend - the fingertips appear to be resting on the bottle's shoulder beside the spout. Lifting clear and shifting 2 cm right and forward to line up over the spout before descending again.
move_to
right_x0.4800right_y0.1550right_z0.2800right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1432, 0.9983, 0.4786, 1.7546, 1.5631, -0.6167, 0.3401, 0.2142, 0.9997] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0904 left_pitch=0.0212 left_roll=-0.0466 left_gripper=0.9983 right_x=0.4549 right_y=0.1736 right_z=0.2129 right_yaw=0.0693 right_pitch=-0.1815 right_roll=-0.0737 right_gripper=0.9997 state[joint_eff]: [-0.1436, -1.6479, 7.241, 1.7558, -0.0855, -0.0415, -0.0122, 0.1573, -10.3863, 9.8667, 1.5946, 0.2515, 0.0855, -0.0415] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.155, "right_z": 0.28, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The right arm did not descend - the fingertips appear to be resting on the bottle's shoulder beside the spout. Lifting clear and shifting 2 cm right and forward to line up over the spout before descending again."})
tool
executing move_to over 7 steps (0.7s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteThe spout now sits right on the jaw column at the bottom of the right wrist view, i.e. directly under the fingertips; the arm is near its reach limit at this height. Descending 4 cm so the jaws straddle the neck.
move_to
right_x0.4700right_y0.1600right_z0.1900right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.1276, -0.1436, 0.9983, 0.4324, 1.7542, 1.6024, -0.588, 0.3309, 0.1452, 0.9997] state[eef_state]: left_x=0.3093 left_y=0.001 left_z=0.1754 left_yaw=0.0902 left_pitch=0.0212 left_roll=-0.0471 left_gripper=0.9983 right_x=0.4717 right_y=0.1584 right_z=0.2341 right_yaw=0.0722 right_pitch=-0.1242 right_roll=-0.0941 right_gripper=0.9997 state[joint_eff]: [-0.1983, -1.6615, 7.159, 1.7607, -0.0708, -0.0708, -0.0122, -0.212, -12.2325, 9.6205, 1.7753, 0.1783, 0.0269, -0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.16, "right_z": 0.19, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The spout now sits right on the jaw column at the bottom of the right wrist view, i.e. directly under the fingertips; the arm is near its reach limit at this height. Descending 4 cm so the jaws straddle the neck."})
tool
executing move_to over 5 steps (0.5s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe right arm reached z=0.196 with the bottle's shoulder filling the space between the jaws and the spout hidden below. Closing the gripper on the neck.
move_to
right_x0.4700right_y0.1600right_z0.1900right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.7027, 1.3041, -0.2306, 0.3634, 0.1226, 0.9997] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4713 right_y=0.1596 right_z=0.1956 right_yaw=0.0739 right_pitch=-0.0149 right_roll=-0.0917 right_gripper=0.9997 state[joint_eff]: [-0.1709, -1.6068, 7.1043, 1.8144, -0.0952, -0.0708, -0.0122, 0.3897, -8.8957, 5.2991, 1.0867, 0.0513, -0.0611, -0.0415] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.16, "right_z": 0.19, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The right arm reached z=0.196 with the bottle's shoulder filling the space between the jaws and the spout hidden below. Closing the gripper on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteThe right gripper settled at 0.59 (about 5.6 cm), consistent with holding the bottle's spout. Lifting and pulling back slightly to verify the bottle comes with it in the top view.
move_to
right_x0.4400right_y0.1600right_z0.2700right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.6844, 1.3006, -0.0837, 0.3595, 0.1196, 0.5938] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4853 right_y=0.167 right_z=0.2323 right_yaw=0.0752 right_pitch=0.1351 right_roll=-0.0338 right_gripper=0.5938 state[joint_eff]: [-0.1026, -1.6889, 7.1179, 1.7216, -0.0757, -0.0513, -0.0122, 0.1846, -7.7197, 4.1504, 0.8327, 0.1685, -0.0171, 0.3248] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.16, "right_z": 0.27, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The right gripper settled at 0.59 (about 5.6 cm), consistent with holding the bottle's spout. Lifting and pulling back slightly to verify the bottle comes with it in the top view."})
tool
executing move_to over 6 steps (0.6s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe gripper settled at 0.36 (~3.4 cm), consistent with holding the bottle's neck, but the arm is reach-limited so the lift was small. Pulling the bottle back toward the base while lifting to verify it moves with the gripper.
move_to
right_x0.3800right_y0.1600right_z0.2700right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4679, 1.6264, 1.404, -0.4099, 0.3546, 0.1593, 0.3576] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4519 right_y=0.1637 right_z=0.2409 right_yaw=0.0835 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.3576 state[joint_eff]: [-0.0205, -1.4838, 7.1863, 1.7558, -0.0855, -0.0708, -0.0122, 0.4171, -11.7675, 10.5231, 1.7411, 0.149, 0.1587, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.16, "right_z": 0.27, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The gripper settled at 0.36 (~3.4 cm), consistent with holding the bottle's neck, but the arm is reach-limited so the lift was small. Pulling the bottle back toward the base while lifting to verify it moves with the gripper."})
tool
executing move_to over 6 steps (0.6s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe arm barely moved toward the last target while holding the neck; the bottle may be heavy or dragging. Trying a smaller step back and up to see whether the bottle lifts.
move_to
right_x0.4100right_y0.1600right_z0.2600right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1432, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3543] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0904 left_pitch=0.0208 left_roll=-0.0465 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3543 state[joint_eff]: [-0.0752, -1.5932, 7.0632, 1.7167, -0.1001, -0.0171, -0.0122, 0.0479, -10.0991, 10.0171, 1.5604, 0.0904, 0.105, 1.0232] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.16, "right_z": 0.26, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The arm barely moved toward the last target while holding the neck; the bottle may be heavy or dragging. Trying a smaller step back and up to see whether the bottle lifts."})
tool
executing move_to over 4 steps (0.4s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteNo joint moved at all on the last command while gripping the bottle neck - the arm appears stalled under load. Trying to slide the bottle back toward the base at a lower height instead of lifting.
move_to
right_x0.4000right_y0.1600right_z0.2200right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3524] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3524 state[joint_eff]: [-0.0889, -1.4427, 7.2547, 1.7558, -0.0952, -0.0611, -0.0122, 0.1436, -10.0855, 10.1128, 1.5702, 0.1099, 0.1148, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.16, "right_z": 0.22, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "No joint moved at all on the last command while gripping the bottle neck - the arm appears stalled under load. Trying to slide the bottle back toward the base at a lower height instead of lifting."})
tool
executing move_to over 4 steps (0.4s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteThe bottle slid back with the gripper (visible in the top view), confirming the neck grasp; its neck rests at z≈0.235 when standing. Now closer to the base, lifting the bottle 6 cm off the table.
move_to
right_x0.3800right_y0.1600right_z0.3000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8524, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 0.5343, 1.4544, 1.1816, -0.3256, 0.411, 0.1776, 0.3475] state[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1748 left_yaw=0.0905 left_pitch=0.0189 left_roll=-0.0465 left_gripper=0.9983 right_x=0.407 right_y=0.163 right_z=0.2355 right_yaw=0.0939 right_pitch=0.027 right_roll=-0.0583 right_gripper=0.3475 state[joint_eff]: [-0.0342, -1.7846, 7.1316, 1.7705, -0.1099, -0.0708, -0.0122, 0.294, -5.4906, 5.5043, 1.3895, 0.0659, 0.1685, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.16, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The bottle slid back with the gripper (visible in the top view), confirming the neck grasp; its neck rests at z\u22480.235 when standing. Now closer to the base, lifting the bottle 6 cm off the table."})
tool
executing move_to over 5 steps (0.5s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
assistant
agent noteThe bottle is lifted ~4 cm off the table in the right gripper. Carrying it left toward the table centre so the red cup comes into the right wrist view and I can judge its position.
move_to
right_x0.3800right_y0.3000right_z0.3000right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.852, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.564, 1.4349, 1.3663, -0.585, 0.4156, 0.189, 0.3472] state[eef_state]: left_x=0.3094 left_y=0.0011 left_z=0.175 left_yaw=0.0906 left_pitch=0.0197 left_roll=-0.0467 left_gripper=0.9983 right_x=0.3885 right_y=0.1656 right_z=0.2759 right_yaw=0.1139 right_pitch=-0.0213 right_roll=-0.0749 right_gripper=0.3472 state[joint_eff]: [-0.0479, -1.6479, 7.0632, 1.7411, -0.1148, -0.0708, -0.0122, 0.5675, -8.4718, 9.9487, 1.6825, 0.3443, 0.1832, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.38, "right_y": 0.3, "right_z": 0.3, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The bottle is lifted ~4 cm off the table in the right gripper. Carrying it left toward the table centre so the red cup comes into the right wrist view and I can judge its position."})
tool
executing move_to over 12 steps (1.2s)
step 201
assistant
agent noteThe red cup appears far to the left in the right wrist view, beyond the right arm's y-limit, so the right arm can't pour there. Plan: set the bottle down near the table centre for the left arm to take over. Carrying it to right_y=0.38.
move_to
right_x0.3400right_y0.3800right_z0.2700right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.878, 1.7927, 1.8038, -0.8021, 0.6281, 0.3874, 0.3427] state[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3788 right_y=0.2994 right_z=0.2809 right_yaw=0.1541 right_pitch=-0.0464 right_roll=-0.1045 right_gripper=0.3427 state[joint_eff]: [-0.1162, -2.0308, 7.1043, 1.7705, -0.1001, -0.0708, -0.0171, 0.4581, -9.265, 9.5658, 1.3895, 0.6129, 0.2027, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.38, "right_z": 0.27, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The red cup appears far to the left in the right wrist view, beyond the right arm's y-limit, so the right arm can't pour there. Plan: set the bottle down near the table centre for the left arm to take over. Carrying it to right_y=0.38."})
tool
executing move_to over 7 steps (0.7s)
step 208
assistant
agent noteThe bottle is at the right arm's y-limit near the table centre, a couple of cm above the table. Lowering it until it touches down so I can release it for the left arm.
move_to
right_x0.3400right_y0.3800right_z0.2250right_pitch0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 1.0679, 1.9743, 1.9541, -0.8753, 0.7395, 0.5148, 0.3417] state[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3398 right_y=0.3783 right_z=0.2534 right_yaw=0.1949 right_pitch=-0.0506 right_roll=-0.1337 right_gripper=0.3417 state[joint_eff]: [-0.1983, -1.7026, 7.0906, 1.746, -0.0952, -0.0562, -0.0122, 0.5402, -10.4137, 9.5658, 1.1746, 0.6716, 0.2076, 0.9792] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.38, "right_z": 0.225, "right_pitch": 0.0, "right_gripper": 0.0}, "note": "The bottle is at the right arm's y-limit near the table centre, a couple of cm above the table. Lowering it until it touches down so I can release it for the left arm."})
tool
executing move_to over 4 steps (0.4s)
step 212
assistant
agent noteDescent stopped at z=0.231, so the bottle base is on the table. Opening the right gripper to release the bottle.
move_to
right_x0.3400right_y0.3800right_z0.2300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1432, 0.9983, 1.079, 1.9434, 1.7817, -0.6907, 0.7853, 0.4931, 0.3371] state[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0903 left_pitch=0.0148 left_roll=-0.0455 left_gripper=0.9983 right_x=0.3411 right_y=0.3799 right_z=0.231 right_yaw=0.1885 right_pitch=0.0022 right_roll=-0.1408 right_gripper=0.3371 state[joint_eff]: [0.0205, -1.7162, 7.0906, 1.7265, -0.1148, -0.0366, -0.0122, -0.0889, -10.8103, 4.9573, 1.199, 0.2222, 0.0659, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.38, "right_z": 0.23, "right_gripper": 1.0}, "note": "Descent stopped at z=0.231, so the bottle base is on the table. Opening the right gripper to release the bottle."})
tool
executing move_to over 7 steps (0.7s)
step 219
assistant
agent noteGripper released the bottle; the left wrist view now shows the bottle standing at the centre with the red cup to its right. Lifting the right gripper straight up clear of the neck before retracting.
move_to
right_x0.3400right_y0.3800right_z0.3300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 1.079, 1.9404, 1.7679, -0.6827, 0.7746, 0.4866, 0.6955] state[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0905 left_pitch=0.0148 left_roll=-0.0458 left_gripper=0.9983 right_x=0.3399 right_y=0.3805 right_z=0.2272 right_yaw=0.199 right_pitch=-0.0063 right_roll=-0.1432 right_gripper=0.6955 state[joint_eff]: [-0.1709, -1.7162, 7.0632, 1.7607, -0.0806, -0.0513, -0.0122, 0.1299, -10.4, 7.4051, 1.2772, 0.4078, -0.0073, -0.1392] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.38, "right_z": 0.33, "right_gripper": 1.0}, "note": "Gripper released the bottle; the left wrist view now shows the bottle standing at the centre with the red cup to its right. Lifting the right gripper straight up clear of the neck before retracting."})
tool
executing move_to over 7 steps (0.7s)
step 226
assistant
agent noteThe bottle stands released at the table centre (left frame ≈ x 0.34, y −0.27). Parking the right arm out of the way and bringing the open left gripper over the bottle's neck.
move_to
right_x0.3000right_y0.0500right_z0.2500right_gripper1.0000left_x0.3400left_y-0.2700left_z0.2600left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2695, -0.1276, -0.1432, 0.9983, 1.079, 2.0949, 2.3913, -1.0977, 0.7555, 0.4709, 0.9977] state[eef_state]: left_x=0.3096 left_y=0.001 left_z=0.1735 left_yaw=0.09 left_pitch=0.0144 left_roll=-0.0456 left_gripper=0.9983 right_x=0.3431 right_y=0.3916 right_z=0.327 right_yaw=0.22 right_pitch=0.0165 right_roll=-0.1062 right_gripper=0.9977 state[joint_eff]: [-0.1026, -1.7026, 7.0496, 1.7314, -0.0464, -0.0122, -0.0122, -0.2256, -10.7282, 7.5556, 0.7888, 0.4322, 0.0806, -0.0611] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.25, "right_gripper": 1.0, "left_x": 0.34, "left_y": -0.27, "left_z": 0.26, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle stands released at the table centre (left frame \u2248 x 0.34, y \u22120.27). Parking the right arm out of the way and bringing the open left gripper over the bottle's neck."})
tool
executing move_to over 29 steps (2.9s)
step 255
assistant
agent noteThe left gripper hovers over the released bottle (top view shows the bottle directly under it), with the red and blue cups ahead in the left wrist view. Descending so the jaws straddle the neck below the lip.
move_to
left_x0.3400left_y-0.2700left_z0.2150left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9775, 1.6562, 1.5146, -0.7666, -0.7956, -0.8127, 0.9988, 0.1898, 0.886, 0.8959, -0.5812, 0.083, -0.0937, 0.999] state[eef_state]: left_x=0.3383 left_y=-0.2697 left_z=0.2473 left_yaw=0.0757 left_pitch=-0.0256 left_roll=-0.0498 left_gripper=0.9988 right_x=0.3012 right_y=0.0466 right_z=0.246 right_yaw=0.1678 right_pitch=-0.0024 right_roll=-0.1063 right_gripper=0.999 state[joint_eff]: [-0.3624, -7.9248, 8.9504, 1.0916, -0.6813, 0.0806, -0.1392, -0.2803, -2.0034, 7.159, 1.9609, -0.0659, -0.0659, -0.1197] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.27, "left_z": 0.215, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left gripper hovers over the released bottle (top view shows the bottle directly under it), with the red and blue cups ahead in the left wrist view. Descending so the jaws straddle the neck below the lip."})
tool
executing move_to over 3 steps (0.3s)
step 258
assistant
agent noteThe descent stopped at z≈0.23, matching the neck height where the right arm held it, so the jaws should be around the neck. Closing the left gripper.
move_to
left_x0.3400left_y-0.2700left_z0.2250left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9798, 1.6417, 1.4021, -0.6365, -0.8238, -0.8185, 0.9988, 0.1841, 0.8902, 0.8917, -0.5846, 0.0589, -0.1123, 0.9988] state[eef_state]: left_x=0.3405 left_y=-0.2685 left_z=0.2296 left_yaw=0.0941 left_pitch=0.009 left_roll=-0.072 left_gripper=0.9988 right_x=0.3007 right_y=0.0491 right_z=0.242 right_yaw=0.1924 right_pitch=-0.0156 right_roll=-0.109 right_gripper=0.9988 state[joint_eff]: [-0.3897, -7.241, 4.5197, 0.8913, -0.3492, 0.1636, -0.1343, 0.3761, -1.5795, 7.159, 1.7558, 0.1001, 0.1197, -0.0269] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.27, "left_z": 0.225, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The descent stopped at z\u22480.23, matching the neck height where the right arm held it, so the jaws should be around the neck. Closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 268
assistant
agent noteEmpty close: in the top view the bottle stands a few cm nearer the base and slightly right of the left jaws. Opening, lifting clear, and shifting back/right to re-centre over the neck.
move_to
left_x0.2900left_y-0.2900left_z0.2700left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9787, 1.644, 1.3865, -0.6205, -0.8219, -0.8383, 0.0098, 0.1829, 0.8902, 0.8917, -0.5861, 0.0662, -0.1127, 0.9988] state[eef_state]: left_x=0.3409 left_y=-0.2686 left_z=0.2246 left_yaw=0.1045 left_pitch=0.0061 left_roll=-0.0879 left_gripper=0.0098 right_x=0.3007 right_y=0.0474 right_z=0.2418 right_yaw=0.1853 right_pitch=-0.0171 right_roll=-0.1133 right_gripper=0.9988 state[joint_eff]: [-0.5812, -7.1863, 7.6786, 1.1795, -0.3101, 0.0757, 0.7253, -0.1026, -1.4564, 6.8718, 1.707, -0.0904, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 268): [image omitted: streamed camera frame] camera 'left_cam' (step 268): [image omitted: streamed camera frame] camera 'right_cam' (step 268): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.29, "left_z": 0.27, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Empty close: in the top view the bottle stands a few cm nearer the base and slightly right of the left jaws. Opening, lifting clear, and shifting back/right to re-centre over the neck."})
tool
executing move_to over 10 steps (1.0s)
step 278
assistant
agent noteThe bottle's white top now peeks in at the bottom edge of the left wrist view, just right of the jaw column, i.e. directly under the fingertips. Descending onto the neck.
move_to
left_x0.3000left_y-0.3000left_z0.2250left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1336, 1.6608, 1.5925, -0.9493, -0.8803, -1.0397, 0.9953, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988] state[eef_state]: left_x=0.291 left_y=-0.2925 left_z=0.2628 left_yaw=0.0911 left_pitch=-0.0166 left_roll=-0.1112 left_gripper=0.9953 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.185 right_pitch=-0.0172 right_roll=-0.1135 right_gripper=0.9988 state[joint_eff]: [-0.3624, -6.7761, 8.5128, 1.0379, -0.6911, 0.1636, -0.0659, -0.1983, -1.7026, 6.8171, 1.7021, 0.0073, -0.0269, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.3, "left_z": 0.225, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle's white top now peeks in at the bottom edge of the left wrist view, just right of the jaw column, i.e. directly under the fingertips. Descending onto the neck."})
tool
executing move_to over 3 steps (0.3s)
step 281
assistant
agent noteThe descent stopped at the neck height with the bottle top visible right at the bottom of the left wrist view between the jaws. Closing on the neck.
move_to
left_x0.3000left_y-0.3000left_z0.2250left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1267, 1.6688, 1.47, -0.8413, -0.8864, -1.0321, 0.9988, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.2943 left_y=-0.2917 left_z=0.2286 left_yaw=0.0975 left_pitch=-0.019 left_roll=-0.0819 left_gripper=0.9988 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.1852 right_pitch=-0.0172 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [0.3624, -7.4872, 7.0085, 1.3407, -0.5495, 0.022, -0.1343, -0.212, -1.7026, 6.8444, 1.6923, -0.0073, -0.0611, -0.0171] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.3, "left_z": 0.225, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The descent stopped at the neck height with the bottle top visible right at the bottom of the left wrist view between the jaws. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 291
assistant
agent noteEmpty again - the descent seems to stop with the fingertips resting on the bottle's top rather than around the neck, and the top view shows the bottle slightly right of the jaws. Lifting, opening and shifting 3 cm right.
move_to
left_x0.3000left_y-0.3300left_z0.2650left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1225, 1.6711, 1.4567, -0.7464, -0.8902, -1.0214, 0.0087, 0.1829, 0.8932, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988] state[eef_state]: left_x=0.3014 left_y=-0.3016 left_z=0.2328 left_yaw=0.0979 left_pitch=0.0117 left_roll=-0.1463 left_gripper=0.0087 right_x=0.3011 right_y=0.0474 right_z=0.2409 right_yaw=0.185 right_pitch=-0.0202 right_roll=-0.1135 right_gripper=0.9988 state[joint_eff]: [-0.3214, -7.1316, 5.8325, 1.0476, -0.3297, 0.0855, 0.6862, -0.1299, -1.8803, 7.1316, 1.6874, -0.0024, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 291): [image omitted: streamed camera frame] camera 'left_cam' (step 291): [image omitted: streamed camera frame] camera 'right_cam' (step 291): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.33, "left_z": 0.265, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Empty again - the descent seems to stop with the fingertips resting on the bottle's top rather than around the neck, and the top view shows the bottle slightly right of the jaws. Lifting, opening and shifting 3 cm right."})
tool
executing move_to over 10 steps (1.0s)
step 301
assistant
agent noteThe top view shows the bottle top now sitting just under the left fingertips after the 3 cm shift right. Descending onto the neck again with the jaws open.
move_to
left_x0.3000left_y-0.3300left_z0.2100left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1519, 1.7916, 1.7031, -0.9295, -0.8906, -1.0893, 0.995, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.3005 left_y=-0.3285 left_z=0.2536 left_yaw=0.1044 left_pitch=-0.0116 left_roll=-0.1497 left_gripper=0.995 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [-0.6769, -8.7316, 9.1419, 0.9353, -0.5397, 0.2271, -0.0024, -0.0889, -1.7983, 6.8308, 1.7363, -0.0171, -0.0366, -0.0171] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 301): [image omitted: streamed camera frame] camera 'left_cam' (step 301): [image omitted: streamed camera frame] camera 'right_cam' (step 301): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.33, "left_z": 0.21, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The top view shows the bottle top now sitting just under the left fingertips after the 3 cm shift right. Descending onto the neck again with the jaws open."})
tool
executing move_to over 3 steps (0.3s)
step 304
assistant
agent noteThe left gripper descended to z≈0.22 this time, deeper than before, so the jaws should now be around the neck. Closing.
move_to
left_x0.3000left_y-0.3300left_z0.2150left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1564, 1.7786, 1.5478, -0.8169, -0.9173, -1.0786, 0.9988, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.2989 left_y=-0.3223 left_z=0.2191 left_yaw=0.1081 left_pitch=0.0018 left_roll=-0.1053 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [-0.4308, -8.1162, 4.2051, 1.2039, 0.4908, -0.2418, -0.1343, -0.1846, -1.6342, 6.8171, 1.6923, 0.0024, -0.0562, -0.0122] camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.33, "left_z": 0.215, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The left gripper descended to z\u22480.22 this time, deeper than before, so the jaws should now be around the neck. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 314
assistant
agent noteStill empty; in the top view the bottle top shows just below (nearer the base than) the left fingertips by ~5 cm. Opening, lifting and pulling back 5 cm toward the base.
move_to
left_x0.2500left_y-0.3300left_z0.2650left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1564, 1.7805, 1.5558, -0.7982, -0.9287, -1.0855, 0.01, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988] state[eef_state]: left_x=0.3014 left_y=-0.3249 left_z=0.2241 left_yaw=0.1177 left_pitch=0.0182 left_roll=-0.1319 left_gripper=0.01 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988 state[joint_eff]: [-0.4581, -6.4479, 7.7607, 0.9109, -0.3492, -0.0464, 0.7399, -0.1846, -1.7299, 6.8444, 1.7314, -0.0464, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.33, "left_z": 0.265, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Still empty; in the top view the bottle top shows just below (nearer the base than) the left fingertips by ~5 cm. Opening, lifting and pulling back 5 cm toward the base."})
tool
executing move_to over 10 steps (1.0s)
step 324
assistant
agent noteThe bottle top now appears at the very bottom of the left wrist view just left of the jaw column, so it is under the fingertips. Descending onto the neck with the jaws open, nudging 1 cm left.
move_to
left_x0.2500left_y-0.3200left_z0.2150left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2854, 1.7882, 1.7416, -1.1301, -0.9436, -1.2972, 0.9952, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.2508 left_y=-0.334 left_z=0.258 left_yaw=0.1072 left_pitch=-0.0203 left_roll=-0.1587 left_gripper=0.9952 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.1852 right_pitch=-0.024 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [-0.2667, -7.5145, 8.3761, 0.7106, -0.7643, 0.1148, -0.0659, -0.0479, -1.7709, 6.8308, 1.7216, 0.0024, -0.0366, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.32, "left_z": 0.215, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle top now appears at the very bottom of the left wrist view just left of the jaw column, so it is under the fingertips. Descending onto the neck with the jaws open, nudging 1 cm left."})
tool
executing move_to over 3 steps (0.3s)
step 327
assistant
agent noteThe gripper reached z=0.208 with the bottle's white top visible between the jaws at the bottom of the left wrist view. Closing on the neck.
move_to
left_x0.2500left_y-0.3200left_z0.2100left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.285, 1.739, 1.4975, -1.0012, -0.9504, -1.2884, 0.9988, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988] state[eef_state]: left_x=0.2462 left_y=-0.3154 left_z=0.2085 left_yaw=0.1069 left_pitch=-0.0252 left_roll=-0.0852 left_gripper=0.9988 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988 state[joint_eff]: [0.4171, -10.7145, 7.6786, 1.1502, -0.4274, -0.0855, -0.1294, -0.212, -1.6068, 6.8718, 1.7314, 0.0073, -0.0317, -0.0122] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.32, "left_z": 0.21, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The gripper reached z=0.208 with the bottle's white top visible between the jaws at the bottom of the left wrist view. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 337
assistant
agent noteThe gripper reads 0.83 with high effort, so it is squeezing something ~8 cm wide, probably the bottle's shoulder. Holding the same target briefly to let the reading settle before lifting.
move_to
left_x0.2500left_y-0.3200left_z0.2100left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.285, 1.7271, 1.494, -0.9833, -1.0111, -1.2568, 0.833, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.2514 left_y=-0.3119 left_z=0.221 left_yaw=0.1105 left_pitch=0.0369 left_roll=-0.0741 left_gripper=0.833 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [-0.2256, -6.1744, 7.2547, 0.8669, -0.1587, -0.2222, 1.033, -0.1573, -1.8393, 6.8171, 1.7216, -0.0024, -0.0562, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 337): [image omitted: streamed camera frame] camera 'left_cam' (step 337): [image omitted: streamed camera frame] camera 'right_cam' (step 337): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.32, "left_z": 0.21, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The gripper reads 0.83 with high effort, so it is squeezing something ~8 cm wide, probably the bottle's shoulder. Holding the same target briefly to let the reading settle before lifting."})
tool
executing move_to over 9 steps (0.9s)
step 346
assistant
agent noteGripper settled at 0.83 (~8 cm), so it is clamped on the bottle's upper body. Lifting 7 cm to check the bottle comes up with it in the top view.
move_to
left_x0.2500left_y-0.3200left_z0.2900left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2854, 1.7355, 1.5036, -0.9943, -1.0138, -1.2625, 0.8314, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988] state[eef_state]: left_x=0.2517 left_y=-0.3124 left_z=0.2208 left_yaw=0.1137 left_pitch=0.0375 left_roll=-0.0689 left_gripper=0.8314 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988 state[joint_eff]: [-0.3761, -5.7778, 7.788, 0.7643, -0.1587, -0.2125, 1.0379, -0.1299, -1.7573, 6.8718, 1.6923, -0.0024, -0.0464, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.32, "left_z": 0.29, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Gripper settled at 0.83 (~8 cm), so it is clamped on the bottle's upper body. Lifting 7 cm to check the bottle comes up with it in the top view."})
tool
executing move_to over 9 steps (0.9s)
step 355
assistant
agent noteThe bottle did not lift - the top view shows it still standing just base-ward of the left gripper, and the gripper reading is creeping closed. Opening and rising high above the spot to get a clear downward look at the bottle's position.
move_to
left_x0.2200left_y-0.3300left_z0.4000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2854, 1.8187, 1.874, -1.2926, -0.9642, -1.3025, 0.7901, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985] state[eef_state]: left_x=0.2502 left_y=-0.3246 left_z=0.2802 left_yaw=0.1184 left_pitch=-0.0121 left_roll=-0.1001 left_gripper=0.7901 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985 state[joint_eff]: [-0.4034, -8.1026, 7.9795, 0.6276, -0.6374, 0.1099, 0.2955, -0.0342, -1.6889, 6.8171, 1.6874, 0.0024, -0.0415, -0.0366] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 355): [image omitted: streamed camera frame] camera 'left_cam' (step 355): [image omitted: streamed camera frame] camera 'right_cam' (step 355): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.22, "left_y": -0.33, "left_z": 0.4, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle did not lift - the top view shows it still standing just base-ward of the left gripper, and the gripper reading is creeping closed. Opening and rising high above the spot to get a clear downward look at the bottle's position."})
tool
executing move_to over 8 steps (0.8s)
step 363
assistant
agent noteFrom above, the bottle top appears at the bottom-right of the left wrist view, about 4 cm right of the jaw column and roughly under the fingertips. Shifting the left gripper 4 cm right and lowering a bit to centre over the neck.
move_to
left_x0.2400left_y-0.3600left_z0.3000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2743, 1.9106, 2.2307, -1.5585, -0.9569, -1.3048, 0.7952, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985] state[eef_state]: left_x=0.2519 left_y=-0.3179 left_z=0.3327 left_yaw=0.1283 left_pitch=-0.0191 left_roll=-0.102 left_gripper=0.7952 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985 state[joint_eff]: [0.0068, -11.8085, 8.0615, 0.6276, -0.6129, 0.4957, 0.105, -0.1162, -1.7573, 6.8171, 1.6923, -0.0122, -0.0806, -0.022] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.24, "left_y": -0.36, "left_z": 0.3, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "From above, the bottle top appears at the bottom-right of the left wrist view, about 4 cm right of the jaw column and roughly under the fingertips. Shifting the left gripper 4 cm right and lowering a bit to centre over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 367
assistant
agent noteThe bottle top is now centred between the two jaws at the bottom of the left wrist view. Descending 9 cm so the jaws pass over the lip onto the neck.
move_to
left_x0.2450left_y-0.3600left_z0.2100left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.3319, 2.0239, 2.2635, -1.5478, -0.9691, -1.3758, 0.9976, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985] state[eef_state]: left_x=0.2404 left_y=-0.3566 left_z=0.3017 left_yaw=0.1132 left_pitch=-0.021 left_roll=-0.0906 left_gripper=0.9976 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985 state[joint_eff]: [-0.0205, -10.5504, 5.5316, 0.6813, -0.7302, -0.0659, -0.0611, -0.1573, -1.7162, 6.8171, 1.6874, -0.022, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.245, "left_y": -0.36, "left_z": 0.21, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle top is now centred between the two jaws at the bottom of the left wrist view. Descending 9 cm so the jaws pass over the lip onto the neck."})
tool
executing move_to over 6 steps (0.6s)
step 373
assistant
agent noteThe descent stalled at z=0.29 although the bottle top is still visible clear between the jaws, so the arm itself is stuck rather than in contact. Re-sending a slightly different target (a bit forward, slight pitch) to get the IK moving down.
move_to
left_x0.2500left_y-0.3600left_z0.2200left_pitch0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984] state[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984 state[joint_eff]: [-0.6222, -12.2051, 6.106, 0.5348, -0.7546, -0.0513, -0.1392, -0.0752, -1.6479, 6.8991, 1.6874, -0.0171, -0.0171, -0.0171] camera 'top_cam' (step 373): [image omitted: streamed camera frame] camera 'left_cam' (step 373): [image omitted: streamed camera frame] camera 'right_cam' (step 373): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.36, "left_z": 0.22, "left_pitch": 0.1, "left_gripper": 1.0}, "note": "The descent stalled at z=0.29 although the bottle top is still visible clear between the jaws, so the arm itself is stuck rather than in contact. Re-sending a slightly different target (a bit forward, slight pitch) to get the IK moving down."})
tool
executing move_to over 5 steps (0.5s)
step 378
assistant
agent noteThe left arm is frozen in a tightly folded pose (no joint moved at all). Moving up and slightly forward/left to unstick it before re-approaching the bottle.
move_to
left_x0.3000left_y-0.3000left_z0.3300left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984] state[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984 state[joint_eff]: [-0.4991, -12.2325, 6.065, 0.5592, -0.7399, -0.0317, -0.1392, -0.0615, -1.7573, 6.8171, 1.6972, 0.0024, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 378): [image omitted: streamed camera frame] camera 'left_cam' (step 378): [image omitted: streamed camera frame] camera 'right_cam' (step 378): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.3, "left_z": 0.33, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm is frozen in a tightly folded pose (no joint moved at all). Moving up and slightly forward/left to unstick it before re-approaching the bottle."})
tool
executing move_to over 6 steps (0.6s)
step 384
assistant
agent noteThe arm is free again; the top view shows the bottle standing at about left (0.25, −0.37). Re-approaching over the neck, this time stopping at z=0.26 first to descend in smaller steps.
move_to
left_x0.2500left_y-0.3650left_z0.2600left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1446, 1.8828, 2.0918, -1.3472, -0.9154, -1.1576, 0.9988, 0.1829, 0.8978, 0.8917, -0.59, 0.0666, -0.1131, 0.9984] state[eef_state]: left_x=0.2973 left_y=-0.3073 left_z=0.3116 left_yaw=0.162 left_pitch=-0.0288 left_roll=-0.0854 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2388 right_yaw=0.1852 right_pitch=-0.0286 right_roll=-0.1138 right_gripper=0.9984 state[joint_eff]: [0.1299, -11.0974, 5.0803, 1.0134, -0.486, 0.3053, -0.1343, -0.1026, -1.7573, 6.9949, 1.7118, -0.0366, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 384): [image omitted: streamed camera frame] camera 'left_cam' (step 384): [image omitted: streamed camera frame] camera 'right_cam' (step 384): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.365, "left_z": 0.26, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm is free again; the top view shows the bottle standing at about left (0.25, \u22120.37). Re-approaching over the neck, this time stopping at z=0.26 first to descend in smaller steps."})
tool
executing move_to over 6 steps (0.6s)
step 390
assistant
agent noteThe arm again refused to move toward the bottle; with the base swung ~65° right, holding tool yaw 0 likely pins the wrist at a joint limit. Re-approaching with the tool yawed −1.0 rad to relieve the wrist.
move_to
left_x0.2500left_y-0.3600left_z0.2600left_yaw-1.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1297, 1.8473, 2.085, -1.3155, -0.9115, -1.0958, 0.9988, 0.1829, 0.8997, 0.8917, -0.59, 0.0666, -0.1131, 0.9984] state[eef_state]: left_x=0.3004 left_y=-0.3009 left_z=0.325 left_yaw=0.1412 left_pitch=-0.0128 left_roll=-0.0925 left_gripper=0.9988 right_x=0.3014 right_y=0.0475 right_z=0.2383 right_yaw=0.1852 right_pitch=-0.0305 right_roll=-0.1138 right_gripper=0.9984 state[joint_eff]: [-0.3761, -9.7026, 5.5179, 1.0769, -0.5495, 0.2418, -0.1392, -0.0889, -1.9077, 6.8171, 1.7021, -0.0366, -0.0562, -0.0122] camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.36, "left_z": 0.26, "left_yaw": -1.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm again refused to move toward the bottle; with the base swung ~65\u00b0 right, holding tool yaw 0 likely pins the wrist at a joint limit. Re-approaching with the tool yawed \u22121.0 rad to relieve the wrist."})
tool
executing move_to over 8 steps (0.8s)
step 398
assistant
agent noteThe arm is now moving but tracking the yaw change slowly and drifted left of the target. Re-sending the target over the bottle neck to let it converge.
move_to
left_x0.2500left_y-0.3600left_z0.2700left_yaw-1.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9257, 1.4055, 1.5612, -0.9207, -0.5323, -0.6865, 0.9988, 0.1829, 0.9024, 0.8917, -0.59, 0.0669, -0.1131, 0.9984] state[eef_state]: left_x=0.2968 left_y=-0.2394 left_z=0.3159 left_yaw=-0.1303 left_pitch=-0.0894 left_roll=-0.1781 left_gripper=0.9988 right_x=0.3018 right_y=0.0475 right_z=0.2375 right_yaw=0.1849 right_pitch=-0.0332 right_roll=-0.114 right_gripper=0.9984 state[joint_eff]: [-1.4838, 0.1573, 5.9829, 2.1221, 0.0757, 0.1978, -0.1343, -0.0068, -1.4701, 6.9949, 1.7558, -0.0317, -0.0806, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 398): [image omitted: streamed camera frame] camera 'left_cam' (step 398): [image omitted: streamed camera frame] camera 'right_cam' (step 398): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.25, "left_y": -0.36, "left_z": 0.27, "left_yaw": -1.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The arm is now moving but tracking the yaw change slowly and drifted left of the target. Re-sending the target over the bottle neck to let it converge."})
tool
executing move_to over 11 steps (1.1s)
step 409
assistant
agent noteThe bottle has tipped over and lies on its side with its neck toward the base at about left (0.28, −0.30). Moving above the neck and yawing the tool so the jaws will close across the horizontal neck.
move_to
left_x0.2800left_y-0.3000left_z0.1500left_yaw0.9000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9081, 1.4059, 1.2816, -0.5003, 0.0765, -0.1944, 0.9988, 0.1822, 0.9035, 0.8917, -0.59, 0.0666, -0.1127, 0.9984] state[eef_state]: left_x=0.2549 left_y=-0.3428 left_z=0.2577 left_yaw=-0.8834 left_pitch=-0.0741 left_roll=-0.1933 left_gripper=0.9988 right_x=0.3019 right_y=0.0473 right_z=0.2372 right_yaw=0.1842 right_pitch=-0.0343 right_roll=-0.1134 right_gripper=0.9984 state[joint_eff]: [0.4581, -5.7778, 7.2, 2.2295, 0.1245, 0.2759, -0.1392, -0.1299, -1.8803, 7.0769, 1.707, -0.0562, -0.0269, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 409): [image omitted: streamed camera frame] camera 'left_cam' (step 409): [image omitted: streamed camera frame] camera 'right_cam' (step 409): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.3, "left_z": 0.15, "left_yaw": 0.9, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle has tipped over and lies on its side with its neck toward the base at about left (0.28, \u22120.30). Moving above the neck and yawing the tool so the jaws will close across the horizontal neck."})
tool
executing move_to over 12 steps (1.2s)
step 421
assistant
agent noteThe top view shows the left gripper hovering just beyond the lying bottle's neck. Pulling back 4 cm and descending to table level so the open jaws straddle the horizontal neck (its axis is ~5 cm up).
move_to
left_x0.2900left_y-0.3000left_z0.0300left_yaw0.9000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.0794, 2.2669, 2.0094, -1.4227, -0.963, -1.9453, 0.9988, 0.1822, 0.9108, 0.8902, -0.5934, 0.0704, -0.1162, 0.9984] state[eef_state]: left_x=0.3304 left_y=-0.3025 left_z=0.1405 left_yaw=0.6819 left_pitch=-0.0545 left_roll=-0.1891 left_gripper=0.9988 right_x=0.3023 right_y=0.0467 right_z=0.2338 right_yaw=0.1829 right_pitch=-0.0468 right_roll=-0.1184 right_gripper=0.9984 state[joint_eff]: [3.2342, -11.9179, 7.0359, -0.6813, -0.6471, -0.1099, -0.1392, -0.0479, -2.0171, 7.0496, 1.7558, -0.022, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 421): [image omitted: streamed camera frame] camera 'left_cam' (step 421): [image omitted: streamed camera frame] camera 'right_cam' (step 421): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.3, "left_z": 0.03, "left_yaw": 0.9, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The top view shows the left gripper hovering just beyond the lying bottle's neck. Pulling back 4 cm and descending to table level so the open jaws straddle the horizontal neck (its axis is ~5 cm up)."})
tool
executing move_to over 8 steps (0.8s)
step 429
assistant
agent noteThe descent stopped at z=0.11 - the jaws are resting on the lying bottle's body, not its neck. In the top view the neck end lies ~3 cm base-ward and left of the gripper; lifting clear then re-positioning over the neck.
move_to
left_x0.2900left_y-0.2700left_z0.1800left_yaw0.7200left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.0966, 2.3283, 1.9961, -1.4464, -0.9585, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.07, -0.1165, 0.9984] state[eef_state]: left_x=0.3222 left_y=-0.3032 left_z=0.1129 left_yaw=0.7249 left_pitch=-0.0469 left_roll=-0.1774 left_gripper=0.9988 right_x=0.3028 right_y=0.0466 right_z=0.2321 right_yaw=0.1826 right_pitch=-0.0514 right_roll=-0.1185 right_gripper=0.9984 state[joint_eff]: [-0.3761, -12.4513, 4.8205, -0.1636, -0.5983, -0.3346, -0.1343, -0.0889, -2.1675, 6.9675, 1.663, 0.0122, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 429): [image omitted: streamed camera frame] camera 'left_cam' (step 429): [image omitted: streamed camera frame] camera 'right_cam' (step 429): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.27, "left_z": 0.18, "left_yaw": 0.72, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The descent stopped at z=0.11 - the jaws are resting on the lying bottle's body, not its neck. In the top view the neck end lies ~3 cm base-ward and left of the gripper; lifting clear then re-positioning over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 434
assistant
agent noteThe left arm froze again with the wrist roll joint near −2.05 rad, apparently a joint limit. Commanding a raised pose with the tool yaw back toward −0.3 to free the wrist.
move_to
left_x0.3000left_y-0.2600left_z0.2800left_yaw-0.3000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1, 2.3283, 1.9961, -1.446, -0.9581, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.0696, -0.1165, 0.9984] state[eef_state]: left_x=0.3211 left_y=-0.3044 left_z=0.1129 left_yaw=0.7216 left_pitch=-0.0474 left_roll=-0.1777 left_gripper=0.9988 right_x=0.3027 right_y=0.0467 right_z=0.2321 right_yaw=0.1829 right_pitch=-0.0514 right_roll=-0.1183 right_gripper=0.9984 state[joint_eff]: [-0.3624, -12.3966, 5.0256, -0.1929, -0.5446, -0.3785, -0.1392, -0.1436, -1.7573, 6.9675, 1.6679, 0.0171, -0.022, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 434): [image omitted: streamed camera frame] camera 'left_cam' (step 434): [image omitted: streamed camera frame] camera 'right_cam' (step 434): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.26, "left_z": 0.28, "left_yaw": -0.3, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The left arm froze again with the wrist roll joint near \u22122.05 rad, apparently a joint limit. Commanding a raised pose with the tool yaw back toward \u22120.3 to free the wrist."})
tool
executing move_to over 11 steps (1.1s)
step 445
assistant
agent noteTop view now clearly shows the bottle lying with its neck pointing forward at about left (0.29, −0.27); its cap peeks in at the bottom of the left wrist view. Descending with yaw 0 so the jaws close across the horizontal neck.
move_to
left_x0.2900left_y-0.2700left_z0.0400left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9226, 1.3422, 1.2449, -0.5652, -0.5358, -0.6403, 0.9988, 0.1818, 0.9195, 0.8886, -0.5926, 0.0669, -0.12, 0.9984] state[eef_state]: left_x=0.3072 left_y=-0.2503 left_z=0.2687 left_yaw=-0.1524 left_pitch=-0.0105 left_roll=-0.2111 left_gripper=0.9988 right_x=0.3032 right_y=0.0474 right_z=0.2307 right_yaw=0.1874 right_pitch=-0.0566 right_roll=-0.1195 right_gripper=0.9984 state[joint_eff]: [-0.0068, -5.7915, 7.4462, 1.619, -0.1978, 0.1636, -0.1343, -0.0615, -2.2769, 6.9128, 1.663, 0.022, 0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 445): [image omitted: streamed camera frame] camera 'left_cam' (step 445): [image omitted: streamed camera frame] camera 'right_cam' (step 445): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.27, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Top view now clearly shows the bottle lying with its neck pointing forward at about left (0.29, \u22120.27); its cap peeks in at the bottom of the left wrist view. Descending with yaw 0 so the jaws close across the horizontal neck."})
tool
executing move_to over 15 steps (1.5s)
step 460
assistant
agent noteThe jaws came down to the table left of the bottle: the top view and the cap at the bottom-right corner of the wrist view show the neck ~7 cm to the right. Rising slightly and shifting right to straddle the neck.
move_to
left_x0.2900left_y-0.3400left_z0.1200left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.0698, 1.7473, 0.6964, 0.2043, -0.7361, -0.8639, 0.9988, 0.1818, 0.9203, 0.8886, -0.5926, 0.0669, -0.12, 0.9984] state[eef_state]: left_x=0.2865 left_y=-0.2688 left_z=0.0386 left_yaw=-0.03 left_pitch=-0.0372 left_roll=-0.1684 left_gripper=0.9988 right_x=0.3033 right_y=0.0474 right_z=0.2305 right_yaw=0.1874 right_pitch=-0.0573 right_roll=-0.1195 right_gripper=0.9984 state[joint_eff]: [-0.3077, -7.5145, 4.506, 1.409, -0.6081, -0.1441, -0.1392, -0.1299, -1.9897, 6.8308, 1.6679, 0.0073, -0.0513, -0.0122] camera 'top_cam' (step 460): [image omitted: streamed camera frame] camera 'left_cam' (step 460): [image omitted: streamed camera frame] camera 'right_cam' (step 460): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": -0.34, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The jaws came down to the table left of the bottle: the top view and the cap at the bottom-right corner of the wrist view show the neck ~7 cm to the right. Rising slightly and shifting right to straddle the neck."})
tool
executing move_to over 7 steps (0.7s)
step 467
assistant
agent noteThe cap is still ~4-5 cm right of the jaw column at the bottom of the left wrist view. Shifting right to y=−0.39 (near the bound) and descending to straddle the neck just behind the cap.
move_to
left_x0.2800left_y-0.3900left_z0.0400left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.1664, 1.7897, 1.1088, -0.1787, -0.8165, -0.9661, 0.9988, 0.1822, 0.9215, 0.8886, -0.5926, 0.0669, -0.1204, 0.9984] state[eef_state]: left_x=0.2909 left_y=-0.3434 left_z=0.1175 left_yaw=-0.0195 left_pitch=0.001 left_roll=-0.2148 left_gripper=0.9988 right_x=0.3035 right_y=0.0475 right_z=0.2301 right_yaw=0.188 right_pitch=-0.0585 right_roll=-0.1198 right_gripper=0.9984 state[joint_eff]: [-0.294, -7.9521, 6.9812, 0.9206, -0.652, -0.0317, -0.1343, -0.1709, -2.0308, 7.0085, 1.663, -0.0024, -0.0659, -0.0122] camera 'top_cam' (step 467): [image omitted: streamed camera frame] camera 'left_cam' (step 467): [image omitted: streamed camera frame] camera 'right_cam' (step 467): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.39, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The cap is still ~4-5 cm right of the jaw column at the bottom of the left wrist view. Shifting right to y=\u22120.39 (near the bound) and descending to straddle the neck just behind the cap."})
tool
executing move_to over 5 steps (0.5s)
step 472
assistant
agent noteThe top view shows the left jaws right over the lying bottle's neck and the wrist view no longer shows the cap ahead, so the neck should be between the jaws. Closing.
move_to
left_x0.2800left_y-0.3800left_z0.0300left_yaw0.0000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2362, 2.075, 1.1671, -0.0845, -0.849, -1.0561, 0.9988, 0.1822, 0.9234, 0.8886, -0.5926, 0.0673, -0.1204, 0.9984] state[eef_state]: left_x=0.2757 left_y=-0.3782 left_z=0.0307 left_yaw=-0.0204 left_pitch=-0.0339 left_roll=-0.1576 left_gripper=0.9988 right_x=0.3037 right_y=0.0475 right_z=0.2296 right_yaw=0.1877 right_pitch=-0.0604 right_roll=-0.12 right_gripper=0.9984 state[joint_eff]: [-0.3214, -11.0974, 7.4735, 1.1648, -0.696, -0.0757, -0.1343, -0.1709, -2.0444, 7.0222, 1.663, -0.0073, -0.0611, -0.0122] camera 'top_cam' (step 472): [image omitted: streamed camera frame] camera 'left_cam' (step 472): [image omitted: streamed camera frame] camera 'right_cam' (step 472): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.38, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The top view shows the left jaws right over the lying bottle's neck and the wrist view no longer shows the cap ahead, so the neck should be between the jaws. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 482
assistant
agent noteNeither pour can be completed within the remaining budget. The left bottle's body is wider than the 9.5 cm jaw stroke, so each close on its body pushed it forward until it ended against the far fence beyond the left arm's reach (x>0.6). The right bottle was grasped by its neck with the right arm, but the red cup lies outside the right arm's reachable region (roughly right (0.5, 0.4+)), so I set the bottle down for a left-arm handoff; the left arm's frozen wrist-limit poses near the folded/side region prevented a reliable neck grasp, the bottle tipped over, and it now lies with its neck beyond the left arm's y bound (~−0.43). With ~12 calls left there is no realistic path to a pour.
give_up
hindsight1) The white containers are jug-type bottles ~24 cm tall whose bodies are wider than the 9.5 cm jaw stroke: never close on the body (the jaws just shove the bottle forward ~5 cm per attempt). Grasp the neck from above: a standing bottle's neck grasp point is at z≈0.23 (gripper settles ≈0.34–0.36 ≈ 3.4 cm), and the descent stops at z≈0.23 when the jaws are correctly around it; a stop at z≈0.23 followed by an empty close means the fingertips are resting on the cap top, so the bottle is under the fingers but off-axis. 2) Bottle start positions: left bottle ≈ left (0.42, −0.02), right bottle ≈ right (0.47, 0.16); cups are ~20 cm further out at x≈0.50, red cup ≈ left (0.50,−0.15)/right (0.53,0.32), blue cup ≈ right (0.5, 0.24). The red cup is not reachable for the right arm (radial ≈0.6 m) – plan for the left arm to do both pours, or hand off. 3) The two base frames are NOT simply offset by 0.65 m in y: a bottle released by the right arm at right (0.34, 0.38) stood at about left (0.25, −0.37) – i.e. the right base is ~0.10 m further back in x. 4) The left arm freezes completely (zero joint motion, no error) when reaching to y≈−0.35 at x≈0.25 with tool yaw 0 or +0.7 – the wrist-roll joint hits a limit (joint 6 ≈ −2.0). Commanding a yaw of about −1.0 (tool aligned with the swung base) freed it; use yaw ≈ −(base-yaw) when working far to the right. 5) Right arm reach at x≈0.47 is limited above z≈0.24 (target 0.28 gave 0.234); to lift a neck-held bottle first pull it back to x≈0.40, then lift. 6) Lifting a heavy full bottle from the neck can stall the arm entirely (no joint motion) until you command a shorter/lower target first. 7) The wrist camera underestimates forward distance badly: a bottle whose base is visible at the jaw wedge is still 5+ cm ahead of the fingertips.
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.2453, 2.0995, 1.1782, -0.0586, -0.8608, -1.0821, 0.0095, 0.1818, 0.9234, 0.8886, -0.5926, 0.0673, -0.1204, 0.9984] state[eef_state]: left_x=0.275 left_y=-0.3846 left_z=0.0275 left_yaw=-0.0097 left_pitch=-0.0225 left_roll=-0.1877 left_gripper=0.0095 right_x=0.3037 right_y=0.0474 right_z=0.2296 right_yaw=0.1873 right_pitch=-0.0604 right_roll=-0.12 right_gripper=0.9984 state[joint_eff]: [-0.1162, -11.4256, 7.5145, 1.2039, -0.525, 0.0122, 0.7302, -0.0068, -1.894, 7.0085, 1.6581, -0.0024, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 482): [image omitted: streamed camera frame] camera 'left_cam' (step 482): [image omitted: streamed camera frame] camera 'right_cam' (step 482): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Neither pour can be completed within the remaining budget. The left bottle's body is wider than the 9.5 cm jaw stroke, so each close on its body pushed it forward until it ended against the far fence beyond the left arm's reach (x>0.6). The right bottle was grasped by its neck with the right arm, but the red cup lies outside the right arm's reachable region (roughly right (0.5, 0.4+)), so I set the bottle down for a left-arm handoff; the left arm's frozen wrist-limit poses near the folded/side region prevented a reliable neck grasp, the bottle tipped over, and it now lies with its neck beyond the left arm's y bound (~\u22120.43). With ~12 calls left there is no realistic path to a pour.", "hindsight": "1) The white containers are jug-type bottles ~24 cm tall whose bodies are wider than the 9.5 cm jaw stroke: never close on the body (the jaws just shove the bottle forward ~5 cm per attempt). Grasp the neck from above: a standing bottle's neck grasp point is at z\u22480.23 (gripper settles \u22480.34\u20130.36 \u2248 3.4 cm), and the descent stops at z\u22480.23 when the jaws are correctly around it; a stop at z\u22480.23 followed by an empty close means the fingertips are resting on the cap top, so the bottle is under the fingers but off-axis. 2) Bottle start positions: left bottle \u2248 left (0.42, \u22120.02), right bottle \u2248 right (0.47, 0.16); cups are ~20 cm further out at x\u22480.50, red cup \u2248 left (0.50,\u22120.15)/right (0.53,0.32), blue cup \u2248 right (0.5, 0.24). The red cup is not reachable for the right arm (radial \u22480.6 m) \u2013 plan for the left arm to do both pours, or hand off. 3) The two base frames are NOT simply offset by 0.65 m in y: a bottle released by the right arm at right (0.34, 0.38) stood at about left (0.25, \u22120.37) \u2013 i.e. the right base is ~0.10 m further back in x. 4) The left arm freezes completely (zero joint motion, no error) when reaching to y\u2248\u22120.35 at x\u22480.25 with tool yaw 0 or +0.7 \u2013 the wrist-roll joint hits a limit (joint 6 \u2248 \u22122.0). Commanding a yaw of about \u22121.0 (tool aligned with the swung base) freed it; use yaw \u2248 \u2212(base-yaw) when working far to the right. 5) Right arm reach at x\u22480.47 is limited above z\u22480.24 (target 0.28 gave 0.234); to lift a neck-held bottle first pull it back to x\u22480.40, then lift. 6) Lifting a heavy full bottle from the neck can stall the arm entirely (no joint motion) until you command a shorter/lower target first. 7) The wrist camera underestimates forward distance badly: a bottle whose base is visible at the jaw wedge is still 5+ cm ahead of the fingertips."})
tool
give_up: Neither pour can be completed within the remaining budget. The left bottle's body is wider than the 9.5 cm jaw stroke, so each close on its body pushed it forward until it ended against the far fence beyond the left arm's reach (x>0.6). The right bottle was grasped by its neck with the right arm, but the red cup lies outside the right arm's reachable region (roughly right (0.5, 0.4+)), so I set the bottle down for a left-arm handoff; the left arm's frozen wrist-limit poses near the folded/side region prevented a reliable neck grasp, the bottle tipped over, and it now lies with its neck beyond the left arm's y bound (~−0.43). With ~12 calls left there is no realistic path to a pour.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 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 · 19.9 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.0257, 0.9996, -0.0322, 0.7967, 0.6106, -0.3851, -0.02, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0024 right_z=0.1812 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -1.4701, 9.2786, 1.7753, -0.0806, 0.0708, -0.0562, 0.5812, -1.306, 9.9897, 1.8291, -0.0464, 0.1294, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52a6c3b3081f82d9dbfb2763f39ebf9c19c7610e9cb27f17c0d226aa0646914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b5ae36a35ca7a89a7d4653530c5684becefc22e12eff8ff9ce2168d84ec4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1026adb67e9dc5ec92ca267a0e5a06c230796b975bab6f1792456c770a109eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.0257, 0.9996, -0.0322, 0.7967, 0.6106, -0.3851, -0.02, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0024 right_z=0.1812 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -1.4701, 9.2786, 1.7753, -0.0806, 0.0708, -0.0562, 0.5812, -1.306, 9.9897, 1.8291, -0.0464, 0.1294, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52a6c3b3081f82d9dbfb2763f39ebf9c19c7610e9cb27f17c0d226aa0646914",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b5ae36a35ca7a89a7d4653530c5684becefc22e12eff8ff9ce2168d84ec4ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1026adb67e9dc5ec92ca267a0e5a06c230796b975bab6f1792456c770a109eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsBcKEAgRGAI4AUIIdGhpbmtpbmcSDNQ/2S9oGn7BjpNGDhoMP5m7UOb1HJoqlffuIjAIyRN65+pNqMNpDf76M1YnPVKK33GBvsZTO/RvxIF3qkWUiuY1QWebK2bmvb1ckJwqzRYppDGE1NCcJ9+4RWwowt7QG+w6hVmC0Vohedtki7nJkMJ0BDUHXsSlqxoKSSE+Mj6ABxZ7wVCvEHVYCARm8MbiIFeEiqHLfJwnsFsvHpTypWwGQB69HpWfA+dIpN3wgZ0wAFAVkyGugJ8unWU1o9ybuD3+SjBFKftG6dkiXaWkOhky65UqFme/X6OzoetBNedumT7ymZy+q1mle9+zAxGM//Z1z9p153otW8uF2qEmq1ENEpXMHmH0x8fc5+mbrjnd6y89Y9mYwZ+8ZOqQTl7lr325wcIFLnxTBzwv2u4k8vv07msvc9H3sGXiDxWmUOP59pzmGYFtLQUFPAVnJYl/gdmSYoQDrbEZl9hKKQLYyh6GLp+2aLEB9f972JCXB1GcvZDWA+WjZB8cmA0JDqKGQkvQ/m+I9YkF9LCF+BNCFPhxoG+4EKax2EJJ7VIllLVek5ukP7Ye5FO+vHQrXHvIZ+DjEa3BJchyeApO33Xp/Oy0GvQ6K/2UKHowpeTQHLq8u8vqSAqVw0iVLBQps2+v+Elb/snJE83/nUruaWZQd45FMB/vrDQvpcZNyOR+HIxB/WkT6T0hDtUPunm5MUpUChQIL6DdF2wbOw2lOo2sozs9PlqKbxOjP3GVvhbH69sIqq5efIBYhEVO9iVUxpa+X/2lhEK3aOxj1ew76904yUHoG4sAR3aZP+7JVA4opTe4pZljwuhpDXrDBGVWh+tdU2lYnCdKCiFSYaOBl7oWXc+WgdG/R4YfkNrZeEMKy7+RknjkO6nN813BK19gHM3p0zV8/XJYRjK9jy0jebGC/CtUb9/grTstUrvHYTHw9SOHyowgjMH6NSXWZm2TIPYYissgMkBZXOLxGFRYvE1lymLM8+q9LKUep2k7dgCIUFiWV0pAqhIA/fGAPVK+GoZcMZBXjzpY2mVsqsa9/Af15sGWADAjZ6NKj/m+r0S+0J1l1rf078Rpt3Arx/ThoqDjyDQP0R0H/NaPHQP3WCHihPFR5V1U4WHtETzazXHAOYRst0AUFIWlCcPq+o82hy3F4q83TUaUIPuKO3GeJbhfyq9Sczh/Vcd9p8J5tQReZJvFGNjq6+e+57jxmRRlGI7sGdrwX93EDyL4677qjo5hhBd8Fh7JSDLBlrnBDmpJc4O4XcDolHRiR54iRhu2ssq1+BMe9rfR9zeyh94fv1RkezQg/9L1086Y51kGoSN6CADxYGvaH/m1s94UcLWvWeHqRiuUsL0xnJ4Xpt0TzsDna2v7oKTAJ/N4N6uxmWkdn6/sMQTjrcvrEgSuTtuQxtOdstSk9PT8gQYAplcjrdpkklWmyKU383sXKxeCjmyQJttHHJ4rW0Y84YpV4zIcRGJKByXRpMtszs68F5HjOjf/DOlf4BtuD1AtxyPZ01YfHCbUxFzSh1q3f+a+TqHid6demm9P5XPM9w1eg3O352Yd+d7p//8IhTvUuKXIJqW8cLymsn6NqWBILHSYWiRKD0qQeS9TKIkr2IhN1ZZLRDncUmWiqdjJtN2Kr54hs9+2cpLUnv1bV9UFMw4X9eroZ9j2jpQ9xIhc5mIMZPhqEy/CWI1pi/m9/tvazk8D4EoHJ7Y7uaQXMyGq3L4l7AeK88MeIRkrdvzb9Vru8HrrC419uTUyBL015pUViy085Zl4WUlO1xKS0ykVtSuRBAf/Y1cW/9GUwqhGGaDMNE2RDkZs/4mNLnTK1Qgo2WM7OWJn8ih5MJdYnUOO06c++lS980OQgkbEDp6EPfBzGMB2ceSKe3P5qXczhaHXUH26kZXdpbIO4HMiuEaq5dSwFYdZuSkH6KoGY7Ew0dC2ubgRuT5AhZ6Fpf9gEVHW0urMTDIPvpdYe4U3UqiFhRbllNrr5JcwSl8hoj1X9emt+SgTd2JP28PjBpLl/9i/WmarVv/Z0vY2CW1KDie8JsrSvV9akGOZ6HA9YtBvj4vl1dbZ+DR2BxORIV1Qxolq5J8hwVCVB/O8f0o1yuu7Uofcj1dpJuBzgkceUIxcHc4u981QkKN1GfT60/0whgSMGkwFWQ9e/wAmYs3f3earSDx6qNNtjWC4+YrwU1/LEmXozgE12DFwACmfNa48hR06uRTEwD413nRn4Pklb3FIoOv08fub6ikgjbEhRWdh92stVpcaOjgG/8Ui7/iqUwLCmPlbfJaAd0LsHj+zU4drSttGHHtaV053ixt/vcXY5wYynY//PslpM3ZVMaKE6yQLYWv8c0Sm3QzX2JGg7r+x2x0rZOh+jR5QdwEHc+N3eKIDZnwhFdhMnPNYr6wuXXOLYBgeyqLeSbH0GbnDQvsd3m+gXNS8QpD6JND1IYExRVbwNQ67s4JSQE5oL1MrkTK2mzXSLVXjFEAR3JavFfbyabI/bHfGXnY0Cu4Xm80UNBUNZ96XyAwsGDqntjuEGt5BdnlFzA4R3OIdiVqLyrmBaNRTRLmrelyWYkISJcR7OL6rycRuRT2ifCATr5cMModKfWkzOdcLuKtAB+0aVczzCKsILV/nJ6wV7vT7HoObOltAxNXNAhfycRFOmkRJh88qeaUL2RO+N5WWjRAZtEmzAwra0Bwy4Phhn7wJk/EXtGnq+ZGbjjL4YybdMuBlNhQbaXevfbla9RPoaZM5Z5L7SXtZWi8v3RStD5Y9xsx/+WmRfVAW/VtJyeXCQrkhw+FSerMWNuMtCkLqbLqXsoGSzZWkEBUYVykAi4ZpmHBwrfu1ZCD/59+sLEseZRVs9/pya2aWcc3NWt+t+ZZ1YUSxXFAUhUg6bXybdPszf7WrYzY8Wx7y+TgiJLqI0BLsPAr+A4fLO1tirdTKDjYejHEp7A952whzcloIndPvW1mSXEH3HOnPf473vWGK4h6csBPxXVKH92vSncwga1ASRdmEkD7dnXgYcRCcylG7OI8/oKFtsT8GMC7bJ4pUUv/QM/9pOF37zcdDD6qARFqVojb+Zn29eW0T9na+V+4NmtZ+A3bvexpBF+B9R6JeH3Q7JFN674IulVeeVoglqo+w9lQoMCQlpwh0c4oaAmpelsAOqZlyUXNTrK43DrYierlyg91Nr1ZSCJFwrHfCWwzsPUPyE/uku21gMjObYMN3SyCTpoKGj9P/eqVuao/b+BK5lEewH+GWxqxcntsSDbajcKpdN30fHDI4Htf2gapx3thLlkQgWWboOgI2dKkTthblGnpwErZAKpuRD+tSM95EKRv7BWOsZ/JWbTxFQuvIBrQpqdkCjcWQywJps5FrTwLujjTCLD40dIm9Zw7uq7CGE+d19CLVlBm6/m4ABF7fDWp18/Oij4p4vBaDA5PQ0vxi1jj6dZSe99zWcQh4rzpAHHNElOOHHmoM/zFIzy85YGPN0yL4i1MJZQQgOFpMLbc5+wEFe2C6r1WxNQo0iqKLZ05Jjf3e4BRYDaoOocmMLaSQDXdPo9UH9HqV08h4lW8O9h52YPK5oQqdD1SYVhx9IjgAtTNiq8CXVtLnZfkHlYnXLlhc6jxlL62X2BiBsv1Rtm88VjcmU0keqTzmEBKBJbmtmF6wC/4fzV3w8EDueArM8P6Dmj2EMq95RlHCB42rstBCB6rsj07vrPs5jjEfMcJBKIqle7OfujSVp9KtrV3hH6CznvlTDzJcBMnBeoyxnx0xZodTYrc9c6elmBHvaG4hgcFLnD6lBZF6J6zhLjRV6arTiVttHic/ma+c4TJ1LHYDnqx4XQFWAMPF5hGVQIe2ZBIki4U83ybyPoY9ETchMjufN4Opuxgu0klsJSLkQCq1XNBoJiKMzQXAphXbNHO87h7XyK68lFs7YdGr1XDzw61+4gqU4zQwECr6CdGqf0u5s2+ETxi5Hwmn24wH9duppw2WJRSjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start with the left arm: approach the left white bottle from above with the gripper open, then check the wrist view.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Jfhxi4fBGdtKZ4KpyUgb5",
      "input": {
        "note": "The left white bottle sits straight ahead of the left arm in the wrist view, about 8-10 cm beyond the fingertips. Moving the left gripper forward and slightly down to hover near the bottle's upper body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": 0.0,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015Jfhxi4fBGdtKZ4KpyUgb5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0189, 1.2079, 0.5945, 0.004, -0.0223, -0.0311, 0.9996, -0.0322, 0.7986, 0.6086, -0.392, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3637 left_y=0.0007 left_z=0.1258 left_yaw=0.0036 left_pitch=-0.0499 left_roll=-0.0032 left_gripper=0.9996 right_x=0.294 right_y=-0.0024 right_z=0.1784 right_yaw=-0.0022 right_pitch=-0.0107 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -4.8479, 7.5829, 2.0195, -0.0855, -0.0171, -0.0562, -0.1709, -1.3744, 7.2, 1.7998, -0.0317, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834a12ec407768944452872884173ba81de9a1277235f3bfb48d12c17d07e8a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce97622e1c2300521d000258adb9b58ecf77e499687792c607fa6fb5479fc381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76056346792cda63aaf880997ed29b4bd208a0bbe6836d6c64afb6966d5406e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 8.375 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.0257, 0.9996, -0.0322, 0.7967, 0.6106, -0.3851, -0.02, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0024 right_z=0.1812 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -1.4701, 9.2786, 1.7753, -0.0806, 0.0708, -0.0562, 0.5812, -1.306, 9.9897, 1.8291, -0.0464, 0.1294, -0.0415]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0189, 1.2079, 0.5945, 0.004, -0.0223, -0.0311, 0.9996, -0.0322, 0.7986, 0.6086, -0.392, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3637 left_y=0.0007 left_z=0.1258 left_yaw=0.0036 left_pitch=-0.0499 left_roll=-0.0032 left_gripper=0.9996 right_x=0.294 right_y=-0.0024 right_z=0.1784 right_yaw=-0.0022 right_pitch=-0.0107 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -4.8479, 7.5829, 2.0195, -0.0855, -0.0171, -0.0562, -0.1709, -1.3744, 7.2, 1.7998, -0.0317, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:834a12ec407768944452872884173ba81de9a1277235f3bfb48d12c17d07e8a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce97622e1c2300521d000258adb9b58ecf77e499687792c607fa6fb5479fc381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76056346792cda63aaf880997ed29b4bd208a0bbe6836d6c64afb6966d5406e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwkKEAgRGAI4AUIIdGhpbmtpbmcSDOWkdwlaChgiQIw7ZhoMNz0nnSX5VSxBiD3YIjD1YULMrYhhAXNKMgxWAqoP8Kuyg8LnHqwig+ylnYgTyjM0Ft3KWJEKvG6TNHcQqQAqrAhB/BcJV2MMHnmG9YP9Fr9F6U7BSGzk3bD0EZm7gavpkRj/EOhthIfLuFHL9DAgglnMQloMKV4Ck3IOKGABDU3Zg1qJZNE4bQlqBr6vW9SwNNZiHOrTwTuPk5CqdG0s6j7ZxwtERsvamnxQLQ6B/ibZNL9br0D37to+x3hAgXsX7gSVQPvnFoHimJUpCXz6jvOJvSNBXhw/OM37N/5wjwwFvFGW5QeSBaMru+Efll97GErp47QSPHd5I45/jFH/Yiu6Q69qoXfPNOxKFWwy64uYoqTy6RC/xCA3gAdiyFtN7sfae50ucY9mpzjAHn3dymznDgWdACNFH6TUM38OWDcTZxVkGDHAfAePqacH9FLo+1JePdzA/b4CtCGGQBZGHhitnvPNW18ECXogIuErCfIyNjCBqfMpEI/5ZQEm9N07cR8/VMlH5XmF5u9ZCoSVMbpma+q5DPICF5fR6r1uodajMMeUK9kqallipYEMLWoZPUhowGkjxRGe7BhBimJBEASILdg8lsEME8sRMRxGGE5xi4JDSMRcCU4ZiIbIG+Pibm9/tqta9KhVLPt0ufpo/uo1ckSXAbhCO4phpAqeSgwt4IoLBbBlCE2ymQeGaA+Zl9hB3EqwoWJqqe7d/IRzx8r03Zs1SM19qqxSk5/dXdA7Syat6mhU8VoOiE+Ubl0uMMQTqO+vDDlWaaoBXnWB8oiid0XSJEGUEiequwk7SMUXohO7ZhkC1YK1Z5Gc6LwLTVJsiRwqFPVlRsOCmExih2HXEVrEtDw9Yc4K1e1fvGDLmm/1V3QZ0eYE1FOiX2ZRwEz4gwL7KZM3AeG/tl/Nig1Tei3ANzvDio/OOky967g5+tvPSN5F+tB+hggSPz52s5/bbGLQQ9/81EpqxJqqZPQP2smojF88tjuXn5yNJLDWrJDFGNMEOieYqxvDxDCp3qnL36XJ1OZh+E2X4XdJIiC2hAbt0Pahm4NjviuCPf9YqoDzV6a/0iKjPxQnMA0zcmtGj5XDWgyfmdAmSY6akw3FH6cRyonvcdKyfES+VIvetbOfeFjhA2EcXelpM0N24R6j3BjgfgvsSUnHBwBqeoHfnAJPwuwzl5UYA5b7qU737cts5TextkNx6FwkEIF3yF7xGRpdmEKg8/53Ff0/H1pcbzXe41di1l7OXQgKL/Wast9evT9kzGhIkRW3eZDaPUN8reoK6JGWwtoCUKyFXM7KuWZ5yQh3EGD5gmiwyMSqw1N4utthH6vNEBdtLibGNeDg6p9efxjURVosoZw1CIH+JylBbXE63vQaTQ+WB3VauHg4Wmq9gi+Fd31K6xD+BwXcr8QRO6wPZDYP7APfERkopDZRUYDKu0AhBiY/YbI60TmwUURKd+FyDPVZrD4LHzJ+KmmhuOZ/EsdcAg/LELZxgRQ21EQWIlisWJYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Me8x3jZudZ1WNZ2aMHPuvx",
      "input": {
        "note": "The bottle now fills the left wrist view, slightly right of the jaw column and a few cm ahead of the fingertips. Advancing ~4 cm and shifting 2 cm right so the jaws straddle the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.41,
          "left_y": -0.02,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Me8x3jZudZ1WNZ2aMHPuvx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0944, 1.457, 0.6724, 0.1078, -0.0792, -0.0795, 0.9996, -0.0322, 0.8032, 0.6083, -0.3923, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3977 left_y=-0.02 left_z=0.0896 left_yaw=0.0025 left_pitch=-0.1151 left_roll=-0.004 left_gripper=0.9996 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.016 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.4889, 8.6359, 1.9805, -0.1392, -0.0171, -0.0562, -0.0889, -1.6615, 7.0496, 1.7851, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877de8f1a8b4df1e17fda8f5bbbc9d813fd8e4c845060ea0412c51d0509df6fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06703702b7d59123d645f45f8e67dd66ee9a7b5bfc69a48439f47a78f0c5f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:049453fb2c189b26711a041236a85b15c604c996b1fb3dcc6c61a7c3e1a79674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 8.66 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.0257, 0.9996, -0.0322, 0.7967, 0.6106, -0.3851, -0.02, -0.033, 0.9997]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=-0.0024 right_z=0.1812 right_yaw=-0.0002 right_pitch=0.0 right_roll=0.0003 right_gripper=0.9997\nstate[joint_eff]: [-0.5402, -1.4701, 9.2786, 1.7753, -0.0806, 0.0708, -0.0562, 0.5812, -1.306, 9.9897, 1.8291, -0.0464, 0.1294, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0189, 1.2079, 0.5945, 0.004, -0.0223, -0.0311, 0.9996, -0.0322, 0.7986, 0.6086, -0.392, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3637 left_y=0.0007 left_z=0.1258 left_yaw=0.0036 left_pitch=-0.0499 left_roll=-0.0032 left_gripper=0.9996 right_x=0.294 right_y=-0.0024 right_z=0.1784 right_yaw=-0.0022 right_pitch=-0.0107 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -4.8479, 7.5829, 2.0195, -0.0855, -0.0171, -0.0562, -0.1709, -1.3744, 7.2, 1.7998, -0.0317, -0.0952, -0.0122]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0944, 1.457, 0.6724, 0.1078, -0.0792, -0.0795, 0.9996, -0.0322, 0.8032, 0.6083, -0.3923, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3977 left_y=-0.02 left_z=0.0896 left_yaw=0.0025 left_pitch=-0.1151 left_roll=-0.004 left_gripper=0.9996 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.016 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.4889, 8.6359, 1.9805, -0.1392, -0.0171, -0.0562, -0.0889, -1.6615, 7.0496, 1.7851, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:877de8f1a8b4df1e17fda8f5bbbc9d813fd8e4c845060ea0412c51d0509df6fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f06703702b7d59123d645f45f8e67dd66ee9a7b5bfc69a48439f47a78f0c5f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049453fb2c189b26711a041236a85b15c604c996b1fb3dcc6c61a7c3e1a79674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjQoKEAgRGAI4AUIIdGhpbmtpbmcSDHEgjXY+ydjE4y1JIhoM7wDdn9/UeYd6bZE6IjAqIWJz0swd2K/kQFtTVrWkTpOurYQomq8BxTyjbUw71GQXEr0En4jlTgyD7Fy/i4MqqglED/vpZszaDJOSew27xzV2bA5A9yoEnsqm+lLzILiAwj73IV3Bk1V/U32Xj9dLIj0fwydw1BHaduI9N6QOdTR3vGfaI2oDEuVWoX8MXe8GvgOaec236KXX91iyK6z4YuAbWT0R4SSq0FBS7VTPA69HJFlJYwu3rcljc8ugk+VExgKovHfzR5Gt7rlg/MaPybM7RzvHnCLGd9hHAt6ipM71OG6KNCvjHmsWz2Aduort/4hWrxfttoifAbyTCoW7h+s/2R/h6qB2OrEbK+HL75gXsMzQ30o8SSLp/RNrKRXtK5eZ1QVwTsxqdCxvMzezIjuA9UR4btl+N34g6sCh20ptly/Rd3vEUwBnHnYPLsy2Cs9mwRJ8eCx6eaShojxmVHcZHdEZJVxe5cPgGbCx1iZBfGzvgNFmpVyI26eC+ciTYA3N/64GMLv9c8YlbYx298kjYMfAP9qPkBbNEVHgu6ZeWPbQK1zBBMLZLvah63wg3Fwgbf0Mw9xgba8FoYDGjXkg6XDXyP0vOZyhsE+iPHdDOYx16woTdVu1nSCUgEJl16sgcj1yNvqmpWc5HiUH3umzI+Ol41BmW9OuEQ+OE0wsPqrqTWWAVMS2HCCQEYxh0CMfCsQuAk/VKudp78Rvk6abfwMTTf9GNcbRUf/eWjNi5AdnbHqig7z7rJFxgMr4l9DJs9uZSD7LhwVx6kGBNp/bkiOhIDnbX6ygImJ5HoxW3V+A5fJDgljmagLQbkAkgMYlOjoi/t/dsaPRIaR/2YASN/UVkZpJLoIKiTSOCaIhdL7e6rX2fOFuTPgOR8hPF7Q4v5i6tpR1dN1kRUmJ7izN+GgCX5J2pytjoqDvJotTVOmR+08rFEQwj2lTwP6Y4R/DUqftWW3muj9FLI0Q+CqCaO1LBY/RC2kaLanMbEyw4dHJrw2smqJtAvtDy4yo+o9g3Zuw7QA/SXy1swMcSuUxJHODJ6ijsMLTGqPUPqfnomvOE8BSG6T0ntNuEb1RsUCqgqQGGluGLc4y9VBW61dnfSDZzAQGSq4+8322mtj1FQbwlfWrwA5AtyqMMNDBAg4I2hbBK6S7EPcx6LF2cNYQ0vhEg56kVZj6Nk3RJN1FnolgG0z48IIa66xfOblUMf1otUdFFxuwhJFi34O1CZmJ5YdQc/1smRqdkxMXNKqCAAjSMDJYSOWX1two8tBgQ/bfv2YtKveA2eel4fWtylEzRTmLmAqdc8nnlaLH1OoHvnLuAY5IZn2xfkmezGRcZ0IWjsZZJqrF+8KJFdfrjPhx5P9awMWBjW9MWEFguC/kszPgAOqfz+2ZuR0OjbRtIdZ3y2j8BJw51wmdYEyH7zKeeAPVToINvXKoaj+U7GwYr9io87WaBSmwJgSxn8Sx8MPqzAoMCgFrPyC2yTLwk1EEfrzfahM1mPr+obzuqxHhJNtH6zagt944thmfhco15mClcXvejwnEnrGrO0j56+KEf3NS3O/LGAnM+4mgwKUWQqB0fwfV9itGHFKEXr4qpCS1OlxMjM9Kf3AZ+DqxlGTX9M1H9tOZzmEoQh9PJ7bJQgwIgQnuu0OW7DD3BkaeB4vY5vjd6x2Q5iAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NZHyRbco2d1uXjVJG7AhXb",
      "input": {
        "note": "The bottle body sits centered ahead of the left jaws; the arm stopped a bit short, likely touching the bottle. Nudging forward 2 cm while closing the gripper to grasp the bottle body.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": -0.02,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NZHyRbco2d1uXjVJG7AhXb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0902, 1.5391, 0.7219, 0.0978, -0.0784, -0.0864, 0.0076, -0.0322, 0.8032, 0.6083, -0.3923, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4082 left_y=-0.0194 left_z=0.0762 left_yaw=0.0103 left_pitch=-0.1573 left_roll=-0.0056 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -6.1333, 8.6769, 1.7411, 0.0024, 0.0806, 0.7888, -0.212, -1.0872, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d596fb90c34e3fd1b6750c31e0cdfdc3490ba932517008572ced949b6604191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7339ed44514826af0d653f1ceb73e90f27ddd3340ecae1997e729daa6fe977c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:385f4a027802236da841a68abe654d8fbec2c48e49a0aa12386e74f6440cd590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.203 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0189, 1.2079, 0.5945, 0.004, -0.0223, -0.0311, 0.9996, -0.0322, 0.7986, 0.6086, -0.392, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.3637 left_y=0.0007 left_z=0.1258 left_yaw=0.0036 left_pitch=-0.0499 left_roll=-0.0032 left_gripper=0.9996 right_x=0.294 right_y=-0.0024 right_z=0.1784 right_yaw=-0.0022 right_pitch=-0.0107 right_roll=0.003 right_gripper=0.9997\nstate[joint_eff]: [-0.3214, -4.8479, 7.5829, 2.0195, -0.0855, -0.0171, -0.0562, -0.1709, -1.3744, 7.2, 1.7998, -0.0317, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0944, 1.457, 0.6724, 0.1078, -0.0792, -0.0795, 0.9996, -0.0322, 0.8032, 0.6083, -0.3923, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3977 left_y=-0.02 left_z=0.0896 left_yaw=0.0025 left_pitch=-0.1151 left_roll=-0.004 left_gripper=0.9996 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.016 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.4889, 8.6359, 1.9805, -0.1392, -0.0171, -0.0562, -0.0889, -1.6615, 7.0496, 1.7851, -0.0269, -0.0562, -0.0171]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0902, 1.5391, 0.7219, 0.0978, -0.0784, -0.0864, 0.0076, -0.0322, 0.8032, 0.6083, -0.3923, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4082 left_y=-0.0194 left_z=0.0762 left_yaw=0.0103 left_pitch=-0.1573 left_roll=-0.0056 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -6.1333, 8.6769, 1.7411, 0.0024, 0.0806, 0.7888, -0.212, -1.0872, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d596fb90c34e3fd1b6750c31e0cdfdc3490ba932517008572ced949b6604191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7339ed44514826af0d653f1ceb73e90f27ddd3340ecae1997e729daa6fe977c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:385f4a027802236da841a68abe654d8fbec2c48e49a0aa12386e74f6440cd590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QkKEAgRGAI4AUIIdGhpbmtpbmcSDLfW/JFIKwiSqcxycBoMHhkk4Sq/9OCZnjhCIjBoNW9J+AApyH5WqJmbxFSxHHcgP1lUEWQ4fKAb3dDnuIV/qZ38OC0lQAjZbTaEs2kqjgmV7piXvUGHJ0DvLvbkIusJyI3kPKAyw6GXFcIKCmD9HXllB7c67rRE23ZbyvNeOUlkZfpMea7zK0tDEXn9Dfw/g5+JC297Z8i3wJaHIIhsqY4U7+9CTOuwtgsi4DhBdkZGNSznkgjffnRtAlPZfi4G/lZFSxbkWVdjI/aGqTpjkH+/5CnF0jh3EDQ17/Dd2RXXpVsFEHrBZb3vCSHR19EOGosnQhMXMUboy4Q5O8qFHRnhZK+rzfS3xBkxOwQOPJlKET8vrWzMOp+qncKJBvfnjznx6VteR47QUk2a2vn1u9haYEaN0bwL6BCgaNSdc5mvc/AkWUqdXBFutnfFZDRrEkUwIvwcU64tH4cbUN3o0tdk4waJQb6m26a550PqcsWB7P5HH6XTEXy94Ex6g3SXt9lVcCoKXpuXfXn8QsZRNW1d04GBJ1KrjHsoVW7eNdN7dQJfrKVWDDFjM9YotxbKRwNM5fjB7MdPP6/YJMtiYQSR37RqE3P9kwr8pdHy/NLRXRKYyf1YXXvjXOdoSRHJo+MNvYb4nInichNf/NyBpW+8srzfcXpTafQpcTwqhJ/WtxEUWGiySTY0Oue3CmuDMgJg0IKqNavwrHfBg/05ewKs1q6dlpu9v7917V2yzDLfx+Bqs8pcIt136hAkKJI+nIk56sUot7fkbm/+u32RtPm1QUEDMMrfqppggLqnMt6P+mgQoTAlgsECLqYUWQhW2pgbHiaJv/IFjzGTREXhyY6whxQ6LDsMgh1H837kfDNNeW4galNsdIjxD2DGu8KHygt4CcR6fmo/EYN97zEvtu6w14ioO3AevwsRnfKRtzZMeZRxrWpgci7JmjDh6pkfad20IJ1Wk69SG0Vrml6yB33nNLT6mSbt2RpKSHrxfXsOpu01yy3zoq1bkRk3GYn1LrJ0khDtDjPpASV/PTdKPMsLGYpmO2XAmjUNZVb5w7MgCzn4Ed87M8uDtpTizvaT8Ts5T34LrlprQl0N6Mz5pfnSoMlbmcG91j+LYGmGg7+HLT0Z4PEaSMu4U+pSk+tHAlCglepsFQsBtrRyyxp3bcg6EH2I+tKfrJJD9KkXShtigjrdPl4x0in3wr0ebLkDwFouI3q9toq86Ug5aYTgfQhqkcRiJIdNPzrDBu7Tgg50cytGSSkAN4eXuUAwZhNIc6tEgM4pm9DVcVL2RhwCUwk3qcfLYely/t2MVmdJmfEptX5OREg1U2lQ6sAENCUkVi4r0MFI8xXKLir2dMK/2B5KFf3OxGS2BPObZ8oZWSowzWV0fMBD7tZs5L0w0EW11dHRmcwa/nPuhp29vQstEmQ+SCz/2YwXxioWHPfTK0TvEv8pYJSR+fvYRHpWCa5TmfqnsJ1cKwey4EPQh2RZaRnUqRJBI32N4wc6PTtwuwon8jKPEJQP5eZYTsbD2BoQFhix2NHc1psRNzk+YRx05fH1C+k0u8s/CcuXUfaRleelAvclCGA7vwPLqtRONs27VZVX8p7FX39QwCBnL7oyqQNcovgznnXNig5n5qloBx2qQyyOEHX0cLDG/y4uoRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfnHEqTVDYCj3VD69qoXs6",
      "input": {
        "note": "The close was empty (reading 0.008) - the bottle is still ahead of the fingertips in the wrist view. Opening and advancing another 5 cm, raising slightly to counter the sag.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.46,
          "left_y": -0.02,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BfnHEqTVDYCj3VD69qoXs6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0883, 1.6157, 0.8268, 0.1707, -0.0792, -0.0864, 0.9988, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.4476 left_y=-0.022 left_z=0.1017 left_yaw=0.0118 left_pitch=-0.0566 left_roll=-0.0153 left_gripper=0.9988 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -6.8991, 8.9504, 1.9463, -0.0611, 0.1392, -0.1343, -0.1573, -1.306, 7.0085, 1.7753, -0.0269, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec7e349cd734c9656e228ab442123af6529b04e14bed4816bdb08947f47aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2207b001bdd05f519fafc4df99a5ed027c30d3c8acaec5f6864ee00b12c827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bf8a581b1d52759fd5ce11beada995b8e42b7daa02a36e842ac8372ca9d9270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 13.42 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0944, 1.457, 0.6724, 0.1078, -0.0792, -0.0795, 0.9996, -0.0322, 0.8032, 0.6083, -0.3923, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.3977 left_y=-0.02 left_z=0.0896 left_yaw=0.0025 left_pitch=-0.1151 left_roll=-0.004 left_gripper=0.9996 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.016 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.0068, -6.4889, 8.6359, 1.9805, -0.1392, -0.0171, -0.0562, -0.0889, -1.6615, 7.0496, 1.7851, -0.0269, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0902, 1.5391, 0.7219, 0.0978, -0.0784, -0.0864, 0.0076, -0.0322, 0.8032, 0.6083, -0.3923, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4082 left_y=-0.0194 left_z=0.0762 left_yaw=0.0103 left_pitch=-0.1573 left_roll=-0.0056 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -6.1333, 8.6769, 1.7411, 0.0024, 0.0806, 0.7888, -0.212, -1.0872, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0883, 1.6157, 0.8268, 0.1707, -0.0792, -0.0864, 0.9988, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.4476 left_y=-0.022 left_z=0.1017 left_yaw=0.0118 left_pitch=-0.0566 left_roll=-0.0153 left_gripper=0.9988 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -6.8991, 8.9504, 1.9463, -0.0611, 0.1392, -0.1343, -0.1573, -1.306, 7.0085, 1.7753, -0.0269, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4ec7e349cd734c9656e228ab442123af6529b04e14bed4816bdb08947f47aba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c2207b001bdd05f519fafc4df99a5ed027c30d3c8acaec5f6864ee00b12c827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf8a581b1d52759fd5ce11beada995b8e42b7daa02a36e842ac8372ca9d9270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQcKEAgRGAI4AUIIdGhpbmtpbmcSDI88jObyjcA3KtZ9QRoM08M1vQH7+yoAadvHIjCKoHoRSHhj6v4WVaKQTRwxOzd8mfKlVjYoieYT/HvAw8vL+EB7sFym0r+8EHobVQ8qqgZgjDGZYx53GUhsw1pWOJcFaiuoDxp0faK/wHi4QnRpFKff/kX7ErE6JT1RpQ320HYSoidbE9WNf8z9yq/wM598pWAvh7d+Ug92RH6uo+REDVTe4YQlvnz7/dVxbEovfw97jQZuVCDBKdo0rWVf+5iddP/YPPmNK4vhT9Y5jyMjBrYDTbltI+IwT6g8QGVmbWsdM3+Imrlp5HjSWikKRCASg8qVWjB51pmlzPwZdsP0uMK3oQkW462UKvu6GLtL5HeyynbLLnCH6inoxwcqtE3BUgkEo2BM4wftYWKn/KcyWxPyrYIWfP58lJrjg/Z0aB294UXDA1yHBTEPN9GWT4rD+3k0R4duNG+ixsAwMRlf3Luc2HNlcoxPliJlABBIZ7Oy23kyqXb6BCeG3MFPrFRp+yuvrLu9IWKBfimaWhvpND98H/p0s0kgLSNC1zJPovxkSF1c/ZdRBtzu2bWRX04+P0sC+XQbbvfKlrWNyawLoYlkoAGofxjrv1lZaZfKeC1eu/0BevIrzyLKKbU9LOGTZPxol+wUM6AvJ38CuS13SUx5pv4y6wAGkrhaWKMvvlPo7Eopn8h4KNOEKxGM5A4xrECRmERFQAEisYGD0rSY5Eip7eevcTCcX46VUFGbLZbXgitqCV6QCwejOWAyYptOuEybsbK9F0QgbHIsSzLbK13EwHbB4cmMcQMlC0XTB0Bt4ZYwEH/Rq73RE7UZ9fBI4nqCK0GvFw1AKBNpm/KDpAuNkFZeHqbKKYTzXuexDPMwd+Wr2jQEshM50OAeoYkoLiYeLjmiaKFeigXtr0G8cCz/kZ09ttTLvR4tBQTG6RDzug22SUni7vJNELRn82taet36pDKp7mQpkFT9bodscQjPqMTGj/mU2vRqyrFvofQG+VFscCOb03VhbpAgbGpRO8BftoPJSazLXsNxvA0jb7yhhfBJOaFAG/wSdc6UsZkSGHEqcqpuhj6zq5m1OmZiReznkbg+uH08lMkAJ7s4nTfOwgofpYu639k6q8F57Ke4oih9KqqclHgZlRjqL2zn3jzT0ecsP+x4B66grWm6Pe/Os3+Tp0gIHyoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HPPCttAWZPGbX2Nxd6FgFz",
      "input": {
        "note": "The bottle body now fills the left wrist view between the jaws. Closing the gripper to grasp it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.46,
          "left_y": -0.02,
          "left_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_01HPPCttAWZPGbX2Nxd6FgFz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0837, 1.6497, 0.8379, 0.1543, -0.0784, -0.0902, 0.0076, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4478 left_y=-0.0201 left_z=0.0884 left_yaw=0.018 left_pitch=-0.0958 left_roll=-0.0148 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.0164 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -6.4342, 9.2103, 1.8437, 0.0122, 0.0513, 0.7839, -0.2256, -1.2513, 7.0085, 1.7216, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b959031d5e4ed17ab41b832595da2c7a67eb42601362cc7725104260f55a813a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c1e2dd00e6964e02ab5b9f85c0471c55fc85fbee391b5589c5dc701c18be59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2353ea75e9e48c48cbea792521904b711849d4879ca67f4d35184022cad0231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.925 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0902, 1.5391, 0.7219, 0.0978, -0.0784, -0.0864, 0.0076, -0.0322, 0.8032, 0.6083, -0.3923, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4082 left_y=-0.0194 left_z=0.0762 left_yaw=0.0103 left_pitch=-0.1573 left_roll=-0.0056 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.016 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.1846, -6.1333, 8.6769, 1.7411, 0.0024, 0.0806, 0.7888, -0.212, -1.0872, 7.0359, 1.7851, -0.0366, -0.0366, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0883, 1.6157, 0.8268, 0.1707, -0.0792, -0.0864, 0.9988, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.4476 left_y=-0.022 left_z=0.1017 left_yaw=0.0118 left_pitch=-0.0566 left_roll=-0.0153 left_gripper=0.9988 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -6.8991, 8.9504, 1.9463, -0.0611, 0.1392, -0.1343, -0.1573, -1.306, 7.0085, 1.7753, -0.0269, -0.0269, -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 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0837, 1.6497, 0.8379, 0.1543, -0.0784, -0.0902, 0.0076, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4478 left_y=-0.0201 left_z=0.0884 left_yaw=0.018 left_pitch=-0.0958 left_roll=-0.0148 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.0164 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -6.4342, 9.2103, 1.8437, 0.0122, 0.0513, 0.7839, -0.2256, -1.2513, 7.0085, 1.7216, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b959031d5e4ed17ab41b832595da2c7a67eb42601362cc7725104260f55a813a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c1e2dd00e6964e02ab5b9f85c0471c55fc85fbee391b5589c5dc701c18be59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2353ea75e9e48c48cbea792521904b711849d4879ca67f4d35184022cad0231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uo8U7RcbAsLqywvNWxpWKV",
      "input": {
        "note": "Empty close again; the bottle seems to have been nudged forward and its base still shows ahead of the jaws in the wrist view. Opening and advancing another 5 cm to get the body between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.5,
          "left_y": -0.02,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Uo8U7RcbAsLqywvNWxpWKV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.7737, 0.9623, 0.1799, -0.078, -0.0975, 0.9951, -0.0322, 0.8032, 0.6083, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4842 left_y=-0.0191 left_z=0.089 left_yaw=0.0297 left_pitch=-0.07 left_roll=-0.0236 left_gripper=0.9951 right_x=0.2941 right_y=-0.0024 right_z=0.1767 right_yaw=-0.0021 right_pitch=-0.0168 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -8.2256, 9.2923, 1.9609, -0.0562, 0.1978, -0.1148, -0.0752, -1.2103, 7.241, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6456a0034b0b0a6687c8621d03c7eb0ec524f1c14df86d193d38874d44b12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8799acf9d25de2f55ee0320a11e54de3d1a0e506eca8af936aa42677ea30af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2062d9e53db7707672f5464bddccc6e18c8f72ab0b74a6cb30a662c1b3581447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 12.55 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0883, 1.6157, 0.8268, 0.1707, -0.0792, -0.0864, 0.9988, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.4476 left_y=-0.022 left_z=0.1017 left_yaw=0.0118 left_pitch=-0.0566 left_roll=-0.0153 left_gripper=0.9988 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0022 right_pitch=-0.0164 right_roll=0.0032 right_gripper=0.9997\nstate[joint_eff]: [0.3624, -6.8991, 8.9504, 1.9463, -0.0611, 0.1392, -0.1343, -0.1573, -1.306, 7.0085, 1.7753, -0.0269, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0837, 1.6497, 0.8379, 0.1543, -0.0784, -0.0902, 0.0076, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4478 left_y=-0.0201 left_z=0.0884 left_yaw=0.018 left_pitch=-0.0958 left_roll=-0.0148 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.0164 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -6.4342, 9.2103, 1.8437, 0.0122, 0.0513, 0.7839, -0.2256, -1.2513, 7.0085, 1.7216, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.7737, 0.9623, 0.1799, -0.078, -0.0975, 0.9951, -0.0322, 0.8032, 0.6083, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4842 left_y=-0.0191 left_z=0.089 left_yaw=0.0297 left_pitch=-0.07 left_roll=-0.0236 left_gripper=0.9951 right_x=0.2941 right_y=-0.0024 right_z=0.1767 right_yaw=-0.0021 right_pitch=-0.0168 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -8.2256, 9.2923, 1.9609, -0.0562, 0.1978, -0.1148, -0.0752, -1.2103, 7.241, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6456a0034b0b0a6687c8621d03c7eb0ec524f1c14df86d193d38874d44b12d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8799acf9d25de2f55ee0320a11e54de3d1a0e506eca8af936aa42677ea30af4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2062d9e53db7707672f5464bddccc6e18c8f72ab0b74a6cb30a662c1b3581447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgRGAI4AUIIdGhpbmtpbmcSDPvAlP5cOwHIebfi5BoM7GRy3YW68bn+NZ6RIjA3amcACoXj80te/XbuBroGggkPmSQLovynuFl+4LlreqemO7JT3n8TFTlTi++RaJcqiQZD6hqt/ZDUHNGeSsgLtysiHdGTbzHqVimEMLnpsE+A+qfhr9xi+fn4LvU5e/cMeWJB589V7WjPjilIgg43EfBZhlQL01j4XV52XTQHzO0GQLFbTPufuAS/5loLdFkehEvHU2tIkZkQfPA6Xi9ekGMD5P2p35H92Z1tVJPmeqLN+4SPb6px78tiHS2GtO5E7sShvYROtu8QvtzppVOqBpp3hMCTplJIJ1X8500Z5uEdJPAUd47T9lilxRDVeu8owlkZtQstu8pN44tz31NpmH/pdr5OmzKFLaIJbaATERmFgFDrUO3CbeuTZl9p9clm0oJOSxqrj54vmNlk2JgkLXNtczJJm+vqGKHJ8k2EXVRDLg2lwwEK69l7z0gWQj0a6h7AGL4msCYzDIqA6SuHYB3GcJdrQOzl8NhP6c6kcLSjFDdmG0B5AvRxxZi3ddjDfmhocOCeEzI9ekqnwYprEzpWrMowNKZyWYL1Qfd+2ziYmOcFok6+XVm7qq+GinnGSBzCbb5ZDWWvEgoIBvSYMHJB5U8Ef+IunR0BfmJrkhiUXfwJ0wx9dX5RtJTPEkiOYqB26S0K7GdJWOW7DmYkFY1NfT6AuhQhnzmsVZwlzTOLq9swcO1LbbTCmIKT21UxesHSV8ErA6P36ja+I8xdw3Boxgkb5CVr3mErtm+nzka05v9Ak33pF1bduldlsHPrqc+OU4LxmCD8bRWjZobiHbJ/Osjim1N+PmytU8nzTGX58LUClsWX+5unNOygFk473daB3dyZftdk8HZ/qYEb3xY9fgdMhWXb8wGc72Q4XqYo/+oyz+aRYo10O5rI8LDfkyvKkkHVXaZ3KfB2Wx/s0RB9gg0F7u7l5Gj4vkIoIDUm30gJXb6KO93aue4m41JuqiK8n5WSSQJPu9o3A97cHTkyM9rMvBKsDV8AQMGlzNGT6Qz3PySPxA6w4PzFuoRHVe6FakSb39WwMM5cD2wFwrX43MAlwxbs77/GVVF6NREVOaxgFUehOig16MkgqKX0wUuldF4el0KQXMcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0119rsyW9Bqsi4ASAVodiFU7",
      "input": {
        "note": "The bottle body fills the wrist view with no base visible, so it should be between the jaws now. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.5,
          "left_y": -0.02,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0119rsyW9Bqsi4ASAVodiFU7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8126, 0.9997, 0.144, -0.0788, -0.1081, 0.0096, -0.0322, 0.8032, 0.6083, -0.3927, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4884 left_y=-0.0193 left_z=0.0791 left_yaw=0.0364 left_pitch=-0.1072 left_roll=-0.0276 left_gripper=0.0096 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.0164 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.0889, 9.3197, 1.7949, -0.0464, 0.1099, 0.7399, -0.1846, -1.1692, 7.1726, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455db7456143c07c46e5b1558a50ea9b25d5097beff53184dd6cd96143715693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714913804572896607ffe7f50f9e3033ff743f5039235f38a5409883bc2152c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4948dc6f0dabb0e6b02f41a3cfb2f5bdfeeda73ca0a786896c72eab77bdb4604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 5.366 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0837, 1.6497, 0.8379, 0.1543, -0.0784, -0.0902, 0.0076, -0.0322, 0.8032, 0.6083, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4478 left_y=-0.0201 left_z=0.0884 left_yaw=0.018 left_pitch=-0.0958 left_roll=-0.0148 left_gripper=0.0076 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0024 right_pitch=-0.0164 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [0.1709, -6.4342, 9.2103, 1.8437, 0.0122, 0.0513, 0.7839, -0.2256, -1.2513, 7.0085, 1.7216, -0.0366, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.7737, 0.9623, 0.1799, -0.078, -0.0975, 0.9951, -0.0322, 0.8032, 0.6083, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4842 left_y=-0.0191 left_z=0.089 left_yaw=0.0297 left_pitch=-0.07 left_roll=-0.0236 left_gripper=0.9951 right_x=0.2941 right_y=-0.0024 right_z=0.1767 right_yaw=-0.0021 right_pitch=-0.0168 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -8.2256, 9.2923, 1.9609, -0.0562, 0.1978, -0.1148, -0.0752, -1.2103, 7.241, 1.7167, -0.0415, -0.0513, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8126, 0.9997, 0.144, -0.0788, -0.1081, 0.0096, -0.0322, 0.8032, 0.6083, -0.3927, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4884 left_y=-0.0193 left_z=0.0791 left_yaw=0.0364 left_pitch=-0.1072 left_roll=-0.0276 left_gripper=0.0096 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.0164 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.0889, 9.3197, 1.7949, -0.0464, 0.1099, 0.7399, -0.1846, -1.1692, 7.1726, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455db7456143c07c46e5b1558a50ea9b25d5097beff53184dd6cd96143715693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:714913804572896607ffe7f50f9e3033ff743f5039235f38a5409883bc2152c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4948dc6f0dabb0e6b02f41a3cfb2f5bdfeeda73ca0a786896c72eab77bdb4604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mky92mzYL5km3euuWbMifi",
      "input": {
        "note": "Third empty close; the bottle keeps getting nudged forward by the fingertips and is now near the far edge of the table. Opening, raising to z=0.15 and pitching the tool forward to extend reach another 5 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_x": 0.54,
          "left_y": -0.02,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Mky92mzYL5km3euuWbMifi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8694, 0.9825, 0.5499, -0.1055, -0.0864, 0.9972, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5313 left_y=-0.0179 left_z=0.1313 left_yaw=0.05 left_pitch=0.2241 left_roll=-0.0348 left_gripper=0.9972 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.8, 7.7744, 2.1709, -0.0269, 0.1099, 0.0122, -0.1436, -1.1966, 7.159, 1.7265, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:239ee08e1194cf51d0871846469e6712517d3ddc3b04eff095005ea03f0dfd90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:516db9999a21e527579d0cd53c6ed68b6fbb45a0f2a9cb1a8944b897e0d1e6db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bf0632b89e91ccc66a207e86fe3f4f7dcb5e90e80f56faca4e8910dee335533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 9.651 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.7737, 0.9623, 0.1799, -0.078, -0.0975, 0.9951, -0.0322, 0.8032, 0.6083, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4842 left_y=-0.0191 left_z=0.089 left_yaw=0.0297 left_pitch=-0.07 left_roll=-0.0236 left_gripper=0.9951 right_x=0.2941 right_y=-0.0024 right_z=0.1767 right_yaw=-0.0021 right_pitch=-0.0168 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [0.0205, -8.2256, 9.2923, 1.9609, -0.0562, 0.1978, -0.1148, -0.0752, -1.2103, 7.241, 1.7167, -0.0415, -0.0513, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8126, 0.9997, 0.144, -0.0788, -0.1081, 0.0096, -0.0322, 0.8032, 0.6083, -0.3927, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4884 left_y=-0.0193 left_z=0.0791 left_yaw=0.0364 left_pitch=-0.1072 left_roll=-0.0276 left_gripper=0.0096 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.0164 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.0889, 9.3197, 1.7949, -0.0464, 0.1099, 0.7399, -0.1846, -1.1692, 7.1726, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8694, 0.9825, 0.5499, -0.1055, -0.0864, 0.9972, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5313 left_y=-0.0179 left_z=0.1313 left_yaw=0.05 left_pitch=0.2241 left_roll=-0.0348 left_gripper=0.9972 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.8, 7.7744, 2.1709, -0.0269, 0.1099, 0.0122, -0.1436, -1.1966, 7.159, 1.7265, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:239ee08e1194cf51d0871846469e6712517d3ddc3b04eff095005ea03f0dfd90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:516db9999a21e527579d0cd53c6ed68b6fbb45a0f2a9cb1a8944b897e0d1e6db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bf0632b89e91ccc66a207e86fe3f4f7dcb5e90e80f56faca4e8910dee335533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStQcKEAgRGAI4AUIIdGhpbmtpbmcSDOe/0uWD3Ur0ATb16RoMLr5FBsk5aM1B2trYIjCOhGTz/L6rfbl9WJJb3r/UtclXYOtO+XP3SsERcUaTOwYG///YLoFqxNvWXn8vkxkq0gaHUMlXDROYCgiDOkvRhGfSwP8fp3ek1TCcHGb37WMPH8//2NfBOEDFb0f6e7xYpxd6eJYQ8FcvKNkOY7JiLl9BfDgFMvy5/dyN0ps/XjlgWC42EBhBV2o+XLcLh66EV2KC+2wSf6F94wUbYp4BlbLIGf0pcwpeL/ikfOAHLmhQ1bCuJsiHrjL4YwYlSJDr5sNscEK1Ovk9cAbTZZhCf9tF6tTrWlusR7h4z8fbwAo8CVksYFapBH8HUV6kQizc1A86o5A7zPpc2qEf6M6MkNuItfZ4wmFKoE8jVvkaqQGHTKqWMS6Bgqwe3titnUJaAii/wxdC+pP6Rzlp55eYX7XTA0ZqdA1fgMDRHABlxaFBP4LJRMk/Exr2VT2bUqF4+pG3IACBhM3jen5HkvOulcOtCwYz1eOga9iwsmibbISF/U6/Z+1rf6dqNUVmG5YEvRvzJ8PhzFUJ+U/vdn6dOQtnfle+FghA7rTKfn8C55TaRXrv5cwCoMDCJIXul7qNqxPd571zYVQafGK4R9DJ1Kg8WKaKiHjHTfRRl/BQe/WKjf9eDgsDtiVkDmqj0GJzSmX8vBaXamtPp4VpSf5Lk4OxQtkNZXZ/5JuB1ypq1hpS+ob8ZK054T6kFSI+nrrHPI/RZc3t8haZmxgWY54kCj3b5Ns7m2c3UHq3sp1Q36NSfma2sF1+NDRpcY4aU3QL7bNIeKiJfo8YpXs1gpaYG0e+TWWbsYaCnsybk0KkO7Ip+eKCCENMtmjb7v8VqdhUm8+/aNEJ9tVcVXqq4EhD/zKUStKiBZL9yIhl+y+KyCKBpF3qr3KrEiAnm3SDLyapmyAfLdh3dTBzqEalSsW5oQhzcLQac0ORbewEaoUESPPj7Onu2MvEytl3r+QIQrrc0uyctXYCTMd//n6GJ1DGWQEzMSkSmssH2jL/+K99X6kUgPH3EB7zvN0lsXK9Vr/VJmd5+C53jCF05XSeF/1YCCRkKQLt3dD9WFXZKpRoD7KvkpULrPrR985dCVDPeo/mZeWQKi1+yCpWY6jrams6plyrMY4O0r/7gqWWC5vie3qq9AiTq2gF1nLcPOXVSatvYKtQPiongnDD6oeFm3/ryad7PjSHvN9qy32qE3pG0bM447IGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLJctEWRfACSW9s56TPW52",
      "input": {
        "note": "The wrist view shows the bottle's handle region filling the frame right between the jaws. Closing to grasp the bottle.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.3,
          "left_x": 0.54,
          "left_y": -0.02,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VLJctEWRfACSW9s56TPW52",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.916, 0.9699, 0.6601, -0.1139, -0.0864, 0.0095, -0.0322, 0.8032, 0.6079, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5374 left_y=-0.0168 left_z=0.1278 left_yaw=0.059 left_pitch=0.2751 left_roll=-0.039 left_gripper=0.0095 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0024 right_pitch=-0.0168 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.4444, 5.9966, 2.1807, 0.022, 0.0708, 0.7106, -0.0752, -1.2786, 7.241, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6061a5c0af53728de0a3acde9555d9bcf8904741ba56d4af5ee29779f840b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01fa5008b65e416e2b6c37db20bfb4c3d5fb94d67a9ba5b0288765979d69ad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51097d209420546b21544533025a5f145d8cd850e40682f829af5fd9fa69a73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 5.076 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8126, 0.9997, 0.144, -0.0788, -0.1081, 0.0096, -0.0322, 0.8032, 0.6083, -0.3927, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.4884 left_y=-0.0193 left_z=0.0791 left_yaw=0.0364 left_pitch=-0.1072 left_roll=-0.0276 left_gripper=0.0096 right_x=0.2942 right_y=-0.0024 right_z=0.1768 right_yaw=-0.0021 right_pitch=-0.0164 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.0342, -8.0889, 9.3197, 1.7949, -0.0464, 0.1099, 0.7399, -0.1846, -1.1692, 7.1726, 1.707, -0.0513, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8694, 0.9825, 0.5499, -0.1055, -0.0864, 0.9972, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5313 left_y=-0.0179 left_z=0.1313 left_yaw=0.05 left_pitch=0.2241 left_roll=-0.0348 left_gripper=0.9972 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.8, 7.7744, 2.1709, -0.0269, 0.1099, 0.0122, -0.1436, -1.1966, 7.159, 1.7265, -0.0171, -0.0269, -0.0122]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.916, 0.9699, 0.6601, -0.1139, -0.0864, 0.0095, -0.0322, 0.8032, 0.6079, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5374 left_y=-0.0168 left_z=0.1278 left_yaw=0.059 left_pitch=0.2751 left_roll=-0.039 left_gripper=0.0095 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0024 right_pitch=-0.0168 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.4444, 5.9966, 2.1807, 0.022, 0.0708, 0.7106, -0.0752, -1.2786, 7.241, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6061a5c0af53728de0a3acde9555d9bcf8904741ba56d4af5ee29779f840b10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01fa5008b65e416e2b6c37db20bfb4c3d5fb94d67a9ba5b0288765979d69ad24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51097d209420546b21544533025a5f145d8cd850e40682f829af5fd9fa69a73f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9Nzg5GiCusYEZZUNh5xe8",
      "input": {
        "note": "Still empty; the bottle has been pushed to the far edge of the table and its handle shows just ahead of the jaws. One more attempt: opening, extending to x=0.58 with more forward pitch to reach it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.5,
          "left_x": 0.58,
          "left_y": -0.02,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K9Nzg5GiCusYEZZUNh5xe8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 2.0907, 1.055, 0.8921, -0.1314, -0.0746, 0.9953, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.571 left_y=-0.0163 left_z=0.1261 left_yaw=0.0755 left_pitch=0.4167 left_roll=-0.0443 left_gripper=0.9953 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -10.2906, 8.4444, 2.3077, -0.0317, 0.1343, -0.0757, -0.1162, -1.265, 7.0632, 1.7314, -0.0317, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9600ba27666a2d186b4970f6074b0953f2b4926ea54ea375eacce99d3be9c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148d0857da51d10b594e80f19da4f0c6784424c7c7a6c7f99f2295a72859036d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c3577dcfda435d917f7001e456efafd82fea12160a10992f4ea5ac54caaf605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 24.99 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.8694, 0.9825, 0.5499, -0.1055, -0.0864, 0.9972, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5313 left_y=-0.0179 left_z=0.1313 left_yaw=0.05 left_pitch=0.2241 left_roll=-0.0348 left_gripper=0.9972 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -8.8, 7.7744, 2.1709, -0.0269, 0.1099, 0.0122, -0.1436, -1.1966, 7.159, 1.7265, -0.0171, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.916, 0.9699, 0.6601, -0.1139, -0.0864, 0.0095, -0.0322, 0.8032, 0.6079, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5374 left_y=-0.0168 left_z=0.1278 left_yaw=0.059 left_pitch=0.2751 left_roll=-0.039 left_gripper=0.0095 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0024 right_pitch=-0.0168 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.4444, 5.9966, 2.1807, 0.022, 0.0708, 0.7106, -0.0752, -1.2786, 7.241, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 2.0907, 1.055, 0.8921, -0.1314, -0.0746, 0.9953, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.571 left_y=-0.0163 left_z=0.1261 left_yaw=0.0755 left_pitch=0.4167 left_roll=-0.0443 left_gripper=0.9953 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -10.2906, 8.4444, 2.3077, -0.0317, 0.1343, -0.0757, -0.1162, -1.265, 7.0632, 1.7314, -0.0317, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9600ba27666a2d186b4970f6074b0953f2b4926ea54ea375eacce99d3be9c23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:148d0857da51d10b594e80f19da4f0c6784424c7c7a6c7f99f2295a72859036d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3577dcfda435d917f7001e456efafd82fea12160a10992f4ea5ac54caaf605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wYKEAgRGAI4AUIIdGhpbmtpbmcSDDZxWDYG2UZq+671vBoMYmRPR3FLTtx0k0o9IjDKLRKFPO9x+HkdYoq+f8grviM//ExIORJXKcTRVhIH7Yt4gpHrU0EmBEWCQG648cgq9AURbi2bzlayhqyhFOHzy8/vXPuN9RGlhmhwdvtJgFxGFqRZoa5DguMX+HG1uH4Nt7ChAdWQ+qKJKuGxH3dvJMkDdx7dyHhpqXH7H9FfYiiN75L4oeXGTZxIk38vyev4sLZ9WU3Ic8jR6mWfy3pRFhmwgx34gSLER+i5IT0mqYmsbZeY8GYLpU/O/EfXLGDYuhzik1DTrhEaqSj1YDnFqgnzLbcZQLUysbAxw5TjWBCYOIS3PHBeLkol6fIVFcnGbl3iFBsAKXpvO9uwroJfnFsEOCD6OeiiKwYW8KIXYt0Ryak565nC/0uKuJWRrV+Xkh8TUKW5AeFXJDXPl5U6RH4Hv7U0zipSkm2MEuA/bGXxjGqYgxcdxNrKdekDJ6biBOfNrnhZlLb8yi7XWw5DEtyM0chTjwfaH4lYsDOczWq9BT9f0GRDQOuCkIzxtpKtF0k08VGmWTvK02O0x5whnDV6UR+lKlBa1pSE6S/LOsJoQwW1Zhkts45pDvEpdLzQtG+SRvDz8dq81ytRzTYwhXYFSRLsiUFP/dxgzn8Vl5+cj2QakvAaKXxx/H/BI2EdCpVvY3u9cNya45lN7W29R5SWF3a4LA4yAnWgRx/tDDhi5BLI7fTBS8AkmiPf2MX/XNxIJWpeB0MBY2o0t7n14NmrqA6Ry96ArKEi+zDskXDnUiB0o0L/+TMtG72R1Jpf36qjyHuBQoWjLLwf1OOK9HfpZNs1pKdDiHqENdZx6575L76rgZ/5GvhS2orzFSlEWOeSjnj7NVVJNfWR9pacFJ/LDnFQIkIN0fXJfvcvh1PgWQdU+/qqmvcfzBP/0KzsFyTtbi3jlkXu5T+d7FLkunn3vtN6IauxZGbvs1Nz86rMK/MCt8g4xvEx6xPhUSFPi2CYFoIX3NTJS07jR4LKpkg2fNyW23w+7iESHUQTwnLM213qziHcKhnEaxrW5hXb/kMM4GgM9mFGE1Y/K9fpapRqLFFzKkIwM9Yortrstq9WzdupqBIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MLrbGqmuJUJPzZsSRXuN7z",
      "input": {
        "note": "Both jaws are now visible at the bottom corners of the wrist view with the bottle handle between them. Closing to grasp.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.5,
          "left_x": 0.58,
          "left_y": -0.02,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MLrbGqmuJUJPzZsSRXuN7z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 2.1414, 1.0592, 0.9787, -0.1425, -0.0711, 0.0093, -0.0322, 0.8032, 0.6079, -0.3927, -0.02, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5749 left_y=-0.0179 left_z=0.1209 left_yaw=0.081 left_pitch=0.4565 left_roll=-0.0459 left_gripper=0.0093 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0019 right_pitch=-0.0168 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.3333, 7.2274, 2.1368, 0.0513, 0.0562, 0.7204, -0.2256, -1.1419, 7.0769, 1.7411, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a69d1d3820e277b069549c3d78b2902b1720f80e7f982054e0882c8752a7834b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380a46293354483b9b74786699e63becd7d7548b135b3b2e737841ea315b7cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69bb1f3e9dece3f42e9de45f32f43d3e6c420843b4d0747cde23f312035ab450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 13.63 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 1.916, 0.9699, 0.6601, -0.1139, -0.0864, 0.0095, -0.0322, 0.8032, 0.6079, -0.3927, -0.0196, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.5374 left_y=-0.0168 left_z=0.1278 left_yaw=0.059 left_pitch=0.2751 left_roll=-0.039 left_gripper=0.0095 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0024 right_pitch=-0.0168 right_roll=0.0035 right_gripper=0.9997\nstate[joint_eff]: [-0.4444, -8.4444, 5.9966, 2.1807, 0.022, 0.0708, 0.7106, -0.0752, -1.2786, 7.241, 1.7363, -0.0269, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 2.0907, 1.055, 0.8921, -0.1314, -0.0746, 0.9953, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.571 left_y=-0.0163 left_z=0.1261 left_yaw=0.0755 left_pitch=0.4167 left_roll=-0.0443 left_gripper=0.9953 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -10.2906, 8.4444, 2.3077, -0.0317, 0.1343, -0.0757, -0.1162, -1.265, 7.0632, 1.7314, -0.0317, -0.0317, -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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 2.1414, 1.0592, 0.9787, -0.1425, -0.0711, 0.0093, -0.0322, 0.8032, 0.6079, -0.3927, -0.02, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5749 left_y=-0.0179 left_z=0.1209 left_yaw=0.081 left_pitch=0.4565 left_roll=-0.0459 left_gripper=0.0093 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0019 right_pitch=-0.0168 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.3333, 7.2274, 2.1368, 0.0513, 0.0562, 0.7204, -0.2256, -1.1419, 7.0769, 1.7411, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a69d1d3820e277b069549c3d78b2902b1720f80e7f982054e0882c8752a7834b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380a46293354483b9b74786699e63becd7d7548b135b3b2e737841ea315b7cff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69bb1f3e9dece3f42e9de45f32f43d3e6c420843b4d0747cde23f312035ab450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EeuAvYp7fznxjWHKTYW4Gp",
      "input": {
        "note": "The left bottle has been pushed against the far fence out of reach; its body is wider than the jaws so closing on it shoved it away. Parking the left arm and bringing the right arm high above the right bottle to look at its handle for a top grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_gripper": 1.0,
          "right_x": 0.38,
          "right_y": 0.08,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01EeuAvYp7fznxjWHKTYW4Gp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8421, 0.5774, -0.2497, -0.1284, -0.1429, 0.9982, 0.3141, 1.2682, 1.2007, -0.5838, 0.2512, 0.144, 0.9997]\nstate[eef_state]: left_x=0.3112 left_y=0.001 left_z=0.1823 left_yaw=0.0906 left_pitch=0.049 left_roll=-0.0509 left_gripper=0.9982 right_x=0.3755 right_y=0.0796 right_z=0.2613 right_yaw=0.0228 right_pitch=-0.0568 right_roll=-0.018 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.6889, 9.4427, 1.9023, 0.0024, 0.0171, 0.0513, 0.2667, -4.6017, 10.0171, 1.6972, 0.1832, 0.2564, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d4f5b95df00b4610037b2ac177ba01756174e27deb38c0967d8573249b30b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bf66df5bde0dcbb07d96d617495bb0f81b636daa3448bb5dad45c24c2c607b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e16c50f9a98499c9d349ac18aad5d4438825cd90ca8c73c06d47d42209a3c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 21.03 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0753, 2.0907, 1.055, 0.8921, -0.1314, -0.0746, 0.9953, -0.0322, 0.8032, 0.6079, -0.3931, -0.02, -0.0296, 0.9997]\nstate[eef_state]: left_x=0.571 left_y=-0.0163 left_z=0.1261 left_yaw=0.0755 left_pitch=0.4167 left_roll=-0.0443 left_gripper=0.9953 right_x=0.2941 right_y=-0.0024 right_z=0.1765 right_yaw=-0.0021 right_pitch=-0.0171 right_roll=0.0037 right_gripper=0.9997\nstate[joint_eff]: [-0.3487, -10.2906, 8.4444, 2.3077, -0.0317, 0.1343, -0.0757, -0.1162, -1.265, 7.0632, 1.7314, -0.0317, -0.0317, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 2.1414, 1.0592, 0.9787, -0.1425, -0.0711, 0.0093, -0.0322, 0.8032, 0.6079, -0.3927, -0.02, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5749 left_y=-0.0179 left_z=0.1209 left_yaw=0.081 left_pitch=0.4565 left_roll=-0.0459 left_gripper=0.0093 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0019 right_pitch=-0.0168 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.3333, 7.2274, 2.1368, 0.0513, 0.0562, 0.7204, -0.2256, -1.1419, 7.0769, 1.7411, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8421, 0.5774, -0.2497, -0.1284, -0.1429, 0.9982, 0.3141, 1.2682, 1.2007, -0.5838, 0.2512, 0.144, 0.9997]\nstate[eef_state]: left_x=0.3112 left_y=0.001 left_z=0.1823 left_yaw=0.0906 left_pitch=0.049 left_roll=-0.0509 left_gripper=0.9982 right_x=0.3755 right_y=0.0796 right_z=0.2613 right_yaw=0.0228 right_pitch=-0.0568 right_roll=-0.018 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.6889, 9.4427, 1.9023, 0.0024, 0.0171, 0.0513, 0.2667, -4.6017, 10.0171, 1.6972, 0.1832, 0.2564, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d4f5b95df00b4610037b2ac177ba01756174e27deb38c0967d8573249b30b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84bf66df5bde0dcbb07d96d617495bb0f81b636daa3448bb5dad45c24c2c607b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e16c50f9a98499c9d349ac18aad5d4438825cd90ca8c73c06d47d42209a3c4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BaZibCGXVE6HRiDUFnUjYZ",
      "input": {
        "note": "The right wrist view shows the bottle top about 7 cm to the left and a few cm ahead of the jaw column. Shifting the right gripper left and forward to hover directly over the bottle's top so I can see the handle.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.14,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BaZibCGXVE6HRiDUFnUjYZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8482, 0.5766, -0.268, -0.128, -0.1436, 0.9983, 0.4454, 1.5116, 1.3975, -0.6163, 0.3305, 0.2035, 0.9997]\nstate[eef_state]: left_x=0.3092 left_y=0.0011 left_z=0.1762 left_yaw=0.0906 left_pitch=0.0242 left_roll=-0.0474 left_gripper=0.9983 right_x=0.4125 right_y=0.1373 right_z=0.2492 right_yaw=0.0542 right_pitch=-0.1128 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.9761, 7.1453, 1.9121, -0.0952, -0.0415, -0.0073, 0.3487, -7.0906, 9.388, 1.536, 0.2906, 0.1685, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e78d43a02252c23dfa626ac84644befecfbd86cd970f2dac46861b9a1694f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b34a1f757d4f7b23f49ced4a2fcd98540f8c75f3c5d230a87376a5842c01df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2571db149effcf7e0374fa84b56399998dc50a174743b94e488e0eb5133ad96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 11.73 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 2.1414, 1.0592, 0.9787, -0.1425, -0.0711, 0.0093, -0.0322, 0.8032, 0.6079, -0.3927, -0.02, -0.0299, 0.9997]\nstate[eef_state]: left_x=0.5749 left_y=-0.0179 left_z=0.1209 left_yaw=0.081 left_pitch=0.4565 left_roll=-0.0459 left_gripper=0.0093 right_x=0.2941 right_y=-0.0024 right_z=0.1766 right_yaw=-0.0019 right_pitch=-0.0168 right_roll=0.0034 right_gripper=0.9997\nstate[joint_eff]: [-0.4308, -9.3333, 7.2274, 2.1368, 0.0513, 0.0562, 0.7204, -0.2256, -1.1419, 7.0769, 1.7411, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8421, 0.5774, -0.2497, -0.1284, -0.1429, 0.9982, 0.3141, 1.2682, 1.2007, -0.5838, 0.2512, 0.144, 0.9997]\nstate[eef_state]: left_x=0.3112 left_y=0.001 left_z=0.1823 left_yaw=0.0906 left_pitch=0.049 left_roll=-0.0509 left_gripper=0.9982 right_x=0.3755 right_y=0.0796 right_z=0.2613 right_yaw=0.0228 right_pitch=-0.0568 right_roll=-0.018 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.6889, 9.4427, 1.9023, 0.0024, 0.0171, 0.0513, 0.2667, -4.6017, 10.0171, 1.6972, 0.1832, 0.2564, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8482, 0.5766, -0.268, -0.128, -0.1436, 0.9983, 0.4454, 1.5116, 1.3975, -0.6163, 0.3305, 0.2035, 0.9997]\nstate[eef_state]: left_x=0.3092 left_y=0.0011 left_z=0.1762 left_yaw=0.0906 left_pitch=0.0242 left_roll=-0.0474 left_gripper=0.9983 right_x=0.4125 right_y=0.1373 right_z=0.2492 right_yaw=0.0542 right_pitch=-0.1128 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.9761, 7.1453, 1.9121, -0.0952, -0.0415, -0.0073, 0.3487, -7.0906, 9.388, 1.536, 0.2906, 0.1685, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e78d43a02252c23dfa626ac84644befecfbd86cd970f2dac46861b9a1694f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73b34a1f757d4f7b23f49ced4a2fcd98540f8c75f3c5d230a87376a5842c01df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2571db149effcf7e0374fa84b56399998dc50a174743b94e488e0eb5133ad96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DSEEyDFsGyBEq8bG6bJbye",
      "input": {
        "note": "The bottle is uncapped; its open spout shows just ahead and slightly left of the jaw column. The body is too wide to grasp, so I'll target the narrow neck: moving forward/left to put the spout directly between the fingertips.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.175,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DSEEyDFsGyBEq8bG6bJbye",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4732, 1.7298, 1.5436, -0.6174, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4507 right_y=0.1686 right_z=0.2161 right_yaw=0.0643 right_pitch=-0.1773 right_roll=-0.0718 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.8393, 7.3368, 1.7411, -0.1148, -0.0611, -0.0171, 0.6359, -10.2085, 10.2222, 1.5214, 0.3004, 0.1099, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d08a2a6c629f3e75612450c401ed29f998dc22f3387a31407dba9b69539245c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d795acb18ef489827f0dc75139905a2e0266b943487ac06d8a7cc0858e5f2b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b36d143946b5d92d2a5a1cb61c77028f523a1d883a687968e75aa1524bd4a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 11.29 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8421, 0.5774, -0.2497, -0.1284, -0.1429, 0.9982, 0.3141, 1.2682, 1.2007, -0.5838, 0.2512, 0.144, 0.9997]\nstate[eef_state]: left_x=0.3112 left_y=0.001 left_z=0.1823 left_yaw=0.0906 left_pitch=0.049 left_roll=-0.0509 left_gripper=0.9982 right_x=0.3755 right_y=0.0796 right_z=0.2613 right_yaw=0.0228 right_pitch=-0.0568 right_roll=-0.018 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.6889, 9.4427, 1.9023, 0.0024, 0.0171, 0.0513, 0.2667, -4.6017, 10.0171, 1.6972, 0.1832, 0.2564, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8482, 0.5766, -0.268, -0.128, -0.1436, 0.9983, 0.4454, 1.5116, 1.3975, -0.6163, 0.3305, 0.2035, 0.9997]\nstate[eef_state]: left_x=0.3092 left_y=0.0011 left_z=0.1762 left_yaw=0.0906 left_pitch=0.0242 left_roll=-0.0474 left_gripper=0.9983 right_x=0.4125 right_y=0.1373 right_z=0.2492 right_yaw=0.0542 right_pitch=-0.1128 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.9761, 7.1453, 1.9121, -0.0952, -0.0415, -0.0073, 0.3487, -7.0906, 9.388, 1.536, 0.2906, 0.1685, -0.0415]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4732, 1.7298, 1.5436, -0.6174, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4507 right_y=0.1686 right_z=0.2161 right_yaw=0.0643 right_pitch=-0.1773 right_roll=-0.0718 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.8393, 7.3368, 1.7411, -0.1148, -0.0611, -0.0171, 0.6359, -10.2085, 10.2222, 1.5214, 0.3004, 0.1099, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d08a2a6c629f3e75612450c401ed29f998dc22f3387a31407dba9b69539245c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d795acb18ef489827f0dc75139905a2e0266b943487ac06d8a7cc0858e5f2b4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b36d143946b5d92d2a5a1cb61c77028f523a1d883a687968e75aa1524bd4a0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QLAMmeMtvWRsehnKhxDTUF",
      "input": {
        "note": "The spout is now just ahead of and roughly centered on the jaw column in the right wrist view. Descending ~3 cm and nudging forward so the open jaws straddle the neck below the lip.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.17,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QLAMmeMtvWRsehnKhxDTUF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1432, 0.9983, 0.4786, 1.7546, 1.5631, -0.6167, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0904 left_pitch=0.0212 left_roll=-0.0466 left_gripper=0.9983 right_x=0.4549 right_y=0.1736 right_z=0.2129 right_yaw=0.0693 right_pitch=-0.1815 right_roll=-0.0737 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.6479, 7.241, 1.7558, -0.0855, -0.0415, -0.0122, 0.1573, -10.3863, 9.8667, 1.5946, 0.2515, 0.0855, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfb37d6ee86578e606fb6c057f11d2507723adda40617d57bbdfde8a40bdd81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506706fe1ac7a1a621bcf57b2bed6c95d7a5b9e3cb7e256f4bc78690dfcce829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf9227dc9298e24db21d024c75f21f12184e3e423accd8cead5236bf3470665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 12.06 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8482, 0.5766, -0.268, -0.128, -0.1436, 0.9983, 0.4454, 1.5116, 1.3975, -0.6163, 0.3305, 0.2035, 0.9997]\nstate[eef_state]: left_x=0.3092 left_y=0.0011 left_z=0.1762 left_yaw=0.0906 left_pitch=0.0242 left_roll=-0.0474 left_gripper=0.9983 right_x=0.4125 right_y=0.1373 right_z=0.2492 right_yaw=0.0542 right_pitch=-0.1128 right_roll=-0.045 right_gripper=0.9997\nstate[joint_eff]: [-0.253, -1.9761, 7.1453, 1.9121, -0.0952, -0.0415, -0.0073, 0.3487, -7.0906, 9.388, 1.536, 0.2906, 0.1685, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4732, 1.7298, 1.5436, -0.6174, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4507 right_y=0.1686 right_z=0.2161 right_yaw=0.0643 right_pitch=-0.1773 right_roll=-0.0718 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.8393, 7.3368, 1.7411, -0.1148, -0.0611, -0.0171, 0.6359, -10.2085, 10.2222, 1.5214, 0.3004, 0.1099, -0.0415]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1432, 0.9983, 0.4786, 1.7546, 1.5631, -0.6167, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0904 left_pitch=0.0212 left_roll=-0.0466 left_gripper=0.9983 right_x=0.4549 right_y=0.1736 right_z=0.2129 right_yaw=0.0693 right_pitch=-0.1815 right_roll=-0.0737 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.6479, 7.241, 1.7558, -0.0855, -0.0415, -0.0122, 0.1573, -10.3863, 9.8667, 1.5946, 0.2515, 0.0855, -0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddfb37d6ee86578e606fb6c057f11d2507723adda40617d57bbdfde8a40bdd81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:506706fe1ac7a1a621bcf57b2bed6c95d7a5b9e3cb7e256f4bc78690dfcce829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf9227dc9298e24db21d024c75f21f12184e3e423accd8cead5236bf3470665f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P8TwHJ82dgUv8penUVGpAx",
      "input": {
        "note": "The right arm did not descend - the fingertips appear to be resting on the bottle's shoulder beside the spout. Lifting clear and shifting 2 cm right and forward to line up over the spout before descending again.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.48,
          "right_y": 0.155,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01P8TwHJ82dgUv8penUVGpAx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.1276, -0.1436, 0.9983, 0.4324, 1.7542, 1.6024, -0.588, 0.3309, 0.1452, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.001 left_z=0.1754 left_yaw=0.0902 left_pitch=0.0212 left_roll=-0.0471 left_gripper=0.9983 right_x=0.4717 right_y=0.1584 right_z=0.2341 right_yaw=0.0722 right_pitch=-0.1242 right_roll=-0.0941 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6615, 7.159, 1.7607, -0.0708, -0.0708, -0.0122, -0.212, -12.2325, 9.6205, 1.7753, 0.1783, 0.0269, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b230cd3af676063991b5d3fdba54fa63be23efe895f67a0167f0248d4e0e31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fc1848df166a4fed547c61780831b92c79dd8ea77ff4e7e32042ce93136d383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6deae5a8824b7361afd8352fd154894d30bf84fe746ab9ff92bf31e9555306dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.341 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4732, 1.7298, 1.5436, -0.6174, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4507 right_y=0.1686 right_z=0.2161 right_yaw=0.0643 right_pitch=-0.1773 right_roll=-0.0718 right_gripper=0.9997\nstate[joint_eff]: [-0.3077, -1.8393, 7.3368, 1.7411, -0.1148, -0.0611, -0.0171, 0.6359, -10.2085, 10.2222, 1.5214, 0.3004, 0.1099, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1432, 0.9983, 0.4786, 1.7546, 1.5631, -0.6167, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0904 left_pitch=0.0212 left_roll=-0.0466 left_gripper=0.9983 right_x=0.4549 right_y=0.1736 right_z=0.2129 right_yaw=0.0693 right_pitch=-0.1815 right_roll=-0.0737 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.6479, 7.241, 1.7558, -0.0855, -0.0415, -0.0122, 0.1573, -10.3863, 9.8667, 1.5946, 0.2515, 0.0855, -0.0415]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.1276, -0.1436, 0.9983, 0.4324, 1.7542, 1.6024, -0.588, 0.3309, 0.1452, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.001 left_z=0.1754 left_yaw=0.0902 left_pitch=0.0212 left_roll=-0.0471 left_gripper=0.9983 right_x=0.4717 right_y=0.1584 right_z=0.2341 right_yaw=0.0722 right_pitch=-0.1242 right_roll=-0.0941 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6615, 7.159, 1.7607, -0.0708, -0.0708, -0.0122, -0.212, -12.2325, 9.6205, 1.7753, 0.1783, 0.0269, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b230cd3af676063991b5d3fdba54fa63be23efe895f67a0167f0248d4e0e31f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fc1848df166a4fed547c61780831b92c79dd8ea77ff4e7e32042ce93136d383",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6deae5a8824b7361afd8352fd154894d30bf84fe746ab9ff92bf31e9555306dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ki25vtsR35RdoqXTcHV7j1",
      "input": {
        "note": "The spout now sits right on the jaw column at the bottom of the right wrist view, i.e. directly under the fingertips; the arm is near its reach limit at this height. Descending 4 cm so the jaws straddle the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.16,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Ki25vtsR35RdoqXTcHV7j1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.7027, 1.3041, -0.2306, 0.3634, 0.1226, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4713 right_y=0.1596 right_z=0.1956 right_yaw=0.0739 right_pitch=-0.0149 right_roll=-0.0917 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.6068, 7.1043, 1.8144, -0.0952, -0.0708, -0.0122, 0.3897, -8.8957, 5.2991, 1.0867, 0.0513, -0.0611, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ff48f2ff27e951428cd4cbf0aae08403600b5ad395b52645a86dacc9f6723b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d78de692ca8083a6a657c4264b58903b452cacf38a15783d3f218063687be69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be024a71a27524f83e630c1570f3e34e749c4a46cf9bee73ed0f48ba71a1a8dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 6.96 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1432, 0.9983, 0.4786, 1.7546, 1.5631, -0.6167, 0.3401, 0.2142, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0904 left_pitch=0.0212 left_roll=-0.0466 left_gripper=0.9983 right_x=0.4549 right_y=0.1736 right_z=0.2129 right_yaw=0.0693 right_pitch=-0.1815 right_roll=-0.0737 right_gripper=0.9997\nstate[joint_eff]: [-0.1436, -1.6479, 7.241, 1.7558, -0.0855, -0.0415, -0.0122, 0.1573, -10.3863, 9.8667, 1.5946, 0.2515, 0.0855, -0.0415]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.1276, -0.1436, 0.9983, 0.4324, 1.7542, 1.6024, -0.588, 0.3309, 0.1452, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.001 left_z=0.1754 left_yaw=0.0902 left_pitch=0.0212 left_roll=-0.0471 left_gripper=0.9983 right_x=0.4717 right_y=0.1584 right_z=0.2341 right_yaw=0.0722 right_pitch=-0.1242 right_roll=-0.0941 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6615, 7.159, 1.7607, -0.0708, -0.0708, -0.0122, -0.212, -12.2325, 9.6205, 1.7753, 0.1783, 0.0269, -0.0415]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.7027, 1.3041, -0.2306, 0.3634, 0.1226, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4713 right_y=0.1596 right_z=0.1956 right_yaw=0.0739 right_pitch=-0.0149 right_roll=-0.0917 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.6068, 7.1043, 1.8144, -0.0952, -0.0708, -0.0122, 0.3897, -8.8957, 5.2991, 1.0867, 0.0513, -0.0611, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ff48f2ff27e951428cd4cbf0aae08403600b5ad395b52645a86dacc9f6723b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d78de692ca8083a6a657c4264b58903b452cacf38a15783d3f218063687be69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be024a71a27524f83e630c1570f3e34e749c4a46cf9bee73ed0f48ba71a1a8dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgRGAI4AUIIdGhpbmtpbmcSDKSb5eoMZZieYr/ZTxoMlH5vIYKya/waMpelIjB816NGjjaJVaR2ngXGkL7pKGQCKe62qi8T4sH3bENgRE7/XBtBwM+DRFxXvbzGMXEqoAbF8/yx3exuut69hf1NnPcVbS4SgJYLbm4h/6JffJ1CduhJZsKWsvAkBwqV6txEzOqmnFr81CPYpXUkaUuIHm0Ui9BzNLuUZ4vAOp1HLMsvxgGxVOF0I9Raqg1ebBQFHTaNRLfLnsz0TBzlAt2TEq2Q7H1QAa8GnzuPYzE35jrFPwPle3HhsfnHPpGsqdwqi9VSvhgKYF7sVoZyuY9Lmwk02o9cIDhqBogZ8WEZSd5f1BBIzotDWtRwV2TOPx1vaU+0VRDJsVmqt1YDaSsKJ1gz4FDaRwR5zvTCJlvJ/fIYTKPtyzYTivUwUn6iwXQR/9PCHVwTzN/yg5wQ1FOnfP9+cGqty9R6cSV/3XpZ2JLgxdgSyjtHylRUOmtG1eDuhdiG4w30aAWDLiUFHbx/2N64hSNlre/83R3DUfzXo2DpBxPeRDXbO0mXwEEhWxEA2nqknHUntGtACxUZI+Z363pAIdMSGJ/rhjtQabT8G8Nk6Sm7qKDStl7p+eQM4HZoqji8K73+miQoJ+I4EvzGtCMRbLaRrt54QBVlK3sKx45Pl3QWGwgZql3GJ0htOfwYzdrsNre2p9422wT4WeLsiTd+Z9Kx5qzFXZvMNpR3iEHl2dvN3h/EHO/gDia0v5Vgc25vEXCacAH97pj2WuNQRIQRgd7Dy1vQq9eCu5ATNzjepLSlGjK6eP0CNtn8UdYmDtjWXI7LkttaFUDc1yonO6Bqhw89EZnU3b5cpYBQc+rh++lv5jPVyQ0O5WyYizFLUw7vih3Jc7dFrag9IwDJwGDxLGDE7GMKHGQ5VuN4iHk/66MLeunBB9dOhhkwRqoR0IRFiw5PHP6FtJUl8YUCr3VnTOUs/Uy2+fW+APOLxA6RDbiY+dY5d+MUN1T7mEuEkttyvLW3nTd2fyb4ywXXedZh380fuUyb0uqDeN7xAZDWbR88XKN5bndcqIzdjXbb3gYqwfnK6he/pLiwZ1bnIO5MFauN6FCyIGijWrZpl2uRjZ6AFYxS1/hMm/cWTFQHGumDYWyJxWLlNwPOw8aM8LMH/jG9/kk1oDoY5PlryszzDBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CrpndUZmndJaKnE82Qggxn",
      "input": {
        "note": "The right arm reached z=0.196 with the bottle's shoulder filling the space between the jaws and the spout hidden below. Closing the gripper on the neck.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.16,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CrpndUZmndJaKnE82Qggxn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.6844, 1.3006, -0.0837, 0.3595, 0.1196, 0.5938]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4853 right_y=0.167 right_z=0.2323 right_yaw=0.0752 right_pitch=0.1351 right_roll=-0.0338 right_gripper=0.5938\nstate[joint_eff]: [-0.1026, -1.6889, 7.1179, 1.7216, -0.0757, -0.0513, -0.0122, 0.1846, -7.7197, 4.1504, 0.8327, 0.1685, -0.0171, 0.3248]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3a34812bfaa22b477b48a0e6179aa6d4da206e2935feefa33923c9cfd7e75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8022eb2a01e650d548b966ce0ee821c05b6e6e450d6073513140e0e45a5d3d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:efb80e753b99c379858ec03f4f9a6b55ab00483aff27103cc7ebbc30c5861c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.198 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.1276, -0.1436, 0.9983, 0.4324, 1.7542, 1.6024, -0.588, 0.3309, 0.1452, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.001 left_z=0.1754 left_yaw=0.0902 left_pitch=0.0212 left_roll=-0.0471 left_gripper=0.9983 right_x=0.4717 right_y=0.1584 right_z=0.2341 right_yaw=0.0722 right_pitch=-0.1242 right_roll=-0.0941 right_gripper=0.9997\nstate[joint_eff]: [-0.1983, -1.6615, 7.159, 1.7607, -0.0708, -0.0708, -0.0122, -0.212, -12.2325, 9.6205, 1.7753, 0.1783, 0.0269, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.7027, 1.3041, -0.2306, 0.3634, 0.1226, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4713 right_y=0.1596 right_z=0.1956 right_yaw=0.0739 right_pitch=-0.0149 right_roll=-0.0917 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.6068, 7.1043, 1.8144, -0.0952, -0.0708, -0.0122, 0.3897, -8.8957, 5.2991, 1.0867, 0.0513, -0.0611, -0.0415]\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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.6844, 1.3006, -0.0837, 0.3595, 0.1196, 0.5938]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4853 right_y=0.167 right_z=0.2323 right_yaw=0.0752 right_pitch=0.1351 right_roll=-0.0338 right_gripper=0.5938\nstate[joint_eff]: [-0.1026, -1.6889, 7.1179, 1.7216, -0.0757, -0.0513, -0.0122, 0.1846, -7.7197, 4.1504, 0.8327, 0.1685, -0.0171, 0.3248]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c3a34812bfaa22b477b48a0e6179aa6d4da206e2935feefa33923c9cfd7e75b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8022eb2a01e650d548b966ce0ee821c05b6e6e450d6073513140e0e45a5d3d3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:efb80e753b99c379858ec03f4f9a6b55ab00483aff27103cc7ebbc30c5861c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAkKEAgRGAI4AUIIdGhpbmtpbmcSDEJm0cZVR6CXl/YnnxoMxWbIucF8u4V+GkKXIjDbdB03iJHm59jk8yu3p4HrDceuQqkgSMpEJhgzutXsf+UJpJxfVVLWgkpMONDGqCcqpQiYCj2or9LUckkLIqTCe+Jn4acYHDIRSFPwcOpSs8gy20znJnFgWA6BOZ00USGjaHrvmTJb522uuIJlYKGH+DmFTPIGEPT4IRM44ox6BJMKKJ5wDGdCZymFwqQtjUpNbrRqVgTeSAPk4vnmTvh1N2URKANKIQMUk5DP6LWacd2fYSAB276Z8mhUwGTizlHQy+0Xqw42xl3CS2DFHNBU87cMBepQfu9lrD/2Ul0LHfrHmQO3x6Kl3lZrmNOhn5t5HWRlf9oprQORHvQJJU1gBwnlCJ5vM2QJ13M3mENeZOIwdsKfkak8DLo5Gr5QMHrPvlOZJ4IV9i/Wl9xBl0/H8unDCJU3D0dvnrD8GndewffB6qDmiGosokbPmIRZcbdA83C4DeMtcimCy1N4kLwltwAjooKKANUkfW2dGksiOYbkLfw4+PK0KoOFRpZlW8SE7l2xTnhV8iKhJ8Bcfdz3n1zvK+lzaOtSn/g+oGy/i0rctIPLfDukJbeZ4f/M9MVOgg2FPpMYCJWW4Zl9nZ76Zs78Tgy4IBGNYNfSjNdVOi62Ol7ISAw2OyJaNLZgxfkJUDmRutps0Ultqyb4hZY3Qs55poBLlDdl3MYC+vbvSe0dOJlnA86HPwmOhVAOh1e1+Jin1/LXOi0zdp3FJqsTvyeMNOKi0dm55cx8tqKiBk5Aed/Ag5Eb3siy5Hi4P7CxwqNm7PhczUJNUNwH1WRKtlGEsycIPJ6rf4qERPJNl0eEZ1gPSUgJ27jDV3aWQeq7Ot7Qzftk+o3sCGl2dHSgqmepcNtW8p7x0BIN3KZUfHNgV1tzNg68kmlUHlGEZbgwR8DdO+WQpFoAJPVJP/yt0Bx1pSb9fgMa3Kcm6RSWpap3qaaZVjf+vYajxbgd21t3KQE2cwsZy7kBw6djLOKS8AaIs4Vrv+ZjWyitNdTML+0NjFzKMiYBE0lxZyAWG2S9RY6ff2vN2gvdvolSIA+72Sx7y1VitwDVX8SHqozvPu1LGIXut2yGXDgJBXoPUdabI5dQdaeol1vTs6H7xbsiSNzlG6Jidd+A0wzjT+TbrhItlf/eh9XTQd5ACKo+GR9m92QfZjLjL5R79fwBFz+W7IMocsWkvZ+kEPk+AftTHcGA3XaeG3tCwsfv4rVwE2o3Y4hMDgxvjbFFe0Yl6MU4vjT8nVhY6uMfmc8pgVE7qFSA+OAxb7tz3uy51tfzbJS/oq2LyHk8yi2PJjobcwXXdol48b7idyB/AskCYhmL05A1UQ9bwkVqhFsmw2YKgKOLnQ/KJpsBcxsgtUCm/P9bVOl+6Sf91HBeZtgu4Yvls3QEqfUM6bfxvW3toJLPHVba5kB/O8yWzV0W6KcIHtpqiEWYjm7tjI8JJe+U6MDK7+Usfn8JHtVa4En1pOzVvwJxGBo0GnWzaxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nvbmgm6UMjZ5aB9hyF6NMp",
      "input": {
        "note": "The right gripper settled at 0.59 (about 5.6 cm), consistent with holding the bottle's spout. Lifting and pulling back slightly to verify the bottle comes with it in the top view.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.16,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Nvbmgm6UMjZ5aB9hyF6NMp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4679, 1.6264, 1.404, -0.4099, 0.3546, 0.1593, 0.3576]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4519 right_y=0.1637 right_z=0.2409 right_yaw=0.0835 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.3576\nstate[joint_eff]: [-0.0205, -1.4838, 7.1863, 1.7558, -0.0855, -0.0708, -0.0122, 0.4171, -11.7675, 10.5231, 1.7411, 0.149, 0.1587, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45f7ac7672afe640b149eed8ef1a6de2fe058ade82a56413b5c0853005f68a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0535cf8f3db23f07e1af7e43ed776d405b60b3eee2fba37ca131d9b7599a25c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:491ca518fa65e026e090afe9d7bf0b751988c5a2b85c5aa66b1048197a907cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 9.363 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.7027, 1.3041, -0.2306, 0.3634, 0.1226, 0.9997]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4713 right_y=0.1596 right_z=0.1956 right_yaw=0.0739 right_pitch=-0.0149 right_roll=-0.0917 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -1.6068, 7.1043, 1.8144, -0.0952, -0.0708, -0.0122, 0.3897, -8.8957, 5.2991, 1.0867, 0.0513, -0.0611, -0.0415]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.6844, 1.3006, -0.0837, 0.3595, 0.1196, 0.5938]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4853 right_y=0.167 right_z=0.2323 right_yaw=0.0752 right_pitch=0.1351 right_roll=-0.0338 right_gripper=0.5938\nstate[joint_eff]: [-0.1026, -1.6889, 7.1179, 1.7216, -0.0757, -0.0513, -0.0122, 0.1846, -7.7197, 4.1504, 0.8327, 0.1685, -0.0171, 0.3248]\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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4679, 1.6264, 1.404, -0.4099, 0.3546, 0.1593, 0.3576]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4519 right_y=0.1637 right_z=0.2409 right_yaw=0.0835 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.3576\nstate[joint_eff]: [-0.0205, -1.4838, 7.1863, 1.7558, -0.0855, -0.0708, -0.0122, 0.4171, -11.7675, 10.5231, 1.7411, 0.149, 0.1587, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d45f7ac7672afe640b149eed8ef1a6de2fe058ade82a56413b5c0853005f68a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0535cf8f3db23f07e1af7e43ed776d405b60b3eee2fba37ca131d9b7599a25c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:491ca518fa65e026e090afe9d7bf0b751988c5a2b85c5aa66b1048197a907cb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngoKEAgRGAI4AUIIdGhpbmtpbmcSDOs/vtGTHyGDxn+TaxoMRlonjoqtP+I9a1T+IjDu3PvOq6DguaQNaDMkRiSfDNgKIeeraoQMZ2sGZT1dFoU8MLljrp9nByBmPcW1ef8quwnxnX/vFDR0kyRWqIEmxYFUm+597WxfczBtKnBJw30/LWYr7PzosA3Ec9GtRAVodze399IppqrRWVIUEZHXAbmFclIH7RwaEW3nypEZFGhbmtfTizvBlN8MjouXUYqpmlLMmXGp/Sc4blbvR+PPFpBptJDtS6Iw6hxUfjI7Cy5BKr8f3FS4iY822ejDRVfAQlTxGQFKLXtW/kqgfpa+tbHdhkq8LhuGcizaji9VKM1UgXknvcYtMiR7rdE1mP42CWq81dwJZKwcenJ5S5Bn79/zyteclItdBkVIZ4WrPpfWfmlSuq/QAuTubpL7CSypouOGr16wZlGg4nykLxv+nAlBAIJsHnE17XMTh8xm/xW1o4GSHA80zyUaqSu9JMVKSpCa4TVQDQsMrneOsktMqe8jG36Vw0p7AZwEhbwYmX14rCaClla/TQ2xyDfTV6MDp+EVWX9weQCepoqDmgmANdEQPRUKv3RW3vgQf10J4rufFS79HJnoOv1FQadw8EyX9HWvA5z9zS1MdcNW2ZOJ6RiCfdASmDXH5MjF+TXnf1yYEjuKfbTL29U9yrzNLHWmsRjd99tFxobdtTfgEZneJ1zSPJZZcdAFubLMgxlrd9cL9XXIcfyhhbWUlEdsjBuIVpEJnrC4tkM7J9MfW9DKjbPi+9wkSs2ILC5gmtqzLqGRWUAwyqEUqeJV4giOUcrU+dd53Q91hdPTbdfj+/w+L4qiLcG3MPGwjD5Xg3JwZSCh5In/k56D6DRQHajPNStDPa90af9ko0cQpO+oHJfmoLiVHNiID8ByxhJWBRkXci7O04NTB0dPcnxIZP9cahqauGWxW9j54ZsZzzce35jKWFtK3J4ZzpbkXhVLIPT2Gcn8q7VKuhNxaBq+Br4qeKg0EpKcaGYFI/6ovWvn+zRhIvAvOQ3HSfgm6K/xHq/JjOieTT/5nyG+F9N/sNQMUEzo5HLcWOG74EgTvADAn6TkVdVxYFkvny0PYP1cuHLIUpgkCGasURS+4awbkxfTMSWfJf+ou6VuSR8qPus4ZiPXImfUAmI9JqkoqD56qIXbcQ9DS8ff1Z5SQpwfvqYBYt5ccl8m77H7VJIUsCe43LDXf8SKvgOz2QR+EbVqaxKoeQOLbjyo/pICeEHOnxOUW+z+O48+W/tH3szhSzj89U+wKnt+CTVtdU3fA1JAZaEGuUmBNQwvYDcH5vjSSHwTKzZxZ+rtJ7R9JyhARmG/NoC7TbXF1UlRBJVNR0W9sF2JAXX+sUs12/7IugU0+TguVrHnLA+6J6NqNjn0N8gRo6qL4npGQOAqm65X+L5k1tStBnK/XCwvboZoiUQh0hQST0G1nqfzOLqB5hJvee+CwlWUC/+yzmM84JYxboQ+j7Ff7Cpfo8G1cZ04EwrWFrLX6rpKyF6q6nnkXSrdki3SybX6Jw7+F79LMLKo+djmxq+7hmyZc8Vg8PH32+rU9nAu5QmsgZxJMPZHpfKFDBWhIxZBdDVfUMuwgpcWwDGB80N91PCpTf1GiUsNccqDlUvKc4kAgk/EytDOyGdm41olR9OaWVQgsMnpg18fVDTBjcI+D73+XWocyU7B8CGUGnH2vnS0rGODgjsw88LNXcGXgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RB4H3sijqJidUWiVviSdCJ",
      "input": {
        "note": "The gripper settled at 0.36 (~3.4 cm), consistent with holding the bottle's neck, but the arm is reach-limited so the lift was small. Pulling the bottle back toward the base while lifting to verify it moves with the gripper.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.16,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01RB4H3sijqJidUWiVviSdCJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1432, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3543]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0904 left_pitch=0.0208 left_roll=-0.0465 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3543\nstate[joint_eff]: [-0.0752, -1.5932, 7.0632, 1.7167, -0.1001, -0.0171, -0.0122, 0.0479, -10.0991, 10.0171, 1.5604, 0.0904, 0.105, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e051227f3e66e81cd0ef711cbbfe5f5a9ccdee64b1ae5768aa52ef943b8382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df04845af7229d178f637c2f8d0c613655812d88855414204a4600d91ddd2ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08a77b4620f65e1648958ccd9b422a9a44295a5440d9433eb735997ad5e9cae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 9.355 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2684, -0.128, -0.1436, 0.9983, 0.4458, 1.6844, 1.3006, -0.0837, 0.3595, 0.1196, 0.5938]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1754 left_yaw=0.0906 left_pitch=0.0212 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4853 right_y=0.167 right_z=0.2323 right_yaw=0.0752 right_pitch=0.1351 right_roll=-0.0338 right_gripper=0.5938\nstate[joint_eff]: [-0.1026, -1.6889, 7.1179, 1.7216, -0.0757, -0.0513, -0.0122, 0.1846, -7.7197, 4.1504, 0.8327, 0.1685, -0.0171, 0.3248]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4679, 1.6264, 1.404, -0.4099, 0.3546, 0.1593, 0.3576]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4519 right_y=0.1637 right_z=0.2409 right_yaw=0.0835 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.3576\nstate[joint_eff]: [-0.0205, -1.4838, 7.1863, 1.7558, -0.0855, -0.0708, -0.0122, 0.4171, -11.7675, 10.5231, 1.7411, 0.149, 0.1587, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1432, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3543]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0904 left_pitch=0.0208 left_roll=-0.0465 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3543\nstate[joint_eff]: [-0.0752, -1.5932, 7.0632, 1.7167, -0.1001, -0.0171, -0.0122, 0.0479, -10.0991, 10.0171, 1.5604, 0.0904, 0.105, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52e051227f3e66e81cd0ef711cbbfe5f5a9ccdee64b1ae5768aa52ef943b8382",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df04845af7229d178f637c2f8d0c613655812d88855414204a4600d91ddd2ba4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08a77b4620f65e1648958ccd9b422a9a44295a5440d9433eb735997ad5e9cae7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013U2RdzN4otreVLXKj1cMNh",
      "input": {
        "note": "The arm barely moved toward the last target while holding the neck; the bottle may be heavy or dragging. Trying a smaller step back and up to see whether the bottle lifts.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.16,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013U2RdzN4otreVLXKj1cMNh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3524]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3524\nstate[joint_eff]: [-0.0889, -1.4427, 7.2547, 1.7558, -0.0952, -0.0611, -0.0122, 0.1436, -10.0855, 10.1128, 1.5702, 0.1099, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c73a0af8857d2366eea5157bdccb5b6dec10c2c729b23aa3c07024ab5ef9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87b41aa62fccb91ab7dd2a482be7f93a7fd89f1c0ee39109272c2143ad337f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab27c428e29c6da5a0239adff912933d553a3a5f434da5542b898feb9cb5729c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 8.595 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4679, 1.6264, 1.404, -0.4099, 0.3546, 0.1593, 0.3576]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4519 right_y=0.1637 right_z=0.2409 right_yaw=0.0835 right_pitch=-0.0179 right_roll=-0.0575 right_gripper=0.3576\nstate[joint_eff]: [-0.0205, -1.4838, 7.1863, 1.7558, -0.0855, -0.0708, -0.0122, 0.4171, -11.7675, 10.5231, 1.7411, 0.149, 0.1587, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1432, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3543]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0904 left_pitch=0.0208 left_roll=-0.0465 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3543\nstate[joint_eff]: [-0.0752, -1.5932, 7.0632, 1.7167, -0.1001, -0.0171, -0.0122, 0.0479, -10.0991, 10.0171, 1.5604, 0.0904, 0.105, 1.0232]\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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3524]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3524\nstate[joint_eff]: [-0.0889, -1.4427, 7.2547, 1.7558, -0.0952, -0.0611, -0.0122, 0.1436, -10.0855, 10.1128, 1.5702, 0.1099, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7c73a0af8857d2366eea5157bdccb5b6dec10c2c729b23aa3c07024ab5ef9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87b41aa62fccb91ab7dd2a482be7f93a7fd89f1c0ee39109272c2143ad337f82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab27c428e29c6da5a0239adff912933d553a3a5f434da5542b898feb9cb5729c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAsKEAgRGAI4AUIIdGhpbmtpbmcSDFObGGpXRc+Q/jqaAxoMJvlI+ctGpgRIy4IAIjDLPohoN6+c2n4leW0SHH6fkt+1kEdP/iL9IjAC87JpO4etyxbuPGIPhM5dOQjpqTYqzQoHMOh+SDoGGPWnDqR0QVOrys3GQPHdfehrgEFxMeDwtHWqNvRP2G713WmV6egSpwSQSxeQ4wVilGtsM4OHs+hTnxo5K33G38IS0T6KS2JOjccuzk9guwkwWcVL28+M0IG6nTO8YSNslpfEVj4ccYE7/2pmhYa5EMgZlq+6A7LnKUpmaqm4ZEb1X7GXEt2Q4mqeeSNkAk/HAH0trUzOa5U98Lk9ofmKnVbaUWYNCmAtnOmdNxJsEBta4124gQPyAqd2YCGBajt4YI2kUQLXv/0f0Z8LuvyL46hoiHGfE34L0pd6lu9Xr1zBvdfyoLfL6nlB9vkpxeYM1lyciUIh6POzGDLBhlRgs9DEEUSx7kC1tg63PJbTreDMgwPsEb8BIfF01rQFlvH89tfzuHpqM/VmTQ7P/MMzXTUQlvj8p4AjsyRbRgSdyY7EcKKpj22LvWAHgr879DBIRYnuO8Ps/fRDqVabd9j8/rIp2jclTce4QcPnJcGVB/pAWYhO3mmKHFDqb+eZzOyDxGntpQ1aHeVJg4rsemH2C2J9eCViBdfbErZABIRFjhely8gg8urarRqEFz/GvsatCWpJQLwv344DJToVGWesjIbDq21+XJ7o8yL64ue1MvWEBqc4mHCF55HMmWFCta2KapYf8eW7Xu4Xx8bjB88O3P/9pS/hiTxjY6C3+zmh1sx7lZFYJQL6ZlTro4Fht4eqeTHHU1UdFUewRX8RjsFwbuudNRaepKDiFSwj5o4jei4nQhvTgwuFQ76ox+ZBHpBSVHL3vSiQhn49LAuyhqJrD8pfYQsZpHtesKbRZsZ/HM+bThhuLtRr5P73yfDj9RalR1h2ZlA8tygAlEE6R0gLUvu0duF6BvZ0K/P/YsaLigzML/7NOFn8Ky1KCFwqOyGXknFk4hKSPIR5GG8mSepUjpyYwxA0cDTYzt6MKqAXT1kR+WwJXUsLUl/HWhe2I9gmd7I6UfWccd2yXKO244XMlN2rqxedW9xAeq94sqEwsSZ6JBmsAPVJtyAXWXjFAiGPZ3tLqqikadmyk0KaUCRWvLPar6Xv1DARmTj0TfJwm53MocPSCPSFl0p9+fFWiL/SidCY/QjikBhVtaEe4zR8X8k5il4hf5tAeDID/151t8qyt8NTR170yScKMxaczMcakBWE1jb8i/xhgx0GLvyzVdv8eIAxe0XfMAcUpdpHzgVcL0rXr7nSwBzPiFP9ganLmPuwIlFNzUtBpw0qboTYoGBs77o2i77jIi6aI8jnQvtk9GXfeL3lmRW/DwVXH1cLLebyRQoFJ0cEiuMVhbjIRdoACc0oVFaJqg8sPnGjU9FyNWmpt/n6STkVPj7CwleMCKOIJvrOFZx+Taz7SR0/N2xaBMYhZt030dGTfxooigqACbTuDn5g4iHNguPVbIInCrG5uVPP2OvGCuePYWPNnJ84pm8keJHisCKO1RrFCbewj/lEfjcCVm3dMvYxX3U0TfO8/IY/sKRHwuzhHrugi+JIlQrPEjBkWCuuRN/0iEhrVbIp8GDD/uu4B1adGYF+PKkKah9B7SwUekCzUPk+QyJTWDpoDAtloPywS93zYJnmN9ecGUzXgoNIU8Bf6kp7gHHCaA8ljmOD8r5R9mNqWqM1YHVgG7guOJOgdy+57WRvdLNeAG0+6oKtdgrSrN5NBi8Yq1WRb01gD9laPtp4/MpMkVddlNPniYM0NsgcYJIHf56QV9nOGxeNjZKd4IzJiIOAni5UsQOGetvaV/WYPRsH6m4QtqBlpZhqq0b7A1x8+Z5noiJYiC56tAuGPS49JR+5ZI86GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BeeTTnfVin9UaCHxMRdcfk",
      "input": {
        "note": "No joint moved at all on the last command while gripping the bottle neck - the arm appears stalled under load. Trying to slide the bottle back toward the base at a lower height instead of lifting.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.16,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BeeTTnfVin9UaCHxMRdcfk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8524, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 0.5343, 1.4544, 1.1816, -0.3256, 0.411, 0.1776, 0.3475]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1748 left_yaw=0.0905 left_pitch=0.0189 left_roll=-0.0465 left_gripper=0.9983 right_x=0.407 right_y=0.163 right_z=0.2355 right_yaw=0.0939 right_pitch=0.027 right_roll=-0.0583 right_gripper=0.3475\nstate[joint_eff]: [-0.0342, -1.7846, 7.1316, 1.7705, -0.1099, -0.0708, -0.0122, 0.294, -5.4906, 5.5043, 1.3895, 0.0659, 0.1685, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604530fab8a74116c0b90005d94648ad975d7893c79b1c96356d64f54a2af268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4404fb57964912fedae1a01d3a3cb0dc7a065f0d59d0a101566c6ac8e9710163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8da1bd3e64886a1bc4a90b549fe2bb081abae0313ab1878af9ea3b4166496ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 35.18 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1432, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3543]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0904 left_pitch=0.0208 left_roll=-0.0465 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3543\nstate[joint_eff]: [-0.0752, -1.5932, 7.0632, 1.7167, -0.1001, -0.0171, -0.0122, 0.0479, -10.0991, 10.0171, 1.5604, 0.0904, 0.105, 1.0232]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3524]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3524\nstate[joint_eff]: [-0.0889, -1.4427, 7.2547, 1.7558, -0.0952, -0.0611, -0.0122, 0.1436, -10.0855, 10.1128, 1.5702, 0.1099, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8524, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 0.5343, 1.4544, 1.1816, -0.3256, 0.411, 0.1776, 0.3475]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1748 left_yaw=0.0905 left_pitch=0.0189 left_roll=-0.0465 left_gripper=0.9983 right_x=0.407 right_y=0.163 right_z=0.2355 right_yaw=0.0939 right_pitch=0.027 right_roll=-0.0583 right_gripper=0.3475\nstate[joint_eff]: [-0.0342, -1.7846, 7.1316, 1.7705, -0.1099, -0.0708, -0.0122, 0.294, -5.4906, 5.5043, 1.3895, 0.0659, 0.1685, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:604530fab8a74116c0b90005d94648ad975d7893c79b1c96356d64f54a2af268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4404fb57964912fedae1a01d3a3cb0dc7a065f0d59d0a101566c6ac8e9710163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8da1bd3e64886a1bc4a90b549fe2bb081abae0313ab1878af9ea3b4166496ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwkKEAgRGAI4AUIIdGhpbmtpbmcSDMPNlNzMTWF7QgIG6RoM6tY9LYvb34T6wHWfIjAS+MISt8iG9sRRuZwDYzhPX9kABKJPmtovtdn4kL5wKoo2g8NhJ47aM/5eLdZfPQYqzAiIcjcQz4Y3C7u4C50585ZLXrWZPDOYe+Uh2vR8xXVs7ZShTQs4xwQC9tbxgCPRcQweD+m++kg8k7E5fFo3C26UI8VJbJNMHyoXBDnJfs34SaFwCihm4zKB6zZvraWGyvXO1cNhkbugLAEvDVpaV2/foN+hvp0qqGjagJO5lVgN6DRmOn6rshbWCIrBTsnAg/2txXMI1/wQA/+P5l4u5M4w0+GSra1ejyFjsSmg/yThmhdOmo94RxSCcsOtFPs0UwTy1h0exHG9vcusIq6kCAMZSDJKeNKAcXeg+LBjdISwsrxATa2QDUs8Z0kfLqVxVZTelTljRpB+wN7ZMBsGQC30ETBdW10kMa1mPJgN8QqdpsxPh3KZKsUbJdZrT9ZBM2kwePWjmhYGf5lWrznwB7cj3lGi6zYEXLWlh1/Pzs1V44yDjdrEK0+DFhLNY79RfXi8UiGymuF7xbQPHuIALZ5xxCv2uYgRJsat1gOKZHBL3R8af9bU/QX73nboEWDCDDhjq60d8nShNac1kKyYH2Q09tBTFXt1SAeqVh4Wn/YgxRj6WPw/VfNqDvhlHw+bBXkV28iqHyy62emsY9knU5xxiVZptlwi986/rG0AIZJNmnklvvV6WGp6SGHEmQ7pAcKhvTGohpUVTO4tlE1hghuJLuki8negpKEPOLCJFVfyOJKy5jZsTiKgYqF1Pa3xcfJJjmf7wVRJ6NWR4DOx5JeNrj95lFcM1LcVogz5KO064GGPP78p1WbB3PmROj6rd7oUZcM83BK17fGrW49bXBQ3egOByKyjCioSR2M1cEDUYTIiqc6o07KFShvloNZ2n3UVKxISPd0z7251WcK8unCD2G8/ok4Gg1cNTBsRDpBRnHOhqzJaroDmhhwQ9K4QE1j/Qys9edLapCXJv+7EuwXa9nZ2ZdxKXt9+x5WwGmTIvAQRLF+fDjg/tM6cMZ6n6z1mAQNZAlvwt8oZZ9Ks8fkHGm7+4F71o9y9oqKG5DjtwKAzMptcCotQb+2u6IzctTw8s53EcXtC9rabve2lYEcHMeneC6NTce2kdwTjZw4oG4JajDZyX6ihWP2qUBNYCUceFIW4krhGZEDPfch+6tBLr/GXm3Q5PES7myVhJm7WcM4jRi5oJVBl8Lu040Q7zSJgaYuVE5kA/7yUn4oUeFh6wrieNnA7Lak2xJWjO93YwZjg5zztsOegM4CQn1pm/DhM8D83uF/2XhYV4SdJmFuNIgsHWNUxiqlc8c2bPd7bB0n7UUmiUsws3UCH1lMR2bvR4eNq0JKlU5HAPsxnXVougfcRPK4MoL96In/KVDqcoXkXdSLzRf7pXcX8SlPIw+DsBhrghDDGD5kZ2NCmd8bWEsa1xeY4UX7NnWHkJWDg15w+2ZRbLCpJHmoDU1Lcnt9BrJOmDhTb1WGVoDF6oix1z7tC8vszxslOzMcxnlYpKf4r1DjDHy/4YVA/kxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JCpjfnXb8RdEDzNR8bFt9X",
      "input": {
        "note": "The bottle slid back with the gripper (visible in the top view), confirming the neck grasp; its neck rests at z≈0.235 when standing. Now closer to the base, lifting the bottle 6 cm off the table.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.16,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JCpjfnXb8RdEDzNR8bFt9X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.852, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.564, 1.4349, 1.3663, -0.585, 0.4156, 0.189, 0.3472]\nstate[eef_state]: left_x=0.3094 left_y=0.0011 left_z=0.175 left_yaw=0.0906 left_pitch=0.0197 left_roll=-0.0467 left_gripper=0.9983 right_x=0.3885 right_y=0.1656 right_z=0.2759 right_yaw=0.1139 right_pitch=-0.0213 right_roll=-0.0749 right_gripper=0.3472\nstate[joint_eff]: [-0.0479, -1.6479, 7.0632, 1.7411, -0.1148, -0.0708, -0.0122, 0.5675, -8.4718, 9.9487, 1.6825, 0.3443, 0.1832, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d0a31bc66880a43db324f945cae22c3dbe5e49ab41fc4644df05a44245f29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281c30dc0856a19ddac490e5abb1335ce1a35938846237a36cade8d6ace480a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40e7fc6a6deb714362c39e7f8874f80408d87754733901f4e9c5216567091964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 27.02 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8509, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.4683, 1.6032, 1.4151, -0.4896, 0.3542, 0.1654, 0.3524]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1753 left_yaw=0.0906 left_pitch=0.0208 left_roll=-0.0469 left_gripper=0.9983 right_x=0.4403 right_y=0.158 right_z=0.2413 right_yaw=0.0802 right_pitch=-0.0598 right_roll=-0.0694 right_gripper=0.3524\nstate[joint_eff]: [-0.0889, -1.4427, 7.2547, 1.7558, -0.0952, -0.0611, -0.0122, 0.1436, -10.0855, 10.1128, 1.5702, 0.1099, 0.1148, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8524, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 0.5343, 1.4544, 1.1816, -0.3256, 0.411, 0.1776, 0.3475]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1748 left_yaw=0.0905 left_pitch=0.0189 left_roll=-0.0465 left_gripper=0.9983 right_x=0.407 right_y=0.163 right_z=0.2355 right_yaw=0.0939 right_pitch=0.027 right_roll=-0.0583 right_gripper=0.3475\nstate[joint_eff]: [-0.0342, -1.7846, 7.1316, 1.7705, -0.1099, -0.0708, -0.0122, 0.294, -5.4906, 5.5043, 1.3895, 0.0659, 0.1685, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.852, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.564, 1.4349, 1.3663, -0.585, 0.4156, 0.189, 0.3472]\nstate[eef_state]: left_x=0.3094 left_y=0.0011 left_z=0.175 left_yaw=0.0906 left_pitch=0.0197 left_roll=-0.0467 left_gripper=0.9983 right_x=0.3885 right_y=0.1656 right_z=0.2759 right_yaw=0.1139 right_pitch=-0.0213 right_roll=-0.0749 right_gripper=0.3472\nstate[joint_eff]: [-0.0479, -1.6479, 7.0632, 1.7411, -0.1148, -0.0708, -0.0122, 0.5675, -8.4718, 9.9487, 1.6825, 0.3443, 0.1832, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d0a31bc66880a43db324f945cae22c3dbe5e49ab41fc4644df05a44245f29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281c30dc0856a19ddac490e5abb1335ce1a35938846237a36cade8d6ace480a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40e7fc6a6deb714362c39e7f8874f80408d87754733901f4e9c5216567091964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZHephWKVEDwvvWwYYbdiZ",
      "input": {
        "note": "The bottle is lifted ~4 cm off the table in the right gripper. Carrying it left toward the table centre so the red cup comes into the right wrist view and I can judge its position.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.3,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01XZHephWKVEDwvvWwYYbdiZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.878, 1.7927, 1.8038, -0.8021, 0.6281, 0.3874, 0.3427]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3788 right_y=0.2994 right_z=0.2809 right_yaw=0.1541 right_pitch=-0.0464 right_roll=-0.1045 right_gripper=0.3427\nstate[joint_eff]: [-0.1162, -2.0308, 7.1043, 1.7705, -0.1001, -0.0708, -0.0171, 0.4581, -9.265, 9.5658, 1.3895, 0.6129, 0.2027, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1172f76a8bc5932c3de213ddea5a58af3c2d3bfa8377cb1f45c9ed024b39f5ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b647fc746d0ad81aa7480ef5b1ec89bfb511c93035b05b8b8fca1bc4817a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5625cf649ca27e053056885e82285544bb3ef0fc5937641a4c8d6d2a68e17d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 45.01 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8524, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 0.5343, 1.4544, 1.1816, -0.3256, 0.411, 0.1776, 0.3475]\nstate[eef_state]: left_x=0.3093 left_y=0.0011 left_z=0.1748 left_yaw=0.0905 left_pitch=0.0189 left_roll=-0.0465 left_gripper=0.9983 right_x=0.407 right_y=0.163 right_z=0.2355 right_yaw=0.0939 right_pitch=0.027 right_roll=-0.0583 right_gripper=0.3475\nstate[joint_eff]: [-0.0342, -1.7846, 7.1316, 1.7705, -0.1099, -0.0708, -0.0122, 0.294, -5.4906, 5.5043, 1.3895, 0.0659, 0.1685, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.852, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.564, 1.4349, 1.3663, -0.585, 0.4156, 0.189, 0.3472]\nstate[eef_state]: left_x=0.3094 left_y=0.0011 left_z=0.175 left_yaw=0.0906 left_pitch=0.0197 left_roll=-0.0467 left_gripper=0.9983 right_x=0.3885 right_y=0.1656 right_z=0.2759 right_yaw=0.1139 right_pitch=-0.0213 right_roll=-0.0749 right_gripper=0.3472\nstate[joint_eff]: [-0.0479, -1.6479, 7.0632, 1.7411, -0.1148, -0.0708, -0.0122, 0.5675, -8.4718, 9.9487, 1.6825, 0.3443, 0.1832, 1.0281]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.878, 1.7927, 1.8038, -0.8021, 0.6281, 0.3874, 0.3427]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3788 right_y=0.2994 right_z=0.2809 right_yaw=0.1541 right_pitch=-0.0464 right_roll=-0.1045 right_gripper=0.3427\nstate[joint_eff]: [-0.1162, -2.0308, 7.1043, 1.7705, -0.1001, -0.0708, -0.0171, 0.4581, -9.265, 9.5658, 1.3895, 0.6129, 0.2027, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1172f76a8bc5932c3de213ddea5a58af3c2d3bfa8377cb1f45c9ed024b39f5ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b647fc746d0ad81aa7480ef5b1ec89bfb511c93035b05b8b8fca1bc4817a5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5625cf649ca27e053056885e82285544bb3ef0fc5937641a4c8d6d2a68e17d71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017XbSMBo5A25topGUcsmR2N",
      "input": {
        "note": "The red cup appears far to the left in the right wrist view, beyond the right arm's y-limit, so the right arm can't pour there. Plan: set the bottle down near the table centre for the left arm to take over. Carrying it to right_y=0.38.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.34,
          "right_y": 0.38,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017XbSMBo5A25topGUcsmR2N",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 1.0679, 1.9743, 1.9541, -0.8753, 0.7395, 0.5148, 0.3417]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3398 right_y=0.3783 right_z=0.2534 right_yaw=0.1949 right_pitch=-0.0506 right_roll=-0.1337 right_gripper=0.3417\nstate[joint_eff]: [-0.1983, -1.7026, 7.0906, 1.746, -0.0952, -0.0562, -0.0122, 0.5402, -10.4137, 9.5658, 1.1746, 0.6716, 0.2076, 0.9792]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f923d8366c4a85af9b367ab4b034cb905e337d74e36c1fc3ee24def4597c88b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a14e6d18c41af061a4946ad4fe91d15de7e8ec959da66e6b42b9916113b4c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00da5e6b7ac8f99722915c7d66bb772d6adb103170006b7546d80dae39e07b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 6.337 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.852, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.564, 1.4349, 1.3663, -0.585, 0.4156, 0.189, 0.3472]\nstate[eef_state]: left_x=0.3094 left_y=0.0011 left_z=0.175 left_yaw=0.0906 left_pitch=0.0197 left_roll=-0.0467 left_gripper=0.9983 right_x=0.3885 right_y=0.1656 right_z=0.2759 right_yaw=0.1139 right_pitch=-0.0213 right_roll=-0.0749 right_gripper=0.3472\nstate[joint_eff]: [-0.0479, -1.6479, 7.0632, 1.7411, -0.1148, -0.0708, -0.0122, 0.5675, -8.4718, 9.9487, 1.6825, 0.3443, 0.1832, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.878, 1.7927, 1.8038, -0.8021, 0.6281, 0.3874, 0.3427]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3788 right_y=0.2994 right_z=0.2809 right_yaw=0.1541 right_pitch=-0.0464 right_roll=-0.1045 right_gripper=0.3427\nstate[joint_eff]: [-0.1162, -2.0308, 7.1043, 1.7705, -0.1001, -0.0708, -0.0171, 0.4581, -9.265, 9.5658, 1.3895, 0.6129, 0.2027, 1.0281]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 1.0679, 1.9743, 1.9541, -0.8753, 0.7395, 0.5148, 0.3417]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3398 right_y=0.3783 right_z=0.2534 right_yaw=0.1949 right_pitch=-0.0506 right_roll=-0.1337 right_gripper=0.3417\nstate[joint_eff]: [-0.1983, -1.7026, 7.0906, 1.746, -0.0952, -0.0562, -0.0122, 0.5402, -10.4137, 9.5658, 1.1746, 0.6716, 0.2076, 0.9792]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f923d8366c4a85af9b367ab4b034cb905e337d74e36c1fc3ee24def4597c88b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a14e6d18c41af061a4946ad4fe91d15de7e8ec959da66e6b42b9916113b4c32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00da5e6b7ac8f99722915c7d66bb772d6adb103170006b7546d80dae39e07b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NXUkT3VxT7LJsDu4b6vVuA",
      "input": {
        "note": "The bottle is at the right arm's y-limit near the table centre, a couple of cm above the table. Lowering it until it touches down so I can release it for the left arm.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.0,
          "right_x": 0.34,
          "right_y": 0.38,
          "right_z": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NXUkT3VxT7LJsDu4b6vVuA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1432, 0.9983, 1.079, 1.9434, 1.7817, -0.6907, 0.7853, 0.4931, 0.3371]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0903 left_pitch=0.0148 left_roll=-0.0455 left_gripper=0.9983 right_x=0.3411 right_y=0.3799 right_z=0.231 right_yaw=0.1885 right_pitch=0.0022 right_roll=-0.1408 right_gripper=0.3371\nstate[joint_eff]: [0.0205, -1.7162, 7.0906, 1.7265, -0.1148, -0.0366, -0.0122, -0.0889, -10.8103, 4.9573, 1.199, 0.2222, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4bd0456596310020a16a329ab8541d8ea25b8d65c0ff4aac486e0b10afad25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1947cd53ca22540a1b4bce146184a1cd129097ce7b8507e47d4bd2afc8f4463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b1cb41cdb39cfbcfb2b4cc8d6c2619ba38001e3c0e939abf57a3851d704afa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 8.256 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 0.878, 1.7927, 1.8038, -0.8021, 0.6281, 0.3874, 0.3427]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3788 right_y=0.2994 right_z=0.2809 right_yaw=0.1541 right_pitch=-0.0464 right_roll=-0.1045 right_gripper=0.3427\nstate[joint_eff]: [-0.1162, -2.0308, 7.1043, 1.7705, -0.1001, -0.0708, -0.0171, 0.4581, -9.265, 9.5658, 1.3895, 0.6129, 0.2027, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 1.0679, 1.9743, 1.9541, -0.8753, 0.7395, 0.5148, 0.3417]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3398 right_y=0.3783 right_z=0.2534 right_yaw=0.1949 right_pitch=-0.0506 right_roll=-0.1337 right_gripper=0.3417\nstate[joint_eff]: [-0.1983, -1.7026, 7.0906, 1.746, -0.0952, -0.0562, -0.0122, 0.5402, -10.4137, 9.5658, 1.1746, 0.6716, 0.2076, 0.9792]\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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1432, 0.9983, 1.079, 1.9434, 1.7817, -0.6907, 0.7853, 0.4931, 0.3371]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0903 left_pitch=0.0148 left_roll=-0.0455 left_gripper=0.9983 right_x=0.3411 right_y=0.3799 right_z=0.231 right_yaw=0.1885 right_pitch=0.0022 right_roll=-0.1408 right_gripper=0.3371\nstate[joint_eff]: [0.0205, -1.7162, 7.0906, 1.7265, -0.1148, -0.0366, -0.0122, -0.0889, -10.8103, 4.9573, 1.199, 0.2222, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e4bd0456596310020a16a329ab8541d8ea25b8d65c0ff4aac486e0b10afad25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1947cd53ca22540a1b4bce146184a1cd129097ce7b8507e47d4bd2afc8f4463",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1cb41cdb39cfbcfb2b4cc8d6c2619ba38001e3c0e939abf57a3851d704afa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwYKEAgRGAI4AUIIdGhpbmtpbmcSDCkorM0AgU3krTPb+xoMe8XrXw8pxiTII+UIIjDE+mh4y2paCoqVq5ftC1j8Gb865tkLlveCy68bWdtnT44T3LbKUzQ+fjM4a8HP+NIq5AWBzSPg3ARPp8u+2PSqgH7oX6OVEaeYct/rpzNG4XyHEMFwS4DQUWFVzlOsO6rmPT4aTEHFtg9p5lasvm6q6lQ3riYa//UdRdz95BQNkWnRaogQVqwoNOJMlsgG0GRnUSK4pyLJHwdqdh9/Qpw0/TlGPj8do6rfA2P5ew0jYydtoNf391SISHL7kmywK7HhDcRJ8ZSb2Sw5yYpNgqXlHz7zYdPLZ3OX+pCP8NPJ7+AlSJlL1yNljToWjQrY0yRjx4/c2/AvN5Nh0SGRr0/HK7FSEVXTRS4Tbb+npffA5JSxGikmKYpIphFofGvmhidfbBeDXI8Y4rK4DoKd5uymnMU1FBrqRR0Oc2Nh109N4izcBexP+gxsYADgjayaGcX1U9t+tvswSFJ0khfM5H0WYLKPn8g94Ry1jK/Cw2PAU0onBQxivqO5DIoP1oT9mGVRD+Que8+mIfvbJDXKBm6VLVHqWWMD0NtNaclQsZZSDqDvfRDtrvFk/p42VwGiWvyqMp+OcNckV1emfSmBlq12JzFtM4wtdISRpcroqQWg0qvFq6pmDbDuyCtb9uxpSgsLOoqYP7IJUea4Tohqy41kcglYN7p1exyLG0487Uf+TBmIQBRbg61c9l17Ta6MM0eES68Rpdp31V2dh6L90w8lUJatvFLhN0QrcYytb7Kup72wnMlCSbllwMASMCfKYHDlShVfbZh5zaT57do8r3JoNO+BKUMf7jky+9XHQwImc16WOatLe4RlN1USVFCZpvbnrmIh/Nb7Ml4dlw6phzp6w6570BCe8ayFnIRp1AKq1zfg2rr7vRo9VWRXDHG46oAejgoQ91ncrM/QBaLghEulYSAULhCN1xKHWn781Qz02eZf6vK2JQcqWQxG44W6EHrZj6MctVBk+otJ4bMYyNmG63X6ovwuDGfGcm5njAPX98mRc2L/fLdofbpJ5M9QVmcfQOD0ugD8QFME8Fs7wyWixrnbrE/vgBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HBuDxgu2EHWYDL4Rtefjn",
      "input": {
        "note": "Descent stopped at z=0.231, so the bottle base is on the table. Opening the right gripper to release the bottle.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.38,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016HBuDxgu2EHWYDL4Rtefjn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 1.079, 1.9404, 1.7679, -0.6827, 0.7746, 0.4866, 0.6955]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0905 left_pitch=0.0148 left_roll=-0.0458 left_gripper=0.9983 right_x=0.3399 right_y=0.3805 right_z=0.2272 right_yaw=0.199 right_pitch=-0.0063 right_roll=-0.1432 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -1.7162, 7.0632, 1.7607, -0.0806, -0.0513, -0.0122, 0.1299, -10.4, 7.4051, 1.2772, 0.4078, -0.0073, -0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc6cba6893c9bcac330a6b776a8ac14d3cef46f18e31dee7fb41668e69d1374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b316df734166562cc0b9ffacf9abfe281fbcb4967c2d26c40b49f601a6d2cce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24105ab4fb10cb9fda07cae969c5c9c3cd8a75df701408a2d1f159c648cd0c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 23.4 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2687, -0.128, -0.1436, 0.9983, 1.0679, 1.9743, 1.9541, -0.8753, 0.7395, 0.5148, 0.3417]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1737 left_yaw=0.0905 left_pitch=0.0152 left_roll=-0.0459 left_gripper=0.9983 right_x=0.3398 right_y=0.3783 right_z=0.2534 right_yaw=0.1949 right_pitch=-0.0506 right_roll=-0.1337 right_gripper=0.3417\nstate[joint_eff]: [-0.1983, -1.7026, 7.0906, 1.746, -0.0952, -0.0562, -0.0122, 0.5402, -10.4137, 9.5658, 1.1746, 0.6716, 0.2076, 0.9792]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1432, 0.9983, 1.079, 1.9434, 1.7817, -0.6907, 0.7853, 0.4931, 0.3371]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0903 left_pitch=0.0148 left_roll=-0.0455 left_gripper=0.9983 right_x=0.3411 right_y=0.3799 right_z=0.231 right_yaw=0.1885 right_pitch=0.0022 right_roll=-0.1408 right_gripper=0.3371\nstate[joint_eff]: [0.0205, -1.7162, 7.0906, 1.7265, -0.1148, -0.0366, -0.0122, -0.0889, -10.8103, 4.9573, 1.199, 0.2222, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 1.079, 1.9404, 1.7679, -0.6827, 0.7746, 0.4866, 0.6955]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0905 left_pitch=0.0148 left_roll=-0.0458 left_gripper=0.9983 right_x=0.3399 right_y=0.3805 right_z=0.2272 right_yaw=0.199 right_pitch=-0.0063 right_roll=-0.1432 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -1.7162, 7.0632, 1.7607, -0.0806, -0.0513, -0.0122, 0.1299, -10.4, 7.4051, 1.2772, 0.4078, -0.0073, -0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecc6cba6893c9bcac330a6b776a8ac14d3cef46f18e31dee7fb41668e69d1374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b316df734166562cc0b9ffacf9abfe281fbcb4967c2d26c40b49f601a6d2cce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24105ab4fb10cb9fda07cae969c5c9c3cd8a75df701408a2d1f159c648cd0c66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QkKEAgRGAI4AUIIdGhpbmtpbmcSDGn5ACNr3AvqFGZIUhoMknaheAsOCEOoZrqvIjAGMFNUQvSIjFowBE8cJG2fxM/cT3A426/5WrUPASMGUg/cjOaYmzAaPx9z8Nje6XsqhgnPwLkYe76jpTdLIxqoW5jCZudRnkxSzxdxlgxKPqZmCf5ACBoUzKHEEaQ0TsdIEwPwzNYgJwoapB3h7A5a0ODfA9L0qjzLV8HInK7FgCNpji3OsKF95SENUyPC8goTghw92/vHfC9M4fCOHgGb+zoQoXdhGlLxdGEDIAXwDsBQAwZiMJMT/MPZvYvwtCAUBPQJ6Na8fc7N0/HGkORiLaOywzGgPEuffyEV5A8eQoMahKx0QJwUCJAwy0mj85V9zT2I749zmst/JrkkxxCCoUKjoRvUANzYkcCZp7X0jLhNK7k5KPcZnaV/PXYDkcc01r32pKPyxpsroWDiQgWSTMKn0sF+CovGvMsSUuU0AdJfwj4ps5B8kyesTxFOII1umFBWWoqQ6WEfZufvwtyYhguf6/kOXloxZ+sllSjMACLmc/FjAfpfvgTgtt00YQLnhdi6RphYdDIN+ZbuG/bLYzAikkl9uWVjkInqB7Hwb3x7kiqr0s43f4WzwcReRVhWTWj9MkT6O8SztJO4pXYFND7P3kq1xGIqRtgikxiJ/eQJ5txZHCNC9JUuRyOOt8NxW2J9czR6FsFWme6HTtTuYTI7NHxHDZdmE5bE4FHvoeBVRVwR2hes1DxXp152dhJ4j/+WGEOJXD9T8cNS+gqxolF1Q+P3apR8S6B7KmnQlJ8PUQxUY3MsTFic5CtaKAafbFmRyj+vc/Z64dXRawOyEK3ZzGupscQMDTf1OCxvpAyc4u/+Xcqlxojs1EXVjglJIZSXFzSGhxcwaepmcWBl583/I1kihbqt27bL2MNLDcvikQ2U/jpQ6+4Jm22VGYWFVXWhCeT8Dtb5HTZv7lRXwE+Lcs473+dEeXMN83haToLHHhKJnIrazM+cEMHNmyLPANxRQ12QF3ei+qvIC5rVfL33glK1MY/H02lhaAhqNV8H+CuQXoAhwnBIx6ZYsiWbgp8N3Ij8uF5hxdXRORBr5cPF3/LsvUtn3jdKvs8o6Nu5lJf16pQNtA45pNVQhktqjQYN3iq4bcDH3bixSSz1McJx/pAhtyZMNX8JoM19vcgZQfn3fPvHAETO9Q7FCh00oVyaBdiZoMFYnJgXekXWBYbn1VQDMi9YFcPZh2qAOyJ/kBW1LKFI/4/RiyM7R3cq0O6u4uSsYEjrUn6EzQBl91bDvEzMzhRU25WK28ebqL52eBEf7oTqveGZFJbu4OKbeiQMYggu1+bg5DJksZtTCJI08xmqQK9bKMdR7AxAU1Sfn7mBo9yqpXiCHzWDHiqz6LGr7T8mgiwepG1uroU/rh+Fi29UQsgPcCSrWtHGq3h34ZyQaLZ9jfmOB4iIAt1sM3t+yuYvKnX3Zxg+SZGU4t/PHLPa2ij+NMn0seRV639GcFBsGkYUvLPKO04AjC4DTiKPo5plTHY1TnhT6EIWgUv5Rs+fb9FD6PkxJ5R7pOnMQYqxS0RR2xBJrhmxoqMSwQtqH18NL4slySfhoWDKxGuv5HP7vwSrG6CWrUYWm+y+gay188kLs6kKpdjfip3Q4gUGdbHvGTYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SyJmXMqsSRiaWgxddJKmwH",
      "input": {
        "note": "Gripper released the bottle; the left wrist view now shows the bottle standing at the centre with the red cup to its right. Lifting the right gripper straight up clear of the neck before retracting.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.34,
          "right_y": 0.38,
          "right_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SyJmXMqsSRiaWgxddJKmwH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2695, -0.1276, -0.1432, 0.9983, 1.079, 2.0949, 2.3913, -1.0977, 0.7555, 0.4709, 0.9977]\nstate[eef_state]: left_x=0.3096 left_y=0.001 left_z=0.1735 left_yaw=0.09 left_pitch=0.0144 left_roll=-0.0456 left_gripper=0.9983 right_x=0.3431 right_y=0.3916 right_z=0.327 right_yaw=0.22 right_pitch=0.0165 right_roll=-0.1062 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -1.7026, 7.0496, 1.7314, -0.0464, -0.0122, -0.0122, -0.2256, -10.7282, 7.5556, 0.7888, 0.4322, 0.0806, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f868233f95637093fcd490c7cb0b4d382efc6302d3295ae6e122f0b54fb75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7065b6e80d42e4841f47613325ea91b2a8a86871319f93237df9c84ef131fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:139a729d02a8be09ba2d81aaa1ffbc1500c9a3b7a61e79a891f07bf30c5e9ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 9.725 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1432, 0.9983, 1.079, 1.9434, 1.7817, -0.6907, 0.7853, 0.4931, 0.3371]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0903 left_pitch=0.0148 left_roll=-0.0455 left_gripper=0.9983 right_x=0.3411 right_y=0.3799 right_z=0.231 right_yaw=0.1885 right_pitch=0.0022 right_roll=-0.1408 right_gripper=0.3371\nstate[joint_eff]: [0.0205, -1.7162, 7.0906, 1.7265, -0.1148, -0.0366, -0.0122, -0.0889, -10.8103, 4.9573, 1.199, 0.2222, 0.0659, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 1.079, 1.9404, 1.7679, -0.6827, 0.7746, 0.4866, 0.6955]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0905 left_pitch=0.0148 left_roll=-0.0458 left_gripper=0.9983 right_x=0.3399 right_y=0.3805 right_z=0.2272 right_yaw=0.199 right_pitch=-0.0063 right_roll=-0.1432 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -1.7162, 7.0632, 1.7607, -0.0806, -0.0513, -0.0122, 0.1299, -10.4, 7.4051, 1.2772, 0.4078, -0.0073, -0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2695, -0.1276, -0.1432, 0.9983, 1.079, 2.0949, 2.3913, -1.0977, 0.7555, 0.4709, 0.9977]\nstate[eef_state]: left_x=0.3096 left_y=0.001 left_z=0.1735 left_yaw=0.09 left_pitch=0.0144 left_roll=-0.0456 left_gripper=0.9983 right_x=0.3431 right_y=0.3916 right_z=0.327 right_yaw=0.22 right_pitch=0.0165 right_roll=-0.1062 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -1.7026, 7.0496, 1.7314, -0.0464, -0.0122, -0.0122, -0.2256, -10.7282, 7.5556, 0.7888, 0.4322, 0.0806, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95f868233f95637093fcd490c7cb0b4d382efc6302d3295ae6e122f0b54fb75f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7065b6e80d42e4841f47613325ea91b2a8a86871319f93237df9c84ef131fc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139a729d02a8be09ba2d81aaa1ffbc1500c9a3b7a61e79a891f07bf30c5e9ad9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0132z5mwYZbuR8qQ8UXWrusZ",
      "input": {
        "note": "The bottle stands released at the table centre (left frame ≈ x 0.34, y −0.27). Parking the right arm out of the way and bringing the open left gripper over the bottle's neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.27,
          "left_z": 0.26,
          "right_gripper": 1.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_0132z5mwYZbuR8qQ8UXWrusZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9775, 1.6562, 1.5146, -0.7666, -0.7956, -0.8127, 0.9988, 0.1898, 0.886, 0.8959, -0.5812, 0.083, -0.0937, 0.999]\nstate[eef_state]: left_x=0.3383 left_y=-0.2697 left_z=0.2473 left_yaw=0.0757 left_pitch=-0.0256 left_roll=-0.0498 left_gripper=0.9988 right_x=0.3012 right_y=0.0466 right_z=0.246 right_yaw=0.1678 right_pitch=-0.0024 right_roll=-0.1063 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9248, 8.9504, 1.0916, -0.6813, 0.0806, -0.1392, -0.2803, -2.0034, 7.159, 1.9609, -0.0659, -0.0659, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3d1df0052a52ad07d5ad3e75c3e1a795688f8e2b433373b37ce8ede7d03bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24557b65fae74636945c16a1bdb5cfe7b4cb36fd46cbbcb8da1c43806836e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:964b5712bf8bfb390f4769134921d92cd1d443214ade46ecbb55da07a50b2e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.872 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2691, -0.128, -0.1436, 0.9983, 1.079, 1.9404, 1.7679, -0.6827, 0.7746, 0.4866, 0.6955]\nstate[eef_state]: left_x=0.3096 left_y=0.0011 left_z=0.1736 left_yaw=0.0905 left_pitch=0.0148 left_roll=-0.0458 left_gripper=0.9983 right_x=0.3399 right_y=0.3805 right_z=0.2272 right_yaw=0.199 right_pitch=-0.0063 right_roll=-0.1432 right_gripper=0.6955\nstate[joint_eff]: [-0.1709, -1.7162, 7.0632, 1.7607, -0.0806, -0.0513, -0.0122, 0.1299, -10.4, 7.4051, 1.2772, 0.4078, -0.0073, -0.1392]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2695, -0.1276, -0.1432, 0.9983, 1.079, 2.0949, 2.3913, -1.0977, 0.7555, 0.4709, 0.9977]\nstate[eef_state]: left_x=0.3096 left_y=0.001 left_z=0.1735 left_yaw=0.09 left_pitch=0.0144 left_roll=-0.0456 left_gripper=0.9983 right_x=0.3431 right_y=0.3916 right_z=0.327 right_yaw=0.22 right_pitch=0.0165 right_roll=-0.1062 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -1.7026, 7.0496, 1.7314, -0.0464, -0.0122, -0.0122, -0.2256, -10.7282, 7.5556, 0.7888, 0.4322, 0.0806, -0.0611]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9775, 1.6562, 1.5146, -0.7666, -0.7956, -0.8127, 0.9988, 0.1898, 0.886, 0.8959, -0.5812, 0.083, -0.0937, 0.999]\nstate[eef_state]: left_x=0.3383 left_y=-0.2697 left_z=0.2473 left_yaw=0.0757 left_pitch=-0.0256 left_roll=-0.0498 left_gripper=0.9988 right_x=0.3012 right_y=0.0466 right_z=0.246 right_yaw=0.1678 right_pitch=-0.0024 right_roll=-0.1063 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9248, 8.9504, 1.0916, -0.6813, 0.0806, -0.1392, -0.2803, -2.0034, 7.159, 1.9609, -0.0659, -0.0659, -0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3d1df0052a52ad07d5ad3e75c3e1a795688f8e2b433373b37ce8ede7d03bf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b24557b65fae74636945c16a1bdb5cfe7b4cb36fd46cbbcb8da1c43806836e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:964b5712bf8bfb390f4769134921d92cd1d443214ade46ecbb55da07a50b2e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgsKEAgRGAI4AUIIdGhpbmtpbmcSDEm7MX7dLyHWec2/mhoMPUs9HaiTMbAUBcxjIjCTg3uTnsZ9nI0bYsuLacI99i9hYHTJ8JhMGkl03sXbtzUMduqhtGmJ5bnWS4XXKmkqswojQC9JbrSICZ7qxltHWZUaudapd7/Yd9++WpZjq6gjA9MQYoC1CQW4Cvzp3ZWZ7SvxRO4f8J9HucMgkixu1wgZrI6x8rsrRIcCGOJ1djPR6voVhE1ZbEMPBquF0NRoB402OrkI+Th2AmTKXLiEEuhxiemcqzLxNgFn7zeYsX/tJGMuUyPtdBXq9So59rVzSIXhUyBhZ6tnySPwWJJ5DZOyn0MsvbE09uRGznvoKCc4j2zmb7lw2RBhvPCCAHTdolOiWpmQO2AQOUDiLNWBPJG6RWAhOzXLdWO1VWfs/gqMQQN82zP6yaDnigEWdsJ7p+7DCqzue4us6xhWtTVjXA3ttm+ctgAOuYHKEol5Lr9HGWcr86MJwkVZNHok9AvcYeoTi6xJLL6o2wvP/A23MbCkDIySd+W7hqm/pbfg/Q3FHuAZy+XmCBENb5QJHX8nPdiyQ0L3r/GNB7lyWfTai/y0EKMb4Qi7dyUJstQ1q986HWzWSAeMCma+EGo6KabXF1g7+ZPZYWexDUw3AFp2v+Oyzufn8MfMNpG53lDaWVJomIunJOOaxkf6FpwducEvi2abEBLch+CIWdufRgN9L++P+9YVtf+KIp7GQpnCdcFfXqaIX14TPq2IQtcfV9a2o/6O5zoTADLciwczVJdqnZlbQkQtQINy/ccFXEkOVyACJdWiaf3Qzi2iFP613VyxiVdJq6WGfQlgzavkN/c5f3OWbx5K/9UDgdPPvFqxOO2JmN9Zk4+4pmpiCjYLAXsZuStc6b/AsOSHjF09elJggtFT5q55ruBHJyYEUWVbyb9N4v/Zb8xCZDzifkbHv6EojojomH7BNkb71/nI9AmZDBxXnqgJv2qgQIEqPN1E8lu5fMgPhYzxSPxB/EyrqT8+DzB3G6GNtJH/dRuNU+9leCsh4XmkfrU0UbgN1uzLiLK7q9/2bqPpgY7mOGO+UhoP8nVDR3EFPneoGEtdnnom/koz05hh4ZZafBFy16Ky9v/50gL5AR8shOh2CtxJWwhNbkV5hiCn7OdBV2aji3QUiLSYM+AoQ586YjaTP3g9B+tiq1wefu1P1Jah7CO8icJlr7wRVwgFAd8CYldUAoAI7P4Rh4pemJJL7XfSHba60PccjNVzYOFkD2VASL6QUPbEK07huQJBw0S1p6eb2RccsJ/aiGIDv77CAR/quLYhWgdrGKtNl0HLhUoru5uc1AJguQixEEsl/CIHNcrqABGbDTbhQOePffoVamdXnlyy/51t9t++88d+KRpw2Wml6J9Vl5EYIDsZBHY0m16ujOtJnanx/Db1kfv36rCCN6w7vQ4ytLMYsHIewLXXzcNoF+hv+cmyzHxAr/6Y4F53cEo6Kl/FvGl/Ij9zSFzg5J9zVOgjhRMrfLhBdWDnOrKG6oLCwCjCorBdmF1ug6/H9j65glAdxAoGFzV2gcnVOWpu+nE0vD1E//LVJkxeGZp5OHXNZuX5GTPBhiX3l1NlJT2a4GnNw+5oLY6Aj8whgkEOUstDOCG2a+FMcKhTFJNYgJyymOsF6U4yVpUgxwPf864mcGOH4p82l9XBKuvDFgRUofDZFzMagGpHqL4gRhMPuK5BN4tZABmbu8y5rv+9OQr7L7SalKshjkCl7Hqb8y04+89kgPZj4WB0RM6vhdcOvn3ArZyO9Xip/H+GmkqhvMzDzo9TKAkybM81zoIwrzz/IHaWaaY9kbOPx9ZPqzxjd7Js3Gr0d0emH1JjTO2SHJlxwcZQtwvfdAwt+EWQEgM5ZDvaA+Hg8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JAxW8EC9X3Mdv2kTHZp2Kv",
      "input": {
        "note": "The left gripper hovers over the released bottle (top view shows the bottle directly under it), with the red and blue cups ahead in the left wrist view. Descending so the jaws straddle the neck below the lip.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.27,
          "left_z": 0.215
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JAxW8EC9X3Mdv2kTHZp2Kv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9798, 1.6417, 1.4021, -0.6365, -0.8238, -0.8185, 0.9988, 0.1841, 0.8902, 0.8917, -0.5846, 0.0589, -0.1123, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.2685 left_z=0.2296 left_yaw=0.0941 left_pitch=0.009 left_roll=-0.072 left_gripper=0.9988 right_x=0.3007 right_y=0.0491 right_z=0.242 right_yaw=0.1924 right_pitch=-0.0156 right_roll=-0.109 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -7.241, 4.5197, 0.8913, -0.3492, 0.1636, -0.1343, 0.3761, -1.5795, 7.159, 1.7558, 0.1001, 0.1197, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf45a0f4d139779923cab7b9b50491ee31703d2c6216bc0fc82b3c15754f668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9db2239d6e243d61c4819db6d2b539e75c6ad4b925677ae62252f474eafbda9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c95aac7339e673ef14f44356942fb522e9857c4f1a49de02fefa8184a8fa5fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 39.66 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0811, 0.8566, 0.5766, -0.2695, -0.1276, -0.1432, 0.9983, 1.079, 2.0949, 2.3913, -1.0977, 0.7555, 0.4709, 0.9977]\nstate[eef_state]: left_x=0.3096 left_y=0.001 left_z=0.1735 left_yaw=0.09 left_pitch=0.0144 left_roll=-0.0456 left_gripper=0.9983 right_x=0.3431 right_y=0.3916 right_z=0.327 right_yaw=0.22 right_pitch=0.0165 right_roll=-0.1062 right_gripper=0.9977\nstate[joint_eff]: [-0.1026, -1.7026, 7.0496, 1.7314, -0.0464, -0.0122, -0.0122, -0.2256, -10.7282, 7.5556, 0.7888, 0.4322, 0.0806, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9775, 1.6562, 1.5146, -0.7666, -0.7956, -0.8127, 0.9988, 0.1898, 0.886, 0.8959, -0.5812, 0.083, -0.0937, 0.999]\nstate[eef_state]: left_x=0.3383 left_y=-0.2697 left_z=0.2473 left_yaw=0.0757 left_pitch=-0.0256 left_roll=-0.0498 left_gripper=0.9988 right_x=0.3012 right_y=0.0466 right_z=0.246 right_yaw=0.1678 right_pitch=-0.0024 right_roll=-0.1063 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9248, 8.9504, 1.0916, -0.6813, 0.0806, -0.1392, -0.2803, -2.0034, 7.159, 1.9609, -0.0659, -0.0659, -0.1197]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9798, 1.6417, 1.4021, -0.6365, -0.8238, -0.8185, 0.9988, 0.1841, 0.8902, 0.8917, -0.5846, 0.0589, -0.1123, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.2685 left_z=0.2296 left_yaw=0.0941 left_pitch=0.009 left_roll=-0.072 left_gripper=0.9988 right_x=0.3007 right_y=0.0491 right_z=0.242 right_yaw=0.1924 right_pitch=-0.0156 right_roll=-0.109 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -7.241, 4.5197, 0.8913, -0.3492, 0.1636, -0.1343, 0.3761, -1.5795, 7.159, 1.7558, 0.1001, 0.1197, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddf45a0f4d139779923cab7b9b50491ee31703d2c6216bc0fc82b3c15754f668",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9db2239d6e243d61c4819db6d2b539e75c6ad4b925677ae62252f474eafbda9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c95aac7339e673ef14f44356942fb522e9857c4f1a49de02fefa8184a8fa5fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QcKEAgRGAI4AUIIdGhpbmtpbmcSDFnpgn486pGC6yOJjRoMBXtiAl9ikNl8p++eIjD3XszWnEY3rN3ZaLNeJ6sQjBXCDkdVLz/KQ+db4JOL2IfgJXEO8RIMjMR3c0AT/Aoq7gabeBSPneweU4Bs4jaQubQfzDosN8CHa8gY/XLTITqRkYrbl8rqdbnQPRYGsw8Ea0IJMQtx0sRQDUnG9okI1mEE1xht0Tn1IlpEpk2j74GSfWyIsOFBhd95iihgeLP61Yi4i2DSlopM978Af/fxb6cF/B9M30LGdOr1ZnfTGmYb+xgJ2WWOAXYxAF76HVowcx+sLQA4LrbFhRkLaqO4DSCqmSmIKeZTT5LhemJYz0uirzeowHssnxitTKjvOb3C04yYLWZb/UmUU6uVR7weup3+INImehYG8HeuFT+6yr17Iv0J3N+FO1ngAeLhM41usNuIIUmiHbyncM8pzyCm3sHtGt+5YGT2x77plo+CdsFfyIS6VedpnD5v4rydGUuouBcDD8z+6V746yBqM0mOCXZkuD8joqmm6lGDcOKowc7Bor4zTf5WZN8TL11h6OgRG9o+i5Qi2Yv1lfsYiPkopBA6mwKq1PzQjf/tm+FWN6rWxAggMzwxyPckVpuNsLlNtvtQBjxK7jYQwKWQpw1jcKDfEZ0CcqjUnDcD+1hzu2y8b+dC6ZHcqqjgbrttWL4Hpj/SR5tdAH6U63LLq6QrEYKTxQRKBzLE0V6+OE/9Cyho+8qKm8ne09vMYTB9FCqicDCw+G7RPrt3WBCrOp3vRdZx8mnCdN4qO6CHPhbZkI2EBZFGzXq9JowlxFDVCle15OaljOVKhgTG4bydxxS/eOptKNTIcSEIl48GfbN1YwU6jJs6PzQM5WSLAvldWVXUEgJEuGrox1rNpC3nhGuy+zCKliIjtwWsU4ntP6h/RrImphDgFReieVuaq45IVJfCnR6F9xExWULd6wxQs/QSTQOkQQGgz6lf3XgeFebWytZEju+8Ldqqh0DynPBx0MiphGtrP9/cfnVAcPf3gCPJltRs8DPLIoK5tw/Lf+XbZw1J1HZNtPD0GEvA1R2+iICCzwXl55RqndXsLm0BEXHHEyRfvNT45immuBhnzMMki6kdMZB1DsDH2iuGVr8PdhJz9Vox+wEtxucS0DBQsnkBvIf9k04o348Z0stDmih0cGYeIbfKIiVUCsFoUg7+lSBdxlgN3U/OQrGayo4l2jHxxhl4pxyvA2qo42LofCC0S7xQCdVQ7GbF2uNMdHYb52JLf/ZbbpqwsqZEql5PdzZAERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VMrmKnMjfi2bbEp2JuF78k",
      "input": {
        "note": "The descent stopped at z≈0.23, matching the neck height where the right arm held it, so the jaws should be around the neck. Closing the left gripper.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.27,
          "left_z": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VMrmKnMjfi2bbEp2JuF78k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9787, 1.644, 1.3865, -0.6205, -0.8219, -0.8383, 0.0098, 0.1829, 0.8902, 0.8917, -0.5861, 0.0662, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.2686 left_z=0.2246 left_yaw=0.1045 left_pitch=0.0061 left_roll=-0.0879 left_gripper=0.0098 right_x=0.3007 right_y=0.0474 right_z=0.2418 right_yaw=0.1853 right_pitch=-0.0171 right_roll=-0.1133 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -7.1863, 7.6786, 1.1795, -0.3101, 0.0757, 0.7253, -0.1026, -1.4564, 6.8718, 1.707, -0.0904, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc64e371c6244acba5f6f90a235605471de2116ca2d446da3b146754945e585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e185014be9cbb541dfdd9d0de899faeeaf990d5a9233e195ffedf406c3974f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b65d149db0489e9350843bb1905dd128bb51996f308bcff07b99b22a5a7c4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.707 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9775, 1.6562, 1.5146, -0.7666, -0.7956, -0.8127, 0.9988, 0.1898, 0.886, 0.8959, -0.5812, 0.083, -0.0937, 0.999]\nstate[eef_state]: left_x=0.3383 left_y=-0.2697 left_z=0.2473 left_yaw=0.0757 left_pitch=-0.0256 left_roll=-0.0498 left_gripper=0.9988 right_x=0.3012 right_y=0.0466 right_z=0.246 right_yaw=0.1678 right_pitch=-0.0024 right_roll=-0.1063 right_gripper=0.999\nstate[joint_eff]: [-0.3624, -7.9248, 8.9504, 1.0916, -0.6813, 0.0806, -0.1392, -0.2803, -2.0034, 7.159, 1.9609, -0.0659, -0.0659, -0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9798, 1.6417, 1.4021, -0.6365, -0.8238, -0.8185, 0.9988, 0.1841, 0.8902, 0.8917, -0.5846, 0.0589, -0.1123, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.2685 left_z=0.2296 left_yaw=0.0941 left_pitch=0.009 left_roll=-0.072 left_gripper=0.9988 right_x=0.3007 right_y=0.0491 right_z=0.242 right_yaw=0.1924 right_pitch=-0.0156 right_roll=-0.109 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -7.241, 4.5197, 0.8913, -0.3492, 0.1636, -0.1343, 0.3761, -1.5795, 7.159, 1.7558, 0.1001, 0.1197, -0.0269]",
      "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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9787, 1.644, 1.3865, -0.6205, -0.8219, -0.8383, 0.0098, 0.1829, 0.8902, 0.8917, -0.5861, 0.0662, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.2686 left_z=0.2246 left_yaw=0.1045 left_pitch=0.0061 left_roll=-0.0879 left_gripper=0.0098 right_x=0.3007 right_y=0.0474 right_z=0.2418 right_yaw=0.1853 right_pitch=-0.0171 right_roll=-0.1133 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -7.1863, 7.6786, 1.1795, -0.3101, 0.0757, 0.7253, -0.1026, -1.4564, 6.8718, 1.707, -0.0904, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc64e371c6244acba5f6f90a235605471de2116ca2d446da3b146754945e585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e185014be9cbb541dfdd9d0de899faeeaf990d5a9233e195ffedf406c3974f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 268):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b65d149db0489e9350843bb1905dd128bb51996f308bcff07b99b22a5a7c4a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xpn1vtvvHW8viijhdZz24Y",
      "input": {
        "note": "Empty close: in the top view the bottle stands a few cm nearer the base and slightly right of the left jaws. Opening, lifting clear, and shifting back/right to re-centre over the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": -0.29,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Xpn1vtvvHW8viijhdZz24Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1336, 1.6608, 1.5925, -0.9493, -0.8803, -1.0397, 0.9953, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.291 left_y=-0.2925 left_z=0.2628 left_yaw=0.0911 left_pitch=-0.0166 left_roll=-0.1112 left_gripper=0.9953 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.185 right_pitch=-0.0172 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -6.7761, 8.5128, 1.0379, -0.6911, 0.1636, -0.0659, -0.1983, -1.7026, 6.8171, 1.7021, 0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0deaf34b04f4e8651cf85a870005bf2d56d504a862c92ecbcef4afa12c311aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c562aad1ea2b72d7fd1967f0624c3950c642469447b9f9b620dfc135bc0a5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8621cbfb93655a4c32106a65fa253d015b18135b6158c10bc0566b133ec34e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 9.524 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9798, 1.6417, 1.4021, -0.6365, -0.8238, -0.8185, 0.9988, 0.1841, 0.8902, 0.8917, -0.5846, 0.0589, -0.1123, 0.9988]\nstate[eef_state]: left_x=0.3405 left_y=-0.2685 left_z=0.2296 left_yaw=0.0941 left_pitch=0.009 left_roll=-0.072 left_gripper=0.9988 right_x=0.3007 right_y=0.0491 right_z=0.242 right_yaw=0.1924 right_pitch=-0.0156 right_roll=-0.109 right_gripper=0.9988\nstate[joint_eff]: [-0.3897, -7.241, 4.5197, 0.8913, -0.3492, 0.1636, -0.1343, 0.3761, -1.5795, 7.159, 1.7558, 0.1001, 0.1197, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9787, 1.644, 1.3865, -0.6205, -0.8219, -0.8383, 0.0098, 0.1829, 0.8902, 0.8917, -0.5861, 0.0662, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.2686 left_z=0.2246 left_yaw=0.1045 left_pitch=0.0061 left_roll=-0.0879 left_gripper=0.0098 right_x=0.3007 right_y=0.0474 right_z=0.2418 right_yaw=0.1853 right_pitch=-0.0171 right_roll=-0.1133 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -7.1863, 7.6786, 1.1795, -0.3101, 0.0757, 0.7253, -0.1026, -1.4564, 6.8718, 1.707, -0.0904, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1336, 1.6608, 1.5925, -0.9493, -0.8803, -1.0397, 0.9953, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.291 left_y=-0.2925 left_z=0.2628 left_yaw=0.0911 left_pitch=-0.0166 left_roll=-0.1112 left_gripper=0.9953 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.185 right_pitch=-0.0172 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -6.7761, 8.5128, 1.0379, -0.6911, 0.1636, -0.0659, -0.1983, -1.7026, 6.8171, 1.7021, 0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0deaf34b04f4e8651cf85a870005bf2d56d504a862c92ecbcef4afa12c311aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c562aad1ea2b72d7fd1967f0624c3950c642469447b9f9b620dfc135bc0a5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8621cbfb93655a4c32106a65fa253d015b18135b6158c10bc0566b133ec34e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AkKEAgRGAI4AUIIdGhpbmtpbmcSDAAKdG81ukwyqFS3whoMnCRPUJmuYDgnx5+CIjCo7UEC5HxvR2qlOfqGqD3s8J7u3W8YbiiVL99u8auOw1cS8VjBzmRC/G9bKcjZmxcqmQlVOQNchyS6mKcdi9eFvBZbGMHlgfANnL8sCcsYcg3HLjncNYZIVI+jRF/t8Io4tRz9DtsYfAbLmVXOZEldsL+zToMFMX3s/+ST90+NqyHhcWons0IWJ7zRT5rmbXs9S4/pUD4/Ax+4LOoXH+khboR19nDZrrLmhnM/X8jwAKbbmLtS4iMjpfwbdtZjgCrwc9mJVy70XRc0UDXne6eW2t09ycJGazfRqdKcmbD3X7GRd8O95FaRgs1zfiN4qe6zP/wnQy/YlAA79PmiBtjKECx5M/41ko8e53u9Z95yGu2T8LAYbKY7rRpJo/yD57qv/aJ1ekhPOK8LxVR/IitrJhU4w+8ZltmOwrk/gKUH9Q+2efGLFX6Swg2roGr7Id01bcfIgt03HonczwaIVsONtAeLfKMvx+0QfAm7eqCIxIQhCFDKCZ6fH4cxglfetjWSOTnx4srNBBmlmourRn8hVCKozdc4rJUpYT/NjMwpNZ/a8heDsrv70rC5onl4SAOf+FwXJP+VdKnV8EmbGf5IfvGSupnZJOCZw6GKhTq1PQ6PGb6NWIauD7cQZVqr8EM5CKKenRbYegnxblXkXaIm9Po63I6IJXUAeFv9rWHU/sctIWH6/HEKf76dCIlRBXVe7ezyFWOSXyrnQmBe2g2CDQR8sBcbKxGulVsGgkfig/71PyPR00Ut83ek0a/GTDdLu5LtZ9QRXptLFnJaCHQl6EE3O6oPHBflUT8vF0vhghz5jwnIfRtUJX+RTP4PaRSuk6+pB4BLgQQhd94cDFuISZfeWrI3P4j/p67Ok09yd5BuD2WGyT6AWBnFvXdbA4Gb8qp+p87XHfJCTgpLSMDLn3q4pVtO5gz0c3W5z3ajNptRKHW8oTH8RDF8NumxUdHsscCB52T+sLCnw/DyM87jZTf2fTgYGF/iuR5XSExtR1t+T5fB4FK8vfR7E25OcZxARi79Ezc7e0nfslAvZtu10lnzW9z/MFXpCuBnHrsWoBiSpqQWag3pysU+tD448gDoO2f02JJnozuaceJkOo0GAy5I7kzbJRA05xPC//1K1FemvJ462zN2izKdfGOp0ey6E3QeYtW80hOyCOfo9h1o/bXhaiuwvRdBwcLeHLvNr6HiXKbr88kB5qdfI2Su0qPpIqili08FZvuuO45FrgP3/PgtPB35nJnMrhpq4/wwJt7YN+NT43ndrSYOvu+H3BQ4xxTwWUT3DFsI4ejd0wgnb7z48L+6S2dYpTzk/0jmYyEqlNstUmoKOq51Qcp4mS/HKASJBvJKyERcANbN3EaKSygNACgpFkzo8h6YyePB9KpCsr+qotzbAYmiy8Rg0YQsZmN6y2lCkVqyS4ZXU8TozJKvByjWR4SWq3RaYBwNud+jxH/Xl6xqV3CgwNkZjbjmJDDBxLrgTa4etOefJn6Wwu0q8S/QZhHtX4RSJySwjsYWF5XcAWQsCCJsHFmK3yAOqY7bCMKMsHfSCPd7cTDV/4DagEOceEfL5Wt2oX2SrzShLd5JEPynpm5vZLssGwUiIMhJwOs2zv1HkS8WL7eER+gy4dfnZdO5QiIIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1Zbr3o2yF3ARJyDJ9kHUq",
      "input": {
        "note": "The bottle's white top now peeks in at the bottom edge of the left wrist view, just right of the jaw column, i.e. directly under the fingertips. Descending onto the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N1Zbr3o2yF3ARJyDJ9kHUq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1267, 1.6688, 1.47, -0.8413, -0.8864, -1.0321, 0.9988, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2943 left_y=-0.2917 left_z=0.2286 left_yaw=0.0975 left_pitch=-0.019 left_roll=-0.0819 left_gripper=0.9988 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.1852 right_pitch=-0.0172 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -7.4872, 7.0085, 1.3407, -0.5495, 0.022, -0.1343, -0.212, -1.7026, 6.8444, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2991cdb51f9e1376955322449be6d33d06e971e66017abe7cc5f537c2404ebb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4932804cb897e9004c14ee3a6adf8c768007a04572417af8f247d2cb3684921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdbb8d3ef96de6d62045b051a4c5916e2aa839efcefeb529b446e52a99d6be31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 18.68 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: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9787, 1.644, 1.3865, -0.6205, -0.8219, -0.8383, 0.0098, 0.1829, 0.8902, 0.8917, -0.5861, 0.0662, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3409 left_y=-0.2686 left_z=0.2246 left_yaw=0.1045 left_pitch=0.0061 left_roll=-0.0879 left_gripper=0.0098 right_x=0.3007 right_y=0.0474 right_z=0.2418 right_yaw=0.1853 right_pitch=-0.0171 right_roll=-0.1133 right_gripper=0.9988\nstate[joint_eff]: [-0.5812, -7.1863, 7.6786, 1.1795, -0.3101, 0.0757, 0.7253, -0.1026, -1.4564, 6.8718, 1.707, -0.0904, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1336, 1.6608, 1.5925, -0.9493, -0.8803, -1.0397, 0.9953, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.291 left_y=-0.2925 left_z=0.2628 left_yaw=0.0911 left_pitch=-0.0166 left_roll=-0.1112 left_gripper=0.9953 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.185 right_pitch=-0.0172 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -6.7761, 8.5128, 1.0379, -0.6911, 0.1636, -0.0659, -0.1983, -1.7026, 6.8171, 1.7021, 0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1267, 1.6688, 1.47, -0.8413, -0.8864, -1.0321, 0.9988, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2943 left_y=-0.2917 left_z=0.2286 left_yaw=0.0975 left_pitch=-0.019 left_roll=-0.0819 left_gripper=0.9988 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.1852 right_pitch=-0.0172 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -7.4872, 7.0085, 1.3407, -0.5495, 0.022, -0.1343, -0.212, -1.7026, 6.8444, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2991cdb51f9e1376955322449be6d33d06e971e66017abe7cc5f537c2404ebb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4932804cb897e9004c14ee3a6adf8c768007a04572417af8f247d2cb3684921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdbb8d3ef96de6d62045b051a4c5916e2aa839efcefeb529b446e52a99d6be31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hn8Lxmg5qj4evn9pRRfZXZ",
      "input": {
        "note": "The descent stopped at the neck height with the bottle top visible right at the bottom of the left wrist view between the jaws. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.225
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Hn8Lxmg5qj4evn9pRRfZXZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1225, 1.6711, 1.4567, -0.7464, -0.8902, -1.0214, 0.0087, 0.1829, 0.8932, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3016 left_z=0.2328 left_yaw=0.0979 left_pitch=0.0117 left_roll=-0.1463 left_gripper=0.0087 right_x=0.3011 right_y=0.0474 right_z=0.2409 right_yaw=0.185 right_pitch=-0.0202 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -7.1316, 5.8325, 1.0476, -0.3297, 0.0855, 0.6862, -0.1299, -1.8803, 7.1316, 1.6874, -0.0024, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1cb074525b71e45743ceb6332eab60eba8abede2e0632e3bfc1cc838eb3086f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64cb8987f993f687a25a73bb78739067dd9ec84d97119216221ecaa74dc25958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4437f7b61be753fac96cdc4ea721c5d55eaf8f4752c8dcddbc08c9a4ccb5cbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 11.19 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1336, 1.6608, 1.5925, -0.9493, -0.8803, -1.0397, 0.9953, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.291 left_y=-0.2925 left_z=0.2628 left_yaw=0.0911 left_pitch=-0.0166 left_roll=-0.1112 left_gripper=0.9953 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.185 right_pitch=-0.0172 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3624, -6.7761, 8.5128, 1.0379, -0.6911, 0.1636, -0.0659, -0.1983, -1.7026, 6.8171, 1.7021, 0.0073, -0.0269, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1267, 1.6688, 1.47, -0.8413, -0.8864, -1.0321, 0.9988, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2943 left_y=-0.2917 left_z=0.2286 left_yaw=0.0975 left_pitch=-0.019 left_roll=-0.0819 left_gripper=0.9988 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.1852 right_pitch=-0.0172 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -7.4872, 7.0085, 1.3407, -0.5495, 0.022, -0.1343, -0.212, -1.7026, 6.8444, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1225, 1.6711, 1.4567, -0.7464, -0.8902, -1.0214, 0.0087, 0.1829, 0.8932, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3016 left_z=0.2328 left_yaw=0.0979 left_pitch=0.0117 left_roll=-0.1463 left_gripper=0.0087 right_x=0.3011 right_y=0.0474 right_z=0.2409 right_yaw=0.185 right_pitch=-0.0202 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -7.1316, 5.8325, 1.0476, -0.3297, 0.0855, 0.6862, -0.1299, -1.8803, 7.1316, 1.6874, -0.0024, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1cb074525b71e45743ceb6332eab60eba8abede2e0632e3bfc1cc838eb3086f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64cb8987f993f687a25a73bb78739067dd9ec84d97119216221ecaa74dc25958",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 291):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4437f7b61be753fac96cdc4ea721c5d55eaf8f4752c8dcddbc08c9a4ccb5cbb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7RkKEAgRGAI4AUIIdGhpbmtpbmcSDFLzrtpGXq/Z4lxghBoMkC0hIuU4MVFEaNtbIjCERAmPzzm5KBmLcmSPw35H8d2JJS40ENdIEbsUw3tM3M0uHtmQdbjql9L89ENw5WgqihlPUyYZHWgGnJkisAdZ4/gFpExjSVojUeJTMJtNJCSMdj7dL5ItUxvnwQ+htE9yTFG9R5SCkqd3MF7w7sKBZFW9hASoyfoZFQdAeDzoBwVgx6lIhcGLBk5JtqGe/Y5g9W+63gFFcA+0DdtVxOVrOPbwwsHr8Xux+qtclZ/IfkyqwXy3LmL4crS+RCULwv+ktMwLy0GOGHLcArCsc1nenJHUdmVk6B7//yjiQ/FgJi34vt36CmkM+Nat7jWI6SgliO5tfmYAus76aPUxfh9HQ8zyXDxUcW+TP798LYFg1jVbB/AnAgsXmbXAhzc5Q+Opcp8zIqp+yEfp08GPewzXq4mjXpUmsLkamHqGkLOfL5HEvqNgRIA+lV6akasskkkG2jU7wTICNJUm3XYTUWDrvAzwl9BfmK3WPb+c5ilxG3KcNA9MRoiMHWlq1v+Zvs2TtM9f2TybxZh+4SUZBpLz6mZIN8hxeoLc4y74eo/vdmpkf6EMW9jhF0teZWikBOo9Dkomnto5ZOs45D2/q+KLCwVu8LbfLyCDKi+XV7KcLP5TRhKU7cdxbNzj8Tv4YIzf+xw+fIjzYm+7/WwqqolIVHjd4mDVJeCkqlJWH5k29TkbHlP5KThDOUHbVV7Pi4jEA7o7qQyEqdJI75xRAb76rJvxTYotENtA55rBECBCPaUW57RJygeNyzK0GV8c0+2XDAixTKQ2iMcMVNL7Db/LRFbYM4oV/9SrSYR56Wl9NP+ef6RunG2QDjWzTuq9dK9NJ1KDKuLGlWgBi6UChz/TQ9a0E8mLzQ4EtnExUI7SHwis193XylS4d1JVAQ2Ofkv6fKy3VsmvRKhb05Yzv4tp12h5Wu/8BewzAtMq7veJf4/80ewRAMgV7DHekZmrHK6KcZNd8IG39Nkwhu2aqwztpnW9rd5c/GQkEM48edofOMvlf76po343ogd2V7707QWRhr98r0b0nSlBqP+OeYks9YcMJ98lzCTOsb7WdJ0gFiF5gJleIqiFR1VYwuMZXuIssO4njTSGQNpbBqow/WgDTEt+QFLo8p332Yl6AU629TkiuCHG6e3KNGfc4mJNSVKyKzkNmsP4Ph38i5YIeyDRNCjtVFmkjzkMRh5RhBc/84IXqy8yNz5l9JaW64Ve1sAD0T/OAGKS8U5BkIxdIhoZ+zrobaD5ceX3XUJcjwtLaKHf68u3liHa+2M+gqAwxrfDRHQkRQsFlCKf991t1tN+A8SH9VRKmjBBZW/T+puS893WUKaAqDsiwFeC02dLJvvpcLwqeivKc9OwJYLtW+7dm8Tkbv+/2ngP9aKJt/KQfACQCMIz2CK3NyGspBAeJXLDZP5d1yQBukoCFRPf5i7/nYQxhGq4/3wklGwJXc5c/Tr5pQBOBcEoZZsxFw6rxROpRhujcggQ9j4922yn17+CEvcH276cROL487VZnOdV9M+wUmdl4Obto4aL1lAw6phrcEqa1J6cB8CXxOIEKdp3xaGf1mMURpizRusXHZtw/Rj1MTFuFNv5pr7onnxbqBzXfuLoRX6HZAAPg8Xm1kXIhGnxR97OUSuydhB+8jVRum/JtIUrwkPzHkvtU6ZD0YHFQV4LZelOyVKo6t+Yv7m/Mg8le7HCA4AWP6wmERNQsMn1E8z0B6rGy/w+Lsf+2cuyI+R6pZSbXT3oqfg8D3HPXyZAUquQg0Sg/piji/0/E9QL9AjG/qxcLeEvGODPAbre8KYUUre7L15moO7GNXap8tw+ekcXz4kq3LID+jx4X1H5J3BF4OM1cCUeJ3fcv/je4BHwjPk+6farYiztyixpP4uMbxp5xdDDDN8XUnhJDChdACH7i+MQyd6kcbYRuyMa8p2vgMrcjaKPXh8zDRRoOQ/m513imaiIVkp08Jb7ERuyeKbLyv4BWX581q/MQ64EPdM0MgGuG13oAvRj35RTHFYunHlFwGm4MO437Tfo5pc4H3UfO9oiBFXa74MEkY8ML/4npB3kaP47USMG0uUAhiGKZ8GTNAk0A1Cni/9/yCUBaD9XxoCxUF76DZiKt5NlFXC4XUxTxHjXz7bNGJT5MPK+zUDNeT/+Mxt2GWeCtS45TNy+zT64JmJvp5e3VLy12igEJjZlt3pVchJ8V9daTZQWMLCeYYDLvnJyX+8jPPi/m4R01jE+akH7M0MDx66CNLUKtk1nWvL/5Y10PRJajLJ6P3/Dd8SBlIvyECBzdvC9e5Z6CsAnvpdnLsRA0U2f9v3J7Oorh1jvx11NO7dEuzSTnImZVLTknuSSLDZ/cOCbNefX/OwrC2J2IEieN0LKlfNGUw2AmoXsk/yhrTavWmSDiwydmi2bSFIOBSHDDAFDOMGG3UJ3SYK5LR4w6ihq5jLx7iAEfbatRW71jJEHixOnqPTiRjJjvcrQY1/zYNn9Zo1UdST9qapnnhqOn56I0MVVWrqf/L6K7n4ZKyEK4Kecmr2Novl9QyuTYJsnSna9GqoZgE7zfMF+XNBoSLhU/NliQXCNB3dzQt+NMkR8y9jvF+HV43LUV1t5beWhaVLwZz1KwARTe6dDn+vi1MmF6vTqp1qgcxdzE7D7K773i9SoL2Nk0anIzyyha0BEskD6Yv2H8c7QgToa9+B/g4mDcOgVtRa/nTDJW+Ptg8+jFlQ5IfZanEvnTLfIGxRSAeidOiNodj4xu2ZRFsn/JJDw9JWPDoIohK3TaGQtrYlX78WlXLukA/cWL1XnwnjawQD01DSwohWzHj6r5licdVDSXVjw9zVUzry60iBqUWZdHQmhhwWE2k7g96cZjGlF+3lbMOQsERF2P4EXU5F56Iprm3OE/qQ3XS3gtWDpLNB2aI3zw5wsRhoCgyilauG5MWFZACW9bQBopH/Dvi08XbgKjjfN1GjUuaTOboYuxqv849TG03gnywC4QOWbAkp9WI3uGsnk4NJlDXbM6nKnHbd+r1nWV1nsC0jnytBZ3pnOfupXwnYqlMcWMPJ7wU9rQR5gMyZieY9u/sND3g45eT6/hn5MapZ7OuYFFug02VtH9lu3zOU8a0bIqmDISZiYBppRX1YYCYUq3ZxGe8C2CYnXMuAUC1GKYjQZelsVUCib1cVzsmpYbIP8N3TkFZxBKjlGxDZJHjnQbjyaEKuTMp9Xm8Iu8UlDxqllCuP9oV4lI62kYBz4LoMMFR0RDm0NcPW2YowyOFT3m7P67mwGWBlMN1Jfa2pFYFMFjlvKcSQgh5RoQODG8oA7bWLSvwDvkmpaWzwgycrUnMxg1SkzFtnM/Wv7dPAIaRz3bowmC8+2ciRIEndRSLUROEBt780FPPQPLHqegoO/s9cBG+CMrp4HVeCnHrP+Za3mJP6x51OUFDhpUTbYk3MLnpd+Qoj1cdVCWWLmLLN7xl06jw91udHp7Tj5tE+hBpNV+lXeY0Z20NYeKVPKLpj218s6ytVMzO9h6a6GtRYfhHUF66+7elqvF5CqYb70ZagrT02jzi8gOLJAcd9MUtZNt3KEqOjmJlD+liPCsEc98AOrfE+fszoJSseWa/tmkVObvdtLqVMnFlb2mCslY662dACiLg9cOFdNaACYbm00jRtrFUmxOSu2zzU7fy3ZcaOsRq0Mr6IYB51KJuSgMEbv7IOwJFOtaFxuySRhPzvXkkozL+K6rXY3HNTj02JSCU1B7MNpngw1AQh6lCJkB7TzsG3MlFLhSwn4HzeSwSt8hmJqZRW6sYn9DpkWUUoTBhSVQ4GsRih68V7Gn7EJlMW203QXfJ7ujCLbG4p7kiySRPWV5iyxe2rOaOgUEnMoTj+nUAq4brOXA7WdOuFkZFrEYnCcusUEKAePoRBWSO7psWdP2QZqJsfRN71321Xnx+lqnyOK915e4AD7wbCSK23bRjRsRzLTllaMElCLMhmBFJPkTspB+p443/Z4ip/tHLlbzdNirchhh9XATGldwnM2gVyQltO5lPUhh7PwjWhaFZWF3pHauVUIsTFJsN/BwNmtN0Ee/6y0wg93fHUMusXKUxjhyoeOkSgLymQua0jE5M7Wo3eknrs6drAQNz48BVHGjptGe480PKmEegxaGtbJf8HwgXlpAu9CvIvO2ftFtsKfrO+V/ZMSN82SvtnGgGb9b7VAcY9/ZAdgtR3wqYcFLZCUMpO1ZNgjRQDcQqmrThKJy3Fzfa6EFzFqWmFC3BrDQS+U2ADeAGV7rpowwphDtSYSySppU/J/kgiGirXMvKeHwTLd2pmKIzG3VlCAYQRwm9RqsuhgvAER/eOpDoYodNO48ChtkvvXeJSq8a1qeNmjTKkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H6RELkciAWNgM6F1TpJZo2",
      "input": {
        "note": "Empty again - the descent seems to stop with the fingertips resting on the bottle's top rather than around the neck, and the top view shows the bottle slightly right of the jaws. Lifting, opening and shifting 3 cm right.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.33,
          "left_z": 0.265
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H6RELkciAWNgM6F1TpJZo2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1519, 1.7916, 1.7031, -0.9295, -0.8906, -1.0893, 0.995, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.3005 left_y=-0.3285 left_z=0.2536 left_yaw=0.1044 left_pitch=-0.0116 left_roll=-0.1497 left_gripper=0.995 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -8.7316, 9.1419, 0.9353, -0.5397, 0.2271, -0.0024, -0.0889, -1.7983, 6.8308, 1.7363, -0.0171, -0.0366, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dcb7e57c9ce8ca23447278e535d715291667ea152204ccd49f7c489b305141a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4556fc1bb9076203f56b30d2ceb9c67bdb3237952cfa759478229743b28bb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7236a133582cc5cfa9199681f22e377446a1f0810b7aad5cf796c72b458ee95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 5.499 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1267, 1.6688, 1.47, -0.8413, -0.8864, -1.0321, 0.9988, 0.1829, 0.8902, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2943 left_y=-0.2917 left_z=0.2286 left_yaw=0.0975 left_pitch=-0.019 left_roll=-0.0819 left_gripper=0.9988 right_x=0.3008 right_y=0.0473 right_z=0.2418 right_yaw=0.1852 right_pitch=-0.0172 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [0.3624, -7.4872, 7.0085, 1.3407, -0.5495, 0.022, -0.1343, -0.212, -1.7026, 6.8444, 1.6923, -0.0073, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1225, 1.6711, 1.4567, -0.7464, -0.8902, -1.0214, 0.0087, 0.1829, 0.8932, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3016 left_z=0.2328 left_yaw=0.0979 left_pitch=0.0117 left_roll=-0.1463 left_gripper=0.0087 right_x=0.3011 right_y=0.0474 right_z=0.2409 right_yaw=0.185 right_pitch=-0.0202 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -7.1316, 5.8325, 1.0476, -0.3297, 0.0855, 0.6862, -0.1299, -1.8803, 7.1316, 1.6874, -0.0024, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1519, 1.7916, 1.7031, -0.9295, -0.8906, -1.0893, 0.995, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.3005 left_y=-0.3285 left_z=0.2536 left_yaw=0.1044 left_pitch=-0.0116 left_roll=-0.1497 left_gripper=0.995 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -8.7316, 9.1419, 0.9353, -0.5397, 0.2271, -0.0024, -0.0889, -1.7983, 6.8308, 1.7363, -0.0171, -0.0366, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dcb7e57c9ce8ca23447278e535d715291667ea152204ccd49f7c489b305141a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4556fc1bb9076203f56b30d2ceb9c67bdb3237952cfa759478229743b28bb5ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 301):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7236a133582cc5cfa9199681f22e377446a1f0810b7aad5cf796c72b458ee95b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Y4F983aczLdv9pH8WZMDF",
      "input": {
        "note": "The top view shows the bottle top now sitting just under the left fingertips after the 3 cm shift right. Descending onto the neck again with the jaws open.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.33,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013Y4F983aczLdv9pH8WZMDF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7786, 1.5478, -0.8169, -0.9173, -1.0786, 0.9988, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2989 left_y=-0.3223 left_z=0.2191 left_yaw=0.1081 left_pitch=0.0018 left_roll=-0.1053 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -8.1162, 4.2051, 1.2039, 0.4908, -0.2418, -0.1343, -0.1846, -1.6342, 6.8171, 1.6923, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8896fa53dcaa017de3eb806e27c19b6c7e515dc70f0e6cb6e3d663606013c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9dccba36cf30d188eba0724333d197bae98960732846533c581becf49776cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:73e9d55fb753c9570203e96664f1dfdf099f339c202300040628bac3454834d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 37 attempt 0 · /messages · status 200 · 11.61 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1225, 1.6711, 1.4567, -0.7464, -0.8902, -1.0214, 0.0087, 0.1829, 0.8932, 0.8917, -0.5861, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3016 left_z=0.2328 left_yaw=0.0979 left_pitch=0.0117 left_roll=-0.1463 left_gripper=0.0087 right_x=0.3011 right_y=0.0474 right_z=0.2409 right_yaw=0.185 right_pitch=-0.0202 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.3214, -7.1316, 5.8325, 1.0476, -0.3297, 0.0855, 0.6862, -0.1299, -1.8803, 7.1316, 1.6874, -0.0024, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1519, 1.7916, 1.7031, -0.9295, -0.8906, -1.0893, 0.995, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.3005 left_y=-0.3285 left_z=0.2536 left_yaw=0.1044 left_pitch=-0.0116 left_roll=-0.1497 left_gripper=0.995 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -8.7316, 9.1419, 0.9353, -0.5397, 0.2271, -0.0024, -0.0889, -1.7983, 6.8308, 1.7363, -0.0171, -0.0366, -0.0171]\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 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7786, 1.5478, -0.8169, -0.9173, -1.0786, 0.9988, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2989 left_y=-0.3223 left_z=0.2191 left_yaw=0.1081 left_pitch=0.0018 left_roll=-0.1053 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -8.1162, 4.2051, 1.2039, 0.4908, -0.2418, -0.1343, -0.1846, -1.6342, 6.8171, 1.6923, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8896fa53dcaa017de3eb806e27c19b6c7e515dc70f0e6cb6e3d663606013c68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b9dccba36cf30d188eba0724333d197bae98960732846533c581becf49776cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73e9d55fb753c9570203e96664f1dfdf099f339c202300040628bac3454834d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQcKEAgRGAI4AUIIdGhpbmtpbmcSDOg5lBIvboTuo82UvhoM2biI8KO1HMucajvTIjDGpg0/tR+19idr9rmTA9f/Vg3QT1T+KaIZLOauuTeEZmA6AjxJqzj+GUWL8vniG60qogYkxnul6NK4tePini+87UhxNcmWuvpvGonPYyBdyPPDvW6vJaKX6AwPJgSyeR/j7T/NU/kjOuQdYHa5b/RZ2qQ0bvqQde17Q7+LWSaq9YG099u/2PQSJ/tghzCnx3U0fs/PDCIaCxZa7x347kaXFzDzWg9LWnzo+5Au5eAYQw3t/+agr38CQGHDGPFw6lakESGXMwH4RVV94zbCI8Gjnf4VNJonOEjWpDLo4Mf1iVLyMt2zJs/+mEfBsLqdBjdtruQBqQr5+IG4MrQRVS/bdfgQqWq5BlLHEbkn2Oe+zDIISkD+ezJtZJKScHf0H7tP+rI/Oj0dC53FzF42d399Xl/JCahc395b0ieW/M3k2tOTDFYPL1JXV5RBwDtca/M8ZOe4JRG0OmQFEa1vg5pzTmgpN9vyJoLMOFcswGwmCj48wY4L5p2QTOZAWNc59Guem9qDMzhJPMQMUrbSRSdIp33WJKEP6Lr/2DJMLrJN02QN98bq4+dn9dlzDivfvVPghQTbLLM6bnm/WNgCjk7UWxMwm1I4xq3ki4zAb26PV7NiAYJz9Sx1/BT7t9fKZRFjNsWJaZ4WsHqeL+c+XtVZjiVPK3ftnjgDFjOT+5PVeKs4/mBKuJbYT+pNRhs1mll6bfSniDtlz770KEfuf4Li/jsL+s+9wuyxWRt9IOwvmFSpqDN4OWSY4lFgMWDAppS1R64tS+XrrtEmExRK6NY+BN0wf3hB+DNPnvSJXiuesg0MmiyyCsTMJynxQNwoe2OPqAJpAyyjUAxdILC6EaDZhEeEfieXp3RT6Ns1D64RzuEZaZ9/wY5s+QKPfTxURQv8Gnrr6dz1lhHw8OM9BCoKyUCmclKVvtdmhUsZu7EUdiIDhUOmo75Dh5YFQFe6n4WcRERfHNFHjSKmgmVMikneDJafHTZDyrvOWMeB5m86VHAf7JihPrupQYqRtjIaG8ZcnxZJBcE205qFSvqfoMIQocwq0qICdfQB/4cR0cVLyrzUKHGP94eQrthVKAFGL9GyNLkd0l0JWQttoIP0dYVaqjZaNFi8s6CQuAHP96A3HW4oVYrpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019bHA4AbsWaz17nAir7dAX9",
      "input": {
        "note": "The left gripper descended to z≈0.22 this time, deeper than before, so the jaws should now be around the neck. Closing.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.33,
          "left_z": 0.215
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019bHA4AbsWaz17nAir7dAX9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7805, 1.5558, -0.7982, -0.9287, -1.0855, 0.01, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3249 left_z=0.2241 left_yaw=0.1177 left_pitch=0.0182 left_roll=-0.1319 left_gripper=0.01 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -6.4479, 7.7607, 0.9109, -0.3492, -0.0464, 0.7399, -0.1846, -1.7299, 6.8444, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:373d0b8df32bc76802a9520c49f790bb1cf9e6adb6f36bb3761ff8991a22cda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:093ac28653ee4ad4a3a543813eb4c382e5cfbd7e820b7d1c04a02ad7b5e08909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:043312f2f8a39ae17d68fdc7c338f34c46b850036fb7f68b56b5723971c289cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 38 attempt 0 · /messages · status 200 · 6.505 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1519, 1.7916, 1.7031, -0.9295, -0.8906, -1.0893, 0.995, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.3005 left_y=-0.3285 left_z=0.2536 left_yaw=0.1044 left_pitch=-0.0116 left_roll=-0.1497 left_gripper=0.995 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.6769, -8.7316, 9.1419, 0.9353, -0.5397, 0.2271, -0.0024, -0.0889, -1.7983, 6.8308, 1.7363, -0.0171, -0.0366, -0.0171]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7786, 1.5478, -0.8169, -0.9173, -1.0786, 0.9988, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2989 left_y=-0.3223 left_z=0.2191 left_yaw=0.1081 left_pitch=0.0018 left_roll=-0.1053 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -8.1162, 4.2051, 1.2039, 0.4908, -0.2418, -0.1343, -0.1846, -1.6342, 6.8171, 1.6923, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7805, 1.5558, -0.7982, -0.9287, -1.0855, 0.01, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3249 left_z=0.2241 left_yaw=0.1177 left_pitch=0.0182 left_roll=-0.1319 left_gripper=0.01 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -6.4479, 7.7607, 0.9109, -0.3492, -0.0464, 0.7399, -0.1846, -1.7299, 6.8444, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:373d0b8df32bc76802a9520c49f790bb1cf9e6adb6f36bb3761ff8991a22cda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:093ac28653ee4ad4a3a543813eb4c382e5cfbd7e820b7d1c04a02ad7b5e08909",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:043312f2f8a39ae17d68fdc7c338f34c46b850036fb7f68b56b5723971c289cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQsKEAgRGAI4AUIIdGhpbmtpbmcSDAQQ41tXxOVAaTPpGBoM9oM7e5dW3yj6HYVDIjDzaqGAV87FbVb4vd5wvUuY4Fk/Hw0iDNtLvmAX4BuYW7Wf3SBQ+K+FAMksu4kG8Tcq0gpgMDubGCX6kKnlKJVN4xJJjyPgbE8nPzCXjkS5CrgyDuPYZrD8OWzHFnZ8ZS9c6HfwE++q7tJPaG3OXP+7h3mQyYGza3keBTTR/vVKuGOct1Ownn4o9hbZjSMijVJmoF40I17dnQ/SM/1WEvM3NPstpXwzAJ4DWnsGEiykwPHPATnAPKSjzwmRI9rSMe7bXUabwMazYs2RhVNmJQHyFMTjkDAk2IfwjMdvZvv6b9PtBCd1V2+mCuAHowZT2l+HSxKmuvXYnrL/h9hoyG0rml9RW6m3zREdhkZaVm4Fz74v62CsbVMH2Cf4SvgN9Os52K81mJFdWP4R90+c4AgH1/2+0ubjEwq2W3jNjudQQCswyKEFP68VMhHDQe5FVI6DzIaUhjCsXPxBF/pF93CpgPE2cF3cqqlommvjm8GHfBcZYG8mPP0LfqkagTSkWVNru9UIx8iVcqAM+cHYWCNmDw7VfeUXJB8tvKASKgEMtlsXKBvlIwLmdskC8Un+/QsOHDVI8bnRa4bAB/sNY2V6X37Nmsx9PoC6oVXLuBYv7443IYJoi+TDza74MimbjKQzdYVtAqLYZUVB/7AXStYCpc44wTU+y0z11XZ/cOemcSfwQxX/GcFlxlGKqj9SmSOGuyHmK29tmQyfHbvBseunZNiiGwDcXAoG2r/7+tS8Mn8D6Auq6sD9l5hdh2ATk+D2JHqWqvV4NgOEghCTf1oWFR8xQozNBFkEU6Gxlkh/jpzMzhrrK15OfKMsGgjmBQEotc48rzaWjeurLTBWkH98ft2Qo6Xfs3RpIN+AfYevieoqraJQ/hmmikdSvHKv8q3sAOgl0umrc7va6woZ6qqKu/hCcLCTHV7ocr8B5HWFCnHv4G521JCOS7hDW/kJXHd728073CcoAYZTHF4bg+zTbZv8tSPPAwKys1veDFC+a6bk5oFCINi1S0bKnzFc9nWGP7eTDj0BCimapl+PtQRPnFKe8LKdYhmttL8CWGwLy0LOH2LRd4RJge5pKojucnT072YeV0KeD62uwn0SrHsUv5aCNkYliNmnjZ1ZcZu+LQu9YWZQ7UEotNmm2xy7UoqKtAfF9Mdidjgz0lpcB3KCSvwjIpmoxc2wa5/W5u31cdi4r0pJpbxuEIDZZ7tx58NIV5nHsxyzwiBCHzgrI7+DK86JFY5kZaa9N4Rc64dMZxhrLhifO5zQayLqgOmX2L1Bne45hv0EiAw0dwuBdoAL6JqQ7rx64y/TWUhyc7t70xVnMVlyylTO8S/B4RG996nMPBdp/1yG5SD/z+VLBwzmFHOSfem0zQL1M9+TPmyVgxHIk2yhRbXNnuAEsuw1fz3NJNLcxSkM23qkVvKvkra0B49Pf/QdMN8BPUwTs1huR/Tja7KeTKQYbpny40J671FnhINALLih+h27nkY+716Nd+2LtABoQqWLHGlCMsegETicyBQ75n9zvxrFoCIBzh7dcAeojbZTNvJo5Bs4AhexdEADFACfmbr3JuG0ijC+gLux4cYFCWnY3s7WTpp4TkZm/TFd4JvQoCtB5fIj5u1Sy0h7VJx5wHZXno6uD5q9Uz1YbYb4T8YAvWwL3lt/MiGFPPMasGDxxh57O0aXz6xU+yileykBNVMOHRUwglcC1Xg7GvvOsEC/QqwVXtKx93fk4aVMDX/3ekR+YD1BG8HQg7lZOeFpBCetmgVYMPDnVSmUT6RCvvui48x1kUTTPQOVFsZOK0RaxasHYlGExZWY6scyZcqWB6SqIzUgEtXHjExYEA/z7guMof8z4FPvRaxJQvJNsfrnMWHyhzs+iAQMheYSGgAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011pRnPRdtQGdxMuTkNLER6u",
      "input": {
        "note": "Still empty; in the top view the bottle top shows just below (nearer the base than) the left fingertips by ~5 cm. Opening, lifting and pulling back 5 cm toward the base.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.33,
          "left_z": 0.265
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011pRnPRdtQGdxMuTkNLER6u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7882, 1.7416, -1.1301, -0.9436, -1.2972, 0.9952, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2508 left_y=-0.334 left_z=0.258 left_yaw=0.1072 left_pitch=-0.0203 left_roll=-0.1587 left_gripper=0.9952 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.1852 right_pitch=-0.024 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -7.5145, 8.3761, 0.7106, -0.7643, 0.1148, -0.0659, -0.0479, -1.7709, 6.8308, 1.7216, 0.0024, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe6b31768ebf6ca580116a8d979fa0e4a93bfac313f6388fff5eec36a268954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e949053267985befc3f1ddbe766a0ab937221bdfb1f5a82487f1aa5fc390edf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2981cd975b37289922916639c9dc2ebc74314a998e54bc36c56f64cba09da214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 5.381 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7786, 1.5478, -0.8169, -0.9173, -1.0786, 0.9988, 0.1829, 0.894, 0.8917, -0.5861, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2989 left_y=-0.3223 left_z=0.2191 left_yaw=0.1081 left_pitch=0.0018 left_roll=-0.1053 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2407 right_yaw=0.1852 right_pitch=-0.021 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.4308, -8.1162, 4.2051, 1.2039, 0.4908, -0.2418, -0.1343, -0.1846, -1.6342, 6.8171, 1.6923, 0.0024, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7805, 1.5558, -0.7982, -0.9287, -1.0855, 0.01, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3249 left_z=0.2241 left_yaw=0.1177 left_pitch=0.0182 left_roll=-0.1319 left_gripper=0.01 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -6.4479, 7.7607, 0.9109, -0.3492, -0.0464, 0.7399, -0.1846, -1.7299, 6.8444, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7882, 1.7416, -1.1301, -0.9436, -1.2972, 0.9952, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2508 left_y=-0.334 left_z=0.258 left_yaw=0.1072 left_pitch=-0.0203 left_roll=-0.1587 left_gripper=0.9952 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.1852 right_pitch=-0.024 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -7.5145, 8.3761, 0.7106, -0.7643, 0.1148, -0.0659, -0.0479, -1.7709, 6.8308, 1.7216, 0.0024, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fe6b31768ebf6ca580116a8d979fa0e4a93bfac313f6388fff5eec36a268954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e949053267985befc3f1ddbe766a0ab937221bdfb1f5a82487f1aa5fc390edf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2981cd975b37289922916639c9dc2ebc74314a998e54bc36c56f64cba09da214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgRGAI4AUIIdGhpbmtpbmcSDBYegCbtvrFlb19jExoM5bEjXe1B0SaK+8jjIjCh3o7hDAbVuKv1SMx5SeIjKyXV/+j1fHo8immkQv1RXmmqjQfpDy/X8EiPwKcEBsQqvgdXzJpuPwWo/LBaGWY8r63hHm/Q6Kt3YwZ/7bmptwyRI3n4wnUmQP+LN69O5rSMdnQyFiQ2ZvZ6VyfTxSOSuKq4k09geTGFgLaTWuaUjeT3jYYl4/NPrYIgWdZR0XRAXJTVzbhQKNlndhBAR8RM5ZmOAa2L6T51AKdNSOnV2HLZOx52HmHspxd6Ds3Aq/kYOTm1Qzo6bPemIpWrwmKeLFf+ierpeuZVkrAaWq25qYMh6i8qJNdXx8AFUd1Cw000gjFKpnpAW92TFQUA/m4lySLsu4DyjnkAPEXDLySPFXfF8SUP42iSKH/NbxCKtHsJtmebXSZFeTtRpQfxkPmVXG1iAFP2Ox/v3no//CRfv3nqQxLUdNWERSDBd9Ov4EtQv56QebppNkh0HcqTA0bpNwtsyfSnxeI0wzwIwy5H/XtRcg6BCySzz23si55NjBotdmLIsn88oYhQAK9H30BraFVo8l0SNmszQ66E3BCzVNUt/xl0JrCvXOGMJe03bf1uiFg1Xo8VCDRo2oL3GLaY6eaWlczpfRdMl1H8SyVgYxEelICJ23ecmJxs1TDa7hxzlI7D/oH+SNn03FaLICIPPZOb+nwIof7ahncLksaajtPsm0LJFNGwFEHBUujwiB9O1DGLHxQfRu13iAuMEJF2KH0PsQ0dI9VmhR+gh/xul/nKEZb5G7U/qS4GMZREmJ8MRFTR4EFfur5UmL/abJOTNYThmKR5n4LLVnDJNl8nGvavtlsWCxNU1ojrO7Kvlg9kRjBLZJ4v1mr49KZveE3DaJi4178HUqEFEPltvD2G0YBeueuqh94iwDBMMnCVPDwp9i754nCnLvhrYHdAKvoqKe5HToLy2dGrNwTLVLnJGRdM63JgGoVk/9l8kVUEhwquWUzmH0LbhVZuEYmwLzNV5sn7PySv9QNqbL2rb9V6UCwsrFVe6DrNNvCpCvXH03tlHxYLHRcF5S29qzimxC+qPdTizAOxfw2Jwa0DQOSQ02o/EN8pi9UDx8JzrQTkuFRRZNHp7uESp6ZqNr61pxo4w384+GlrPGp8vZ5W6IbFxzyya7oWJmEKhEfH9yBYsQo72vg1B16sMYMpjpyMd6L8EDzXXMMwMnq1G7rfxBOwBj8JVFMoiLgNdtksezBpclGse50JCCOOOEVpA1eU03UTCndxI74toWD0q3/M1N5Rmmp71cI0jzm4TAd6NNHAfKTW4vfHTSXHhPI9ISeEXiJjwfAGqLzmFKtXqGbboeEmRjbmMW90GkVN4sQ8k8aLDv4pGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012PfE6cVuekznU8ePUFr94L",
      "input": {
        "note": "The bottle top now appears at the very bottom of the left wrist view just left of the jaw column, so it is under the fingertips. Descending onto the neck with the jaws open, nudging 1 cm left.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.32,
          "left_z": 0.215
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012PfE6cVuekznU8ePUFr94L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.739, 1.4975, -1.0012, -0.9504, -1.2884, 0.9988, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.2462 left_y=-0.3154 left_z=0.2085 left_yaw=0.1069 left_pitch=-0.0252 left_roll=-0.0852 left_gripper=0.9988 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -10.7145, 7.6786, 1.1502, -0.4274, -0.0855, -0.1294, -0.212, -1.6068, 6.8718, 1.7314, 0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13b582eaa98f4a21ce651a7fe5c31aeb0beddb6f5fc6ab4854c98bdeb1781ae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b321bd75172b2f0e6d912541fa182df35c26e04465ea0f13373e16008b7427ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1ff362f2520ae1c4904718d955c055ffaba9130a837c529ce410d94c2fb49dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 40 attempt 0 · /messages · status 200 · 6.873 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1564, 1.7805, 1.5558, -0.7982, -0.9287, -1.0855, 0.01, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.3014 left_y=-0.3249 left_z=0.2241 left_yaw=0.1177 left_pitch=0.0182 left_roll=-0.1319 left_gripper=0.01 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [-0.4581, -6.4479, 7.7607, 0.9109, -0.3492, -0.0464, 0.7399, -0.1846, -1.7299, 6.8444, 1.7314, -0.0464, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7882, 1.7416, -1.1301, -0.9436, -1.2972, 0.9952, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2508 left_y=-0.334 left_z=0.258 left_yaw=0.1072 left_pitch=-0.0203 left_roll=-0.1587 left_gripper=0.9952 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.1852 right_pitch=-0.024 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -7.5145, 8.3761, 0.7106, -0.7643, 0.1148, -0.0659, -0.0479, -1.7709, 6.8308, 1.7216, 0.0024, -0.0366, -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 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.739, 1.4975, -1.0012, -0.9504, -1.2884, 0.9988, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.2462 left_y=-0.3154 left_z=0.2085 left_yaw=0.1069 left_pitch=-0.0252 left_roll=-0.0852 left_gripper=0.9988 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -10.7145, 7.6786, 1.1502, -0.4274, -0.0855, -0.1294, -0.212, -1.6068, 6.8718, 1.7314, 0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13b582eaa98f4a21ce651a7fe5c31aeb0beddb6f5fc6ab4854c98bdeb1781ae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b321bd75172b2f0e6d912541fa182df35c26e04465ea0f13373e16008b7427ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1ff362f2520ae1c4904718d955c055ffaba9130a837c529ce410d94c2fb49dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgRGAI4AUIIdGhpbmtpbmcSDKwzNOwXvuj1D58RHhoMqRp7Av+M+fpOka50IjBGwtdaEeN1fXX5jsfKQ3Prnedz/T8GxLqO4mPRwNn9XbT5/Ga/RK5NRDZEd4s0qnkqmAYrZcRB9Vq6rWpRGapXJMojF9p/QgOuCp2ts0nskCqQh4tHwI2apeXbRMuH0IGzfa3621uLIPUvfVcZ9Lnj3vl5rDD15IeK8kuyoe1raTEjzFEdYWpIv9cBe1W6hHNk/Y/ZyoEW5GBR9Ix/kUU+1loJgyV8NdwGVClTx0MWmGsbYwQGaXvpqXxxZVSJP5MZHeJY1hT+4NLCSC3elBD7MwvIAy7ywUMcctoNeiUyjlKvck2Sbdzx7PwTzpucHgdTB5CDoJ0w5O9aTT5aizUdmHjwb4b5+6RagI1eIluBfMzGw+AtICy0exsiqZo97v7I2fZGLGESRLLCT59z/NJbaCPhy6rk6sAU8WL5dZpDr7fahj48zTayWhPLQaN5fPejnyRrhMi/Bh3ASEMZtdmFa4gSrXYpzERCdKtXlA+KtuoWhHrmVdQanSrhSyUtFgWPBB8dsYP+BSoQ8gl03M0O+uXd8aIrqYxGeHOvE99rUppspZJmpy/iN3E2ZnGNL7GgFFL8Geyt6UoQTdNZZST1q6pyCe4bikft7pFTcg9k8EWLObmxR7ZCoIJqrW/ToFA4W8NWePlBAo+7VnvoCqPjKM12ZOpRAvtMVy6sF0TRP8UKZTTMye3scmyqg49Yq01uDoSe+bXheynBtf0bIfrmXf982vPorPl7uBX+TufTZhebUGsqZEJtf6NSCLwv0j0pcPjFSFHFTeFYOZy6N2Nt95dz80YtV5SLwXJZBP0jpuyKzaCTZ0Cy6/w+yot9u9KQf52/OeCyzbDieLoGAtYK4wSH1Q5TbJ2yydpQBh5xPvCmHlqYnhOEc8i8bV7N/l4X0wq4P8Zyu/1rnFW3BtIbH7td3gisxj/Rx2o2Zua1rpcBto5yj97LDdZBqLhc6eyKUytNHbFzpIroHtAttZU9vgVEP2klY8fbvU3Wa0FdHLC9ntA3Holll2ns40URY1+kgXm3ilzDrEhQNKr86EICYcyn4ICWgH6175pkmKRjTxSGzmNsIHCmE+jJbOlHySuMGbPqUouKJ5TseGsAPsmKM5C24eZEOy6Ye7oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EAMnRyGaQpoAheAz6sWMS9",
      "input": {
        "note": "The gripper reached z=0.208 with the bottle's white top visible between the jaws at the bottom of the left wrist view. Closing on the neck.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.32,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EAMnRyGaQpoAheAz6sWMS9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.7271, 1.494, -0.9833, -1.0111, -1.2568, 0.833, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2514 left_y=-0.3119 left_z=0.221 left_yaw=0.1105 left_pitch=0.0369 left_roll=-0.0741 left_gripper=0.833 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -6.1744, 7.2547, 0.8669, -0.1587, -0.2222, 1.033, -0.1573, -1.8393, 6.8171, 1.7216, -0.0024, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2893b5a219beafd26161fe8a9acf950d57d4ac85d2c819aae2ea4b5e8f30d8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00803dcf4abdc6c8f5f8efefa34fee749f85d4dd5c7ff0a1c275febc3c394da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24fe62cbc7160f85b82af4751cb46c9a3a02381c1a27c3d9a1e4119f2ba430e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 41 attempt 0 · /messages · status 200 · 6.401 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7882, 1.7416, -1.1301, -0.9436, -1.2972, 0.9952, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2508 left_y=-0.334 left_z=0.258 left_yaw=0.1072 left_pitch=-0.0203 left_roll=-0.1587 left_gripper=0.9952 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.1852 right_pitch=-0.024 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2667, -7.5145, 8.3761, 0.7106, -0.7643, 0.1148, -0.0659, -0.0479, -1.7709, 6.8308, 1.7216, 0.0024, -0.0366, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.739, 1.4975, -1.0012, -0.9504, -1.2884, 0.9988, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.2462 left_y=-0.3154 left_z=0.2085 left_yaw=0.1069 left_pitch=-0.0252 left_roll=-0.0852 left_gripper=0.9988 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -10.7145, 7.6786, 1.1502, -0.4274, -0.0855, -0.1294, -0.212, -1.6068, 6.8718, 1.7314, 0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.7271, 1.494, -0.9833, -1.0111, -1.2568, 0.833, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2514 left_y=-0.3119 left_z=0.221 left_yaw=0.1105 left_pitch=0.0369 left_roll=-0.0741 left_gripper=0.833 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -6.1744, 7.2547, 0.8669, -0.1587, -0.2222, 1.033, -0.1573, -1.8393, 6.8171, 1.7216, -0.0024, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2893b5a219beafd26161fe8a9acf950d57d4ac85d2c819aae2ea4b5e8f30d8fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00803dcf4abdc6c8f5f8efefa34fee749f85d4dd5c7ff0a1c275febc3c394da0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 337):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24fe62cbc7160f85b82af4751cb46c9a3a02381c1a27c3d9a1e4119f2ba430e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkQgKEAgRGAI4AUIIdGhpbmtpbmcSDG09HPxE80ceiMZpvBoMBs6p0aBSnWtlWwgyIjA9tmERQRVW62SlNcyM4EcMgNBLF/pqeQ4xFS97hIwCjV4LVFAjOrZjiRImd9VtA3Yqrge6RZZAy0a1Qn+utzJ0XSbsTW0K6dv7Uu6Hqe8vNvARhro7vLE7Uh3ic3F2qa2AYVpuRee1zBnMtHfW9cMe1UN+HRuCpxghibdd3Xi+bMLm1GnKA2JHlchKenHEc+pwzY1kd8S0KN4DSyeqWX0OZ4tCCRC0vvoR/pty3F3GFVb2COkiWZ+Z3dMIg5/U8+GA+ocOByl1BiLRSRaP64VQWN5OzgfFvPu+3W19GRQwpgD/dfShPZKeVrnYxkRlznwMPD+K/cYcZAPWa3FXsu7mlw2zfUZFOFEJYBtVvVzVWEcuBXhZr+KO+JL/j6+mZMc8HOyzlWECWZEFLJXQGyKncGq6fVjSU9rCwCOqlAeDiFBo1IMkLikc+eF2NAQh0mAF2pomPWKnQf8K9JGCZghViT/jvaYr8UWPqoPxxEVKHWGthIMsDEBwgMDPZqM0o4yX5uGg0d/ws2bYen1hVTB0dRK27gOIc9tkKqTLXrrkigSAaGP8tajzXsXBkT6DcWUdXlCZC9fkGZI/aBJMYyFi2lGRWUEjYXwkrGVZcU9T8ZRAUPBTce0PzAayQSzr/IkgNHzBpA6zIhMDHkoBxT+yMTY0/U56wfQvm1D6SBHXCovIsa2q0YhZOpAV4oNzNAV63j6oS9y6EJjCOqDsehetj1F5aNjOg9FGKg1sVxZqtnuCLb8PKUpwyNkRgEZeoKl3fJzNvczTrIxpjUV4QIeQv/BashipcZiw5eUAfI7uVU06tQvxLjSvB3Mc/RQqbxcs7aRj/0liIdCo/yXuE2lQemXyLg/h97lmMJzfl/02ECH+wDdSNS+Hh8/aIrv/fJbRRDJYiakU/PuHiiNtPSLWLVVOwnhSJgX4xlNsfwmneIE8ZcGEt64pJPGUuoAxMZPDgqEdhXIta5pcC7U9ijjJHvBvT8L+dNDlbL9JxPntq38li0Utx9XWKKBW/LOg/Kmhxhbr8898bkbUWQLPvNXipnIDZglL0Ga7BKUZ56LIHMNHakkvjybKg5x/qmP/Dw61hTP4cP1I9T71uBGJWiCKwUTNLC2amT/1ProJxZjwfbPENgJYINR1FGsrCrCtNH8rn9Gx/TdYJPERIzr8jmwrb2o9Wp3LF1Pt8p/3CxxO04qQExDLc/w+OrF1C3XNuGi4/9BbSNeqosxv7d/aujwr4qIwPlXV3UOn1fJkpkNS/lJapA7861jGNjc0F5glxC+1SIoD26guToz0Y1bdGDUhoz2TJGtcaUOhehub8DKM5k0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015qo21QNN9JVivhfEkJTh2V",
      "input": {
        "note": "The gripper reads 0.83 with high effort, so it is squeezing something ~8 cm wide, probably the bottle's shoulder. Holding the same target briefly to let the reading settle before lifting.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.32,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015qo21QNN9JVivhfEkJTh2V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7355, 1.5036, -0.9943, -1.0138, -1.2625, 0.8314, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2517 left_y=-0.3124 left_z=0.2208 left_yaw=0.1137 left_pitch=0.0375 left_roll=-0.0689 left_gripper=0.8314 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -5.7778, 7.788, 0.7643, -0.1587, -0.2125, 1.0379, -0.1299, -1.7573, 6.8718, 1.6923, -0.0024, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd504ab99164e70379098eb878a6c9cf6e3676c5bfb8ec456ca628ea79b0af8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9fc96b06ac87b103b405ef04a4fa5eeffdbbf55706d9f2571771a526e13740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b983031320fd947ceb68c3171b090178c7069805f23c5935e144155879240ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 42 attempt 0 · /messages · status 200 · 16.25 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.739, 1.4975, -1.0012, -0.9504, -1.2884, 0.9988, 0.1829, 0.8967, 0.8917, -0.5865, 0.0666, -0.1127, 0.9988]\nstate[eef_state]: left_x=0.2462 left_y=-0.3154 left_z=0.2085 left_yaw=0.1069 left_pitch=-0.0252 left_roll=-0.0852 left_gripper=0.9988 right_x=0.3015 right_y=0.0475 right_z=0.2398 right_yaw=0.185 right_pitch=-0.024 right_roll=-0.1135 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -10.7145, 7.6786, 1.1502, -0.4274, -0.0855, -0.1294, -0.212, -1.6068, 6.8718, 1.7314, 0.0073, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.7271, 1.494, -0.9833, -1.0111, -1.2568, 0.833, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2514 left_y=-0.3119 left_z=0.221 left_yaw=0.1105 left_pitch=0.0369 left_roll=-0.0741 left_gripper=0.833 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -6.1744, 7.2547, 0.8669, -0.1587, -0.2222, 1.033, -0.1573, -1.8393, 6.8171, 1.7216, -0.0024, -0.0562, -0.0073]\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 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7355, 1.5036, -0.9943, -1.0138, -1.2625, 0.8314, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2517 left_y=-0.3124 left_z=0.2208 left_yaw=0.1137 left_pitch=0.0375 left_roll=-0.0689 left_gripper=0.8314 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -5.7778, 7.788, 0.7643, -0.1587, -0.2125, 1.0379, -0.1299, -1.7573, 6.8718, 1.6923, -0.0024, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd504ab99164e70379098eb878a6c9cf6e3676c5bfb8ec456ca628ea79b0af8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c9fc96b06ac87b103b405ef04a4fa5eeffdbbf55706d9f2571771a526e13740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b983031320fd947ceb68c3171b090178c7069805f23c5935e144155879240ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStAcKEAgRGAI4AUIIdGhpbmtpbmcSDD27PXfA2dXu2qYk9BoM7ib4IWuABqGNYUEAIjApSRbdxH2uFw0hE7z8GDheGnyh0pmqIh/aDgTIovHGIfa3muVpSvDk5HNidYamJagq0QYyaR+qkg2AOj0iYB8AJLYKN7OIP9XkpPo40sgpnVCvafq5d6WjPXF9HA4uym8QXNAaz9GN7BzY5ClOxxiXhgTqz+jVDkXmAmijK27tLVQJNFGj8oFERimwtZE9WNz+QK9wfmJRP1Wro8GeRZFxh7XP/zhpwr6zGpWy6r0+NnlFUaygys5W+ZrL6H4G5TOMxsZn3atAlXy6sE/4BiOnk2kwk6fVS1wYYL48OJ75UGmkyK4AjcJkVje9gEJtzFSkwXEH5SMfDw8vmwq4l4PhvDgh2JJqYVtbO4beZxtbADB2gmf/e7yRswgi0bYF9DZul83nRc9MFjkgkVjA2pPRAgLV5Im1Z7ZTLiGf3dEcgwjP4aYfUmMtcFOfJ7YmXmV8z9x+l8PS0q+GI6Tlf0Q0/KHhgM/nxcKXqtlxuMSrSQbXTy9l7gXrW/sjwj5ng1yTDsSGAgogvPLFlX+bRJ8Ojtbr63WpfIgxOlWW73SqSi/JC9wpAW6rqkKYtYF9GxDp1aKim2EYHgaTsQ45iCMBn/B0yKb64IlQSPCpkTLU5ODlpuXmC+YXxm9vufStlwwkCNnd4qKCD/AujEV1wmFjQFeuxkUssPsq1zlbQQlRxkiTEicscZtgdf1UsFTNfuKhPFZdu90Z2lPwT3eD3ZGZvJRJ229jiUiHr5UPvKrSHWP+9I3cb6rhFgpDSyxYEfLYrJdDRBV0ctNfRBcJ1tYtTVthVuUetaeqf1UAO1dOnT1q/a5QmIcRQsf7BEYXpbNe/Pfg7yp0SQSRxZZxVmvoXzGYjbf/H1T0MbUn/gf/2BMAtISkg9C4y3qGuWgQu3fTZ6xfGQ/AZFyYBnuvfpJoOpvfsymZFt8jZWC9rMsMUNSktVd4hBEEE7Lmcy20y0HJxffXRrt17lb9o1BkuBXQIbib2zCzuCqibEGmGCmPE25Boi+xpLbE1WNfIKCmcZ1KOAhQvpjIcMdJdtVWNtDbm252qUA66A140+vUbg3c8Em0spUzBDaoxP+KrL+q/CKTIqgLLOmrxk22wYjnhxVthVo931hRjxmlVnXyAXuo+1kCG7GJICijvfl26TKmBmgeL+53oHhcWI25Ycs562mr6fTB+l5eteVnXRH+WewpXylYg70YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbbB1yuaQMcfL3VRGYtaWB",
      "input": {
        "note": "Gripper settled at 0.83 (~8 cm), so it is clamped on the bottle's upper body. Lifting 7 cm to check the bottle comes up with it in the top view.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.32,
          "left_z": 0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HbbB1yuaQMcfL3VRGYtaWB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.8187, 1.874, -1.2926, -0.9642, -1.3025, 0.7901, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2502 left_y=-0.3246 left_z=0.2802 left_yaw=0.1184 left_pitch=-0.0121 left_roll=-0.1001 left_gripper=0.7901 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -8.1026, 7.9795, 0.6276, -0.6374, 0.1099, 0.2955, -0.0342, -1.6889, 6.8171, 1.6874, 0.0024, -0.0415, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddd1266cca83f5620566b207f1ed46f0a64eb2339e61d91cdc64df7bb2b6592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de155b25809e4dd8554d663ad6485abe50d493211c388e6fc4bc18e5426d08e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4982dd598da690993c8279047e49ddd5825e39be42498de3b46b66cce0078f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 43 attempt 0 · /messages · status 200 · 13.14 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.285, 1.7271, 1.494, -0.9833, -1.0111, -1.2568, 0.833, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2514 left_y=-0.3119 left_z=0.221 left_yaw=0.1105 left_pitch=0.0369 left_roll=-0.0741 left_gripper=0.833 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.2256, -6.1744, 7.2547, 0.8669, -0.1587, -0.2222, 1.033, -0.1573, -1.8393, 6.8171, 1.7216, -0.0024, -0.0562, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7355, 1.5036, -0.9943, -1.0138, -1.2625, 0.8314, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2517 left_y=-0.3124 left_z=0.2208 left_yaw=0.1137 left_pitch=0.0375 left_roll=-0.0689 left_gripper=0.8314 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -5.7778, 7.788, 0.7643, -0.1587, -0.2125, 1.0379, -0.1299, -1.7573, 6.8718, 1.6923, -0.0024, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.8187, 1.874, -1.2926, -0.9642, -1.3025, 0.7901, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2502 left_y=-0.3246 left_z=0.2802 left_yaw=0.1184 left_pitch=-0.0121 left_roll=-0.1001 left_gripper=0.7901 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -8.1026, 7.9795, 0.6276, -0.6374, 0.1099, 0.2955, -0.0342, -1.6889, 6.8171, 1.6874, 0.0024, -0.0415, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddd1266cca83f5620566b207f1ed46f0a64eb2339e61d91cdc64df7bb2b6592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de155b25809e4dd8554d663ad6485abe50d493211c388e6fc4bc18e5426d08e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 355):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4982dd598da690993c8279047e49ddd5825e39be42498de3b46b66cce0078f8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KRDfJJvJryN1i7U67xDKX4",
      "input": {
        "note": "The bottle did not lift - the top view shows it still standing just base-ward of the left gripper, and the gripper reading is creeping closed. Opening and rising high above the spot to get a clear downward look at the bottle's position.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.22,
          "left_y": -0.33,
          "left_z": 0.4
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KRDfJJvJryN1i7U67xDKX4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2743, 1.9106, 2.2307, -1.5585, -0.9569, -1.3048, 0.7952, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2519 left_y=-0.3179 left_z=0.3327 left_yaw=0.1283 left_pitch=-0.0191 left_roll=-0.102 left_gripper=0.7952 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -11.8085, 8.0615, 0.6276, -0.6129, 0.4957, 0.105, -0.1162, -1.7573, 6.8171, 1.6923, -0.0122, -0.0806, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a4b9ceaf96aade86f5d08a7fdc2b0ebe0d04e4f63d57527cac329bc2df7bf97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8fc74cae2b82c83ec7636b2cba75d1cb09c84a17a7740d943a84afd6c96f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14e763ec552bcd8155f3a922f0489ff645cc522fabc09ed13b566e42a5ffbd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 44 attempt 0 · /messages · status 200 · 6.862 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.7355, 1.5036, -0.9943, -1.0138, -1.2625, 0.8314, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9988]\nstate[eef_state]: left_x=0.2517 left_y=-0.3124 left_z=0.2208 left_yaw=0.1137 left_pitch=0.0375 left_roll=-0.0689 left_gripper=0.8314 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9988\nstate[joint_eff]: [-0.3761, -5.7778, 7.788, 0.7643, -0.1587, -0.2125, 1.0379, -0.1299, -1.7573, 6.8718, 1.6923, -0.0024, -0.0464, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.8187, 1.874, -1.2926, -0.9642, -1.3025, 0.7901, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2502 left_y=-0.3246 left_z=0.2802 left_yaw=0.1184 left_pitch=-0.0121 left_roll=-0.1001 left_gripper=0.7901 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -8.1026, 7.9795, 0.6276, -0.6374, 0.1099, 0.2955, -0.0342, -1.6889, 6.8171, 1.6874, 0.0024, -0.0415, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2743, 1.9106, 2.2307, -1.5585, -0.9569, -1.3048, 0.7952, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2519 left_y=-0.3179 left_z=0.3327 left_yaw=0.1283 left_pitch=-0.0191 left_roll=-0.102 left_gripper=0.7952 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -11.8085, 8.0615, 0.6276, -0.6129, 0.4957, 0.105, -0.1162, -1.7573, 6.8171, 1.6923, -0.0122, -0.0806, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a4b9ceaf96aade86f5d08a7fdc2b0ebe0d04e4f63d57527cac329bc2df7bf97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b8fc74cae2b82c83ec7636b2cba75d1cb09c84a17a7740d943a84afd6c96f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14e763ec552bcd8155f3a922f0489ff645cc522fabc09ed13b566e42a5ffbd9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01B6PsTT1N7tRtt8gmm3HThX",
      "input": {
        "note": "From above, the bottle top appears at the bottom-right of the left wrist view, about 4 cm right of the jaw column and roughly under the fingertips. Shifting the left gripper 4 cm right and lowering a bit to centre over the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.24,
          "left_y": -0.36,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01B6PsTT1N7tRtt8gmm3HThX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3319, 2.0239, 2.2635, -1.5478, -0.9691, -1.3758, 0.9976, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2404 left_y=-0.3566 left_z=0.3017 left_yaw=0.1132 left_pitch=-0.021 left_roll=-0.0906 left_gripper=0.9976 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -10.5504, 5.5316, 0.6813, -0.7302, -0.0659, -0.0611, -0.1573, -1.7162, 6.8171, 1.6874, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbef27c608fcb4436a034c2050709852135dfaec6804d4fcbc16d4d471e4b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bcd945b20e69e77f35c59cfd922dc7d3dab74859391ce4e6068dcfa541fff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34c925bc9b7de8ab779dcc484de02579d92e434b30dfd4843f08845b8268f27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 45 attempt 0 · /messages · status 200 · 8.916 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2854, 1.8187, 1.874, -1.2926, -0.9642, -1.3025, 0.7901, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2502 left_y=-0.3246 left_z=0.2802 left_yaw=0.1184 left_pitch=-0.0121 left_roll=-0.1001 left_gripper=0.7901 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.4034, -8.1026, 7.9795, 0.6276, -0.6374, 0.1099, 0.2955, -0.0342, -1.6889, 6.8171, 1.6874, 0.0024, -0.0415, -0.0366]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2743, 1.9106, 2.2307, -1.5585, -0.9569, -1.3048, 0.7952, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2519 left_y=-0.3179 left_z=0.3327 left_yaw=0.1283 left_pitch=-0.0191 left_roll=-0.102 left_gripper=0.7952 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -11.8085, 8.0615, 0.6276, -0.6129, 0.4957, 0.105, -0.1162, -1.7573, 6.8171, 1.6923, -0.0122, -0.0806, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3319, 2.0239, 2.2635, -1.5478, -0.9691, -1.3758, 0.9976, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2404 left_y=-0.3566 left_z=0.3017 left_yaw=0.1132 left_pitch=-0.021 left_roll=-0.0906 left_gripper=0.9976 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -10.5504, 5.5316, 0.6813, -0.7302, -0.0659, -0.0611, -0.1573, -1.7162, 6.8171, 1.6874, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dbef27c608fcb4436a034c2050709852135dfaec6804d4fcbc16d4d471e4b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bcd945b20e69e77f35c59cfd922dc7d3dab74859391ce4e6068dcfa541fff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c925bc9b7de8ab779dcc484de02579d92e434b30dfd4843f08845b8268f27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgRGAI4AUIIdGhpbmtpbmcSDFpZJb0ZkfrTOE+BmRoM6W0S0r7zvH9SHQhOIjAvww0ip+OlXtWRDYWhYgj7yzJjOMJsyrmg4erWHO0NtUF9t3blowiUeDyoBgf9zwIqygfST2M/Ol8z2Mr7gmXPF2DvZ6hLTa+cHRzrqskylEA4OCnJEnaGKthxpoeKMmolhBkz6cSPIJnohdK2Chy8/1T4XCzPy/8Nt9PQSjay9fq7HrLZ5s9Lc7Tytlu5jYzj2RXDomz+V3oyqg25PyYtBP2XrLoiIIFva2/GxTNTGdDuUhB9XBRummPW75RZhuzuTcDUiIG/Bcbb+ImkexD6Wi83exsWqkFrCvEIYiuZel41TgOPvVP6/tCS6WEo4yzizQsycmYa4S8BsJ8vR/cb6JtrpONQUmVERExBcsLZP8vfQMzgeOgPN3xNIbuwFcH8RyAubEcJ7pbcqbu4Qwwdt4daMDL8h9dSJnXxqj/WkiKdGZIiQJ94g7KVdiu9P/CN0Q7wSrLdihG9rtwwKKW8ke+ZOVlcvx5FnVGctA5B7i81iHkUckfkTD193IS/i/y/utSBZ+gbH7woiF80Mg/irWnPTvBTmQMEVnYm3uAqPZcKS8NIh0pNiOMaoBzuKlQ1EX2ODB6RR9E45afoI01ZcJQSrrOqBrALRFZ5OfGo/VfTEk6phqW4uM7PQE1G2t+eXkD1PDGu0QAn6iJJz3u+YfbcXVunxs7iU461TRAIeU7wrHbPHpnycIMrKZeLuE2rMx6+mqzTTyAP7sQ0jyha23atcRg1CyEapCK/F0ZzdYln8iuel8kSqJ4Ifc4Oyp5zMfoD3bjmpAneAgIcJKEyUbagkqMMWh9aSLWO93k+5gpTVtEAJXHLcbhQvR+7wJFoSRGKN90NL+/kRI0wbxZrOyb7X81A3EynSU1hpDV7tACA/NIBhZEUIp4lUrVLCwRjjr3mtXwgrh+kGMnZVOdM8LNr00vcaQE+yAV+WcQORkdOuvfhD2sjP4/BhByZLv/P2/Jo4N5ygMAPdGZIGkZhePsQf/kC7yHn5o9EyKlbQ1exQjnCXN+na2y8Be3RAMo/u4QOulUigtFqAiizQEKvFQzBYywXNOq2GlNIl/OAEHSy4msJFa1X2eM7CaMlG5NKp7eehZ8vv44IGv8VZSMnV+XOTvMe4u0wxJIzIyuXGxfscMVbE1VnuZvsBNA5Vvlh7icsn/7d2AkZmhjFkl6eXIhyzCGqI1rfw2sefpdMgEUuqErZjoy5YNaiIpY0u0BK3fQBKsuWlJqTBXWwa3VJQ8OpNcxfs1D0cj9999XQtgFy5IMYq9dVeF5ZZ0qLaWIJXJNPT0SFOUHEt5e9LNS6lZ0r2iSXo2BVaF0OQ4xgouZaKtofoS/fCUPur4yrVkMc7C1UWjEnxSLUKxLSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PGeoV7eSZefQ71QDUGm7si",
      "input": {
        "note": "The bottle top is now centred between the two jaws at the bottom of the left wrist view. Descending 9 cm so the jaws pass over the lip onto the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.245,
          "left_y": -0.36,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PGeoV7eSZefQ71QDUGm7si",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -12.2051, 6.106, 0.5348, -0.7546, -0.0513, -0.1392, -0.0752, -1.6479, 6.8991, 1.6874, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c84eeed6c1992f56fb24290cde9a913b4a685ba5445615dde04ff4fed79391ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0822004c9d0d40825b8097056c523d2a9459c27a34387d1c6947acb0a017d780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23d6e243d4d82e6825593716996a3840a2da75f2556e8489ad316ecdeef41a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 46 attempt 0 · /messages · status 200 · 12.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2743, 1.9106, 2.2307, -1.5585, -0.9569, -1.3048, 0.7952, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2519 left_y=-0.3179 left_z=0.3327 left_yaw=0.1283 left_pitch=-0.0191 left_roll=-0.102 left_gripper=0.7952 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [0.0068, -11.8085, 8.0615, 0.6276, -0.6129, 0.4957, 0.105, -0.1162, -1.7573, 6.8171, 1.6923, -0.0122, -0.0806, -0.022]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3319, 2.0239, 2.2635, -1.5478, -0.9691, -1.3758, 0.9976, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2404 left_y=-0.3566 left_z=0.3017 left_yaw=0.1132 left_pitch=-0.021 left_roll=-0.0906 left_gripper=0.9976 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -10.5504, 5.5316, 0.6813, -0.7302, -0.0659, -0.0611, -0.1573, -1.7162, 6.8171, 1.6874, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -12.2051, 6.106, 0.5348, -0.7546, -0.0513, -0.1392, -0.0752, -1.6479, 6.8991, 1.6874, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c84eeed6c1992f56fb24290cde9a913b4a685ba5445615dde04ff4fed79391ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0822004c9d0d40825b8097056c523d2a9459c27a34387d1c6947acb0a017d780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 373):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d6e243d4d82e6825593716996a3840a2da75f2556e8489ad316ecdeef41a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuQoKEAgRGAI4AUIIdGhpbmtpbmcSDH2GoGnGE+sZsYDqeBoMVLieScoBQAm9KnTRIjCclLarlIKdFm2BXYNcyh83w+3+iwV0DCpvo7NWrAU5PI1MsbvBjuPVebnY4AT1EnIq1gmTfywqhCUlLcy4YqEdIQIpVBTfXSdG/ynPqJsLwRyUfHjRXA2j+veDvtrKlxjbnXoH3MkmrLQE82ycmZn6V/PG/4pLGQXi70crPvC2K0t2rDd89n6iU+CD8cYCDqmJ4G8/VBZa4hFxqUCwRE/PhDYrKIdSiUe8FRzUvb6oCepqb5o7kGiLjgl0NEhTEJy7GtgRCU/4iXKHwnailGyPqHlmGSL0RXL20t7jbRzhYxNUhiEE5d9A6gbXXhtExjejnqXHu6aYXfB7YOdomU+wHKFdmT3DPQ0GTV6ffx3LXmqbaJfdv32JSAa+78aGXLaaylXd9ZmJtdhsEYHSYb+fuJXou9Cgy8KMpGJLl7wuCVAw9AQnCtlNX12rwvtc4BQmXYl5jp/LMS/1+aF3Z0mXFlrADPbAOUG8G3FZpBrWnk+vxYoULPtzZ0eS7bXmZEIYgm5zsz5VNnfKwLXBFBVVQWovrIYldRiR+FOpANo1NSvpbqQKckBbYRkV1tV8Dlf6ak51ZxDXVH3aWpVMg5Hed4ia1Bws9eOJOB3xyzI1Hd3phLFPgJoUXLLP16QaQEIpEuPIdWC7xfBl9d+QsNN3P/H/7t0IqspBg+s4YxT8r0bSKWtIKkgxd2NK7gKMRVGaheB2Sq6pg28rWbLYHYusIHPOH7m7LRy3YIerkmvuWoC/JtOeXGkJt7roAzf/0jl/KLxaMftJvVoTlY/58w4EGueEnaKOwoYT5yfzoRismHjx7HH1rsd0zu+hSUSfioexckvgGj9XW55WzN3eDZzcQL2iBsFS/cA5YZ50HoWxVKICh/NuYzhN8gA9xKBk/IKhzyD/Li5Ni+3v/Xy+Jn9p/YMssB1PSuIZHEyLI4U6OppY9rZldnMFCouHr1399xOD+tLy7b//U5YYUKqpyp8t32Q/lRiXF7jAGD0ShF1oZo2g2X8IYMhPsh8jM7OxI2WUp/m4NOOGzUorz7BV8s+s2kYB2rnB8V0BstK/L9FxF09c+YtaECR2YVY7MNmRGoE1yeJ7FtZGovGgJ3bYqtKtoMa5oET211/hqlcS1Y2ZVQwT68g4ohuI/BXvzH+oWl2sj3yYSF/l9WgujzDuiasvCGKNyS9MbfQJcXbTKNtnHlj+txmLPXzzr2rpqkhrCaMgsCCIT9EBIbEANUc7xI4TmlPo220kZMxyvgzF0XbLSnBa/l08vj4JPfIonnoba7VeFSmP3Dr8CK1Vficef3f5wyXd8oOcUCAwY7yxwSd3ypH+Up7LhmS96kSllSYyTJZjUpiUPM/mgPE0oPQXLs7q6T+F2mmSssVgoBlZwtSJtcGHk67b7KOHtN0sQ7VPT0w0zzRsNUQYKKzRNrt8IQwh4lUZbWkLQgnthRSX+wfIWlIBM1OapHHtRCR7pleL0lW6IISaoaPUdcK6FzpswOd539DmoUF9naK3oltU+z4WF83fL1cNe+FL/u4Csir19V9vbmifG61RDVCnVR6xsBFMobmVpau5K19CbQe0IPMfjHOOQk8UPK+coNr2U9M7e7/TK2K1qgig6nzc/rNaUFtp/ZeraA2SSP9AmTEpfp1cNfZQdpjKkZLkHaVlYsgTgJzkhLyOaIrbLaUte57W4eqOkaCJBH28cu7eUd3eRekqZ/jKsnc5uIF+cBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1xKwxtChC4e6rZ81SYWgA",
      "input": {
        "note": "The descent stalled at z=0.29 although the bottle top is still visible clear between the jaws, so the arm itself is stuck rather than in contact. Re-sending a slightly different target (a bit forward, slight pitch) to get the IK moving down.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.1,
          "left_x": 0.25,
          "left_y": -0.36,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01C1xKwxtChC4e6rZ81SYWgA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -12.2325, 6.065, 0.5592, -0.7399, -0.0317, -0.1392, -0.0615, -1.7573, 6.8171, 1.6972, 0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d76707b33e60285cc31f1d82ad114bcd0d9e23dc804b13de74071f21f861c0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa09538e8c4ab5f91a26fbf9fb078ee21266c54db619d82fb77159283c6a629",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:96c3c11d3e2195044856d3b541bf6dcf89ea22c3068fbd28a8eadbe2884cd654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 47 attempt 0 · /messages · status 200 · 27.44 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3319, 2.0239, 2.2635, -1.5478, -0.9691, -1.3758, 0.9976, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9985]\nstate[eef_state]: left_x=0.2404 left_y=-0.3566 left_z=0.3017 left_yaw=0.1132 left_pitch=-0.021 left_roll=-0.0906 left_gripper=0.9976 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9985\nstate[joint_eff]: [-0.0205, -10.5504, 5.5316, 0.6813, -0.7302, -0.0659, -0.0611, -0.1573, -1.7162, 6.8171, 1.6874, -0.022, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -12.2051, 6.106, 0.5348, -0.7546, -0.0513, -0.1392, -0.0752, -1.6479, 6.8991, 1.6874, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -12.2325, 6.065, 0.5592, -0.7399, -0.0317, -0.1392, -0.0615, -1.7573, 6.8171, 1.6972, 0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d76707b33e60285cc31f1d82ad114bcd0d9e23dc804b13de74071f21f861c0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa09538e8c4ab5f91a26fbf9fb078ee21266c54db619d82fb77159283c6a629",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 378):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96c3c11d3e2195044856d3b541bf6dcf89ea22c3068fbd28a8eadbe2884cd654",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TLqYvzLpwiYDFW7p3imhFy",
      "input": {
        "note": "The left arm is frozen in a tightly folded pose (no joint moved at all). Moving up and slightly forward/left to unstick it before re-approaching the bottle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.3,
          "left_z": 0.33
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TLqYvzLpwiYDFW7p3imhFy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1446, 1.8828, 2.0918, -1.3472, -0.9154, -1.1576, 0.9988, 0.1829, 0.8978, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=-0.3073 left_z=0.3116 left_yaw=0.162 left_pitch=-0.0288 left_roll=-0.0854 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2388 right_yaw=0.1852 right_pitch=-0.0286 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -11.0974, 5.0803, 1.0134, -0.486, 0.3053, -0.1343, -0.1026, -1.7573, 6.9949, 1.7118, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bbdede2cec8cb83afd06e28449320dd00191683494af51648d71491309cf2f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a347cf4ef138945dc2eee041d565768f70eb1216ff33755d1b8cccb6929343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30370b3b838e550c7e30dc3fe3d1d836a9cf05c5ff464a1d75e96b7e79b6090a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 48 attempt 0 · /messages · status 200 · 11.78 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 136 changed as sent

message 139 changed as sent

message 142 changed as sent

message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.6222, -12.2051, 6.106, 0.5348, -0.7546, -0.0513, -0.1392, -0.0752, -1.6479, 6.8991, 1.6874, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -12.2325, 6.065, 0.5592, -0.7399, -0.0317, -0.1392, -0.0615, -1.7573, 6.8171, 1.6972, 0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1446, 1.8828, 2.0918, -1.3472, -0.9154, -1.1576, 0.9988, 0.1829, 0.8978, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=-0.3073 left_z=0.3116 left_yaw=0.162 left_pitch=-0.0288 left_roll=-0.0854 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2388 right_yaw=0.1852 right_pitch=-0.0286 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -11.0974, 5.0803, 1.0134, -0.486, 0.3053, -0.1343, -0.1026, -1.7573, 6.9949, 1.7118, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 384):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bbdede2cec8cb83afd06e28449320dd00191683494af51648d71491309cf2f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 384):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80a347cf4ef138945dc2eee041d565768f70eb1216ff33755d1b8cccb6929343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 384):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30370b3b838e550c7e30dc3fe3d1d836a9cf05c5ff464a1d75e96b7e79b6090a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZuHxS3tKPFQRHveAoe6HB",
      "input": {
        "note": "The arm is free again; the top view shows the bottle standing at about left (0.25, −0.37). Re-approaching over the neck, this time stopping at z=0.26 first to descend in smaller steps.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.365,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TZuHxS3tKPFQRHveAoe6HB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1297, 1.8473, 2.085, -1.3155, -0.9115, -1.0958, 0.9988, 0.1829, 0.8997, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.3004 left_y=-0.3009 left_z=0.325 left_yaw=0.1412 left_pitch=-0.0128 left_roll=-0.0925 left_gripper=0.9988 right_x=0.3014 right_y=0.0475 right_z=0.2383 right_yaw=0.1852 right_pitch=-0.0305 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -9.7026, 5.5179, 1.0769, -0.5495, 0.2418, -0.1392, -0.0889, -1.9077, 6.8171, 1.7021, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60db1502b3a814e332a294aed338940ad406c9bc7e89210b992e2b00fef62195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2761dbc505bbfacc869b3b9d9aa0957f2376f5ac43ccdd3db81fd7b1e52ce7f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c0045708c43fb229105c5fb42aa3c5d0a5a358718df6c3fe87e2fa00aa8c438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 49 attempt 0 · /messages · status 200 · 10.08 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 139 changed as sent

message 142 changed as sent

message 145 changed as sent

message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.3376, 2.0609, 2.2589, -1.5433, -0.9722, -1.4075, 0.9988, 0.1829, 0.8978, 0.8917, -0.5896, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2403 left_y=-0.3648 left_z=0.2868 left_yaw=0.1258 left_pitch=-0.0236 left_roll=-0.08 left_gripper=0.9988 right_x=0.3013 right_y=0.0474 right_z=0.2389 right_yaw=0.1852 right_pitch=-0.0282 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.4991, -12.2325, 6.065, 0.5592, -0.7399, -0.0317, -0.1392, -0.0615, -1.7573, 6.8171, 1.6972, 0.0024, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1446, 1.8828, 2.0918, -1.3472, -0.9154, -1.1576, 0.9988, 0.1829, 0.8978, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=-0.3073 left_z=0.3116 left_yaw=0.162 left_pitch=-0.0288 left_roll=-0.0854 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2388 right_yaw=0.1852 right_pitch=-0.0286 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -11.0974, 5.0803, 1.0134, -0.486, 0.3053, -0.1343, -0.1026, -1.7573, 6.9949, 1.7118, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1297, 1.8473, 2.085, -1.3155, -0.9115, -1.0958, 0.9988, 0.1829, 0.8997, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.3004 left_y=-0.3009 left_z=0.325 left_yaw=0.1412 left_pitch=-0.0128 left_roll=-0.0925 left_gripper=0.9988 right_x=0.3014 right_y=0.0475 right_z=0.2383 right_yaw=0.1852 right_pitch=-0.0305 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -9.7026, 5.5179, 1.0769, -0.5495, 0.2418, -0.1392, -0.0889, -1.9077, 6.8171, 1.7021, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60db1502b3a814e332a294aed338940ad406c9bc7e89210b992e2b00fef62195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2761dbc505bbfacc869b3b9d9aa0957f2376f5ac43ccdd3db81fd7b1e52ce7f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c0045708c43fb229105c5fb42aa3c5d0a5a358718df6c3fe87e2fa00aa8c438",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DNZCY76Xjas86RzXzWKjoM",
      "input": {
        "note": "The arm again refused to move toward the bottle; with the base swung ~65° right, holding tool yaw 0 likely pins the wrist at a joint limit. Re-approaching with the tool yawed −1.0 rad to relieve the wrist.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.36,
          "left_yaw": -1.0,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01DNZCY76Xjas86RzXzWKjoM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9257, 1.4055, 1.5612, -0.9207, -0.5323, -0.6865, 0.9988, 0.1829, 0.9024, 0.8917, -0.59, 0.0669, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.2394 left_z=0.3159 left_yaw=-0.1303 left_pitch=-0.0894 left_roll=-0.1781 left_gripper=0.9988 right_x=0.3018 right_y=0.0475 right_z=0.2375 right_yaw=0.1849 right_pitch=-0.0332 right_roll=-0.114 right_gripper=0.9984\nstate[joint_eff]: [-1.4838, 0.1573, 5.9829, 2.1221, 0.0757, 0.1978, -0.1343, -0.0068, -1.4701, 6.9949, 1.7558, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128e3147765cf8794f534b33e2631da4a4d9d2f181f3c3f8b394f08001d11760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca529cfc9633f7de66a4ea61991b3ccca48631975967691daf2d0acc9275c1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0fe98e644ab284c978f4e60c5a3a46a1250773827b9bcd7aa53acf1a6ebdd89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 50 attempt 0 · /messages · status 200 · 31.2 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 142 changed as sent

message 145 changed as sent

message 148 changed as sent

message 142 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1446, 1.8828, 2.0918, -1.3472, -0.9154, -1.1576, 0.9988, 0.1829, 0.8978, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2973 left_y=-0.3073 left_z=0.3116 left_yaw=0.162 left_pitch=-0.0288 left_roll=-0.0854 left_gripper=0.9988 right_x=0.3012 right_y=0.0474 right_z=0.2388 right_yaw=0.1852 right_pitch=-0.0286 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [0.1299, -11.0974, 5.0803, 1.0134, -0.486, 0.3053, -0.1343, -0.1026, -1.7573, 6.9949, 1.7118, -0.0366, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1297, 1.8473, 2.085, -1.3155, -0.9115, -1.0958, 0.9988, 0.1829, 0.8997, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.3004 left_y=-0.3009 left_z=0.325 left_yaw=0.1412 left_pitch=-0.0128 left_roll=-0.0925 left_gripper=0.9988 right_x=0.3014 right_y=0.0475 right_z=0.2383 right_yaw=0.1852 right_pitch=-0.0305 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -9.7026, 5.5179, 1.0769, -0.5495, 0.2418, -0.1392, -0.0889, -1.9077, 6.8171, 1.7021, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9257, 1.4055, 1.5612, -0.9207, -0.5323, -0.6865, 0.9988, 0.1829, 0.9024, 0.8917, -0.59, 0.0669, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.2394 left_z=0.3159 left_yaw=-0.1303 left_pitch=-0.0894 left_roll=-0.1781 left_gripper=0.9988 right_x=0.3018 right_y=0.0475 right_z=0.2375 right_yaw=0.1849 right_pitch=-0.0332 right_roll=-0.114 right_gripper=0.9984\nstate[joint_eff]: [-1.4838, 0.1573, 5.9829, 2.1221, 0.0757, 0.1978, -0.1343, -0.0068, -1.4701, 6.9949, 1.7558, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128e3147765cf8794f534b33e2631da4a4d9d2f181f3c3f8b394f08001d11760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca529cfc9633f7de66a4ea61991b3ccca48631975967691daf2d0acc9275c1ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 398):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0fe98e644ab284c978f4e60c5a3a46a1250773827b9bcd7aa53acf1a6ebdd89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NRcHFZDEQMEcNs3uDsC5Wu",
      "input": {
        "note": "The arm is now moving but tracking the yaw change slowly and drifted left of the target. Re-sending the target over the bottle neck to let it converge.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.25,
          "left_y": -0.36,
          "left_yaw": -1.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01NRcHFZDEQMEcNs3uDsC5Wu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9081, 1.4059, 1.2816, -0.5003, 0.0765, -0.1944, 0.9988, 0.1822, 0.9035, 0.8917, -0.59, 0.0666, -0.1127, 0.9984]\nstate[eef_state]: left_x=0.2549 left_y=-0.3428 left_z=0.2577 left_yaw=-0.8834 left_pitch=-0.0741 left_roll=-0.1933 left_gripper=0.9988 right_x=0.3019 right_y=0.0473 right_z=0.2372 right_yaw=0.1842 right_pitch=-0.0343 right_roll=-0.1134 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -5.7778, 7.2, 2.2295, 0.1245, 0.2759, -0.1392, -0.1299, -1.8803, 7.0769, 1.707, -0.0562, -0.0269, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac3434f9a7ada8338c096541b2007c1f0a4c9970e28dea73d5b8d9a00d5ae04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11ad99fa720a31e60f9e8c5e7c116c30a813934e7c3322072be70ef6040151b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f89e5a509ab4c889b1aa03482598e35a9f7ea4b76716f0f4ebe2052d16973dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 51 attempt 0 · /messages · status 200 · 10.79 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 145 changed as sent

message 148 changed as sent

message 151 changed as sent

message 145 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1297, 1.8473, 2.085, -1.3155, -0.9115, -1.0958, 0.9988, 0.1829, 0.8997, 0.8917, -0.59, 0.0666, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.3004 left_y=-0.3009 left_z=0.325 left_yaw=0.1412 left_pitch=-0.0128 left_roll=-0.0925 left_gripper=0.9988 right_x=0.3014 right_y=0.0475 right_z=0.2383 right_yaw=0.1852 right_pitch=-0.0305 right_roll=-0.1138 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -9.7026, 5.5179, 1.0769, -0.5495, 0.2418, -0.1392, -0.0889, -1.9077, 6.8171, 1.7021, -0.0366, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9257, 1.4055, 1.5612, -0.9207, -0.5323, -0.6865, 0.9988, 0.1829, 0.9024, 0.8917, -0.59, 0.0669, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.2394 left_z=0.3159 left_yaw=-0.1303 left_pitch=-0.0894 left_roll=-0.1781 left_gripper=0.9988 right_x=0.3018 right_y=0.0475 right_z=0.2375 right_yaw=0.1849 right_pitch=-0.0332 right_roll=-0.114 right_gripper=0.9984\nstate[joint_eff]: [-1.4838, 0.1573, 5.9829, 2.1221, 0.0757, 0.1978, -0.1343, -0.0068, -1.4701, 6.9949, 1.7558, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9081, 1.4059, 1.2816, -0.5003, 0.0765, -0.1944, 0.9988, 0.1822, 0.9035, 0.8917, -0.59, 0.0666, -0.1127, 0.9984]\nstate[eef_state]: left_x=0.2549 left_y=-0.3428 left_z=0.2577 left_yaw=-0.8834 left_pitch=-0.0741 left_roll=-0.1933 left_gripper=0.9988 right_x=0.3019 right_y=0.0473 right_z=0.2372 right_yaw=0.1842 right_pitch=-0.0343 right_roll=-0.1134 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -5.7778, 7.2, 2.2295, 0.1245, 0.2759, -0.1392, -0.1299, -1.8803, 7.0769, 1.707, -0.0562, -0.0269, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac3434f9a7ada8338c096541b2007c1f0a4c9970e28dea73d5b8d9a00d5ae04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e11ad99fa720a31e60f9e8c5e7c116c30a813934e7c3322072be70ef6040151b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 409):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f89e5a509ab4c889b1aa03482598e35a9f7ea4b76716f0f4ebe2052d16973dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013MExFnFVwxx2pLw3oE793D",
      "input": {
        "note": "The bottle has tipped over and lies on its side with its neck toward the base at about left (0.28, −0.30). Moving above the neck and yawing the tool so the jaws will close across the horizontal neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_y": -0.3,
          "left_yaw": 0.9,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_013MExFnFVwxx2pLw3oE793D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0794, 2.2669, 2.0094, -1.4227, -0.963, -1.9453, 0.9988, 0.1822, 0.9108, 0.8902, -0.5934, 0.0704, -0.1162, 0.9984]\nstate[eef_state]: left_x=0.3304 left_y=-0.3025 left_z=0.1405 left_yaw=0.6819 left_pitch=-0.0545 left_roll=-0.1891 left_gripper=0.9988 right_x=0.3023 right_y=0.0467 right_z=0.2338 right_yaw=0.1829 right_pitch=-0.0468 right_roll=-0.1184 right_gripper=0.9984\nstate[joint_eff]: [3.2342, -11.9179, 7.0359, -0.6813, -0.6471, -0.1099, -0.1392, -0.0479, -2.0171, 7.0496, 1.7558, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46c3fd4ec73eb159c488b4edb78dd0153fbb7186e289f943408f2542a077aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b04c8aa90b96e1e117d4d314049f899ce8c7fec8f774646a9b0605e7f015ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9878f1beba98c45be9fb1276b34e73b189530c5b029570a65712c578d4997ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 52 attempt 0 · /messages · status 200 · 19.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 148 changed as sent

message 151 changed as sent

message 154 changed as sent

message 148 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9257, 1.4055, 1.5612, -0.9207, -0.5323, -0.6865, 0.9988, 0.1829, 0.9024, 0.8917, -0.59, 0.0669, -0.1131, 0.9984]\nstate[eef_state]: left_x=0.2968 left_y=-0.2394 left_z=0.3159 left_yaw=-0.1303 left_pitch=-0.0894 left_roll=-0.1781 left_gripper=0.9988 right_x=0.3018 right_y=0.0475 right_z=0.2375 right_yaw=0.1849 right_pitch=-0.0332 right_roll=-0.114 right_gripper=0.9984\nstate[joint_eff]: [-1.4838, 0.1573, 5.9829, 2.1221, 0.0757, 0.1978, -0.1343, -0.0068, -1.4701, 6.9949, 1.7558, -0.0317, -0.0806, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9081, 1.4059, 1.2816, -0.5003, 0.0765, -0.1944, 0.9988, 0.1822, 0.9035, 0.8917, -0.59, 0.0666, -0.1127, 0.9984]\nstate[eef_state]: left_x=0.2549 left_y=-0.3428 left_z=0.2577 left_yaw=-0.8834 left_pitch=-0.0741 left_roll=-0.1933 left_gripper=0.9988 right_x=0.3019 right_y=0.0473 right_z=0.2372 right_yaw=0.1842 right_pitch=-0.0343 right_roll=-0.1134 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -5.7778, 7.2, 2.2295, 0.1245, 0.2759, -0.1392, -0.1299, -1.8803, 7.0769, 1.707, -0.0562, -0.0269, -0.0073]\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 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0794, 2.2669, 2.0094, -1.4227, -0.963, -1.9453, 0.9988, 0.1822, 0.9108, 0.8902, -0.5934, 0.0704, -0.1162, 0.9984]\nstate[eef_state]: left_x=0.3304 left_y=-0.3025 left_z=0.1405 left_yaw=0.6819 left_pitch=-0.0545 left_roll=-0.1891 left_gripper=0.9988 right_x=0.3023 right_y=0.0467 right_z=0.2338 right_yaw=0.1829 right_pitch=-0.0468 right_roll=-0.1184 right_gripper=0.9984\nstate[joint_eff]: [3.2342, -11.9179, 7.0359, -0.6813, -0.6471, -0.1099, -0.1392, -0.0479, -2.0171, 7.0496, 1.7558, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46c3fd4ec73eb159c488b4edb78dd0153fbb7186e289f943408f2542a077aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b04c8aa90b96e1e117d4d314049f899ce8c7fec8f774646a9b0605e7f015ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 421):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9878f1beba98c45be9fb1276b34e73b189530c5b029570a65712c578d4997ff0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014wJioQNrcjrqxdkAoqWK4G",
      "input": {
        "note": "The top view shows the left gripper hovering just beyond the lying bottle's neck. Pulling back 4 cm and descending to table level so the open jaws straddle the horizontal neck (its axis is ~5 cm up).",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": -0.3,
          "left_yaw": 0.9,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014wJioQNrcjrqxdkAoqWK4G",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0966, 2.3283, 1.9961, -1.4464, -0.9585, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.07, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3222 left_y=-0.3032 left_z=0.1129 left_yaw=0.7249 left_pitch=-0.0469 left_roll=-0.1774 left_gripper=0.9988 right_x=0.3028 right_y=0.0466 right_z=0.2321 right_yaw=0.1826 right_pitch=-0.0514 right_roll=-0.1185 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -12.4513, 4.8205, -0.1636, -0.5983, -0.3346, -0.1343, -0.0889, -2.1675, 6.9675, 1.663, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35346cba922704d58257070031b3c6eee652045d1aa42019488a4135a74f30e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ffc23c7be921f489877db7872039843d4faebbc3a8f5a018b74adbb9c3afcc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:546cc04809fca75ae89abb44571fbad943d2693a5770571073ff799fedcb83dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 53 attempt 0 · /messages · status 200 · 8.667 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 151 changed as sent

message 154 changed as sent

message 157 changed as sent

message 151 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9081, 1.4059, 1.2816, -0.5003, 0.0765, -0.1944, 0.9988, 0.1822, 0.9035, 0.8917, -0.59, 0.0666, -0.1127, 0.9984]\nstate[eef_state]: left_x=0.2549 left_y=-0.3428 left_z=0.2577 left_yaw=-0.8834 left_pitch=-0.0741 left_roll=-0.1933 left_gripper=0.9988 right_x=0.3019 right_y=0.0473 right_z=0.2372 right_yaw=0.1842 right_pitch=-0.0343 right_roll=-0.1134 right_gripper=0.9984\nstate[joint_eff]: [0.4581, -5.7778, 7.2, 2.2295, 0.1245, 0.2759, -0.1392, -0.1299, -1.8803, 7.0769, 1.707, -0.0562, -0.0269, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0794, 2.2669, 2.0094, -1.4227, -0.963, -1.9453, 0.9988, 0.1822, 0.9108, 0.8902, -0.5934, 0.0704, -0.1162, 0.9984]\nstate[eef_state]: left_x=0.3304 left_y=-0.3025 left_z=0.1405 left_yaw=0.6819 left_pitch=-0.0545 left_roll=-0.1891 left_gripper=0.9988 right_x=0.3023 right_y=0.0467 right_z=0.2338 right_yaw=0.1829 right_pitch=-0.0468 right_roll=-0.1184 right_gripper=0.9984\nstate[joint_eff]: [3.2342, -11.9179, 7.0359, -0.6813, -0.6471, -0.1099, -0.1392, -0.0479, -2.0171, 7.0496, 1.7558, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0966, 2.3283, 1.9961, -1.4464, -0.9585, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.07, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3222 left_y=-0.3032 left_z=0.1129 left_yaw=0.7249 left_pitch=-0.0469 left_roll=-0.1774 left_gripper=0.9988 right_x=0.3028 right_y=0.0466 right_z=0.2321 right_yaw=0.1826 right_pitch=-0.0514 right_roll=-0.1185 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -12.4513, 4.8205, -0.1636, -0.5983, -0.3346, -0.1343, -0.0889, -2.1675, 6.9675, 1.663, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35346cba922704d58257070031b3c6eee652045d1aa42019488a4135a74f30e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ffc23c7be921f489877db7872039843d4faebbc3a8f5a018b74adbb9c3afcc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 429):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:546cc04809fca75ae89abb44571fbad943d2693a5770571073ff799fedcb83dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NWj4tBVWC18Z2G5BJrdcWG",
      "input": {
        "note": "The descent stopped at z=0.11 - the jaws are resting on the lying bottle's body, not its neck. In the top view the neck end lies ~3 cm base-ward and left of the gripper; lifting clear then re-positioning over the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": -0.27,
          "left_yaw": 0.72,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NWj4tBVWC18Z2G5BJrdcWG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1, 2.3283, 1.9961, -1.446, -0.9581, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.0696, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3211 left_y=-0.3044 left_z=0.1129 left_yaw=0.7216 left_pitch=-0.0474 left_roll=-0.1777 left_gripper=0.9988 right_x=0.3027 right_y=0.0467 right_z=0.2321 right_yaw=0.1829 right_pitch=-0.0514 right_roll=-0.1183 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -12.3966, 5.0256, -0.1929, -0.5446, -0.3785, -0.1392, -0.1436, -1.7573, 6.9675, 1.6679, 0.0171, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985c9e3e8d46dab62740586b042d2b871a467c22b5f5e98ffb09d6bb1a469705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aa2b10e3975b74dcbe35a403fb5d287fe56b963d35fe7d2a082ea57db4f0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95b75b522a921c1cc574f30c4d26cd6050410a8752d8d1d0d5fa8284449ed1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 54 attempt 0 · /messages · status 200 · 21.16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 154 changed as sent

message 157 changed as sent

message 160 changed as sent

message 154 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0794, 2.2669, 2.0094, -1.4227, -0.963, -1.9453, 0.9988, 0.1822, 0.9108, 0.8902, -0.5934, 0.0704, -0.1162, 0.9984]\nstate[eef_state]: left_x=0.3304 left_y=-0.3025 left_z=0.1405 left_yaw=0.6819 left_pitch=-0.0545 left_roll=-0.1891 left_gripper=0.9988 right_x=0.3023 right_y=0.0467 right_z=0.2338 right_yaw=0.1829 right_pitch=-0.0468 right_roll=-0.1184 right_gripper=0.9984\nstate[joint_eff]: [3.2342, -11.9179, 7.0359, -0.6813, -0.6471, -0.1099, -0.1392, -0.0479, -2.0171, 7.0496, 1.7558, -0.022, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0966, 2.3283, 1.9961, -1.4464, -0.9585, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.07, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3222 left_y=-0.3032 left_z=0.1129 left_yaw=0.7249 left_pitch=-0.0469 left_roll=-0.1774 left_gripper=0.9988 right_x=0.3028 right_y=0.0466 right_z=0.2321 right_yaw=0.1826 right_pitch=-0.0514 right_roll=-0.1185 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -12.4513, 4.8205, -0.1636, -0.5983, -0.3346, -0.1343, -0.0889, -2.1675, 6.9675, 1.663, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1, 2.3283, 1.9961, -1.446, -0.9581, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.0696, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3211 left_y=-0.3044 left_z=0.1129 left_yaw=0.7216 left_pitch=-0.0474 left_roll=-0.1777 left_gripper=0.9988 right_x=0.3027 right_y=0.0467 right_z=0.2321 right_yaw=0.1829 right_pitch=-0.0514 right_roll=-0.1183 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -12.3966, 5.0256, -0.1929, -0.5446, -0.3785, -0.1392, -0.1436, -1.7573, 6.9675, 1.6679, 0.0171, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 434):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:985c9e3e8d46dab62740586b042d2b871a467c22b5f5e98ffb09d6bb1a469705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 434):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38aa2b10e3975b74dcbe35a403fb5d287fe56b963d35fe7d2a082ea57db4f0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 434):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95b75b522a921c1cc574f30c4d26cd6050410a8752d8d1d0d5fa8284449ed1a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQkKEAgRGAI4AUIIdGhpbmtpbmcSDEqdW1flLF7vGRamlBoMSKu6/2t/Q3B1/J0iIjBHDue/vwv7OnRS7skJyGGlcdQ7MlBvXlo/Hw/3uzc62KncDcTZ8RpAfOq9kfBACucqvghg6Lizsldd/j2o0wQx2OVEGKM0szSHUpTxHjRt/kbKE5788hTDpXWkVaFhTfhKBHFAdUR+d6q5GAa5IHl1OoVhqr75s0rNhXrjcartlE14vKdispkjBRsZCtHnCIj/oE5ZRYMTLPqNWthYW6XIt11dqscMMJoPdM8Eq3FHtX4XVS5XCdUGObTgxxzwEatgOY6n+l+2rM+GHl6b1njY+kxd4XVJDL8cR3PDj42xpko0gSslCi3xfgLrclG4gxoPDkBICIGNIcsLShjvZ6HBWJPK89u2t5iUxEl83EP9asHK/YqomkkBgykvnyPAMqndSiA0k2L6mjTsvtnisFl0MJQDYPQy05crTBe2fzPmkRbsUCMrU48A5nIUJ7ER24pDLOvjxfztm4MUaXEU91eCL3xbZZ9vkXEUweTojmbTn7F/CuixNBVYJHc3Vjm/J2DuyfqaIi8fpg9FKSApfI6ja05nV4ZoVVvmwWkTPJ6pInk7D2IZaP+VkrD7kZgYXuDuOxfG46ZRuLK5dO55CBAYQtlQHHoQWqBdIKAVFC6gsLQnVPRQZImInFyx/8x6qrdiGP0lDsY1MuKyNdUQ4cMizIUJxGG/JyhrumKeMa9RCjFOQ8021bYjwyCpQk9GHlfnkh3oIRuJEX/LEaxDMzfGhrl76jGgFZMNAz9+YIpyWAnF/2wPLDtwSA08ws97u1sDEw2ABc/RBQGdFQA0T+YVR0ASataO8oxt/BBxyML9vFM1UDjC1aMCWCRIr1FiNgfs60jsAYuDYweaM8V4cnbUr1W0IxBFZaXid0bL6m/uNYr1Lk+T/qp3GyStvX6WF7d5HiQoQujzzBurYMXaPzf2PBvqoISmGs3YLPT1zKc5gmQ2cRlUOdHk7xmKbOdAF7vi38Epxecjhb5/XGJCRnJwwiy9fvR1VpNNPjJwhy750pQmrkuLSOP2noOkAbgd2Vg7mJ9FYB7Yt7+etF56k1r/GlcSrzQ6O9Ciqc9Zv0oG45MdgdustFXl0/J4HRXa7slFKu7/S+5dOMJxkCcQDmHtXxWYsvgQ+4pr28AKiGABqWHMRcplR0mIc1vb48t3LGc15Y5i3MuL4lW9aEwgCuNASUb0afAXL3GTYXoOGkBM6OGwZUP+7Ew38ZRbqB986gZhqWYu1MWd8F2kn7T5v1/+wtw0UuzawZdRx2aeSCb6w/oCts07Y/ZqYauVMcEtF/eiYkODCcWgTYWLxvITOQN3TvNopVbQm6eB0OYR2wjM/wdovGm0VbA6VWtDDPYTuiM6WnLji3FiW7T/2n/KcRKNJDSoT+jhpVrOShvGmdzUV1+3qPuKXSk45BzDHH9P/1WWFNgU+oGT1mRoz2r/XSPKIap84kHPBGOCfefFyhdI/0b6G3g73kXwIR7un/c4t8hIwNPdmVGD87ENvFHXrjZ99HBke7373LAwEIumoAUMX8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WyFDPGeEem9Y5v1ScQr4nX",
      "input": {
        "note": "The left arm froze again with the wrist roll joint near −2.05 rad, apparently a joint limit. Commanding a raised pose with the tool yaw back toward −0.3 to free the wrist.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.26,
          "left_yaw": -0.3,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01WyFDPGeEem9Y5v1ScQr4nX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9226, 1.3422, 1.2449, -0.5652, -0.5358, -0.6403, 0.9988, 0.1818, 0.9195, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3072 left_y=-0.2503 left_z=0.2687 left_yaw=-0.1524 left_pitch=-0.0105 left_roll=-0.2111 left_gripper=0.9988 right_x=0.3032 right_y=0.0474 right_z=0.2307 right_yaw=0.1874 right_pitch=-0.0566 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7915, 7.4462, 1.619, -0.1978, 0.1636, -0.1343, -0.0615, -2.2769, 6.9128, 1.663, 0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57ab357a90bfe270126722f033604dbd5f6e4e707267f245847788e8e32144f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d698122998aa069a0cce6dea538f533c5f7ec302e3535e5963d5310c548d46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce977a091005858b38c5de4362300c7d2ecd670f80aabdee6d95d519feb9f7c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 55 attempt 0 · /messages · status 200 · 9.806 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 157 changed as sent

message 160 changed as sent

message 163 changed as sent

message 157 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0966, 2.3283, 1.9961, -1.4464, -0.9585, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.07, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3222 left_y=-0.3032 left_z=0.1129 left_yaw=0.7249 left_pitch=-0.0469 left_roll=-0.1774 left_gripper=0.9988 right_x=0.3028 right_y=0.0466 right_z=0.2321 right_yaw=0.1826 right_pitch=-0.0514 right_roll=-0.1185 right_gripper=0.9984\nstate[joint_eff]: [-0.3761, -12.4513, 4.8205, -0.1636, -0.5983, -0.3346, -0.1343, -0.0889, -2.1675, 6.9675, 1.663, 0.0122, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1, 2.3283, 1.9961, -1.446, -0.9581, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.0696, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3211 left_y=-0.3044 left_z=0.1129 left_yaw=0.7216 left_pitch=-0.0474 left_roll=-0.1777 left_gripper=0.9988 right_x=0.3027 right_y=0.0467 right_z=0.2321 right_yaw=0.1829 right_pitch=-0.0514 right_roll=-0.1183 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -12.3966, 5.0256, -0.1929, -0.5446, -0.3785, -0.1392, -0.1436, -1.7573, 6.9675, 1.6679, 0.0171, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9226, 1.3422, 1.2449, -0.5652, -0.5358, -0.6403, 0.9988, 0.1818, 0.9195, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3072 left_y=-0.2503 left_z=0.2687 left_yaw=-0.1524 left_pitch=-0.0105 left_roll=-0.2111 left_gripper=0.9988 right_x=0.3032 right_y=0.0474 right_z=0.2307 right_yaw=0.1874 right_pitch=-0.0566 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7915, 7.4462, 1.619, -0.1978, 0.1636, -0.1343, -0.0615, -2.2769, 6.9128, 1.663, 0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57ab357a90bfe270126722f033604dbd5f6e4e707267f245847788e8e32144f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d698122998aa069a0cce6dea538f533c5f7ec302e3535e5963d5310c548d46c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 445):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce977a091005858b38c5de4362300c7d2ecd670f80aabdee6d95d519feb9f7c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016rEhovoSNkhc6CK7QDKky4",
      "input": {
        "note": "Top view now clearly shows the bottle lying with its neck pointing forward at about left (0.29, −0.27); its cap peeks in at the bottom of the left wrist view. Descending with yaw 0 so the jaws close across the horizontal neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": -0.27,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_016rEhovoSNkhc6CK7QDKky4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0698, 1.7473, 0.6964, 0.2043, -0.7361, -0.8639, 0.9988, 0.1818, 0.9203, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.2865 left_y=-0.2688 left_z=0.0386 left_yaw=-0.03 left_pitch=-0.0372 left_roll=-0.1684 left_gripper=0.9988 right_x=0.3033 right_y=0.0474 right_z=0.2305 right_yaw=0.1874 right_pitch=-0.0573 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -7.5145, 4.506, 1.409, -0.6081, -0.1441, -0.1392, -0.1299, -1.9897, 6.8308, 1.6679, 0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc6c7f895c8d1efcb0a02772cf152c1018c808988c2d03e2f81998eacdf2949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58765895acfd3112d1abb3e2bd25aa2b0cc433774914f2d8717b9c93ce70325e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:892a7f9cc0bf6dcb86f7e2f64502c7c9bb059b86f8745f8d3f4f6ae872ffb837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 56 attempt 0 · /messages · status 200 · 8.263 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 160 changed as sent

message 163 changed as sent

message 166 changed as sent

message 160 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1, 2.3283, 1.9961, -1.446, -0.9581, -2.0495, 0.9988, 0.1814, 0.9146, 0.8886, -0.5926, 0.0696, -0.1165, 0.9984]\nstate[eef_state]: left_x=0.3211 left_y=-0.3044 left_z=0.1129 left_yaw=0.7216 left_pitch=-0.0474 left_roll=-0.1777 left_gripper=0.9988 right_x=0.3027 right_y=0.0467 right_z=0.2321 right_yaw=0.1829 right_pitch=-0.0514 right_roll=-0.1183 right_gripper=0.9984\nstate[joint_eff]: [-0.3624, -12.3966, 5.0256, -0.1929, -0.5446, -0.3785, -0.1392, -0.1436, -1.7573, 6.9675, 1.6679, 0.0171, -0.022, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9226, 1.3422, 1.2449, -0.5652, -0.5358, -0.6403, 0.9988, 0.1818, 0.9195, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3072 left_y=-0.2503 left_z=0.2687 left_yaw=-0.1524 left_pitch=-0.0105 left_roll=-0.2111 left_gripper=0.9988 right_x=0.3032 right_y=0.0474 right_z=0.2307 right_yaw=0.1874 right_pitch=-0.0566 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7915, 7.4462, 1.619, -0.1978, 0.1636, -0.1343, -0.0615, -2.2769, 6.9128, 1.663, 0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0698, 1.7473, 0.6964, 0.2043, -0.7361, -0.8639, 0.9988, 0.1818, 0.9203, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.2865 left_y=-0.2688 left_z=0.0386 left_yaw=-0.03 left_pitch=-0.0372 left_roll=-0.1684 left_gripper=0.9988 right_x=0.3033 right_y=0.0474 right_z=0.2305 right_yaw=0.1874 right_pitch=-0.0573 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -7.5145, 4.506, 1.409, -0.6081, -0.1441, -0.1392, -0.1299, -1.9897, 6.8308, 1.6679, 0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dc6c7f895c8d1efcb0a02772cf152c1018c808988c2d03e2f81998eacdf2949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58765895acfd3112d1abb3e2bd25aa2b0cc433774914f2d8717b9c93ce70325e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 460):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:892a7f9cc0bf6dcb86f7e2f64502c7c9bb059b86f8745f8d3f4f6ae872ffb837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0172LA2EmewqN1fw7y7KA3Vp",
      "input": {
        "note": "The jaws came down to the table left of the bottle: the top view and the cap at the bottom-right corner of the wrist view show the neck ~7 cm to the right. Rising slightly and shifting right to straddle the neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": -0.34,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0172LA2EmewqN1fw7y7KA3Vp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1664, 1.7897, 1.1088, -0.1787, -0.8165, -0.9661, 0.9988, 0.1822, 0.9215, 0.8886, -0.5926, 0.0669, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.2909 left_y=-0.3434 left_z=0.1175 left_yaw=-0.0195 left_pitch=0.001 left_roll=-0.2148 left_gripper=0.9988 right_x=0.3035 right_y=0.0475 right_z=0.2301 right_yaw=0.188 right_pitch=-0.0585 right_roll=-0.1198 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -7.9521, 6.9812, 0.9206, -0.652, -0.0317, -0.1343, -0.1709, -2.0308, 7.0085, 1.663, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f53bb0e0d29b5076a1b97696df6a78f84e6d496560cc47ad776ce7d698c263a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210b198ffae242d895d560dd7a98e0d9cb97d4f03eb14da6f463969703116fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0778755d3edf30b9ee8ec082631901342e8268c502054388f26abb2462366b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 57 attempt 0 · /messages · status 200 · 6.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 163 changed as sent

message 166 changed as sent

message 169 changed as sent

message 163 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9226, 1.3422, 1.2449, -0.5652, -0.5358, -0.6403, 0.9988, 0.1818, 0.9195, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.3072 left_y=-0.2503 left_z=0.2687 left_yaw=-0.1524 left_pitch=-0.0105 left_roll=-0.2111 left_gripper=0.9988 right_x=0.3032 right_y=0.0474 right_z=0.2307 right_yaw=0.1874 right_pitch=-0.0566 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.0068, -5.7915, 7.4462, 1.619, -0.1978, 0.1636, -0.1343, -0.0615, -2.2769, 6.9128, 1.663, 0.022, 0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0698, 1.7473, 0.6964, 0.2043, -0.7361, -0.8639, 0.9988, 0.1818, 0.9203, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.2865 left_y=-0.2688 left_z=0.0386 left_yaw=-0.03 left_pitch=-0.0372 left_roll=-0.1684 left_gripper=0.9988 right_x=0.3033 right_y=0.0474 right_z=0.2305 right_yaw=0.1874 right_pitch=-0.0573 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -7.5145, 4.506, 1.409, -0.6081, -0.1441, -0.1392, -0.1299, -1.9897, 6.8308, 1.6679, 0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1664, 1.7897, 1.1088, -0.1787, -0.8165, -0.9661, 0.9988, 0.1822, 0.9215, 0.8886, -0.5926, 0.0669, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.2909 left_y=-0.3434 left_z=0.1175 left_yaw=-0.0195 left_pitch=0.001 left_roll=-0.2148 left_gripper=0.9988 right_x=0.3035 right_y=0.0475 right_z=0.2301 right_yaw=0.188 right_pitch=-0.0585 right_roll=-0.1198 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -7.9521, 6.9812, 0.9206, -0.652, -0.0317, -0.1343, -0.1709, -2.0308, 7.0085, 1.663, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f53bb0e0d29b5076a1b97696df6a78f84e6d496560cc47ad776ce7d698c263a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:210b198ffae242d895d560dd7a98e0d9cb97d4f03eb14da6f463969703116fbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 467):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0778755d3edf30b9ee8ec082631901342e8268c502054388f26abb2462366b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmgkKEAgRGAI4AUIIdGhpbmtpbmcSDLOzw7yacBTcUQ4DmxoMVi3YpwW+UFxD5IrZIjBRSv0OKSJgpc5LePtbJaj4Z16Ol/YcRJ1otEYuEE0A429KVOv3lkiCwUuK42UuIfEqtwirIODfS35qVl4ztyfqPah26a0ja3THuKq668V25AlwBkUNy3xeBdvoodhyWYVqf5MPfSCmRhA3JouP28mzrqJ+8ko59mMEf1um5/UDZG6CtQsWq/PqjfNOnarCD1G4IvXN1LJLAopXVLg63aVO6DoV75FwpmR7FF2xePvDmTme2eTV+HyR/d7odRQ+8oFwIt+c+x2VYYt5XnkjKRjXlid+4RPQ5PiV1IODzT/BFjKNiBa2zL6PW8x3wPIvmL51EucwQofiIbsHIqGwecHuqCvbWqd23aWerMnd+qfAQsbzQHqDRq1jaAB6FOV8iPDW9dIeUO+e2knGtstWxtMxgVBRMzitdFzgK6ZwiJstfbY37P3A9Qm4lABJWXLn5Cmkvjmc8hwCYGVpPGw/DkRbQ6mTYkl9duUTdf6WL3Td0jkbO+0FIvMLKWDXqW7muXMYyWwVC8fnyqGQJm3URuTX13HO39hovD/jaKA1Owx/5Yqau60nDj+rhF95Ms5Gqo1pvhgCPF7jE/yREJqknd6xs8jMsWwYwE6gSEInno4h3Ov1oJqcXpgsOJFmPqbaLa+Cr5B0NgjkRViiXN9YLNg14d1//2F81ImCVy7yMsZ86lb6B+sonn5ENjmVoBqj0qUg0Oy1gkcopUE/MKil5AUawzji5FEv8L/2ucP3ExcurOP/5/qUW1sh3ZBt+Ggi6GMnZUecAIKMX1slVOLompWnwbYhcZlPK9yE7x1d9J6vakhTngTwhJjkS8dKX+pXZkwjDA2b6IARk3YLGVwa6Ehh4TqSRQ0E0xWGejN/Ma7WNm6qqPf6crSl6t8TOFZSFZI+abYY4ViGIiadEsdCs+ijn2D6W3dGzaZlfY1QZhEqzRRahgkPVcR+yx9N4rgWC34n3vL12DGLcN+jeGkN93hxVEQapx2zNb4g1XR04hxTWP/32266MUG0VIRjnt7pjq2K6Jz3VFW4n8r6Il50AyEzrMhcgkNadtg3/VwzJ7h0V9LpRX8oUzL3omNpiIpriTnsuu4iZWRU3oikdLy3/RIaMkY06sAEgVFk5M2WxHukgfB9gNjORuC1J7on/RuwqcW4HejAoXvJiq9hyAeHhrk6Du7AzLkCIJNyKBzJDgWI5+dhwtTFweyPKkGY3Abq6osfGK3rGXNurw7au323YvdnphpVg6OevO6vRqvF8rpPWkzyrqHlTxMsLiuY6nSefz2Rox28ZUDcBQ3h0H0GvwvyL1Zn7Ovmp1LUhzQ72nYbHvZ9drxs5dGy/qGBtlSI8Cagyut3JelqRfIFpV+GiUmHWoltCc2enF6W2YcU2MgKVs5rLqSSzO5HgdTK8Zhaz61IMt8lJlgjpH96lVCBrQSC51p9B161aPfy13dg6Y8fvMc4aNuFnienFPejGl0qLXn237jxYinAVn+CCpWVi/MIDBLyzCftkya6MBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HWVy2fL3h11BsKoffgEnxc",
      "input": {
        "note": "The cap is still ~4-5 cm right of the jaw column at the bottom of the left wrist view. Shifting right to y=−0.39 (near the bound) and descending to straddle the neck just behind the cap.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_y": -0.39,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HWVy2fL3h11BsKoffgEnxc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2362, 2.075, 1.1671, -0.0845, -0.849, -1.0561, 0.9988, 0.1822, 0.9234, 0.8886, -0.5926, 0.0673, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.2757 left_y=-0.3782 left_z=0.0307 left_yaw=-0.0204 left_pitch=-0.0339 left_roll=-0.1576 left_gripper=0.9988 right_x=0.3037 right_y=0.0475 right_z=0.2296 right_yaw=0.1877 right_pitch=-0.0604 right_roll=-0.12 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -11.0974, 7.4735, 1.1648, -0.696, -0.0757, -0.1343, -0.1709, -2.0444, 7.0222, 1.663, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89517caa2535332331bd47cd9f3875a735536d2828e199f0aeac2312b54b0e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d06d7dad742b19fc5ac35394ad783d908c1f81a0f75b165b3ace317af28377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c656f26862071baa96e39e71f3f0acbca37bd5c31e971de0cfe3eee1d7ebf75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 58 attempt 0 · /messages · status 200 · 26.33 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 166 changed as sent

message 169 changed as sent

message 172 changed as sent

message 166 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0698, 1.7473, 0.6964, 0.2043, -0.7361, -0.8639, 0.9988, 0.1818, 0.9203, 0.8886, -0.5926, 0.0669, -0.12, 0.9984]\nstate[eef_state]: left_x=0.2865 left_y=-0.2688 left_z=0.0386 left_yaw=-0.03 left_pitch=-0.0372 left_roll=-0.1684 left_gripper=0.9988 right_x=0.3033 right_y=0.0474 right_z=0.2305 right_yaw=0.1874 right_pitch=-0.0573 right_roll=-0.1195 right_gripper=0.9984\nstate[joint_eff]: [-0.3077, -7.5145, 4.506, 1.409, -0.6081, -0.1441, -0.1392, -0.1299, -1.9897, 6.8308, 1.6679, 0.0073, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 169 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.1664, 1.7897, 1.1088, -0.1787, -0.8165, -0.9661, 0.9988, 0.1822, 0.9215, 0.8886, -0.5926, 0.0669, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.2909 left_y=-0.3434 left_z=0.1175 left_yaw=-0.0195 left_pitch=0.001 left_roll=-0.2148 left_gripper=0.9988 right_x=0.3035 right_y=0.0475 right_z=0.2301 right_yaw=0.188 right_pitch=-0.0585 right_roll=-0.1198 right_gripper=0.9984\nstate[joint_eff]: [-0.294, -7.9521, 6.9812, 0.9206, -0.652, -0.0317, -0.1343, -0.1709, -2.0308, 7.0085, 1.663, -0.0024, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 172 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2362, 2.075, 1.1671, -0.0845, -0.849, -1.0561, 0.9988, 0.1822, 0.9234, 0.8886, -0.5926, 0.0673, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.2757 left_y=-0.3782 left_z=0.0307 left_yaw=-0.0204 left_pitch=-0.0339 left_roll=-0.1576 left_gripper=0.9988 right_x=0.3037 right_y=0.0475 right_z=0.2296 right_yaw=0.1877 right_pitch=-0.0604 right_roll=-0.12 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -11.0974, 7.4735, 1.1648, -0.696, -0.0757, -0.1343, -0.1709, -2.0444, 7.0222, 1.663, -0.0073, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89517caa2535332331bd47cd9f3875a735536d2828e199f0aeac2312b54b0e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d06d7dad742b19fc5ac35394ad783d908c1f81a0f75b165b3ace317af28377",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 472):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c656f26862071baa96e39e71f3f0acbca37bd5c31e971de0cfe3eee1d7ebf75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2ggKEAgRGAI4AUIIdGhpbmtpbmcSDOcBREDEFrpEVmsCnhoMHbdrjCaZwg8WXorPIjB2xHo8qNCL3ii4kgWpMv0QktfBE7hefPtLbEls5L46gxSw328ml6jf8vv/kq0Vpfgq9wfIdEMS50iS/uq/jM92myPyrdAQ56m/NJF00EBdJ4Pr95GZZJHjxre7SgWno9g6Us++RwCavkVhWZN1k5LuyWc5eTuTRfPNl1bp/uqMP0CTXKSs4x8Kf5hCJCANQNwbQUo+jBAY1uDhcbJj2npEr24d/LHebNLoMNfExbesKCNyr3ilQ6UkNFRh/MWGmKgb0XRfZ0memtp1ZKkHXYgcj25QMg+G5U46u+rjELS1E1GagVElXMAm8PJ9/NhcCIhFGeHf/YVq2EjqHPDoovgzh3UFuqZMeR8o3cdKK54UE8878Iyl7S0xEyBuqRYVjSLHtarDuMvWGsbpqXv0eDHkywO2OrbnOXpFw9COT2w+WYvzgi56A7f/pS6Q+VipWTNPuNKHhTvrZ+kJW5IuHj/RIBRPuzHNtFmLM/cF9LnhhYM8oXdBp9eRmf7mN5lfFu039urMDBRQRO3cSs8MyeBXYDP6Kc6YjjlB3R/kHHs1Da1lt2n7BhTbmnnrJEwOsw649dL8mT8+3cX0lZLgPqs/Al1xo3zlf42bufucKXdw+N2cv/kRy9xYaxyx++tvmNeSFklKGDzV/MiDdjFgyyBeUCI7LspTKQl1ieT8nmwwBzwa7Y5Nrjj2/fTMhJwN602NxeTi8lpalBZNFqHe/jy6ebRLVppFoIzr7an0ERdyqu1uYYRE8pvmj3TVEtujTBW473rd8MPipeS11vCvrXxW3CFWEC0m+3rZOoeC1Lm8Sr8piSpBNBipCw3qr0m1pI/uhLZtVO+wMbosg6ZmtEn86a0mYlRnu67FWCtvqK8l+w1aQ5aB7+SYGa9JB3JyJahU2Bx6bjM/ZgmlpCX80WVik1osYLtDJvEWUochXiNIWbSrkbhDIFzV9oa4WoCnb9/tCApddkzg5XKfmmutCMqSM8HgD9GnI6cs0KuRtwevT8w1oGau8FHyEKuT2OpK0V+wMe/kVWx9g1Mg7+NCty+OfI8EqolA/ulEYf5hpS+hcKgdrOND0N4aukch40EF9bRJWVyT4jQFPcwb5QXHbUbMlo+84y7NtcbuEDoP3fZUE50E8lhAgZ+QL4r2DQdL56UKiBhLHWIDqTPkM5fjFyHiEGNNObo6L/J8hmnT3s6eiUhAd0P/VLlGNx0DWh4HERyByGkKrnxq63lbvg0yXnWqSPv4OJU1OKYSy/C8U5eEsikOdnatOVCrYx3YZ6bOIYq5oKgeGm3aU2etPj2xOQrXEN5GHX8sDpVv6hXwdOEXP1pVaxWqFgMtJ6+6WDLyYUt/ZbyChvgL+1i8ze368pCOmvWXbPyU6yaabP66Dj1IODBovRU6Se0138zyyXc8D2eXQkhWFHFXzIjJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCL7fca9m8yyDiAJa8cJVX",
      "input": {
        "note": "The top view shows the left jaws right over the lying bottle's neck and the wrist view no longer shows the cap ahead, so the neck should be between the jaws. Closing.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_x": 0.28,
          "left_y": -0.38,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CCL7fca9m8yyDiAJa8cJVX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.2453, 2.0995, 1.1782, -0.0586, -0.8608, -1.0821, 0.0095, 0.1818, 0.9234, 0.8886, -0.5926, 0.0673, -0.1204, 0.9984]\nstate[eef_state]: left_x=0.275 left_y=-0.3846 left_z=0.0275 left_yaw=-0.0097 left_pitch=-0.0225 left_roll=-0.1877 left_gripper=0.0095 right_x=0.3037 right_y=0.0474 right_z=0.2296 right_yaw=0.1873 right_pitch=-0.0604 right_roll=-0.12 right_gripper=0.9984\nstate[joint_eff]: [-0.1162, -11.4256, 7.5145, 1.2039, -0.525, 0.0122, 0.7302, -0.0068, -1.894, 7.0085, 1.6581, -0.0024, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:674b7a7b4d6ac4c7a1eea309948747b03d28840d9eda08af349a698ffde2595c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 482):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d61944308491f3a9edd60b4ad4c4e0ee6826c60cd20d092c5e23dfce61f9b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 482):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:746016416c9a2d6e18f72df86178e8e989d61fe153b5524ab370d3836559dabc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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