adhoc

completed
2026-09-18T04:46:38.455965+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 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
466.5 s
total steps
185
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: fly it over the left (white bottle) container, which sits to the arm's right at roughly y ≈ -0.24.
agent noteTop view shows a white bottle (left container) and a white can (right container) in front of the arms, with the red cup farther back on the left side. Moving the left arm above the bottle with the gripper open to check alignment in the wrist camera.
move_to
left_x0.3000left_y-0.2400left_z0.1600left_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, 0.6174, -0.3794, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0231, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.4171, -1.6479, 9.4564, 1.7753, -0.0415, 0.1587, -0.0659, -0.9368, -1.265, 9.9624, 1.7021, -0.1392, 0.0415, -0.0317] 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: fly it over the left (white bottle) container, which sits to the arm's right at roughly y ≈ -0.24.
move_to({"targets": {"left_x": 0.3, "left_y": -0.24, "left_z": 0.16, "left_gripper": 1.0}, "note": "Top view shows a white bottle (left container) and a white can (right container) in front of the arms, with the red cup farther back on the left side. Moving the left arm above the bottle with the gripper open to check alignment in the wrist camera."})
tool
executing move_to over 22 steps (2.2s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteLeft wrist cam shows the white bottle filling the frame, roughly on the jaw column; the top view shows the gripper just short of the bottle. Advancing 4 cm forward before descending.
move_to
left_x0.3400left_y-0.2350left_z0.1600
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]: [-1.0225, 1.4815, 0.9428, -0.3779, -0.794, -0.7494, 0.9995, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.2959 left_y=-0.2359 left_z=0.1471 left_yaw=-0.0077 left_pitch=-0.0296 left_roll=0.0158 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.0006 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1709, -6.3658, 9.1145, 1.2821, -0.6032, 0.1197, -0.0611, -0.3897, -1.0462, 7.3094, 1.7753, -0.0415, -0.0415, -0.0122] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.235, "left_z": 0.16}, "note": "Left wrist cam shows the white bottle filling the frame, roughly on the jaw column; the top view shows the gripper just short of the bottle. Advancing 4 cm forward before descending."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteGripper is now above the bottle, which fills the wrist view roughly on the jaw column. Descending to mid-body height to straddle the bottle; will check for contact.
move_to
left_x0.3350left_y-0.2250left_z0.0900
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]: [-0.8925, 1.5478, 1.0161, -0.3435, -0.7177, -0.6468, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3353 left_y=-0.2252 left_z=0.1476 left_yaw=0.0172 left_pitch=-0.0568 left_roll=0.0325 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.253, -6.7214, 8.7316, 1.5311, -0.3394, 0.1685, -0.0122, -0.212, -1.2786, 7.2547, 1.746, -0.0464, -0.0562, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.225, "left_z": 0.09}, "note": "Gripper is now above the bottle, which fills the wrist view roughly on the jaw column. Descending to mid-body height to straddle the bottle; will check for contact."})
tool
executing move_to over 4 steps (0.4s)
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 descent did not move at all — the gripper seems to be resting on top of the bottle, meaning it is ~15 cm tall. Lifting to 22 cm to get a clear view of the bottle top and locate its neck/handle for a grasp.
move_to
left_x0.3350left_y-0.2250left_z0.2200
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]: [-0.8936, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.335 left_y=-0.2256 left_z=0.1475 left_yaw=0.0137 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.4718, -6.8444, 8.7043, 1.5849, -0.3101, 0.2466, -0.0122, -0.0479, -1.2923, 7.1316, 1.7118, -0.0562, -0.0562, -0.0122] 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": 0.335, "left_y": -0.225, "left_z": 0.22}, "note": "The descent did not move at all \u2014 the gripper seems to be resting on top of the bottle, meaning it is ~15 cm tall. Lifting to 22 cm to get a clear view of the bottle top and locate its neck/handle for a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe arm has not moved for two commands (joints unchanged), so the IK seems stalled at this pose. Trying a different target — back, up and left — to unstick it before re-approaching the bottle.
move_to
left_x0.3000left_y-0.2000left_z0.2000
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]: [-0.8932, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3351 left_y=-0.2255 left_z=0.1475 left_yaw=0.0141 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3897, -6.6667, 8.6906, 1.5653, -0.2808, 0.2271, -0.0122, -0.1846, -1.2513, 7.3368, 1.7216, -0.0415, -0.0415, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.2, "left_z": 0.2}, "note": "The arm has not moved for two commands (joints unchanged), so the IK seems stalled at this pose. Trying a different target \u2014 back, up and left \u2014 to unstick it before re-approaching the bottle."})
tool
executing move_to over 4 steps (0.4s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe arm is free again and the wrist camera reveals the Clorox bottle is lying on its side with its cap pointing away from the base. Its body is too wide for the jaws, so I'm moving forward toward the neck, which is narrow enough to grasp across.
move_to
left_x0.3800left_y-0.2350left_z0.1200
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]: [-0.9375, 1.3781, 1.0325, -0.6102, -0.7258, -0.6891, 0.9995, -0.0147, 0.8013, 0.6086, -0.3782, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.2968 left_y=-0.2001 left_z=0.1795 left_yaw=0.0049 left_pitch=-0.0988 left_roll=0.0667 left_gripper=0.9995 right_x=0.2961 right_y=0.0014 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3487, -7.3504, 9.1419, 1.1306, -0.5836, -0.0464, -0.0122, -0.1299, -1.4291, 7.0359, 1.7411, -0.0171, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.235, "left_z": 0.12}, "note": "The arm is free again and the wrist camera reveals the Clorox bottle is lying on its side with its cap pointing away from the base. Its body is too wide for the jaws, so I'm moving forward toward the neck, which is narrow enough to grasp across."})
tool
executing move_to over 7 steps (0.7s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteWrist view shows the bottle's shoulder directly below the camera, so the neck is still several cm further forward. Advancing another ~7 cm while holding pitch/roll level to bring the jaws over the neck.
move_to
left_x0.4400left_y-0.2300left_z0.1100left_pitch0.0000left_roll0.0000
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]: [-0.8009, 1.7302, 1.0866, -0.2863, -0.6491, -0.5789, 0.9995, -0.0143, 0.8043, 0.6086, -0.3843, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3716 left_y=-0.2247 left_z=0.1048 left_yaw=0.0306 left_pitch=-0.1358 left_roll=0.0935 left_gripper=0.9995 right_x=0.2954 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.0889, -8.6085, 8.9915, 1.5995, -0.232, 0.2564, -0.0122, -0.1436, -1.0735, 7.0359, 1.7851, -0.022, -0.0513, -0.0171] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.23, "left_z": 0.11, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Wrist view shows the bottle's shoulder directly below the camera, so the neck is still several cm further forward. Advancing another ~7 cm while holding pitch/roll level to bring the jaws over the neck."})
tool
executing move_to over 6 steps (0.6s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe wrist view barely changed after a 6 cm advance, so I suspect the low fingertips are pushing the lying bottle toward the red cup. Backing up and rising high so the overhead camera can show where the bottle and its neck now lie.
move_to
left_x0.3400left_y-0.2000left_z0.2400left_pitch0.0000left_roll0.0000
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]: [-0.6903, 1.861, 1.1091, -0.028, -0.6197, -0.4934, 0.9995, -0.0147, 0.8051, 0.6086, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4282 left_y=-0.2159 left_z=0.0912 left_yaw=0.0649 left_pitch=-0.0498 left_roll=0.0388 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.3197, 9.1009, 1.8926, -0.0659, 0.2222, -0.0122, -0.294, -1.3197, 7.0359, 1.7118, -0.0366, -0.0611, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.2, "left_z": 0.24, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The wrist view barely changed after a 6 cm advance, so I suspect the low fingertips are pushing the lying bottle toward the red cup. Backing up and rising high so the overhead camera can show where the bottle and its neck now lie."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteWrist view now shows the whole bottle lying radially with its cap pointing at the red cup. Moving forward at a safe height to hover over the neck (just behind the cap) and check alignment before descending.
move_to
left_x0.4400left_y-0.2250left_z0.1500left_pitch0.0000left_roll0.0000
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]: [-0.8478, 1.4548, 1.2045, -0.5926, -0.7197, -0.638, 0.9995, -0.0147, 0.8078, 0.6086, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.3392 left_y=-0.2031 left_z=0.2203 left_yaw=0.0572 left_pitch=-0.0359 left_roll=0.015 left_gripper=0.9995 right_x=0.2956 right_y=0.0014 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1436, -8.0615, 9.4838, 1.3016, -0.5495, 0.0659, -0.0122, -0.1436, -1.5658, 7.0359, 1.7021, -0.022, -0.0464, -0.0122] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.225, "left_z": 0.15, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Wrist view now shows the whole bottle lying radially with its cap pointing at the red cup. Moving forward at a safe height to hover over the neck (just behind the cap) and check alignment before descending."})
tool
executing move_to over 8 steps (0.8s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteWrist view shows the bottle's neck running toward the upper-right of the frame, i.e. forward and to the arm's right of the jaws. Shifting 3.5 cm forward and 4 cm right while descending to neck height so the open jaws straddle the neck.
move_to
left_x0.4650left_y-0.2550left_z0.0700left_pitch0.0000left_roll0.0000
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]: [-0.6903, 1.8072, 1.211, -0.186, -0.6243, -0.5121, 0.9995, -0.0147, 0.8097, 0.6086, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4302 left_y=-0.2167 left_z=0.1304 left_yaw=0.0783 left_pitch=-0.0488 left_roll=0.0273 left_gripper=0.9995 right_x=0.2957 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.212, -9.6342, 9.0598, 1.8046, -0.1832, 0.2466, -0.0171, -0.294, -1.4974, 7.0632, 1.6972, -0.0806, -0.0562, -0.0122] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.465, "left_y": -0.255, "left_z": 0.07, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Wrist view shows the bottle's neck running toward the upper-right of the frame, i.e. forward and to the arm's right of the jaws. Shifting 3.5 cm forward and 4 cm right while descending to neck height so the open jaws straddle the neck."})
tool
executing move_to over 4 steps (0.4s)
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 gripper is at neck height beside the cap with the wrist camera pressed against the bottle surface. Closing the jaws to see whether the neck is captured (a settled reading well above 0.04 means we have it).
move_to
left_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]: [-0.7055, 2.038, 1.2434, -0.001, -0.654, -0.5381, 0.9995, -0.0147, 0.8116, 0.6086, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4531 left_y=-0.2401 left_z=0.0649 left_yaw=0.0989 left_pitch=-0.0428 left_roll=0.0304 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.7043, -9.4701, 8.2393, 1.5995, -0.2515, 0.1636, -0.0171, -0.1573, -1.5248, 7.0222, 1.7558, -0.0659, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "The gripper is at neck height beside the cap with the wrist camera pressed against the bottle surface. Closing the jaws to see whether the neck is captured (a settled reading well above 0.04 means we have it)."})
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 noteThe close was empty (0.01) and the wrist view suggests the bottle shifted while the jaws closed. Opening and rising to re-observe the bottle's pose from above before the next attempt.
move_to
left_x0.4000left_y-0.2300left_z0.2200left_gripper1.0000left_pitch0.0000left_roll0.0000
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]: [-0.7094, 2.0819, 1.251, 0.0433, -0.651, -0.5358, 0.0125, -0.0143, 0.8127, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.457 left_y=-0.2465 left_z=0.0527 left_yaw=0.0914 left_pitch=-0.0388 left_roll=0.025 left_gripper=0.0125 right_x=0.2958 right_y=0.0015 right_z=0.1757 right_yaw=0.001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.2393, -11.6718, 8.4444, 1.5995, -0.2515, 0.1685, 1.0867, -0.0889, -1.1282, 7.0359, 1.7607, -0.0513, -0.0562, -0.0122] 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": 0.4, "left_y": -0.23, "left_z": 0.22, "left_gripper": 1.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The close was empty (0.01) and the wrist view suggests the bottle shifted while the jaws closed. Opening and rising to re-observe the bottle's pose from above before the next attempt."})
tool
executing move_to over 11 steps (1.1s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteFrom above, the bottle lies diagonally with its base just ahead of the jaws and its cap pointing forward-right toward the far corner. Moving forward and right to hover over the neck region near the cap.
move_to
left_x0.5000left_y-0.3000left_z0.1400left_pitch0.0000left_roll0.0000
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]: [-0.7784, 1.7229, 1.3506, -0.4397, -0.6933, -0.6067, 0.9956, -0.0147, 0.8127, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4035 left_y=-0.2343 left_z=0.1904 left_yaw=0.091 left_pitch=-0.0317 left_roll=0.0047 left_gripper=0.9956 right_x=0.2959 right_y=0.0014 right_z=0.1758 right_yaw=0.0006 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.335, -11.2479, 9.6615, 1.3358, -0.442, 0.1832, -0.2466, -0.0752, -1.347, 7.0222, 1.7314, -0.0659, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.3, "left_z": 0.14, "left_pitch": 0.0, "left_roll": 0.0}, "note": "From above, the bottle lies diagonally with its base just ahead of the jaws and its cap pointing forward-right toward the far corner. Moving forward and right to hover over the neck region near the cap."})
tool
executing move_to over 8 steps (0.8s)
step 103
top_cam
camera top_cam step 103
left_cam
camera left_cam step 103
right_cam
camera right_cam step 103
assistant
agent noteWrist view now shows the neck and handle hollow to the left of the jaw column, running forward, with the blue cup on the right. Shifting left ~5 cm and forward ~3 cm while descending to neck height to straddle the neck.
move_to
left_x0.5200left_y-0.2350left_z0.0600left_pitch0.0000left_roll0.0000
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]: [-0.741, 2.1567, 1.7115, -0.3641, -0.6868, -0.5991, 0.9967, -0.0147, 0.8146, 0.6083, -0.3851, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4879 left_y=-0.2898 left_z=0.1312 left_yaw=0.1197 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9967 right_x=0.296 right_y=0.0014 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [0.2803, -11.6718, 8.7863, 1.4383, -0.2125, 0.3736, 0.1001, -0.1162, -1.4838, 7.0496, 1.6825, -0.0757, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.235, "left_z": 0.06, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Wrist view now shows the neck and handle hollow to the left of the jaw column, running forward, with the blue cup on the right. Shifting left ~5 cm and forward ~3 cm while descending to neck height to straddle the neck."})
tool
executing move_to over 5 steps (0.5s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe top view now shows the bottle standing upright just behind and right of the red cup, close in front of the jaws; its body is too wide, so I'll go for the neck below the cap. Rising to neck height (~20 cm) with a slight forward pitch to extend reach.
move_to
left_x0.5600left_y-0.2550left_z0.2000left_pitch0.3000left_roll0.0000
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]: [-0.6094, 2.188, 1.4658, -0.0513, -0.6197, -0.5037, 0.9968, -0.0147, 0.8165, 0.6083, -0.3847, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5113 left_y=-0.2274 left_z=0.0611 left_yaw=0.151 left_pitch=-0.0449 left_roll=0.0258 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998 state[joint_eff]: [-0.7043, -10.7829, 6.188, 1.6386, -0.1685, 0.149, -0.0024, -0.253, -1.5385, 7.0085, 1.7265, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.56, "left_y": -0.255, "left_z": 0.2, "left_pitch": 0.3, "left_roll": 0.0}, "note": "The top view now shows the bottle standing upright just behind and right of the red cup, close in front of the jaws; its body is too wide, so I'll go for the neck below the cap. Rising to neck height (~20 cm) with a slight forward pitch to extend reach."})
tool
executing move_to over 12 steps (1.2s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe arm stalled at the reach limit (z stayed at 8 cm instead of 20). Retracting and raising first so the IK can unfold, then I'll re-approach the neck from above.
move_to
left_x0.4200left_y-0.2300left_z0.2200left_pitch0.0000left_roll0.0000
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]: [-0.6128, 2.2196, 1.5215, 0.0143, -0.6762, -0.4179, 0.9968, -0.0147, 0.8173, 0.6083, -0.3855, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5295 left_y=-0.2328 left_z=0.0797 left_yaw=0.1442 left_pitch=0.0435 left_roll=0.0641 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-1.4291, -15.7744, 12.1094, 2.4054, -0.2808, 0.3297, -0.0073, -0.2256, -1.4838, 7.1043, 1.6874, -0.0317, -0.0562, -0.0171] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.23, "left_z": 0.22, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The arm stalled at the reach limit (z stayed at 8 cm instead of 20). Retracting and raising first so the IK can unfold, then I'll re-approach the neck from above."})
tool
executing move_to over 10 steps (1.0s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteWrist view shows the upright bottle straight ahead on the jaw column, ~6 cm beyond the fingertips, with its neck at about 20 cm height. Advancing at neck height with the tool pitched forward so the open jaws close around the neck just below the cap.
move_to
left_x0.5200left_y-0.2450left_z0.2100left_pitch0.5000left_roll0.0000
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]: [-0.7513, 1.805, 1.4601, -0.4366, -0.7116, -0.5941, 0.9968, -0.0143, 0.8204, 0.6079, -0.392, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.4297 left_y=-0.2386 left_z=0.199 left_yaw=0.1239 left_pitch=-0.0022 left_roll=0.0003 left_gripper=0.9968 right_x=0.2953 right_y=0.0015 right_z=0.172 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -12.1778, 9.3333, 1.2723, -0.525, -0.0024, -0.0122, -0.0889, -1.1966, 7.0496, 1.7851, -0.0366, -0.0757, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.245, "left_z": 0.21, "left_pitch": 0.5, "left_roll": 0.0}, "note": "Wrist view shows the upright bottle straight ahead on the jaw column, ~6 cm beyond the fingertips, with its neck at about 20 cm height. Advancing at neck height with the tool pitched forward so the open jaws close around the neck just below the cap."})
tool
executing move_to over 17 steps (1.7s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe wrist camera shows the bottle's open neck (no cap) centred between the two open jaws but still a few cm ahead of them. Advancing 4 cm so the neck sits between the fingertips.
move_to
left_x0.5550left_y-0.2400left_z0.1950left_pitch0.5000left_roll0.0000
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]: [-0.6701, 2.048, 1.3216, 0.5468, -0.8162, -0.152, 0.9968, -0.0147, 0.8211, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5152 left_y=-0.2395 left_z=0.1948 left_yaw=0.1474 left_pitch=0.4378 left_roll=0.002 left_gripper=0.9968 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.2256, -11.0291, 7.1863, 2.0098, 0.1685, 0.3199, -0.0122, -0.1983, -1.4838, 7.2821, 1.7167, -0.0171, -0.0611, -0.0122] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.555, "left_y": -0.24, "left_z": 0.195, "left_pitch": 0.5, "left_roll": 0.0}, "note": "The wrist camera shows the bottle's open neck (no cap) centred between the two open jaws but still a few cm ahead of them. Advancing 4 cm so the neck sits between the fingertips."})
tool
executing move_to over 4 steps (0.4s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe neck is centred on the jaw column and looks ~3-4 cm ahead of the fingertips. Advancing a further 4 cm with full forward pitch to bring the neck between the jaws.
move_to
left_x0.5850left_y-0.2350left_z0.1900left_pitch0.6000left_roll0.0000
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]: [-0.6224, 2.1685, 1.4101, 0.617, -0.807, -0.1215, 0.9968, -0.0147, 0.823, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5463 left_y=-0.2306 left_z=0.1785 left_yaw=0.1819 left_pitch=0.4628 left_roll=0.0039 left_gripper=0.9968 right_x=0.2954 right_y=0.0014 right_z=0.171 right_yaw=0.0007 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1162, -12.2598, 9.5658, 1.8877, 0.2808, 0.3346, -0.0122, -0.1846, -1.2376, 7.0359, 1.7021, -0.0171, -0.0415, -0.0171] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.585, "left_y": -0.235, "left_z": 0.19, "left_pitch": 0.6, "left_roll": 0.0}, "note": "The neck is centred on the jaw column and looks ~3-4 cm ahead of the fingertips. Advancing a further 4 cm with full forward pitch to bring the neck between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe arm has hit its reach limit at x≈0.55 with the neck still ~4 cm beyond the fingertips. Yawing the tool 90° so the jaws close along x: the far jaw then reaches ~5 cm further out and closing will draw the round neck back to the grasp point.
move_to
left_x0.5550left_y-0.2350left_z0.2000left_yaw1.5700left_pitch0.6000left_roll0.0000
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]: [-0.6174, 2.1845, 1.4197, 0.622, -0.8055, -0.1146, 0.9968, -0.0147, 0.8249, 0.6075, -0.3923, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.5497 left_y=-0.2296 left_z=0.1743 left_yaw=0.1808 left_pitch=0.4615 left_roll=0.0126 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1705 right_yaw=0.0007 right_pitch=-0.05 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4581, -12.547, 9.4701, 1.873, 0.2418, 0.3053, -0.0122, -0.2256, -1.5385, 7.2137, 1.7167, -0.0562, -0.0464, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.555, "left_y": -0.235, "left_z": 0.2, "left_yaw": 1.57, "left_pitch": 0.6, "left_roll": 0.0}, "note": "The arm has hit its reach limit at x\u22480.55 with the neck still ~4 cm beyond the fingertips. Yawing the tool 90\u00b0 so the jaws close along x: the far jaw then reaches ~5 cm further out and closing will draw the round neck back to the grasp point."})
tool
executing move_to over 9 steps (0.9s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe yaw command made the IK swing the whole arm sideways over the cups (readback x=0.65, y=-0.01) — not what I intended. Retracting to a safe pose above the work area with yaw/pitch back to zero to reassess the scene.
move_to
left_x0.4200left_y-0.2000left_z0.2400left_yaw0.0000left_pitch0.0000left_roll0.0000
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]: [-0.2707, 2.6133, 2.006, 0.6128, -1.1378, 0.0414, 0.9969, -0.0147, 0.8299, 0.6075, -0.4015, -0.012, -0.0235, 0.9998] state[eef_state]: left_x=0.6489 left_y=-0.0099 left_z=0.1556 left_yaw=0.8241 left_pitch=0.5613 left_roll=0.0703 left_gripper=0.9969 right_x=0.2944 right_y=0.0014 right_z=0.1673 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.6769, -15.747, 5.8051, 1.0134, -0.4518, 0.2173, -0.0073, -0.1709, -1.8393, 7.3094, 1.7363, -0.0708, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.24, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0}, "note": "The yaw command made the IK swing the whole arm sideways over the cups (readback x=0.65, y=-0.01) \u2014 not what I intended. Retracting to a safe pose above the work area with yaw/pitch back to zero to reassess the scene."})
tool
executing move_to over 19 steps (1.9s)
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 noteWhile trying to grasp the tall Clorox bottle (left container) I misjudged its pose and reach: my approaches pushed it to the far edge of the table, and a 90° yaw command at full extension made the IK swing the arm sideways across the work area, knocking the red cup over and pushing both the red cup (now on its side at the far-left fence) and the bottle (far-left corner) outside the left arm's workspace box (y > +0.05, x > 0.55). Neither arm can now reach either object safely, so the pouring task cannot be completed.
give_up
hindsight1) In this scene the "left container" is a tall (~22-25 cm, ~10 cm wide) upright Clorox-style bottle with an open, capless neck (~4.5 cm) — the only graspable feature is the neck at z≈0.19-0.22 (or the side handle). Its body exceeds the 9.5 cm jaw stroke; never descend a vertical open gripper onto it. 2) The wrist-cam view of a tall upright bottle from z≈0.15-0.2 looks exactly like a bottle lying on its side pointing away — do not conclude "lying" from the wrist cam; use the top cam, where the bottle stood at image (95,85-125) ≈ x 0.33, y -0.24 initially. 3) Moving at z≈0.06-0.09 near the bottle pushed it away several cm per move; it ended near the far edge at radius ≈0.60 m, beyond the ~0.55 m grasp reach at z 0.19 (even with pitch 0.6). Keep low moves well clear of tall objects. 4) NEVER command a large yaw change (e.g. 1.57) while the arm is near full extension: the IK swung the arm sideways ~25 cm (readback x 0.65, y -0.01) sweeping across the table and knocking the red cup over. Change yaw only at a retracted, high pose. 5) The IK sometimes freezes entirely (joints unchanged for two commands) at x≈0.33, z≈0.15 near the bottle; a target with lower x and higher z unsticks it. 6) Pitch/roll drift by ~0.1 rad if not commanded; include pitch=0, roll=0 explicitly. 7) Recommended plan: hover at z≈0.28 above the neck (top cam locates it), descend vertically with jaws open so the neck sits between the fingertips, close, lift, then roll ±1.4 beside the cup to pour.
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]: [-0.6529, 1.8229, 1.4055, -0.347, -0.6521, -0.4007, 0.9972, -0.0151, 0.836, 0.6067, -0.4088, -0.012, -0.0242, 0.9997] state[eef_state]: left_x=0.4535 left_y=-0.2073 left_z=0.1777 left_yaw=0.0767 left_pitch=-0.0275 left_roll=0.1215 left_gripper=0.9972 right_x=0.2936 right_y=0.0013 right_z=0.1638 right_yaw=0.0007 right_pitch=-0.0782 right_roll=0.0001 right_gripper=0.9997 state[joint_eff]: [1.4427, -7.8974, 7.8701, 1.9756, -0.4176, 0.0757, 0.0171, -0.0068, -1.4974, 7.241, 1.8095, -0.0415, -0.0513, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). 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
give_up({"reason": "While trying to grasp the tall Clorox bottle (left container) I misjudged its pose and reach: my approaches pushed it to the far edge of the table, and a 90\u00b0 yaw command at full extension made the IK swing the arm sideways across the work area, knocking the red cup over and pushing both the red cup (now on its side at the far-left fence) and the bottle (far-left corner) outside the left arm's workspace box (y > +0.05, x > 0.55). Neither arm can now reach either object safely, so the pouring task cannot be completed.", "hindsight": "1) In this scene the \"left container\" is a tall (~22-25 cm, ~10 cm wide) upright Clorox-style bottle with an open, capless neck (~4.5 cm) \u2014 the only graspable feature is the neck at z\u22480.19-0.22 (or the side handle). Its body exceeds the 9.5 cm jaw stroke; never descend a vertical open gripper onto it. 2) The wrist-cam view of a tall upright bottle from z\u22480.15-0.2 looks exactly like a bottle lying on its side pointing away \u2014 do not conclude \"lying\" from the wrist cam; use the top cam, where the bottle stood at image (95,85-125) \u2248 x 0.33, y -0.24 initially. 3) Moving at z\u22480.06-0.09 near the bottle pushed it away several cm per move; it ended near the far edge at radius \u22480.60 m, beyond the ~0.55 m grasp reach at z 0.19 (even with pitch 0.6). Keep low moves well clear of tall objects. 4) NEVER command a large yaw change (e.g. 1.57) while the arm is near full extension: the IK swung the arm sideways ~25 cm (readback x 0.65, y -0.01) sweeping across the table and knocking the red cup over. Change yaw only at a retracted, high pose. 5) The IK sometimes freezes entirely (joints unchanged for two commands) at x\u22480.33, z\u22480.15 near the bottle; a target with lower x and higher z unsticks it. 6) Pitch/roll drift by ~0.1 rad if not commanded; include pitch=0, roll=0 explicitly. 7) Recommended plan: hover at z\u22480.28 above the neck (top cam locates it), descend vertically with jaws open so the neck sits between the fingertips, close, lift, then roll \u00b11.4 beside the cup to pour."})
tool
give_up: While trying to grasp the tall Clorox bottle (left container) I misjudged its pose and reach: my approaches pushed it to the far edge of the table, and a 90° yaw command at full extension made the IK swing the arm sideways across the work area, knocking the red cup over and pushing both the red cup (now on its side at the far-left fence) and the bottle (far-left corner) outside the left arm's workspace box (y > +0.05, x > 0.55). Neither arm can now reach either object safely, so the pouring task cannot be completed.
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"
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call 0 attempt 0 · /messages · status 200 · 37.04 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, 0.6174, -0.3794, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.4564, 1.7753, -0.0415, 0.1587, -0.0659, -0.9368, -1.265, 9.9624, 1.7021, -0.1392, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bca919708345af7e60ea5b7a82a97f90ba310e14a1ccb948fc07a01fa785405c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28b608557446be3d42615c386e5b50c9d93237c0a7b20b99c694203e63c1402",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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      "source": {
        "data": "$blob:fa8aa878205bdf91e2000e004ceedecfaeefa165b30d8ec54e2378016497c141",
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wire blob bca919708345
wire blob b28b60855744
wire blob fa8aa878205b
call 1 attempt 0 · /messages · status 200 · 12.6 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, 0.6174, -0.3794, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.4564, 1.7753, -0.0415, 0.1587, -0.0659, -0.9368, -1.265, 9.9624, 1.7021, -0.1392, 0.0415, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bca919708345af7e60ea5b7a82a97f90ba310e14a1ccb948fc07a01fa785405c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b28b608557446be3d42615c386e5b50c9d93237c0a7b20b99c694203e63c1402",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8aa878205bdf91e2000e004ceedecfaeefa165b30d8ec54e2378016497c141",
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    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start with the left arm: fly it over the left (white bottle) container, which sits to the arm's right at roughly y ≈ -0.24.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YJhZhq7ne6z8j6BAz2D5vM",
      "input": {
        "note": "Top view shows a white bottle (left container) and a white can (right container) in front of the arms, with the red cup farther back on the left side. Moving the left arm above the bottle with the gripper open to check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": -0.24,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01YJhZhq7ne6z8j6BAz2D5vM",
      "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]: [-1.0225, 1.4815, 0.9428, -0.3779, -0.794, -0.7494, 0.9995, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.2359 left_z=0.1471 left_yaw=-0.0077 left_pitch=-0.0296 left_roll=0.0158 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.0006 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.3658, 9.1145, 1.2821, -0.6032, 0.1197, -0.0611, -0.3897, -1.0462, 7.3094, 1.7753, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561c0caee7c8f32338b113dc6e896ae248eecd6a5ee3691bdece74520932112b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100e230bc817741e3efcf537a786242693ba81089845350dce772b6e2d846cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46221c05a067843133cbb9ea410478a65f8e2b500f7d2420b86c8d947f799edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 561c0caee7c8
wire blob 100e230bc817
wire blob 46221c05a067
call 2 attempt 0 · /messages · status 200 · 10.89 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, 0.6174, -0.3794, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.4564, 1.7753, -0.0415, 0.1587, -0.0659, -0.9368, -1.265, 9.9624, 1.7021, -0.1392, 0.0415, -0.0317]",
      "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]: [-1.0225, 1.4815, 0.9428, -0.3779, -0.794, -0.7494, 0.9995, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.2359 left_z=0.1471 left_yaw=-0.0077 left_pitch=-0.0296 left_roll=0.0158 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.0006 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.3658, 9.1145, 1.2821, -0.6032, 0.1197, -0.0611, -0.3897, -1.0462, 7.3094, 1.7753, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561c0caee7c8f32338b113dc6e896ae248eecd6a5ee3691bdece74520932112b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100e230bc817741e3efcf537a786242693ba81089845350dce772b6e2d846cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46221c05a067843133cbb9ea410478a65f8e2b500f7d2420b86c8d947f799edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 561c0caee7c8]
[blob 100e230bc817]
[blob 46221c05a067]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pq7ca4o1pQdKj8aKQKbkuu",
      "input": {
        "note": "Left wrist cam shows the white bottle filling the frame, roughly on the jaw column; the top view shows the gripper just short of the bottle. Advancing 4 cm forward before descending.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.235,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Pq7ca4o1pQdKj8aKQKbkuu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8925, 1.5478, 1.0161, -0.3435, -0.7177, -0.6468, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3353 left_y=-0.2252 left_z=0.1476 left_yaw=0.0172 left_pitch=-0.0568 left_roll=0.0325 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7214, 8.7316, 1.5311, -0.3394, 0.1685, -0.0122, -0.212, -1.2786, 7.2547, 1.746, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a221f5d653cd6b238f694e7a87de8f540981fe2b407d485c69ea62d49840ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71aeecd68e56ae332a05204d8ab088e7428254e3da5d5265c81cc5b430900d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a1c96b540c473cfb0452adaa7a1f5cc8ada863e2aa028bf06fcef8a16bc9af8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob e1a221f5d653
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 18.18 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, 0.6174, -0.3794, -0.0219, -0.0334, 0.9996, -0.0154, 0.7967, 0.6109, -0.374, -0.0124, -0.0231, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.185 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2966 right_y=0.0012 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.4171, -1.6479, 9.4564, 1.7753, -0.0415, 0.1587, -0.0659, -0.9368, -1.265, 9.9624, 1.7021, -0.1392, 0.0415, -0.0317]",
      "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]: [-1.0225, 1.4815, 0.9428, -0.3779, -0.794, -0.7494, 0.9995, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.2359 left_z=0.1471 left_yaw=-0.0077 left_pitch=-0.0296 left_roll=0.0158 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.0006 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.3658, 9.1145, 1.2821, -0.6032, 0.1197, -0.0611, -0.3897, -1.0462, 7.3094, 1.7753, -0.0415, -0.0415, -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]: [-0.8925, 1.5478, 1.0161, -0.3435, -0.7177, -0.6468, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3353 left_y=-0.2252 left_z=0.1476 left_yaw=0.0172 left_pitch=-0.0568 left_roll=0.0325 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7214, 8.7316, 1.5311, -0.3394, 0.1685, -0.0122, -0.212, -1.2786, 7.2547, 1.746, -0.0464, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1a221f5d653cd6b238f694e7a87de8f540981fe2b407d485c69ea62d49840ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71aeecd68e56ae332a05204d8ab088e7428254e3da5d5265c81cc5b430900d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1c96b540c473cfb0452adaa7a1f5cc8ada863e2aa028bf06fcef8a16bc9af8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob e1a221f5d653]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SS7D6UMPWNEd8mE8uuWifU",
      "input": {
        "note": "Gripper is now above the bottle, which fills the wrist view roughly on the jaw column. Descending to mid-body height to straddle the bottle; will check for contact.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.225,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SS7D6UMPWNEd8mE8uuWifU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8936, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.335 left_y=-0.2256 left_z=0.1475 left_yaw=0.0137 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.8444, 8.7043, 1.5849, -0.3101, 0.2466, -0.0122, -0.0479, -1.2923, 7.1316, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f10e04c59f9701ee8eadfeebc79936f77ba10c5558c3667a6a99df6bdf9519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c8571890d66d0781193869a56b1b981a917754b6eb3e5deb0f85ba68e59c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0e1fd8cb304dd9f5a923bcae0081218d0aa5217695cecfd6852748dcfa3af94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.802 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]: [-1.0225, 1.4815, 0.9428, -0.3779, -0.794, -0.7494, 0.9995, -0.0147, 0.7986, 0.6086, -0.3779, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2959 left_y=-0.2359 left_z=0.1471 left_yaw=-0.0077 left_pitch=-0.0296 left_roll=0.0158 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1813 right_yaw=0.0006 right_pitch=-0.008 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -6.3658, 9.1145, 1.2821, -0.6032, 0.1197, -0.0611, -0.3897, -1.0462, 7.3094, 1.7753, -0.0415, -0.0415, -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]: [-0.8925, 1.5478, 1.0161, -0.3435, -0.7177, -0.6468, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3353 left_y=-0.2252 left_z=0.1476 left_yaw=0.0172 left_pitch=-0.0568 left_roll=0.0325 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7214, 8.7316, 1.5311, -0.3394, 0.1685, -0.0122, -0.212, -1.2786, 7.2547, 1.746, -0.0464, -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]: [-0.8936, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.335 left_y=-0.2256 left_z=0.1475 left_yaw=0.0137 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.8444, 8.7043, 1.5849, -0.3101, 0.2466, -0.0122, -0.0479, -1.2923, 7.1316, 1.7118, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3f10e04c59f9701ee8eadfeebc79936f77ba10c5558c3667a6a99df6bdf9519",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0c8571890d66d0781193869a56b1b981a917754b6eb3e5deb0f85ba68e59c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e1fd8cb304dd9f5a923bcae0081218d0aa5217695cecfd6852748dcfa3af94",
        "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_01MiXBV2NLgtYB4WH1x1kNfj",
      "input": {
        "note": "The descent did not move at all — the gripper seems to be resting on top of the bottle, meaning it is ~15 cm tall. Lifting to 22 cm to get a clear view of the bottle top and locate its neck/handle for a grasp.",
        "targets": {
          "left_x": 0.335,
          "left_y": -0.225,
          "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_01MiXBV2NLgtYB4WH1x1kNfj",
      "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]: [-0.8932, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=-0.2255 left_z=0.1475 left_yaw=0.0141 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.6667, 8.6906, 1.5653, -0.2808, 0.2271, -0.0122, -0.1846, -1.2513, 7.3368, 1.7216, -0.0415, -0.0415, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7976313faf14099149da2bb0ec7cf538c34739a2b51c0dc3ad3ac0334da1bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b966c57b76da25a63b1352220ab7547115194c7ed5588c58c088a72f29c8287f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:923310aa85fcdfaebe1fcfe4eb0dc4f510baf7625dc3c9a11068eb907a99714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 19.56 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]: [-0.8925, 1.5478, 1.0161, -0.3435, -0.7177, -0.6468, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3353 left_y=-0.2252 left_z=0.1476 left_yaw=0.0172 left_pitch=-0.0568 left_roll=0.0325 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7214, 8.7316, 1.5311, -0.3394, 0.1685, -0.0122, -0.212, -1.2786, 7.2547, 1.746, -0.0464, -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]: [-0.8936, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.335 left_y=-0.2256 left_z=0.1475 left_yaw=0.0137 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.8444, 8.7043, 1.5849, -0.3101, 0.2466, -0.0122, -0.0479, -1.2923, 7.1316, 1.7118, -0.0562, -0.0562, -0.0122]",
      "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]: [-0.8932, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=-0.2255 left_z=0.1475 left_yaw=0.0141 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.6667, 8.6906, 1.5653, -0.2808, 0.2271, -0.0122, -0.1846, -1.2513, 7.3368, 1.7216, -0.0415, -0.0415, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf7976313faf14099149da2bb0ec7cf538c34739a2b51c0dc3ad3ac0334da1bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b966c57b76da25a63b1352220ab7547115194c7ed5588c58c088a72f29c8287f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923310aa85fcdfaebe1fcfe4eb0dc4f510baf7625dc3c9a11068eb907a99714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiwkKEAgRGAI4AUIIdGhpbmtpbmcSDMvimJibGUdPCflTwhoMuqv9dq0HoQilFIMFIjBN8j0YXDIcgVEi4D3EBPgLT1N1/hgQfasT9I1CXTk5qUDQGcSgSe/IlYpeILGaTaIqqAiKpZmgp2HAeeUaOX0YAQd8+lD14i9jWVQzAV5q4XOHJKBNqDRmc/5YyCrXTvpPlCyZNA/887KggocObI1egaKgojqCh9KLLRnBC6/AVdDC6Qh0+m4nSy46viex4/KUDO743O/niLa5ySlGcrL5AdsJCU1gsd3e6XF11vfHbxWNIwYvQ+dfcGp2jQV01pEI2MpA34Ok3puYweuPyTk5gM0ZX5xM6cDwjhBw7O6SfkSSj4nSgzWjjh4v82u02UJPryrl5++KNgBU+W2+br/P8Btwh9IPjioqMGKcvnymJlCBlGSXqtJOkw+0Lw2qRphN2//J+6cw9tpnCeTfxaDfGIpW8u5wPhB8JFTw6guxrGbHKXiPn7ky/lxz39BalZM/Ax/6QQMJ8hEH+l8hCv1B9SPLxx+H83+3e9EOHeaDpR/yUc/hiLirGLYHhndzy9OCK5a8yRIptQJY6Uq6ftiX1IO3XnzgVImL5yjcKNGnFwPK5CMkbhCrhwo/UFROlDBvwlG9k1UydVzl7DpfahDuTsb2ZRWXg3D9ddI6xTnHjvLWhOQmDqJ+YDrDQGag6KyFwUBR0zZv+h6UVQOGHaOfsuQTmNOdvpo2OJqVhi0X8Xqxbr2v+p+u+PUAJUjHcUu/bPPnvhDI3QneLHyEQj8wVgbnxL5d/5ucozhnYCvKsmB4+K15Eptk6+xrqThaOYbzo4B/eZzL3LnyECJvg5Rn291ICf+91FUWm11T1G1kkCnLzuVIUrsrfKGzjo0fCNPjw1F/K/Q6/ve8MiTtQ8uNjYKu/MeswpDpITuzTedM/S6xy/6LsEhknS0bvzbkG+8jU9ypalg9rgrLOn6oAuGiSlTprgDnUsG8c0SHgv/l9b7uWmwqoda6fBL2Di08U4scDH4fKjKMQYbMJoT5y4V8yakAc46tzl0mMMilmTNMhHvV1OZp3va22iggzsYz/ZJdTpPWYAaYSTYBcea8c1M281/kpV1r+F9QApEyB4rqv2gRCVsTuYL9EURKY2IvjxqM9elVUCB0+PKpX7eMJx/I8t40ocrwDT3BTT2tmG1loLO4hG4984xdxsbANak6TfCZLF0H4d3i2utZfUfZPFX8vVXbt08kKCpw7lC19GukRF15v1dzyw6UyXb+2L2xGKKvZKvPHbLHtA6zxy8a4c098F9AY9FuSO+MgwHWagASig3GrG+4jX5fXW+Qnu1wgnbJDYIgfoovf+nj1PnTTnqolvB6o9oI7jMrpoZRnt7hTxeffLzv2MHttz/PFOFX1O2BML2EEWoH1mbUiklk2AGOuSsqTmDwUxXmxNNk3bV7/5C35o0fprp+NutcL4iuenjEOMEOnf9YU2d2MgiFVnjWZRDAqrNkBndwYIWCfMvuXi/nRFtEoQantA7HlxBK9mipEkapZq9zRxSnBxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012uzZfgGz7ieFhzoyVKNAB3",
      "input": {
        "note": "The arm has not moved for two commands (joints unchanged), so the IK seems stalled at this pose. Trying a different target — back, up and left — to unstick it before re-approaching the bottle.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.2,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012uzZfgGz7ieFhzoyVKNAB3",
      "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]: [-0.9375, 1.3781, 1.0325, -0.6102, -0.7258, -0.6891, 0.9995, -0.0147, 0.8013, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=-0.2001 left_z=0.1795 left_yaw=0.0049 left_pitch=-0.0988 left_roll=0.0667 left_gripper=0.9995 right_x=0.2961 right_y=0.0014 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3504, 9.1419, 1.1306, -0.5836, -0.0464, -0.0122, -0.1299, -1.4291, 7.0359, 1.7411, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19bd670dde057c21532c8d51a696636b1707502ad2d4f5215651309fb52deb20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b60a139673a97855e4261d590c25d746e86a4a5c52492f29d5f2c5568ca964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:280bda65b8a2028751d21ec51bea589dae51101b9709bedc1fc462d7be7dd732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 10.73 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]: [-0.8936, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0143, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.335 left_y=-0.2256 left_z=0.1475 left_yaw=0.0137 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0015 right_z=0.1812 right_yaw=0.001 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -6.8444, 8.7043, 1.5849, -0.3101, 0.2466, -0.0122, -0.0479, -1.2923, 7.1316, 1.7118, -0.0562, -0.0562, -0.0122]",
      "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]: [-0.8932, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=-0.2255 left_z=0.1475 left_yaw=0.0141 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.6667, 8.6906, 1.5653, -0.2808, 0.2271, -0.0122, -0.1846, -1.2513, 7.3368, 1.7216, -0.0415, -0.0415, -0.0171]\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 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]: [-0.9375, 1.3781, 1.0325, -0.6102, -0.7258, -0.6891, 0.9995, -0.0147, 0.8013, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=-0.2001 left_z=0.1795 left_yaw=0.0049 left_pitch=-0.0988 left_roll=0.0667 left_gripper=0.9995 right_x=0.2961 right_y=0.0014 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3504, 9.1419, 1.1306, -0.5836, -0.0464, -0.0122, -0.1299, -1.4291, 7.0359, 1.7411, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19bd670dde057c21532c8d51a696636b1707502ad2d4f5215651309fb52deb20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24b60a139673a97855e4261d590c25d746e86a4a5c52492f29d5f2c5568ca964",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280bda65b8a2028751d21ec51bea589dae51101b9709bedc1fc462d7be7dd732",
        "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_019r2uwax6bL8kqYb9nxSjmj",
      "input": {
        "note": "The arm is free again and the wrist camera reveals the Clorox bottle is lying on its side with its cap pointing away from the base. Its body is too wide for the jaws, so I'm moving forward toward the neck, which is narrow enough to grasp across.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.235,
          "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_019r2uwax6bL8kqYb9nxSjmj",
      "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]: [-0.8009, 1.7302, 1.0866, -0.2863, -0.6491, -0.5789, 0.9995, -0.0143, 0.8043, 0.6086, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.2247 left_z=0.1048 left_yaw=0.0306 left_pitch=-0.1358 left_roll=0.0935 left_gripper=0.9995 right_x=0.2954 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6085, 8.9915, 1.5995, -0.232, 0.2564, -0.0122, -0.1436, -1.0735, 7.0359, 1.7851, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d550695a98f50fcc5a9ddc5ba420bc4019ee1467de13fbadcc328b9d8a36154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1168b97639eb38674a5c1dadc5cc0a802f684786b2079ba59548037e3582821b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:95ee5bd62e2f61ad0a5751d62110958c2815819d1f396d5d5eadedbc12133bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 24.6 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]: [-0.8932, 1.5478, 1.0157, -0.3431, -0.7174, -0.643, 0.9995, -0.0147, 0.7986, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=-0.2255 left_z=0.1475 left_yaw=0.0141 left_pitch=-0.0571 left_roll=0.0354 left_gripper=0.9995 right_x=0.2959 right_y=0.0014 right_z=0.1812 right_yaw=0.0006 right_pitch=-0.0084 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -6.6667, 8.6906, 1.5653, -0.2808, 0.2271, -0.0122, -0.1846, -1.2513, 7.3368, 1.7216, -0.0415, -0.0415, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9375, 1.3781, 1.0325, -0.6102, -0.7258, -0.6891, 0.9995, -0.0147, 0.8013, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=-0.2001 left_z=0.1795 left_yaw=0.0049 left_pitch=-0.0988 left_roll=0.0667 left_gripper=0.9995 right_x=0.2961 right_y=0.0014 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3504, 9.1419, 1.1306, -0.5836, -0.0464, -0.0122, -0.1299, -1.4291, 7.0359, 1.7411, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8009, 1.7302, 1.0866, -0.2863, -0.6491, -0.5789, 0.9995, -0.0143, 0.8043, 0.6086, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.2247 left_z=0.1048 left_yaw=0.0306 left_pitch=-0.1358 left_roll=0.0935 left_gripper=0.9995 right_x=0.2954 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6085, 8.9915, 1.5995, -0.232, 0.2564, -0.0122, -0.1436, -1.0735, 7.0359, 1.7851, -0.022, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d550695a98f50fcc5a9ddc5ba420bc4019ee1467de13fbadcc328b9d8a36154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1168b97639eb38674a5c1dadc5cc0a802f684786b2079ba59548037e3582821b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ee5bd62e2f61ad0a5751d62110958c2815819d1f396d5d5eadedbc12133bd8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SP4Rtyg9duvvKtbnrA7UZ3",
      "input": {
        "note": "Wrist view shows the bottle's shoulder directly below the camera, so the neck is still several cm further forward. Advancing another ~7 cm while holding pitch/roll level to bring the jaws over the neck.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.23,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01SP4Rtyg9duvvKtbnrA7UZ3",
      "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]: [-0.6903, 1.861, 1.1091, -0.028, -0.6197, -0.4934, 0.9995, -0.0147, 0.8051, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.2159 left_z=0.0912 left_yaw=0.0649 left_pitch=-0.0498 left_roll=0.0388 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.3197, 9.1009, 1.8926, -0.0659, 0.2222, -0.0122, -0.294, -1.3197, 7.0359, 1.7118, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6acd458caf19485b9cfd067466983c17430df9171c83300aad1e35940dbddc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b036deb4d75513be2038476edcd68167ee05fb4a54585b1e4fb6e752a4c9b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46cde26ecaa16bab5ee74d3ab22aa88270e4748759ec424f8c80bca981fecb6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 23.42 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]: [-0.9375, 1.3781, 1.0325, -0.6102, -0.7258, -0.6891, 0.9995, -0.0147, 0.8013, 0.6086, -0.3782, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=-0.2001 left_z=0.1795 left_yaw=0.0049 left_pitch=-0.0988 left_roll=0.0667 left_gripper=0.9995 right_x=0.2961 right_y=0.0014 right_z=0.1805 right_yaw=0.0006 right_pitch=-0.0111 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3487, -7.3504, 9.1419, 1.1306, -0.5836, -0.0464, -0.0122, -0.1299, -1.4291, 7.0359, 1.7411, -0.0171, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8009, 1.7302, 1.0866, -0.2863, -0.6491, -0.5789, 0.9995, -0.0143, 0.8043, 0.6086, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.2247 left_z=0.1048 left_yaw=0.0306 left_pitch=-0.1358 left_roll=0.0935 left_gripper=0.9995 right_x=0.2954 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6085, 8.9915, 1.5995, -0.232, 0.2564, -0.0122, -0.1436, -1.0735, 7.0359, 1.7851, -0.022, -0.0513, -0.0171]",
      "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]: [-0.6903, 1.861, 1.1091, -0.028, -0.6197, -0.4934, 0.9995, -0.0147, 0.8051, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.2159 left_z=0.0912 left_yaw=0.0649 left_pitch=-0.0498 left_roll=0.0388 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.3197, 9.1009, 1.8926, -0.0659, 0.2222, -0.0122, -0.294, -1.3197, 7.0359, 1.7118, -0.0366, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6acd458caf19485b9cfd067466983c17430df9171c83300aad1e35940dbddc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b036deb4d75513be2038476edcd68167ee05fb4a54585b1e4fb6e752a4c9b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46cde26ecaa16bab5ee74d3ab22aa88270e4748759ec424f8c80bca981fecb6c",
        "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_01Dmj3cRXUMxRGnLGByq4y6B",
      "input": {
        "note": "The wrist view barely changed after a 6 cm advance, so I suspect the low fingertips are pushing the lying bottle toward the red cup. Backing up and rising high so the overhead camera can show where the bottle and its neck now lie.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": -0.2,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dmj3cRXUMxRGnLGByq4y6B",
      "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]: [-0.8478, 1.4548, 1.2045, -0.5926, -0.7197, -0.638, 0.9995, -0.0147, 0.8078, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3392 left_y=-0.2031 left_z=0.2203 left_yaw=0.0572 left_pitch=-0.0359 left_roll=0.015 left_gripper=0.9995 right_x=0.2956 right_y=0.0014 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.0615, 9.4838, 1.3016, -0.5495, 0.0659, -0.0122, -0.1436, -1.5658, 7.0359, 1.7021, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d996c6606e0a09dbe3d8ee23e90b5b6e936702bdc85cec3148b7812cb1bef2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df577a018f84435298d7cdb2e4cea0bb3374f99e31a0291aca5c02d9df65f1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a1d36fe778adfa2dd7e2c7e98f9509feffd6b07b3b2c40da1a3bba6f5535d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 12.06 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]: [-0.8009, 1.7302, 1.0866, -0.2863, -0.6491, -0.5789, 0.9995, -0.0143, 0.8043, 0.6086, -0.3843, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3716 left_y=-0.2247 left_z=0.1048 left_yaw=0.0306 left_pitch=-0.1358 left_roll=0.0935 left_gripper=0.9995 right_x=0.2954 right_y=0.0015 right_z=0.1783 right_yaw=0.001 right_pitch=-0.0202 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -8.6085, 8.9915, 1.5995, -0.232, 0.2564, -0.0122, -0.1436, -1.0735, 7.0359, 1.7851, -0.022, -0.0513, -0.0171]",
      "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]: [-0.6903, 1.861, 1.1091, -0.028, -0.6197, -0.4934, 0.9995, -0.0147, 0.8051, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.2159 left_z=0.0912 left_yaw=0.0649 left_pitch=-0.0498 left_roll=0.0388 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.3197, 9.1009, 1.8926, -0.0659, 0.2222, -0.0122, -0.294, -1.3197, 7.0359, 1.7118, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.8478, 1.4548, 1.2045, -0.5926, -0.7197, -0.638, 0.9995, -0.0147, 0.8078, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3392 left_y=-0.2031 left_z=0.2203 left_yaw=0.0572 left_pitch=-0.0359 left_roll=0.015 left_gripper=0.9995 right_x=0.2956 right_y=0.0014 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.0615, 9.4838, 1.3016, -0.5495, 0.0659, -0.0122, -0.1436, -1.5658, 7.0359, 1.7021, -0.022, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d996c6606e0a09dbe3d8ee23e90b5b6e936702bdc85cec3148b7812cb1bef2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df577a018f84435298d7cdb2e4cea0bb3374f99e31a0291aca5c02d9df65f1b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1d36fe778adfa2dd7e2c7e98f9509feffd6b07b3b2c40da1a3bba6f5535d38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016XiWq3w5Bu1xinQUVzFwxf",
      "input": {
        "note": "Wrist view now shows the whole bottle lying radially with its cap pointing at the red cup. Moving forward at a safe height to hover over the neck (just behind the cap) and check alignment before descending.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.225,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016XiWq3w5Bu1xinQUVzFwxf",
      "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]: [-0.6903, 1.8072, 1.211, -0.186, -0.6243, -0.5121, 0.9995, -0.0147, 0.8097, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.2167 left_z=0.1304 left_yaw=0.0783 left_pitch=-0.0488 left_roll=0.0273 left_gripper=0.9995 right_x=0.2957 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.6342, 9.0598, 1.8046, -0.1832, 0.2466, -0.0171, -0.294, -1.4974, 7.0632, 1.6972, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb77ab29c5a00f955d39442858bf23e734fbb5d896c06c6b0619546f96dace41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67eee2615e58df2e4a49dd880772726ea0bbd4a2487fd7df08065ff8034846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:436bc16b3f0753cec5ab4050c4b8b9bf42630d4c7fc0a53ca271f4890a1cec65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 7.332 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]: [-0.6903, 1.861, 1.1091, -0.028, -0.6197, -0.4934, 0.9995, -0.0147, 0.8051, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4282 left_y=-0.2159 left_z=0.0912 left_yaw=0.0649 left_pitch=-0.0498 left_roll=0.0388 left_gripper=0.9995 right_x=0.2954 right_y=0.0014 right_z=0.1781 right_yaw=0.0006 right_pitch=-0.0214 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.3197, 9.1009, 1.8926, -0.0659, 0.2222, -0.0122, -0.294, -1.3197, 7.0359, 1.7118, -0.0366, -0.0611, -0.0122]",
      "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]: [-0.8478, 1.4548, 1.2045, -0.5926, -0.7197, -0.638, 0.9995, -0.0147, 0.8078, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3392 left_y=-0.2031 left_z=0.2203 left_yaw=0.0572 left_pitch=-0.0359 left_roll=0.015 left_gripper=0.9995 right_x=0.2956 right_y=0.0014 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.0615, 9.4838, 1.3016, -0.5495, 0.0659, -0.0122, -0.1436, -1.5658, 7.0359, 1.7021, -0.022, -0.0464, -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]: [-0.6903, 1.8072, 1.211, -0.186, -0.6243, -0.5121, 0.9995, -0.0147, 0.8097, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.2167 left_z=0.1304 left_yaw=0.0783 left_pitch=-0.0488 left_roll=0.0273 left_gripper=0.9995 right_x=0.2957 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.6342, 9.0598, 1.8046, -0.1832, 0.2466, -0.0171, -0.294, -1.4974, 7.0632, 1.6972, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb77ab29c5a00f955d39442858bf23e734fbb5d896c06c6b0619546f96dace41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af67eee2615e58df2e4a49dd880772726ea0bbd4a2487fd7df08065ff8034846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:436bc16b3f0753cec5ab4050c4b8b9bf42630d4c7fc0a53ca271f4890a1cec65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJmW8ZRHw6hbMBdkZqoNVi",
      "input": {
        "note": "Wrist view shows the bottle's neck running toward the upper-right of the frame, i.e. forward and to the arm's right of the jaws. Shifting 3.5 cm forward and 4 cm right while descending to neck height so the open jaws straddle the neck.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.465,
          "left_y": -0.255,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CJmW8ZRHw6hbMBdkZqoNVi",
      "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]: [-0.7055, 2.038, 1.2434, -0.001, -0.654, -0.5381, 0.9995, -0.0147, 0.8116, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4531 left_y=-0.2401 left_z=0.0649 left_yaw=0.0989 left_pitch=-0.0428 left_roll=0.0304 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.4701, 8.2393, 1.5995, -0.2515, 0.1636, -0.0171, -0.1573, -1.5248, 7.0222, 1.7558, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11eb20de9f42b2909ac370450adc46af91dddcdf2ad8e28858f79a48bf55aca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471fac78bcf436299a120fc2e34ee151b8060e61ca62933e5c578ce73db9b8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5a38bbc0cc4c43e03ecc6d47dcd5046df72409d206e4eeb32e315ec265535cf",
        "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 · 10.73 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]: [-0.8478, 1.4548, 1.2045, -0.5926, -0.7197, -0.638, 0.9995, -0.0147, 0.8078, 0.6086, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3392 left_y=-0.2031 left_z=0.2203 left_yaw=0.0572 left_pitch=-0.0359 left_roll=0.015 left_gripper=0.9995 right_x=0.2956 right_y=0.0014 right_z=0.1773 right_yaw=0.0006 right_pitch=-0.024 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -8.0615, 9.4838, 1.3016, -0.5495, 0.0659, -0.0122, -0.1436, -1.5658, 7.0359, 1.7021, -0.022, -0.0464, -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]: [-0.6903, 1.8072, 1.211, -0.186, -0.6243, -0.5121, 0.9995, -0.0147, 0.8097, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.2167 left_z=0.1304 left_yaw=0.0783 left_pitch=-0.0488 left_roll=0.0273 left_gripper=0.9995 right_x=0.2957 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.6342, 9.0598, 1.8046, -0.1832, 0.2466, -0.0171, -0.294, -1.4974, 7.0632, 1.6972, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7055, 2.038, 1.2434, -0.001, -0.654, -0.5381, 0.9995, -0.0147, 0.8116, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4531 left_y=-0.2401 left_z=0.0649 left_yaw=0.0989 left_pitch=-0.0428 left_roll=0.0304 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.4701, 8.2393, 1.5995, -0.2515, 0.1636, -0.0171, -0.1573, -1.5248, 7.0222, 1.7558, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11eb20de9f42b2909ac370450adc46af91dddcdf2ad8e28858f79a48bf55aca1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:471fac78bcf436299a120fc2e34ee151b8060e61ca62933e5c578ce73db9b8ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5a38bbc0cc4c43e03ecc6d47dcd5046df72409d206e4eeb32e315ec265535cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAgKEAgRGAI4AUIIdGhpbmtpbmcSDPB91W2awtXewmJvMhoMDxe/skMorvpKjAhTIjCErYVMDZn130TuzVlvTtWPfydZ7zXTOWVnqkLGow9iDuZcly9tscuVaHZWx7sKRMgq5QcHT469qINyKQmsMY45qeAMqiIpX4kxPX1ALg26bRTZY43hza82jdKXHOKcWLp6tmcpsfUQFrXxNZQe88Jj0QeKXx5LQNQbMYwSrOi2MqVKmS7KK8UWzni5Un0ngJjZGO4YFjyEArV0AsvPW73pB4eRT5PbSXkpQS0JPkzSZHNdzW7RM2HcNZ1Ma1uz9Vo2Cm691uAN49CQfmmw6sc6Ir8GjvP0BccdNJjTZWzVUcRCRZB13vAuOcAfZ5+ACjoOBywXZfcyqmLfP1ZUpLLSuLZdSU1DYlOOc5h29zVWPxovRTLBa3021DPcVMMbJWFFS6xEFIIXkNOPln0IhRBWArfQnzgnQt205o1cjGTpcOZKAMqR8jUy226kPxRxxwu7CKg0mr6VpsjVUuCkSq3IlsZmeR2MLyNpdYliJq3s4ZA+uNotoSORMfONfYR0cA12yoddpfMvFgHtvF+WTR5oLELkdQq7Xe5xamt6t7F3VUSTFQkcnPTSuVcKNsfo6H/gLIoAt9Y2vf6Y2ZOB3rQXoGuk3w2gKdJXr+/XF+A32Rl5R2de5PE574vdODp03G8O+XAb/xyWiWeOSOViIa0X2JuDBwVhnUxIJUf1irZf+HrAyC8/gEzIuizwiHBTQBQBTlUlxhQR9JFTNRg0K7sAREvbYc+53kWUqZ7g4LxrImxiwy2O6C47hhwsmVCRvZOdNgR1mbslfGS9H2OybpQDuD3EHinqu7j/y4ImgVwMXqlyQtVxZ7eFQUm9l3QZdiXomnnRkzQ/WdgKIeHWBjlKZCICWxQhHtqFuR6qc9TYGgRQwbWkioLIsVnRnviFCmqxPGoDDquPJV3We95nZeucQ85VTmG8bSUNslgKtbjOge9kvDlKI77kcahIBhsX/EhCX9YGB4814osDUFIYgoy52WGGjftUqfBL/iiB3S1A+/Hw+ir+qQvteJDZvkPCAXOdgmwKqhNvjyrxYNF4udX5pW3stIYwtIEDNOhwRhn1IRB8jW0QdL/udOIxOns8S0Ek3trx+6piVNR4H+rk2CexYdOsp2L1CZl6tfTXpd3xuTmKY7mdV2vl1n1xRQ0NkcFXOSh2JaoqGSlEF5Zip80atNpww6ZoqgvQtmcsU54p2FhiuSxvIsYByJTs7rJsBE/cn2bLGJ0cfBBwpCFTdVH1JO6fic0T7j32douifK7HVsZEblVSbb0w0sxH4JiVxeIKetV/wG3U2cOU5tmmZqUYm+AWZoP+ckQx0bJWIa2sUm7Ee86s41DYkfgAeMSETQEvdDDH4isERQg9HC27eXLGssaDZR4hM2dC3/1DE+2zLAMA6XDW25QwGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012GVB2VetRjrHG6nCZRk8U1",
      "input": {
        "note": "The gripper is at neck height beside the cap with the wrist camera pressed against the bottle surface. Closing the jaws to see whether the neck is captured (a settled reading well above 0.04 means we have it).",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012GVB2VetRjrHG6nCZRk8U1",
      "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]: [-0.7094, 2.0819, 1.251, 0.0433, -0.651, -0.5358, 0.0125, -0.0143, 0.8127, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.457 left_y=-0.2465 left_z=0.0527 left_yaw=0.0914 left_pitch=-0.0388 left_roll=0.025 left_gripper=0.0125 right_x=0.2958 right_y=0.0015 right_z=0.1757 right_yaw=0.001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.6718, 8.4444, 1.5995, -0.2515, 0.1685, 1.0867, -0.0889, -1.1282, 7.0359, 1.7607, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dfc3b895bb55f4347d5efb8c113325a34b464fd731bfdc618648d31f4bc5736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8396ecf103691020df629d78d2927962eb4727a3beb4352d1ad58cd03f59d7ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23ce5d7843f05a004e519400c6005c77932451d6a129f55d2947fdc10e810753",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 21.68 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]: [-0.6903, 1.8072, 1.211, -0.186, -0.6243, -0.5121, 0.9995, -0.0147, 0.8097, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4302 left_y=-0.2167 left_z=0.1304 left_yaw=0.0783 left_pitch=-0.0488 left_roll=0.0273 left_gripper=0.9995 right_x=0.2957 right_y=0.0014 right_z=0.1767 right_yaw=0.0006 right_pitch=-0.0263 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -9.6342, 9.0598, 1.8046, -0.1832, 0.2466, -0.0171, -0.294, -1.4974, 7.0632, 1.6972, -0.0806, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7055, 2.038, 1.2434, -0.001, -0.654, -0.5381, 0.9995, -0.0147, 0.8116, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4531 left_y=-0.2401 left_z=0.0649 left_yaw=0.0989 left_pitch=-0.0428 left_roll=0.0304 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.4701, 8.2393, 1.5995, -0.2515, 0.1636, -0.0171, -0.1573, -1.5248, 7.0222, 1.7558, -0.0659, -0.0611, -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 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]: [-0.7094, 2.0819, 1.251, 0.0433, -0.651, -0.5358, 0.0125, -0.0143, 0.8127, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.457 left_y=-0.2465 left_z=0.0527 left_yaw=0.0914 left_pitch=-0.0388 left_roll=0.025 left_gripper=0.0125 right_x=0.2958 right_y=0.0015 right_z=0.1757 right_yaw=0.001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.6718, 8.4444, 1.5995, -0.2515, 0.1685, 1.0867, -0.0889, -1.1282, 7.0359, 1.7607, -0.0513, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dfc3b895bb55f4347d5efb8c113325a34b464fd731bfdc618648d31f4bc5736",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8396ecf103691020df629d78d2927962eb4727a3beb4352d1ad58cd03f59d7ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ce5d7843f05a004e519400c6005c77932451d6a129f55d2947fdc10e810753",
        "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_01Ft9oqzT7upSXzx324c6vXD",
      "input": {
        "note": "The close was empty (0.01) and the wrist view suggests the bottle shifted while the jaws closed. Opening and rising to re-observe the bottle's pose from above before the next attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.23,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Ft9oqzT7upSXzx324c6vXD",
      "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]: [-0.7784, 1.7229, 1.3506, -0.4397, -0.6933, -0.6067, 0.9956, -0.0147, 0.8127, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.2343 left_z=0.1904 left_yaw=0.091 left_pitch=-0.0317 left_roll=0.0047 left_gripper=0.9956 right_x=0.2959 right_y=0.0014 right_z=0.1758 right_yaw=0.0006 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.2479, 9.6615, 1.3358, -0.442, 0.1832, -0.2466, -0.0752, -1.347, 7.0222, 1.7314, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37586b11c99eae24f47fdcf3f4c64ae07c64894fab6a091d1a0972fe0455897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:269b9e5e39303ad2facbd6050f5473e719a13fc4a48bf163b5e41f52de0d7efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ebaace0695febf8712751280124a685863f26a9ddeaaacfbdbf9ae3e848e06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 18.18 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]: [-0.7055, 2.038, 1.2434, -0.001, -0.654, -0.5381, 0.9995, -0.0147, 0.8116, 0.6086, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4531 left_y=-0.2401 left_z=0.0649 left_yaw=0.0989 left_pitch=-0.0428 left_roll=0.0304 left_gripper=0.9995 right_x=0.2958 right_y=0.0014 right_z=0.1762 right_yaw=0.0006 right_pitch=-0.0282 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -9.4701, 8.2393, 1.5995, -0.2515, 0.1636, -0.0171, -0.1573, -1.5248, 7.0222, 1.7558, -0.0659, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7094, 2.0819, 1.251, 0.0433, -0.651, -0.5358, 0.0125, -0.0143, 0.8127, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.457 left_y=-0.2465 left_z=0.0527 left_yaw=0.0914 left_pitch=-0.0388 left_roll=0.025 left_gripper=0.0125 right_x=0.2958 right_y=0.0015 right_z=0.1757 right_yaw=0.001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.6718, 8.4444, 1.5995, -0.2515, 0.1685, 1.0867, -0.0889, -1.1282, 7.0359, 1.7607, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.7784, 1.7229, 1.3506, -0.4397, -0.6933, -0.6067, 0.9956, -0.0147, 0.8127, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.2343 left_z=0.1904 left_yaw=0.091 left_pitch=-0.0317 left_roll=0.0047 left_gripper=0.9956 right_x=0.2959 right_y=0.0014 right_z=0.1758 right_yaw=0.0006 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.2479, 9.6615, 1.3358, -0.442, 0.1832, -0.2466, -0.0752, -1.347, 7.0222, 1.7314, -0.0659, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b37586b11c99eae24f47fdcf3f4c64ae07c64894fab6a091d1a0972fe0455897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:269b9e5e39303ad2facbd6050f5473e719a13fc4a48bf163b5e41f52de0d7efd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ebaace0695febf8712751280124a685863f26a9ddeaaacfbdbf9ae3e848e06c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgBoKEAgRGAI4AUIIdGhpbmtpbmcSDA8A5BrLwUp/4gtv/xoMw7um0VS3agI24WX4IjAD0TA5UZE01Q/f1Ixgx4pORCGn8fbHKNN0VLoW72FDxknkuh4hyoS3xGemDL3to1cqnRlXAFZjOu7kRslK9H/ZOETAez1yi8f+dZTr6F5YfwmPcZi3r8+j8KDybdlwmjgpOezf1ckuIO53T95W+/N8JalWvA3Vl70//IKD8Nqe8gKAE464LEJp/aaq+o5cpF3HvHa+FD7osMKzrtcnqCHTpzk0Y/tset3akpZUIGAlyPxKjBOLMIsoqHtdj7ImRGqU4LnfrBY0iqHpehlPMnrOWZKd1t+W5A+6XvHijvveYgDtYmmldqqgB1jRDtT0nwJk8vC4dKSOoAj60vXesStLnbKCectdaeB0pfr5CZbmfDBLafSCWWJXWizUbMuRhDxYSK9cIPYje60ArMAEWJtJy1V3T8G/cb8NaMrFBC4DJ8Ia0+Fm7ZZgGUSDcP5fsJ+3UxMF0CtZ+DXoXN8RkjTTCl1J3ESsDKeQg8X8lOT/1lLHFnOt47kGCe5pjtU08m+YTZD+clg/T9kuhI3l3ReVo9jsC2jDzhDppogi5/mvdsf8SNmxEhHeyYAA6VS/s/xbBkeHSo+399BACEenm2hHvfOXjyGvxtrU/CnpY3mn3Ub4Q1CSMId0INz1NeAVDe9DT5prIlDUyDMqp4lUKBOX2R20x4exS/IZYRMcQrqRmKK7hpICpTqw6Am8S2MQIBpux3/8ZBNAkcy2V+UbpNiAOJdEWhiM+zXreSh8/Eotdxwvjl8SSg+iOnslodAQKU7rU37LFp+A5yQZJrS7xFtGJtbPi76oxnvvCsCiw2lxr0+np9K2bPQHTBhV5elWONJGZj7pvwh5aB0YkQ+eaBcEtTwcu6QNgspZYFXlhQR81uTcIM/D6TjtR9dEz5OFcbl1/ieu1tctPWCC42RDcMOZQr68LAqMKDLYb2gmRBvEM2c01N+OJAgCbzGO0NzmiGg3tIvlgB1mbE8VwmbOsHYITGqCsx3jFhEdZm+JGZh+4uBOKHe6xSbOEFXf6ampI0S7SO61L7+o5NI3gc+fzLiYEMO9eVMCynLolqN8bW5dl7RUXYLh1qsCPcYIuISEL2jF7Qj8fhVG+b7u+XkkozVhuYqyyhgLKMXtiV6qDiRoVn/L+IDaxj1Q0RBLvjV1W+Y9d0BZenNlBxs4gDC2s1A2WffIDETh79hdaMqn0rCuAzvybYAYcB3W89d7mEnN26TWGkyflis5smvDlYJzKQoQorOCZ7vMZHmszM8DRBfCOaiN19wKWzNZgBjUYMhDAhAsg0KyNHhFNFKsiBnbYdsbFjui2Ma3T8HmF4JLkVKIo7XL/HxCUZAQ+8pJvxAGCqocWBdvo/BdP36FKyTo5aKUIflxSCpKu9Vx+mr/f8NEeH3oNJR8Ik9UCirIV4OEeHqe218XpVyk5rkVgFi58U39DxknpQ0QuqieH/EDAWU68krC0Ucp3FxaXreCQbhZu66kVMsLltbCYXky6ctuwGokZNqcw/o0Z4nhm5NFt0Chiymp1zgKf4Ue917a+7jyekZWoPFSHwcIHaBGIBujeFMBphTvZHvFjL+4r6XMDg6EiNrdyI/UUhCfLOsE7ohvTYxJPHDc7tQjdb3ZRtuLDmPkvKaQ98UFvPS1I5XuuEajgvVr1w3tv5vKc8o2tsGS0U3peepN4yH94upaZz3lvf7u3PlYYt1Qs8LD2x4M4JX5MLmlYVW/zixl8JGeeShA54xdQ8ZsD7M2pL3jtnAtALfG6mBrdEMIUaBwa316+/C1TPQwzsXp+z6RD9zNJWKDbjhgtEIxnt6HxgE/T2OWiiMaEh4kFcp8EiKrKjf4RUq2Z3vTBAFuWfhRzTNbHzTwdKaSgihrEMDiW9kgd6TPpzze0fj9QTD/RBqTGFhqkfzMjOYmIkdxrqo8J0ttkwE1ARu0KX/aBGJi6V2TM408sfgSQYE/samXtvzTbkzgWVdLfQb0lDF6WcsDJMur44Rv4fBoMvpJRnBsuXuH+On1FPmeFEmDSDMM9KrfDInW0YwFPDkvWe6eO2D2HHvpCE9HY13o8k6VySn2OMv1sQ0vyxeQ+vJsK/4v+xjxWMdQ7r62JCHOJjCL0+fc/WXJmAL1LoZOARIjCrPfEyVFwG/8BdHCvFdHT7Y+dlOVn5GyClcwO/1gmoYUkGlZ0qUliGOXuKbseL+udeRMzh/3c6/A7uI1k+tfHJtKFi1yxTDUpgt1wH5DKlxK8a7CbFONRSyDNBifPZdG53y2SNRYp/4df/JxBk9BUt+juOYGwLA9zn/TuhUslUnRUdLLYrpFPZfdMoz9BShVidnjKqMZVbadhjYzxzBcPr9xUytZfUleiTNDldD2hKXV5nJuSTgBxGt4NZHzbomrFgk5V274bgA/q5uEKZJKyEYS9wMgAyYEDYxLYvMMrdGRZ/yd5QDrtIoJ8z3o+3GPpko9M3TtlskGY9ZuuA2u+fJLIss+Yk5uqplEMq9IfJXWADfGWfeXsLtmEmsvq2gYU1JkBhnX2Oza2pXWbwO15tEXI8b8rNVmdQdLSjZHvb6i2tQ1QeTvFmJCqV5hQc5uuiKW7V4Hr/aCnHsEWS0YT+K60ieeMqOVWKdDK4aPn150JhwDQmbN0X23DTQtZy9r2UtczG+BwQ3e/yqEStdFjxbDYsjLsNMLWY/7IBdVaU1C0zsCHnTxIM9eCCXvmKhFbHbGk+u8xlUZJnd8DHM2WcnbNfhgoUjYJspgdSVyFHEi+F/2sBNhRRQfiQe+xsolhCOfLqvo+H6+8aXkAtve2H+z/28ICn+EFJf/2Vp8B8UKRMLL8KFzlSyAjMMqqCS5MANGvSaiBdTlxBX5pKc27ZAFz+13bREp3BN+hH8aVbJeP5TsmKEudyIVapIiL3ccmNkStNjD6ZkA1XFYDJ/0MHOhlJvaI4f1PHCK4nztwYrdI9ksDGsJ5SJeiz1AkGGzNWh1ZcaLFGp+qxG1dZYHrwyPxjwXLhFqr8YeXM0MmWDO8xCzxk+buAPa71hqIdGyP8cMSXlveg00owgeZQDrQwjdId+pT121EmEVl6SeQr6DSkMR9yvqZUXeMHotopxQ5HcMaG0Sy9y8KJrM7Wf7Jbw6qoL2zGLKU2z4kcJ73GDNrkN5Eto2o5xv1Gm6BolNvyj0TOn6Btl/9us8S87oy+TMTTFb/482yCTjLJZ4P0FqX+B+ZRmeoApXC4ANeI5Df+1bFDjGfYnbIX1oYDWK6z4b1fwQGU97LeaElGZcLfs/gw1Dx+//O9KCwAb9rv7sIJAnZGyahECUaK5gkCdtrqpjYJBf7ifOn/wUizp68jSHAzLaOcrXTclYGk8muWbzPltUvMkNNj0lkQSt9iCc1hfOuws+8FD4rCXSy1d8Cu9h7nfan525PfudzxmCRycAa81IKv1pJrQm6NtyGdwy3wmlMKrdKFiPdVulB4iGrHk1XPCsW2WLB83gAUpwh6Vh0t7PGC0lItpuvobX6PsbqbW3t7sx51Vedb6veNaPrhLltmBkEmh9IL/4Ex6ilSkPXS3CdFUN8jFxW5/xQr5P6wnn3jk2vd4cE1GGE/yS23pg86Khkdzv54ZPZavp3vBt46NOdb9e5gBssdxLf9VLtZRNNWGAVCIp5pcuJwIuJdmB+45jQWGsnnDpjf4AJNPzT3ifFrJPMZN79K7FWZR6b+eQVEwXuqiJYBF9I4D16zEBRlTs/msyWLnwUA4ceBrE6fP+BAy+E8BenkB6HTnwne9lsoNRVdtfVzqnsUPrmAi6Lmf50D6YwzeY8Ck1j3OA8730O8DzKjJ57NFuT+Rj5nS3yNcR/KC0WaLgLmovuAhXGAXfFriXE2AlMEELeHL9jFU65Fpy/tSu9nAIXkZwiRJ1Ll3h65Tbo5HyiRiFQO0w5EQSs+9HD8E2HwT49LQKoJogonkm0GGOdd2RuJ3lslcBcWJsPCCT5+LsNikhBhtcFArH+aH0tHyeD4Wl+iRRVWnn0HL7CeNBolFDxDkPOkzIcV0ct5ob1NE+Sf0XgIrNCnBg1SMpsXlQyrTmgD0hd0FucSoBh4ZSfgA56VZp7pvaPLUrczc2JbeRy9Lu0ZXJ9CULHV5akc3LeZiTTlfmbKWf63SIXio6pG7UNoZh0qe0jcglxzJCqCUs5U5aV85artMSTS+Ak2bvW9BPhNx3QELWp+sEPNx9IquSBQ6SSrOFPCxcdMHrmjCBUwJZ+XD2Ahb2LAanrqhsQJJHbYtVFyjYtyWYqC2Tsz+HguMHh+jaBzqymN5ya/9dpVRg6HhgXoIWXbfTjLd/69AVGI0S82YbkEwnWT2UTLMt6iog3QxGXHk8XHkgWpCZqQHpBmONCBMat+avFiPDRA6cmYlmruokJiH6LTOpI6oBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012FSE25XWbVDvqE3C4TzLTS",
      "input": {
        "note": "From above, the bottle lies diagonally with its base just ahead of the jaws and its cap pointing forward-right toward the far corner. Moving forward and right to hover over the neck region near the cap.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.5,
          "left_y": -0.3,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012FSE25XWbVDvqE3C4TzLTS",
      "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]: [-0.741, 2.1567, 1.7115, -0.3641, -0.6868, -0.5991, 0.9967, -0.0147, 0.8146, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4879 left_y=-0.2898 left_z=0.1312 left_yaw=0.1197 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9967 right_x=0.296 right_y=0.0014 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.6718, 8.7863, 1.4383, -0.2125, 0.3736, 0.1001, -0.1162, -1.4838, 7.0496, 1.6825, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa4d8ba85a59acbc2874eeac026a710f3bcac5652da00fe42f0b287ca273cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d96527379a9423fbff8db531e17a54f6d8caecb74acda0f01cd866ca28ac6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bb14b83c25d7b5d63bdc7c11e002ef961c2403e8049d857e66663a60ee5f859",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 28.96 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]: [-0.7094, 2.0819, 1.251, 0.0433, -0.651, -0.5358, 0.0125, -0.0143, 0.8127, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.457 left_y=-0.2465 left_z=0.0527 left_yaw=0.0914 left_pitch=-0.0388 left_roll=0.025 left_gripper=0.0125 right_x=0.2958 right_y=0.0015 right_z=0.1757 right_yaw=0.001 right_pitch=-0.0298 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -11.6718, 8.4444, 1.5995, -0.2515, 0.1685, 1.0867, -0.0889, -1.1282, 7.0359, 1.7607, -0.0513, -0.0562, -0.0122]",
      "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]: [-0.7784, 1.7229, 1.3506, -0.4397, -0.6933, -0.6067, 0.9956, -0.0147, 0.8127, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.2343 left_z=0.1904 left_yaw=0.091 left_pitch=-0.0317 left_roll=0.0047 left_gripper=0.9956 right_x=0.2959 right_y=0.0014 right_z=0.1758 right_yaw=0.0006 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.2479, 9.6615, 1.3358, -0.442, 0.1832, -0.2466, -0.0752, -1.347, 7.0222, 1.7314, -0.0659, -0.0757, -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 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]: [-0.741, 2.1567, 1.7115, -0.3641, -0.6868, -0.5991, 0.9967, -0.0147, 0.8146, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4879 left_y=-0.2898 left_z=0.1312 left_yaw=0.1197 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9967 right_x=0.296 right_y=0.0014 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.6718, 8.7863, 1.4383, -0.2125, 0.3736, 0.1001, -0.1162, -1.4838, 7.0496, 1.6825, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa4d8ba85a59acbc2874eeac026a710f3bcac5652da00fe42f0b287ca273cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d96527379a9423fbff8db531e17a54f6d8caecb74acda0f01cd866ca28ac6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bb14b83c25d7b5d63bdc7c11e002ef961c2403e8049d857e66663a60ee5f859",
        "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_012buvTFutnedBVUfXe5sBac",
      "input": {
        "note": "Wrist view now shows the neck and handle hollow to the left of the jaw column, running forward, with the blue cup on the right. Shifting left ~5 cm and forward ~3 cm while descending to neck height to straddle the neck.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.52,
          "left_y": -0.235,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012buvTFutnedBVUfXe5sBac",
      "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]: [-0.6094, 2.188, 1.4658, -0.0513, -0.6197, -0.5037, 0.9968, -0.0147, 0.8165, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5113 left_y=-0.2274 left_z=0.0611 left_yaw=0.151 left_pitch=-0.0449 left_roll=0.0258 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7829, 6.188, 1.6386, -0.1685, 0.149, -0.0024, -0.253, -1.5385, 7.0085, 1.7265, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42edfe28793112d59cfb2b92ac8d6743db567cfffbfd6e5602e02b5a7e520993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b81466b60467452bf6991e35ed14a18717214ede49112360a9261f4b12cfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d8fb886b68749d7a097bd306e87e944c71c3590e8257ac23a54dd3250133d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 6.416 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]: [-0.7784, 1.7229, 1.3506, -0.4397, -0.6933, -0.6067, 0.9956, -0.0147, 0.8127, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4035 left_y=-0.2343 left_z=0.1904 left_yaw=0.091 left_pitch=-0.0317 left_roll=0.0047 left_gripper=0.9956 right_x=0.2959 right_y=0.0014 right_z=0.1758 right_yaw=0.0006 right_pitch=-0.0294 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -11.2479, 9.6615, 1.3358, -0.442, 0.1832, -0.2466, -0.0752, -1.347, 7.0222, 1.7314, -0.0659, -0.0757, -0.0122]\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]: [-0.741, 2.1567, 1.7115, -0.3641, -0.6868, -0.5991, 0.9967, -0.0147, 0.8146, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4879 left_y=-0.2898 left_z=0.1312 left_yaw=0.1197 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9967 right_x=0.296 right_y=0.0014 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.6718, 8.7863, 1.4383, -0.2125, 0.3736, 0.1001, -0.1162, -1.4838, 7.0496, 1.6825, -0.0757, -0.0562, -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 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]: [-0.6094, 2.188, 1.4658, -0.0513, -0.6197, -0.5037, 0.9968, -0.0147, 0.8165, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5113 left_y=-0.2274 left_z=0.0611 left_yaw=0.151 left_pitch=-0.0449 left_roll=0.0258 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7829, 6.188, 1.6386, -0.1685, 0.149, -0.0024, -0.253, -1.5385, 7.0085, 1.7265, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42edfe28793112d59cfb2b92ac8d6743db567cfffbfd6e5602e02b5a7e520993",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9b81466b60467452bf6991e35ed14a18717214ede49112360a9261f4b12cfc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8fb886b68749d7a097bd306e87e944c71c3590e8257ac23a54dd3250133d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0iQKEAgRGAI4AUIIdGhpbmtpbmcSDBw/msO50UitzX8LOBoMR3pVMKWNEJSLxYJwIjAKr2EYd7NPyywTogHWRrRBhYTlJT+UTXt9E0uwicsEFy+2FWDjG8EmyJF5MiWi7rkq7yMEinFc0DlMp4OZREXJdNVhkbJQ0FOfa+UyG4ZyR/9Rmm/qv0OIgqlqzkDef+0l5WGvvbpMdUsFS2VVCqGx1MZXW/MRXVj4sFIvGalDKhqdo/0RdXzjTPJf0G99TtF7GWqMbaJeZZNBOd9R39FAqpArnclscrd2woLrGmrliiI090OV3RbCO5zfKed4+RuElmLK2WKeNLx1AihParsdHPZiWw6qr7njnJuAZgBQIySD7wmzESeIK6cBG4lK2hMVjy/yUjfYxLJkpyS5bDKLfI6KPV1n2JZtxYZk0UmcbTRvRp5pKUfUw4CFN6Np1QbYvNjrWEzap0cwK5g0z4X6RxCqtD5haGBKVCOypvIYCPbiDcb7NZXONgaoxGA1xxgtkL9I+JD0bqNNHTWXTNj6pbeQH5Yk8UqH4TfUUwVQiXkR+8VFsfDVw/7LAqBhLJftViinWrcIDluQMeh+j1Rmc2bzOMpfccx/QaTswZnCzst4ue7Ox1bihhA7mytnRmgxe+yh+qkU0F+HLWGEYhleJkJQQRrg9VqCkC/UQODHTeJowhxLINvhI89cpSHLlo6hlIg0gfQKqUa/v288B0FUGPPYosh6EfTwAOSbBmEmSkT+qX3Vp5f6+iALT7Kp5s4wWQ03rZUvhu4OepezwcGrlkIPdQUxF8J93XnnVtdVH6bkti3gbWokAHMOp6JDaHlsYXF0fS2TGMHsNvWvIzfcr8dy40zOwmcTDf+USb12goo14bdJn118sUhHnd0YL+dhQ5/fUMEzl9W4ZKiWitBNLhiT/X61enuxqht6gCLKhXNPo9HCkHhP70jNQpwv7UK0FpYYsdr0Hc5jY3saNWSZnQWRKtxtevHfkydsrJzwI8/W95/kxxlg0+GuDSDh2zWYEH8U20o6BgNxgIEinEi5IGt34BP47QlNOnmXEAixfuDkCukWO9SlYAjvwWy6HNubx1p2yySy18Fx/x4VAS1Lw440IAQws2fhhxe2GDkx+kNmwsG5mX9MReQpuNpCua3WzBcfcpAKToHp1pNIkesAyXmRQ0otJ4koOoMFEVc9k0w0GUolKNZd/6cl7WNbx0+7nhsugyraeGO5ODTqvZzJ+DsUA6nSNKnhiXfRfwjL6pMxBzabNRy9r8M2e6z4oRTqa/UBUD3dtwJksxA582yUl/Yq9WL13KfNo0IK8axe6RQylvA63T6AVz0g/NMBsdGeUUInhJt3/rCOyI+PHVi2rrTaWRj5/Qa9VvbLC/XPxOeC1yjn0BD1Z9oAF0pm8EfOmbk7mRRXV4Vv9lEKBEjXalG2U0ZF/i6po72TrlTUrE20wxr17Wcw8NEhIAWB9UOrvDh8G6oggIqvSxzh6dB0bNbRG6DdI37nU0qWbIU1/Jsha4e/iIAywX0moflgkkZj4Fhv1Kbb3tY4EvSUrGMQqJHFIZw3+lq9Q1U8gNBIAxEW203IJ20eZhNcvih6TH1ce5QUsFkpsftMciX/peRya+6qqQNKPVrpVpQKjAbu1b/qpzOKH87EtzSPYWg8OvCFulwVF1FGUzgnPgOg+7Ik82inbInvSxIdePC1/QSrBCxqA+WPJ8YnF8ekYoURhu+BDuzYywgJDrQrpnwzoJuGt5s5GErWNFLAK7NrY7HrpxjFsR/aNRT7xBdPFwSMxIoPwZGGAItfX2z09tEfIidCYA2g5Ci66SJMNIjapXoy2DRK5P6zWN/RWHwuJDYCA8f5K8bzKlObJOuGnnveO98CVSz/nX1a1iDFGaYSDG/dtpJcz4wv4ssx/VnkTbJM5GbvO/2TzuTG1BmRsOeNlhMrB15h5IqIXVE6ykQxRYM4pqTSQw4MZwaXjOQITxA8IPflMJOGAwL1oitmJWQVDA0kFeeLPxxy/6u2FMfNN6l6hdWevVloSz4ePLT3Kb/MihgIsV0PYAhqyBRI8dwh4UEsyEWf3NTnc5XX6zCh/Hi66nikBAsfbXQD3YcEfF8LbPtObzhjT5+QliP8w2JRaOfI4hKA6UC2+YRgL/RAMAR68VkYtdldASj7eegy+K2WiuZl0qXFEeCrvQY5sttaiZnjMY+ECtu/QFBUrKSQOONUZ9Kg3Izlx3qDGPi+YrX+aws/Bxwk1tb2tOCzDd4wJxo8q8W/fjl+MHOWsh57Xtm7YmQF9iyojCcywBvHvctI9xlJo23PpBSG8ai0kSKocvLbnis8JOi7uMdqAYqFxNqOtt7BA81WwkGCAuxMe1386BRFEvdVf2cpjmjy+MxPRIohr736HY2oM/Vgkh0PpU/hFcZy7iM5WyttcnZKGzBCXcanS9eUwiOZF+3nwsareWnoGSrW86mkHK3ciDpaFqkVylOEKOxmGs71Lo8lRxt74a+qPB3lGlCuYPFGgRu6nHNL/2aLU3y7ToN1vd2V4nJ6xVY4Gj7u83Xuz6FBcOlXnbj1Bap8q0l6DjiiUPjkYeDpN7NHOTQCguYGU365VykJIBmLPyEHpizlWWVmdu+ESB+OURUDcXM9howKjpIoovjIYKy5ib8M4dpzNAG3qxQOVjhtErFJafqr2jAnCMuXqLCYUsEQSc3CNPTzCckLrsmaomT3F5uDYUSRcdrxTpz4gK2rXrMnC9MbBhZfZiQsp16ivTNe6Q5cbZUEIBGVWcpS1eryU4xixFlLA6lRghgkCnICeNTfd+YBUFM5Zrh4YrCzWjotkUPm9nCNHKKG49SK+B8jjicZO7yPhl7ip9lWKKicpOXpfFEa4ir7nVV45vRi9/KufY/fP5uHQeyAnkCOz1CxZ/d9D+KUmSaRLDsIwKwlJr98udgsnEVYZpJMruyu+NgTZ7spMOEwxVg9Tf/qyWJuLLgYS3JNMH7XiNK58gGvU3DI6yA/qXVzqEksgGcB9axXXH4YrqY7cTgXRAyNXqRqVVhAKnNxeG+RTDsSA0oomNWMIsD8KlP+nUgtAk1qxChKiIYabpl9T0yt8ahOnzBa3WGwy3ipLwZ3v0oyYwT2XNhQwU9SgukngyoPR9eDhiDCpe74zxxMBbqN1S6JPXBwzEQT6FmACVrW4ZAScDaaQ3i6HuDO4dXQdS3tnb8zjHTSBF8P8OkOY0//XapGBGKF2ziJ91UySn5twQqXVNvDXDwsOdxOnbzikAqKtKxC37DWBnfE9HjvaReTs6jNRTLFQ6/G9jUON7/8reIkM1KwgX7XzN9nn88CTHklnk3wOrrsdqTDedzdWc+CEbDLQ9y8wCVTuIvDYIzMr2T1YFbsZscNdRW10VaAYQ7KbqbWbTYOXsiGARlYqtl0+0+nq+xA5TBQUU6c4iwjvAGEZ59ZSOMM8zcodyK9lYPVpVDQKVSesV6y/f99kI3h9kNHFAcnYursqdLiFFBG0LuChcIj5m8opjdb0WJIFxU/IZ3GZI4PF1tHNTRF9NzxE7Po3iynaZhUAtU8zM/aOjs/6znqe37c3An6a1h6wAg4aumb3ySwI1R9VdSKUtRnNC8JRasJPUMDScLICCF0A0RHAmxOUPlMBby3EeIzfu1NnaiDHmYbm4mp2GgwZtxBlm3FxQHGbV1YWUWsLN4FjTqVgP4l2IgqIHtmRIlgb2iU2HPhc41Pu1PysXghFXNhi69Kfi/A7EDgY4HdSnD8/6QkiF2W6VAn2Xe5AbCtePJV9mTHAouX63MSeU+cKxMecE9/efGuhod01OlgijN3Y7NBXmZ9EIKX6fU0/7SmJp7BJ+x0JoqRmSREJOrC03NiUYWnEcSQDBV+251k1X56YRI1n8PAd9hNv7O/bX5nuMIB5/K4Au5xo4pebi1fGW/Nev91UNxtxn0dSv9mbtp0Ry8iKWNwb9WONSQPvhQ03840VRQwdlTTWFna5nka66wsNQ3xKp2phR8bynH5Kkp1+2GwkezLodKJgh0aghJIcZ4/HejZ4lfdgq67d/OEXop7/uYhSllkiubIZdBoKIGXSZEIQt4jlcUapbtj/Avirvqc6cRZ/fRTb/4TjpVg595K79MwEaPKHQW/3cA4DCfwG8W1q3dND/MWach8ieqoozmQw4hgHSEUVtFofb4n/WujY6ce6vx0aqTgplRjmo3V5uv3Goaklzt4e+Y2ki7I2LrhK0smTOGJPuLyIrJleLP1Mcrj4uOtAO+DLBPimIMD1cTmUtM6XWyIV9gIlNLKaCZzQrfbQYsLxHqFxlxPLqeC4hgKJbuSahwySMU1whGIX1HOXsDS4AEHtbz4OUstf5mwM0O9+53p5EGCt1dWrTv70bVdHfltl5VA8bPbEBCboaVXaFldDj2WnZUaEhX7rYJjEBrF1AtGHGj7V0bwaQ2+zy/S6MkTFvquXUiBMFFqTucAIXJbfegOUgCCRQ63epBXu84XnQS2zpDzJYmZgO1uGPqfnMGvwBw18ADQ6XVQiyCTn0tDpdBvFdzbtBG+O4fpcZ12HLfL6ES/pHU+SG0Ew9HamWPvQBvFobvQQtnBo1YJsaVMTcW94Tcn6jDlBjzM3IPvwgVBozB8sFHSwbQ+YnhXHtj0zHHoTkVenB0cEZUGs+H/LVpL6Vn7Dp6GPPKuGe0PZLu8/z6xFnI1ETcehob5W+/5cSGuCYkZgC9zFj1ck8rN2C+d9e4NnbZNbOrv2q33voHCrdSHh649Bjygu0SWyU7cEacvA22EOGkBZPcrGne8lIq2Jd+Cgtvij/jFG9xfpyWdblVp1kkJCHf4liIW2v3yu9B9vsaWSEnMIogU4GVF2UIE0cEoO18nltsm54OwNs7f04eqa7+pM4DTLyiIYgmncZv+eygNnHn3Ro+//3d9qUjebShiSgoOztCB62GmJWMT15GVot02ZjBOecGF5fqoP+2jNgVWX+DCqp3PBXEy/gveZ4VjFS0dV6Op5xAdx9aXFjmPte+Y+7Pc2k4ZiwN1RV/h/pYwuX91quW+CcJ7cYhIaYBgqOrDMJNJISGsJ2icl+lVuHWoSN2QTfDHtrVOCeSSSWW2L9mT27CzxsMLPM4sewwFU80/jgR8aSYpSHo2KxijDvdr0PKWv7TMZYEfEHpBtmvgir0JE17F361dzWsWSthr1giF6ZSVJJiYdbMtHBspkoxheCKaAYT8krPbX964DCsUEHx7JZLM3TGqEPvzdo8k16ZeIYGxFx+45sOLbqsIcfrvDOWZUpWDlUa9TBmZy6PyM9bHvOPraEeVld83O0mgd4qolmfdKULVxHNA3nws/KXiMGfIgC6ay3gRWyahpBWZYG/+ispJgjMTzBNvWAWLVmuTZenmdPIyLNWp5+WLhb+szHEQtcv1YOEEusQYviOznBjlj5TjBO95ABAgqGbyQSszaqEaCaszMFV6F8LYi0H0aVoDJVm/s4tgPxgg3RA8HbH/fUf35HPiL9Y3mexVmtmSEFNHKvcP+lFrDw3zSlduSocxIKCNEx2qRVMB4U4Ozf4WGOlc8HcDmcvFOPyVvwXsuJA5vJxKJu8gsKqtIu4LVmTxwHSBrE/KmNJ3Dv9SHRMKXaYDKwaMS9dwTIVXoTOoAbeBmv8LPAYDH5WOSPdoDcpSZP43E5ARy/MZZjgkzAbZ+u6CFSlAGmmyN5bgQaKBMaj8hyqrhBPNZeIIzrvxn1OpwC19e7Znf7uBV9YIuyCNfGrDVjVFujhb/ChxtiaZoQrWbob9le+KJ7wtRj/V6Zpgsuq3bCZIeFmEikkwbhgd0SfgG8t7JeXgp/Dv5ZCI4AgepoAxsdJu/IGRKjKzRUTSvXNgOfciwft/2+WwI1obKHyQp3XKEQ/wUGG7lj8badJvm8SIGf0DNFR9rFoVO6BJYB4IJBoCE17GNhTSmxtm1HmtYVgkwA2eWCMIeLzvokzLdi7Fz3mGSASoVBCPJ7iXfgIts3196PaBdeQG+Cxn/qGDhzkmt/+Yxvef8PBj9SP/hVzU3spULXZ0jYF6HvX0jvOtYMzaNYZU0hSFLq6LqlQUZXlHh8N4ePm/h/UQ4smeIk/Iu/gNJ562Q+LkF+302bQ5m7PTKHpV92ZUH7kl6/9uRnuq6uzEXnivAsA5Dwk52GhaI1WmZIR+RMiSt5qH6zVswl13bmwJR2JArHANUDNh06ZwfjIpMIfuJr9v7iu9jciFdh9FU9UMzeGRT7489JrxCIGbmUVN4q0guoYrMe3D9O17GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JijNvTG1gkN23ZNvmW39yK",
      "input": {
        "note": "The top view now shows the bottle standing upright just behind and right of the red cup, close in front of the jaws; its body is too wide, so I'll go for the neck below the cap. Rising to neck height (~20 cm) with a slight forward pitch to extend reach.",
        "targets": {
          "left_pitch": 0.3,
          "left_roll": 0.0,
          "left_x": 0.56,
          "left_y": -0.255,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01JijNvTG1gkN23ZNvmW39yK",
      "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]: [-0.6128, 2.2196, 1.5215, 0.0143, -0.6762, -0.4179, 0.9968, -0.0147, 0.8173, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.2328 left_z=0.0797 left_yaw=0.1442 left_pitch=0.0435 left_roll=0.0641 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-1.4291, -15.7744, 12.1094, 2.4054, -0.2808, 0.3297, -0.0073, -0.2256, -1.4838, 7.1043, 1.6874, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7103b7b6c1de38382c63d0c0eed8db6a8f222ab48d329d25250a4b9f63b87075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea2f6109eda855e06884f538953319813865403d5f6320170f914e9d0d82c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49ac56bb9a722ff8bff63e6f5bfcb885f0baa770261348bcfcd04989c25f9563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 15.66 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]: [-0.741, 2.1567, 1.7115, -0.3641, -0.6868, -0.5991, 0.9967, -0.0147, 0.8146, 0.6083, -0.3851, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4879 left_y=-0.2898 left_z=0.1312 left_yaw=0.1197 left_pitch=-0.0336 left_roll=0.006 left_gripper=0.9967 right_x=0.296 right_y=0.0014 right_z=0.1752 right_yaw=0.0006 right_pitch=-0.0317 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -11.6718, 8.7863, 1.4383, -0.2125, 0.3736, 0.1001, -0.1162, -1.4838, 7.0496, 1.6825, -0.0757, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6094, 2.188, 1.4658, -0.0513, -0.6197, -0.5037, 0.9968, -0.0147, 0.8165, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5113 left_y=-0.2274 left_z=0.0611 left_yaw=0.151 left_pitch=-0.0449 left_roll=0.0258 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7829, 6.188, 1.6386, -0.1685, 0.149, -0.0024, -0.253, -1.5385, 7.0085, 1.7265, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6128, 2.2196, 1.5215, 0.0143, -0.6762, -0.4179, 0.9968, -0.0147, 0.8173, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.2328 left_z=0.0797 left_yaw=0.1442 left_pitch=0.0435 left_roll=0.0641 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-1.4291, -15.7744, 12.1094, 2.4054, -0.2808, 0.3297, -0.0073, -0.2256, -1.4838, 7.1043, 1.6874, -0.0317, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7103b7b6c1de38382c63d0c0eed8db6a8f222ab48d329d25250a4b9f63b87075",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ea2f6109eda855e06884f538953319813865403d5f6320170f914e9d0d82c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49ac56bb9a722ff8bff63e6f5bfcb885f0baa770261348bcfcd04989c25f9563",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2QcKEAgRGAI4AUIIdGhpbmtpbmcSDAHd70APzmoW2zsSZhoMfPkDOIl+AKhZ8WU9IjCqA1WT4et1UilaecAAbOmDxmnSa4FYg85NAtdmn/miSFqU038pT4RFIfZuJBZig4Iq9gazDss3I7BQa8HtyVuxhy/4PvkKtn21X2CIFMHcG/owsRLo1ius02CiazzwiqjfYYb3I4q1TET3cu8TTUr081qCLHISiecsrQH7gXQqBA43eKP3dRjA43dnk+SsZaqooPnd0Wj2Ysmd2j1oVDh3SdacVphSEsxb+il/3Qlw2HdaJOGiCf+WC9XdCz0T6MrRIH3zNiPh5FS2RexMFcRNPQOF8JCqIIN+9sG2hF8tSzZhELyQtqcXp0aBnfIi38ss2hW6xjTZkRv6lvh5497PV4c/5ZQb5EZJE4eobxcS/n3C/KoSo+T5wWLKhJzLDAhqaOYNMbsS+d4P9VGN6vq4E5qgKayr1UFm1Z3iHCOQjLE5ELrb/y62KAFGtTxBRUlQy1f0rSX1FFdvxUwDTWE9ofcBScLIa7eIat1Q4KTAcYaQcE6NCZuTIpeZ49DAhAQtX4pqBJ376zWphbowHZfICA0nfJbnUEVblSS5rfK5U5l/z63q4LfziSVnzWaFXsXC3qOpr9/r6E1gYdbIKFrZdogwgPacgCAEy+R8ksi/7IInzoIv9B4q+8qjA2aiB0EI9HdVEAicYUHUeJwCPY2bfhPKNCYbWNFKVPEhSJ9l7bTqcOivlXd8BUmIAYQAa1WiQHoFi/NHlPtOUg7DK+3eXbrQlMHTqM6eOSBjjv/ttTqyIcUnZpL/htL+ynSpT/MUMOHY7YGrnpZkrJhcfoTmk+H2yFBWTlBJHLX2SIJIS8dZQ9X6FgeP+OBDeOMIvo/6D3o5JemW3m4vlQ4ITG2EyoRdxWZgn3+5LlzfUJ7U6cIrRU4cc5cBovwx2I/waFyRcSmey6rsdhCHWfDGOOZ3RWQcU/2PsNpH4QNJ1BuuMUjNyhNn2dNjOhOy0bfXUb0rsVC2/vrl4eqPpvWzC8QriDxW7qJI6YXimqQnW87JEcnnsIKRetiNW26La6WfrDdHyfokIDp4YCio4QAZYgGCfh08PKyz9AH6XgEaxch2mxu/1FE37CjMpc51rFDICU7LgupgTzf6t7FGS7Z+5BPd7s8fcQv9i4Ppt0fpGaKcPXC6iZ8N/39clgcw4YoqqF32v0JIbDpi/18pCZS8VxbkrF0Aa3u3djsEU/lSlFHqgDCwHCPvwEt8aBLxh+W/AerrujFnBjl8yYayRyvH1QV3QaXI0yLh3+8wGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019F8iMMYT3Wh99kYuqVcXG9",
      "input": {
        "note": "The arm stalled at the reach limit (z stayed at 8 cm instead of 20). Retracting and raising first so the IK can unfold, then I'll re-approach the neck from above.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.23,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019F8iMMYT3Wh99kYuqVcXG9",
      "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]: [-0.7513, 1.805, 1.4601, -0.4366, -0.7116, -0.5941, 0.9968, -0.0143, 0.8204, 0.6079, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.2386 left_z=0.199 left_yaw=0.1239 left_pitch=-0.0022 left_roll=0.0003 left_gripper=0.9968 right_x=0.2953 right_y=0.0015 right_z=0.172 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -12.1778, 9.3333, 1.2723, -0.525, -0.0024, -0.0122, -0.0889, -1.1966, 7.0496, 1.7851, -0.0366, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226815dedd2699403c33116f8dc008a52b3f3c87deb505e7cc52d4f5feacb69f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f04b32b69eb54edb27bb0941b4507d8251b8065a620985f79bc5c1880398448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f2430914082d4b05e3b27fc1f2acc357dabd37f1dcb2ac8b04fc272f4db460f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 13.53 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]: [-0.6094, 2.188, 1.4658, -0.0513, -0.6197, -0.5037, 0.9968, -0.0147, 0.8165, 0.6083, -0.3847, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5113 left_y=-0.2274 left_z=0.0611 left_yaw=0.151 left_pitch=-0.0449 left_roll=0.0258 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1747 right_yaw=0.0007 right_pitch=-0.0332 right_roll=-0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -10.7829, 6.188, 1.6386, -0.1685, 0.149, -0.0024, -0.253, -1.5385, 7.0085, 1.7265, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6128, 2.2196, 1.5215, 0.0143, -0.6762, -0.4179, 0.9968, -0.0147, 0.8173, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.2328 left_z=0.0797 left_yaw=0.1442 left_pitch=0.0435 left_roll=0.0641 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-1.4291, -15.7744, 12.1094, 2.4054, -0.2808, 0.3297, -0.0073, -0.2256, -1.4838, 7.1043, 1.6874, -0.0317, -0.0562, -0.0171]",
      "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]: [-0.7513, 1.805, 1.4601, -0.4366, -0.7116, -0.5941, 0.9968, -0.0143, 0.8204, 0.6079, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.2386 left_z=0.199 left_yaw=0.1239 left_pitch=-0.0022 left_roll=0.0003 left_gripper=0.9968 right_x=0.2953 right_y=0.0015 right_z=0.172 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -12.1778, 9.3333, 1.2723, -0.525, -0.0024, -0.0122, -0.0889, -1.1966, 7.0496, 1.7851, -0.0366, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226815dedd2699403c33116f8dc008a52b3f3c87deb505e7cc52d4f5feacb69f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f04b32b69eb54edb27bb0941b4507d8251b8065a620985f79bc5c1880398448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f2430914082d4b05e3b27fc1f2acc357dabd37f1dcb2ac8b04fc272f4db460f",
        "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_01Ro3NNwturm3zvY6NTNMwWG",
      "input": {
        "note": "Wrist view shows the upright bottle straight ahead on the jaw column, ~6 cm beyond the fingertips, with its neck at about 20 cm height. Advancing at neck height with the tool pitched forward so the open jaws close around the neck just below the cap.",
        "targets": {
          "left_pitch": 0.5,
          "left_roll": 0.0,
          "left_x": 0.52,
          "left_y": -0.245,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Ro3NNwturm3zvY6NTNMwWG",
      "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]: [-0.6701, 2.048, 1.3216, 0.5468, -0.8162, -0.152, 0.9968, -0.0147, 0.8211, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5152 left_y=-0.2395 left_z=0.1948 left_yaw=0.1474 left_pitch=0.4378 left_roll=0.002 left_gripper=0.9968 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.0291, 7.1863, 2.0098, 0.1685, 0.3199, -0.0122, -0.1983, -1.4838, 7.2821, 1.7167, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d27f4080132d68756139ab047a94f25f45ab0aec232c27e87f778a9f4b0c9f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c231e31ae299a53610478cb4bac5f5711ac3a26a9e1d1492bea09041b7378f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1580452ceaf3ec8bc145db9ffbe0269427eb666c4ac73235f613dae132315d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 14.09 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]: [-0.6128, 2.2196, 1.5215, 0.0143, -0.6762, -0.4179, 0.9968, -0.0147, 0.8173, 0.6083, -0.3855, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5295 left_y=-0.2328 left_z=0.0797 left_yaw=0.1442 left_pitch=0.0435 left_roll=0.0641 left_gripper=0.9968 right_x=0.2961 right_y=0.0014 right_z=0.1744 right_yaw=0.0007 right_pitch=-0.0347 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-1.4291, -15.7744, 12.1094, 2.4054, -0.2808, 0.3297, -0.0073, -0.2256, -1.4838, 7.1043, 1.6874, -0.0317, -0.0562, -0.0171]",
      "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]: [-0.7513, 1.805, 1.4601, -0.4366, -0.7116, -0.5941, 0.9968, -0.0143, 0.8204, 0.6079, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.2386 left_z=0.199 left_yaw=0.1239 left_pitch=-0.0022 left_roll=0.0003 left_gripper=0.9968 right_x=0.2953 right_y=0.0015 right_z=0.172 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -12.1778, 9.3333, 1.2723, -0.525, -0.0024, -0.0122, -0.0889, -1.1966, 7.0496, 1.7851, -0.0366, -0.0757, -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 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]: [-0.6701, 2.048, 1.3216, 0.5468, -0.8162, -0.152, 0.9968, -0.0147, 0.8211, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5152 left_y=-0.2395 left_z=0.1948 left_yaw=0.1474 left_pitch=0.4378 left_roll=0.002 left_gripper=0.9968 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.0291, 7.1863, 2.0098, 0.1685, 0.3199, -0.0122, -0.1983, -1.4838, 7.2821, 1.7167, -0.0171, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d27f4080132d68756139ab047a94f25f45ab0aec232c27e87f778a9f4b0c9f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c231e31ae299a53610478cb4bac5f5711ac3a26a9e1d1492bea09041b7378f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1580452ceaf3ec8bc145db9ffbe0269427eb666c4ac73235f613dae132315d10",
        "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_01SzA2PcWFJRrEAtzxo8LgyZ",
      "input": {
        "note": "The wrist camera shows the bottle's open neck (no cap) centred between the two open jaws but still a few cm ahead of them. Advancing 4 cm so the neck sits between the fingertips.",
        "targets": {
          "left_pitch": 0.5,
          "left_roll": 0.0,
          "left_x": 0.555,
          "left_y": -0.24,
          "left_z": 0.195
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SzA2PcWFJRrEAtzxo8LgyZ",
      "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]: [-0.6224, 2.1685, 1.4101, 0.617, -0.807, -0.1215, 0.9968, -0.0147, 0.823, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5463 left_y=-0.2306 left_z=0.1785 left_yaw=0.1819 left_pitch=0.4628 left_roll=0.0039 left_gripper=0.9968 right_x=0.2954 right_y=0.0014 right_z=0.171 right_yaw=0.0007 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.2598, 9.5658, 1.8877, 0.2808, 0.3346, -0.0122, -0.1846, -1.2376, 7.0359, 1.7021, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bae5f475d68d5b867e2eda24a2f8daff360a7840483171fe7b067cf65f4467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f1e17356542c109d2d1bf857b5b4ce71abad277902dd1e30af6453dfe5be1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:484abcd2931e6ff6085f404243c3e7fae30f42be014f24a801ad3437a1b8976f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 66.01 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]: [-0.7513, 1.805, 1.4601, -0.4366, -0.7116, -0.5941, 0.9968, -0.0143, 0.8204, 0.6079, -0.392, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4297 left_y=-0.2386 left_z=0.199 left_yaw=0.1239 left_pitch=-0.0022 left_roll=0.0003 left_gripper=0.9968 right_x=0.2953 right_y=0.0015 right_z=0.172 right_yaw=0.001 right_pitch=-0.0446 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -12.1778, 9.3333, 1.2723, -0.525, -0.0024, -0.0122, -0.0889, -1.1966, 7.0496, 1.7851, -0.0366, -0.0757, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.6701, 2.048, 1.3216, 0.5468, -0.8162, -0.152, 0.9968, -0.0147, 0.8211, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5152 left_y=-0.2395 left_z=0.1948 left_yaw=0.1474 left_pitch=0.4378 left_roll=0.002 left_gripper=0.9968 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.0291, 7.1863, 2.0098, 0.1685, 0.3199, -0.0122, -0.1983, -1.4838, 7.2821, 1.7167, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.6224, 2.1685, 1.4101, 0.617, -0.807, -0.1215, 0.9968, -0.0147, 0.823, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5463 left_y=-0.2306 left_z=0.1785 left_yaw=0.1819 left_pitch=0.4628 left_roll=0.0039 left_gripper=0.9968 right_x=0.2954 right_y=0.0014 right_z=0.171 right_yaw=0.0007 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.2598, 9.5658, 1.8877, 0.2808, 0.3346, -0.0122, -0.1846, -1.2376, 7.0359, 1.7021, -0.0171, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37bae5f475d68d5b867e2eda24a2f8daff360a7840483171fe7b067cf65f4467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f1e17356542c109d2d1bf857b5b4ce71abad277902dd1e30af6453dfe5be1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:484abcd2931e6ff6085f404243c3e7fae30f42be014f24a801ad3437a1b8976f",
        "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_01EmaXv8W8kiqXf1CnaCDRWo",
      "input": {
        "note": "The neck is centred on the jaw column and looks ~3-4 cm ahead of the fingertips. Advancing a further 4 cm with full forward pitch to bring the neck between the jaws.",
        "targets": {
          "left_pitch": 0.6,
          "left_roll": 0.0,
          "left_x": 0.585,
          "left_y": -0.235,
          "left_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_01EmaXv8W8kiqXf1CnaCDRWo",
      "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]: [-0.6174, 2.1845, 1.4197, 0.622, -0.8055, -0.1146, 0.9968, -0.0147, 0.8249, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5497 left_y=-0.2296 left_z=0.1743 left_yaw=0.1808 left_pitch=0.4615 left_roll=0.0126 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1705 right_yaw=0.0007 right_pitch=-0.05 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -12.547, 9.4701, 1.873, 0.2418, 0.3053, -0.0122, -0.2256, -1.5385, 7.2137, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6369aee580d3a8fbc2342c15a4f6503bf6c5cf3099399a56e99a8149dbe2ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07ab56d679320a8a513452941610bfefafb267486483a172d3fe38aa8b34c05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7244c98fd6aa66d224098e7d93efcdd4efbf1102a5460508656dbcb57cb19d16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 8.333 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]: [-0.6701, 2.048, 1.3216, 0.5468, -0.8162, -0.152, 0.9968, -0.0147, 0.8211, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5152 left_y=-0.2395 left_z=0.1948 left_yaw=0.1474 left_pitch=0.4378 left_roll=0.002 left_gripper=0.9968 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0007 right_pitch=-0.0462 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -11.0291, 7.1863, 2.0098, 0.1685, 0.3199, -0.0122, -0.1983, -1.4838, 7.2821, 1.7167, -0.0171, -0.0611, -0.0122]",
      "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]: [-0.6224, 2.1685, 1.4101, 0.617, -0.807, -0.1215, 0.9968, -0.0147, 0.823, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5463 left_y=-0.2306 left_z=0.1785 left_yaw=0.1819 left_pitch=0.4628 left_roll=0.0039 left_gripper=0.9968 right_x=0.2954 right_y=0.0014 right_z=0.171 right_yaw=0.0007 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.2598, 9.5658, 1.8877, 0.2808, 0.3346, -0.0122, -0.1846, -1.2376, 7.0359, 1.7021, -0.0171, -0.0415, -0.0171]",
      "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]: [-0.6174, 2.1845, 1.4197, 0.622, -0.8055, -0.1146, 0.9968, -0.0147, 0.8249, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5497 left_y=-0.2296 left_z=0.1743 left_yaw=0.1808 left_pitch=0.4615 left_roll=0.0126 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1705 right_yaw=0.0007 right_pitch=-0.05 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -12.547, 9.4701, 1.873, 0.2418, 0.3053, -0.0122, -0.2256, -1.5385, 7.2137, 1.7167, -0.0562, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6369aee580d3a8fbc2342c15a4f6503bf6c5cf3099399a56e99a8149dbe2ae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07ab56d679320a8a513452941610bfefafb267486483a172d3fe38aa8b34c05d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7244c98fd6aa66d224098e7d93efcdd4efbf1102a5460508656dbcb57cb19d16",
        "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_015yGXfxxmKVG4Lb73m4ZDAP",
      "input": {
        "note": "The arm has hit its reach limit at x≈0.55 with the neck still ~4 cm beyond the fingertips. Yawing the tool 90° so the jaws close along x: the far jaw then reaches ~5 cm further out and closing will draw the round neck back to the grasp point.",
        "targets": {
          "left_pitch": 0.6,
          "left_roll": 0.0,
          "left_x": 0.555,
          "left_y": -0.235,
          "left_yaw": 1.57,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015yGXfxxmKVG4Lb73m4ZDAP",
      "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]: [-0.2707, 2.6133, 2.006, 0.6128, -1.1378, 0.0414, 0.9969, -0.0147, 0.8299, 0.6075, -0.4015, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.6489 left_y=-0.0099 left_z=0.1556 left_yaw=0.8241 left_pitch=0.5613 left_roll=0.0703 left_gripper=0.9969 right_x=0.2944 right_y=0.0014 right_z=0.1673 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -15.747, 5.8051, 1.0134, -0.4518, 0.2173, -0.0073, -0.1709, -1.8393, 7.3094, 1.7363, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eebf43e06d5f677a54049404812fadfc87f85b21db910e47f18111d4e0b2b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b79735a05a0ff44999513aa46ea443ef5f49b66a9dcc9847ce564ef0fef2e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82b45f10ea157cad3637d8ba21d88b877437c3d106fafecb49ee94b440aa5889",
        "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 · 27.62 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]: [-0.6224, 2.1685, 1.4101, 0.617, -0.807, -0.1215, 0.9968, -0.0147, 0.823, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5463 left_y=-0.2306 left_z=0.1785 left_yaw=0.1819 left_pitch=0.4628 left_roll=0.0039 left_gripper=0.9968 right_x=0.2954 right_y=0.0014 right_z=0.171 right_yaw=0.0007 right_pitch=-0.0481 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -12.2598, 9.5658, 1.8877, 0.2808, 0.3346, -0.0122, -0.1846, -1.2376, 7.0359, 1.7021, -0.0171, -0.0415, -0.0171]",
      "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]: [-0.6174, 2.1845, 1.4197, 0.622, -0.8055, -0.1146, 0.9968, -0.0147, 0.8249, 0.6075, -0.3923, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.5497 left_y=-0.2296 left_z=0.1743 left_yaw=0.1808 left_pitch=0.4615 left_roll=0.0126 left_gripper=0.9968 right_x=0.2955 right_y=0.0014 right_z=0.1705 right_yaw=0.0007 right_pitch=-0.05 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4581, -12.547, 9.4701, 1.873, 0.2418, 0.3053, -0.0122, -0.2256, -1.5385, 7.2137, 1.7167, -0.0562, -0.0464, -0.0122]",
      "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]: [-0.2707, 2.6133, 2.006, 0.6128, -1.1378, 0.0414, 0.9969, -0.0147, 0.8299, 0.6075, -0.4015, -0.012, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.6489 left_y=-0.0099 left_z=0.1556 left_yaw=0.8241 left_pitch=0.5613 left_roll=0.0703 left_gripper=0.9969 right_x=0.2944 right_y=0.0014 right_z=0.1673 right_yaw=0.0007 right_pitch=-0.0641 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.6769, -15.747, 5.8051, 1.0134, -0.4518, 0.2173, -0.0073, -0.1709, -1.8393, 7.3094, 1.7363, -0.0708, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eebf43e06d5f677a54049404812fadfc87f85b21db910e47f18111d4e0b2b89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b79735a05a0ff44999513aa46ea443ef5f49b66a9dcc9847ce564ef0fef2e3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b45f10ea157cad3637d8ba21d88b877437c3d106fafecb49ee94b440aa5889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkAoKEAgRGAI4AUIIdGhpbmtpbmcSDO+pNuK+2B1sWixZlxoM884812fhIZsJtChQIjBNW9wYqEcwN6j9+CzuTbp4pDV4zrcv7whCATy/VBNPIi4EoFMXFaFuEaWt5POz0tUqrQnD5tGLQ8GGpU0NwhSww87ANBIZAw2LuLNqRYzGri5uqIKcdZ79x61Opy0m3gKe0nmrm/gMTUntaNpjHkoAYr5xvi4CFwek23j3G/8p5zzDy1MWXHpQW0pkUgdzSqIiUaSV/sdhtJvFZRgoiBj5kNOWlpNeLbfytLt3Cdd0+J64bgVJdX5KpnGzCvq0ZM7b4y3kEULbeF6Z7Ncg6+MixJuy07q2wipYj+wLnGdwheIGASwE7YsYDtiPCogrUzDD0+/78RcZGnQaQOXHJomrngyPbWgHQwfSaOaK1+AD22kOwe+71k7vetPlHeMDz29wZ9dNIOJ1XJYKCz80XLY7JEQdZuFOY9AM40J6es1kW6SSQoY0xbQf2sjFnLCezn0O+OHeGcigSH3IeVVWMzZAdzDjyXRLvDJ0143gNpQbnfU2mFQzaoD6HFgi6xg5Wy0p69EvHs5CDrPYLn1FCrdkWA0SVHKOhRIltdtVhHxyZom1DT6hE+8gQfAZC7fNs6wYgR+WmMBAnVw6hRIW1hyHSd4jMWooVmJ8nB7IHMUtSS49AwCaWQ7v0B9dQ/8iIwKDQpb9UNfdUazJ7fhN44Qj7zmj0jXnekXabnAWeVSrek5lQTWpARyjjE945MAFKbX3qnLJBBbQNh+ObnguNcFU/GqKqzF4eBUUzTvvn0zrocB198yDlHV47VfUlzgOtdqc0rhvMp2DuTcYmla/WgjLIcbF/L8W/Vf3Cw+Skx5Gj2hdP/8HxBvcghK8EjaolPvpYS/XNttJ0ttx3IzHivFshKAySsjmzYf4kBwjbLi1x9Zcq27Mek1Ik07eHdtw1LORPSpvdpVG9iyPj8B1NZ+CUDDvivVv6KVrxeo4p2o8uzDWklvAbmanFrt1fnBKhAlromaZfSL1EnwmFLsoeJMElJNjo6QLfOGJsyvFL2w+sUN5eiaIrX5/Sk7N0dME43/Sjdr7YtKi2CaZ8FP9glmR+6AA+f20IE0/CqV394XQhMpn9T6YHIQArxXbtdt8/C9B94vkXvg5oaF3bqVetB0X4RhXjNj1nP3OxQBjzS28mvDfChYKqqxu56PyWovm8lIKY6vwq0WQVDi3RqpqtMeKWmFBLgDfhm7N1HfFDAUYTsOmL5zN+qWAo86uF6nztm30D1+3MXeq1703eTPKCvh21Z5vox95xiXj/u+ibjdjAgumoghk4WM8Rbrd69M0WXq/IsiLr4a1esGan1hdYVk0D4SlIEXIjwjHQxNxdm7Jm5yqs2U1CYaXlVuVBNmqNy6Y3jWnPzaW7K5aOkCo455TGHPGAteJ4zOxiMqNvifOoxOFzERobRsP/KWfmZvlhWbBCtUsQ58nCh8S9sWUjQOguDt4ZvuXDVoigkLTOIxifjZt6l3+Zt671bbuhC/2hMS5CfUR6CLvV6YDp9UEsHKAgMCS3uLRA7lcnLLd8gp/KqQs1r4s9Xhql+nRn1nIM0EsUWg114hJHEsdu5egMS9S8wzEmZAbnEpXI9E08M0bU4l+AwfMjHY/HapUBadp9NF5/GOg7UE0Rf0eVJmMykfMCPkLFH9ZF5BmYCHz8xwlhkiNukA/OCtFA1BOVWTRAq4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PZA9ANpShfomgNFfAiDdH3",
      "input": {
        "note": "The yaw command made the IK swing the whole arm sideways over the cups (readback x=0.65, y=-0.01) — not what I intended. Retracting to a safe pose above the work area with yaw/pitch back to zero to reassess the scene.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.2,
          "left_yaw": 0.0,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01PZA9ANpShfomgNFfAiDdH3",
      "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]: [-0.6529, 1.8229, 1.4055, -0.347, -0.6521, -0.4007, 0.9972, -0.0151, 0.836, 0.6067, -0.4088, -0.012, -0.0242, 0.9997]\nstate[eef_state]: left_x=0.4535 left_y=-0.2073 left_z=0.1777 left_yaw=0.0767 left_pitch=-0.0275 left_roll=0.1215 left_gripper=0.9972 right_x=0.2936 right_y=0.0013 right_z=0.1638 right_yaw=0.0007 right_pitch=-0.0782 right_roll=0.0001 right_gripper=0.9997\nstate[joint_eff]: [1.4427, -7.8974, 7.8701, 1.9756, -0.4176, 0.0757, 0.0171, -0.0068, -1.4974, 7.241, 1.8095, -0.0415, -0.0513, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a48e95958e6361974af5939f755583d4f33dc0b63c0ac1e83f0c3381eb8db2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5da50503db14eb857f274ed477d7d8f43e6ee989e84b4523e9ea208a2caac4b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:377d51679b1942ae6d35516abd6aa27fbdf4e64031e0c37f3218d7349e090acd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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