adhoc

completed
2026-09-18T18:11:50.511447+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
494.8 s
total steps
260
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 by flying the left arm above the blue (left) container to line up over its neck.
agent noteTop view shows a blue-labeled bottle (left container), a red cup behind/between, and a white bottle (right container). Moving the left arm high above the blue bottle's estimated position to line up before descending onto its neck.
move_to
left_x0.4000left_y-0.2200left_z0.3200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0231, 0.9994] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4581, -1.4291, 9.4564, 1.7363, -0.0122, 0.1392, -0.0562, -0.7726, -1.4838, 9.9897, 1.7118, -0.0904, 0.0366, -0.0757] 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 by flying the left arm above the blue (left) container to line up over its neck.
move_to({"targets": {"left_x": 0.4, "left_y": -0.22, "left_z": 0.32, "left_gripper": 1.0}, "note": "Top view shows a blue-labeled bottle (left container), a red cup behind/between, and a white bottle (right container). Moving the left arm high above the blue bottle's estimated position to line up before descending onto its neck."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteLeft wrist cam shows the blue bottle just left of the jaw column with the white bottle and red cup beyond it. Descending partway and shifting 1 cm right to bring the bottle neck under the jaws.
move_to
left_x0.4000left_y-0.2300left_z0.2500left_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]: [-0.7303, 1.6535, 1.721, -0.8036, -0.5995, -0.4877, 0.9996, -0.0193, 0.7986, 0.6086, -0.3843, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.3984 left_y=-0.2182 left_z=0.3067 left_yaw=0.0061 left_pitch=-0.0283 left_roll=0.0034 left_gripper=0.9996 right_x=0.2951 right_y=0.0001 right_z=0.1799 right_yaw=-0.0039 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.5263, -0.3248, 0.149, -0.0562, 0.0342, -1.0188, 7.4872, 1.8339, -0.0611, -0.0611, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.23, "left_z": 0.25, "left_gripper": 1.0}, "note": "Left wrist cam shows the blue bottle just left of the jaw column with the white bottle and red cup beyond it. Descending partway and shifting 1 cm right to bring the bottle neck under the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteBlue bottle now fills the left wrist view, centred ~3 cm left of the jaw column with its spout pointing forward. Shifting left 3 cm and descending toward the bottle's shoulder height.
move_to
left_x0.4000left_y-0.2000left_z0.1800left_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]: [-0.7486, 1.6497, 1.4879, -0.6155, -0.6064, -0.511, 0.9996, -0.02, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.3975 left_y=-0.227 left_z=0.2441 left_yaw=0.0065 left_pitch=-0.0551 left_roll=0.0156 left_gripper=0.9996 right_x=0.295 right_y=-0.0002 right_z=0.1797 right_yaw=-0.005 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.335, -8.1983, 6.7487, 1.6825, -0.4029, -0.0073, -0.0562, -0.1026, -1.2513, 7.0496, 1.8242, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.18, "left_gripper": 1.0}, "note": "Blue bottle now fills the left wrist view, centred ~3 cm left of the jaw column with its spout pointing forward. Shifting left 3 cm and descending toward the bottle's shoulder height."})
tool
executing move_to over 5 steps (0.5s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteBottle is now on the jaw column but still has clear frame below it, so it is a few cm ahead of the fingertips. Advancing 3 cm and lowering to body height to bring the jaws around the bottle.
move_to
left_x0.4300left_y-0.2000left_z0.1300left_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]: [-0.6853, 1.6176, 1.1767, -0.3511, -0.5671, -0.4679, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.3979 left_y=-0.1981 left_z=0.1696 left_yaw=0.0183 left_pitch=-0.0855 left_roll=0.0398 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1026, -9.2239, 6.5709, 1.7314, -0.1587, 0.0708, -0.0611, -0.0752, -1.0598, 7.0359, 1.7363, -0.0269, -0.0317, -0.0122] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.2, "left_z": 0.13, "left_gripper": 1.0}, "note": "Bottle is now on the jaw column but still has clear frame below it, so it is a few cm ahead of the fingertips. Advancing 3 cm and lowering to body height to bring the jaws around the bottle."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteTop view shows the open jaws still a few cm behind the bottle's base and the wrist view still has table below the bottle. Advancing another 4 cm so the jaws straddle the bottle body.
move_to
left_x0.4700left_y-0.1950left_z0.1100left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.6285, 1.7599, 1.1625, -0.2066, -0.5385, -0.4423, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.4274 left_y=-0.1942 left_z=0.1236 left_yaw=0.0408 left_pitch=-0.1084 left_roll=0.0517 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.5265, -9.3607, 6.5573, 1.6874, -0.1441, 0.1343, -0.0562, -0.212, -1.0462, 7.1316, 1.7167, -0.0269, -0.0562, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.195, "left_z": 0.11, "left_gripper": 1.0}, "note": "Top view shows the open jaws still a few cm behind the bottle's base and the wrist view still has table below the bottle. Advancing another 4 cm so the jaws straddle the bottle body."})
tool
executing move_to over 4 steps (0.4s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe bottle fills the left wrist view right at the jaws and the arm stopped slightly short of target, suggesting the jaws are around the body. Closing the gripper to test the grasp.
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]: [-0.5617, 1.9045, 1.251, -0.1886, -0.5083, -0.4191, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994] state[eef_state]: left_x=0.4598 left_y=-0.1836 left_z=0.0929 left_yaw=0.0753 left_pitch=-0.1531 left_roll=0.0755 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.7179, -10.2085, 9.2239, 1.7265, -0.1197, 0.2564, -0.0562, -0.1846, -1.2923, 7.0085, 1.7216, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle fills the left wrist view right at the jaws and the arm stopped slightly short of target, suggesting the jaws are around the body. Closing the gripper to test the grasp."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper closed empty (0.011) — the bottle surface sits just beyond the fingertips in the wrist view. Reopening and advancing ~4 cm further so the jaws actually straddle the bottle body.
move_to
left_x0.5000left_y-0.1900left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5617, 1.9045, 1.2514, -0.1852, -0.5076, -0.408, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.4604 left_y=-0.1841 left_z=0.0935 left_yaw=0.0685 left_pitch=-0.1508 left_roll=0.0812 left_gripper=0.0112 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.7179, -10.0991, 9.0735, 1.6679, -0.0952, 0.1294, 0.9939, -0.1573, -1.2513, 7.0222, 1.7118, -0.0611, -0.0317, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.5, "left_y": -0.19, "left_z": 0.1, "left_gripper": 1.0}, "note": "Gripper closed empty (0.011) \u2014 the bottle surface sits just beyond the fingertips in the wrist view. Reopening and advancing ~4 cm further so the jaws actually straddle the bottle body."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteWrist view shows the bottle body very close but offset to the arm's left of the jaw column, with the right jaw beside it. Shifting the gripper ~3 cm left to centre the bottle between the jaws before closing.
move_to
left_x0.5000left_y-0.1500left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5266, 2.0159, 1.404, -0.2611, -0.4965, -0.4149, 0.9951, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.4881 left_y=-0.1823 left_z=0.0861 left_yaw=0.1023 left_pitch=-0.1835 left_roll=0.0899 left_gripper=0.9951 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.3897, -10.3453, 9.7436, 1.58, -0.0952, 0.3541, -0.0708, -0.212, -1.265, 7.0359, 1.7265, -0.022, -0.0269, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.15, "left_z": 0.1, "left_gripper": 1.0}, "note": "Wrist view shows the bottle body very close but offset to the arm's left of the jaw column, with the right jaw beside it. Shifting the gripper ~3 cm left to centre the bottle between the jaws before closing."})
tool
executing move_to over 3 steps (0.3s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteThe bottle body now fills the left wrist view centred on the jaw column and the top view shows the gripper right at the bottle's position. Closing to grasp the body.
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]: [-0.4629, 2.0209, 1.4082, -0.268, -0.4622, -0.3786, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.4977 left_y=-0.1563 left_z=0.0821 left_yaw=0.1211 left_pitch=-0.2068 left_roll=0.0992 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1846, -14.5026, 5.9145, 1.37, -0.105, 0.1636, -0.1294, -0.0615, -1.0462, 7.0085, 1.6972, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle body now fills the left wrist view centred on the jaw column and the top view shows the gripper right at the bottle's position. Closing to grasp the body."})
tool
executing move_to over 10 steps (1.0s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteSecond empty close: the bottle body is visible just beyond the closed jaws, so it is still ahead of the fingertips and the arm is near its reach at this height. Reopening, tipping the tool forward (positive pitch) and pushing the target further out to reach around the bottle.
move_to
left_x0.5300left_y-0.1550left_z0.1000left_pitch0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4606, 2.0201, 1.4082, -0.2752, -0.4553, -0.392, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.4967 left_y=-0.1558 left_z=0.081 left_yaw=0.1261 left_pitch=-0.2144 left_roll=0.0885 left_gripper=0.0112 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.3077, -10.947, 6.4479, 1.4921, -0.2369, 0.1001, 0.9304, -0.1983, -1.1282, 7.0359, 1.7558, -0.0464, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.155, "left_z": 0.1, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "Second empty close: the bottle body is visible just beyond the closed jaws, so it is still ahead of the fingertips and the arm is near its reach at this height. Reopening, tipping the tool forward (positive pitch) and pushing the target further out to reach around the bottle."})
tool
executing move_to over 18 steps (1.8s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteThe wrist view now looks down onto the jug's handle and top, meaning the jug is short and my previous closes were above it. Descending to body height with the tool vertical so the jaws surround the jug body.
move_to
left_x0.5200left_y-0.1550left_z0.0500left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4774, 2.0975, 1.1259, 0.5808, -0.6292, -0.1638, 0.9975, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.5268 left_y=-0.1514 left_z=0.0908 left_yaw=0.1321 left_pitch=0.2434 left_roll=0.0932 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.3077, -10.2906, 5.2855, 1.9853, -0.2369, 0.2271, -0.022, -0.1436, -1.2376, 7.0359, 1.7118, -0.0513, -0.0562, -0.0171] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.155, "left_z": 0.05, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The wrist view now looks down onto the jug's handle and top, meaning the jug is short and my previous closes were above it. Descending to body height with the tool vertical so the jaws surround the jug body."})
tool
executing move_to over 9 steps (0.9s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe jug body now sits between the open jaws in the wrist view, slightly left of the jaw column and with its base near the bottom edge, so it is ~2 cm ahead. Top view suggests I nudged it forward earlier. Advancing 2.5 cm and 1 cm left before closing.
move_to
left_x0.5450left_y-0.1450left_z0.0500left_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]: [-0.4694, 2.1071, 1.2106, 0.2543, -0.5713, -0.2905, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.5175 left_y=-0.1514 left_z=0.0542 left_yaw=0.1408 left_pitch=0.0277 left_roll=0.0981 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1709, -9.5658, 8.4718, 1.6923, 0.0122, -0.0806, -0.1392, 0.0342, -1.1282, 7.0085, 1.7314, -0.0611, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.545, "left_y": -0.145, "left_z": 0.05, "left_gripper": 1.0}, "note": "The jug body now sits between the open jaws in the wrist view, slightly left of the jaw column and with its base near the bottom edge, so it is ~2 cm ahead. Top view suggests I nudged it forward earlier. Advancing 2.5 cm and 1 cm left before closing."})
tool
executing move_to over 3 steps (0.3s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteThe jug body now fills the wrist view right between the jaws and the arm stopped 1 cm short, likely touching it. Closing to grasp.
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]: [-0.4362, 2.1654, 1.2747, 0.2245, -0.5568, -0.2993, 0.9988, -0.02, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.5319 left_y=-0.141 left_z=0.0421 left_yaw=0.167 left_pitch=0.0034 left_roll=0.097 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1795 right_yaw=-0.005 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [0.1436, -11.4803, 8.5675, 1.7265, -0.0659, 0.3443, -0.1343, -0.3624, -1.1829, 7.2137, 1.7363, -0.0171, -0.0659, -0.0122] camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jug body now fills the wrist view right between the jaws and the arm stopped 1 cm short, likely touching it. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteEmpty close again: the jug is just beyond the fingertips and the arm is at its reach limit at this height. Reopening and pitching the tool forward to extend the fingertips a few cm further out around the jug.
move_to
left_x0.5700left_y-0.1350left_z0.0500left_pitch0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4221, 2.1826, 1.2869, 0.2253, -0.5533, -0.281, 0.0109, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.5361 left_y=-0.1351 left_z=0.0376 left_yaw=0.1687 left_pitch=-0.0024 left_roll=0.1131 left_gripper=0.0109 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.6496, -11.7675, 8.294, 1.7265, -0.0562, 0.2076, 0.9646, -0.1299, -1.0735, 7.0222, 1.7607, -0.0562, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.57, "left_y": -0.135, "left_z": 0.05, "left_pitch": 0.5, "left_gripper": 1.0}, "note": "Empty close again: the jug is just beyond the fingertips and the arm is at its reach limit at this height. Reopening and pitching the tool forward to extend the fingertips a few cm further out around the jug."})
tool
executing move_to over 17 steps (1.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteWith the tool pitched forward the arm reached x=0.564 and the jug body fills the wrist view between both jaws. Closing to grasp.
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]: [-0.4267, 2.4527, 1.2179, 1.079, -0.6525, 0.0013, 0.9975, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.5642 left_y=-0.1347 left_z=0.0359 left_yaw=0.1574 left_pitch=0.431 left_roll=0.1296 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [0.0889, -11.3436, 6.5299, 2.1514, -0.1734, 0.1441, -0.0024, -0.3214, -1.265, 7.0496, 1.7021, -0.0659, -0.0269, -0.0122] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "With the tool pitched forward the arm reached x=0.564 and the jug body fills the wrist view between both jaws. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteStill an empty close; the top view shows the jug was nudged near the far edge, just past the fingertips. Trying one more full-extension reach with maximum forward pitch to get the jaws around it.
move_to
left_x0.6000left_y-0.1300left_z0.0300left_pitch0.6000left_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]: [-0.4267, 2.4649, 1.2209, 1.0855, -0.6548, 0.0006, 0.0111, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994] state[eef_state]: left_x=0.5641 left_y=-0.1343 left_z=0.0316 left_yaw=0.1592 left_pitch=0.429 left_roll=0.1307 left_gripper=0.0111 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994 state[joint_eff]: [-0.1709, -13.3402, 4.3556, 1.7118, -0.0366, -0.0269, 0.9353, -0.0205, -1.1282, 7.0085, 1.7509, -0.0464, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.13, "left_z": 0.03, "left_pitch": 0.6, "left_gripper": 1.0}, "note": "Still an empty close; the top view shows the jug was nudged near the far edge, just past the fingertips. Trying one more full-extension reach with maximum forward pitch to get the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteAt full extension the jug body spans the wrist view between both jaws. Closing to grasp 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]: [-0.387, 2.6373, 1.4048, 1.3029, -0.6556, 0.0799, 0.9951, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994] state[eef_state]: left_x=0.5966 left_y=-0.123 left_z=0.0434 left_yaw=0.2256 left_pitch=0.6136 left_roll=0.0733 left_gripper=0.9951 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.1299, -10.5641, 6.1197, 1.4335, 0.2857, 0.3492, -0.0073, -0.0752, -1.2376, 7.2137, 1.7216, -0.0513, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At full extension the jug body spans the wrist view between both jaws. Closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 jug closed empty again at the x=0.6 workspace bound — my approaches nudged it past reach. Parking the left arm and bringing the right arm high above the white bottle to attempt the second pour while I reconsider the jug.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_yaw0.0000left_gripper0.5000right_x0.4500right_y0.2500right_z0.3200right_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]: [-0.3836, 2.6427, 1.412, 1.3178, -0.6594, 0.0593, 0.0108, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994] state[eef_state]: left_x=0.5976 left_y=-0.1206 left_z=0.046 left_yaw=0.2534 left_pitch=0.6277 left_roll=0.0357 left_gripper=0.0108 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994 state[joint_eff]: [-0.4308, -14.7761, 3.6034, 1.3065, -0.0122, 0.0904, 0.9646, -0.1709, -1.2923, 7.0085, 1.7949, -0.0611, -0.0757, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). 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": 0.3, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0.0, "left_yaw": 0.0, "left_gripper": 0.5, "right_x": 0.45, "right_y": 0.25, "right_z": 0.32, "right_gripper": 1.0}, "note": "The jug closed empty again at the x=0.6 workspace bound \u2014 my approaches nudged it past reach. Parking the left arm and bringing the right arm high above the white bottle to attempt the second pour while I reconsider the jug."})
tool
executing move_to over 23 steps (2.3s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteRight wrist cam shows the white bottle directly under the jaws with its open neck on the jaw column and the red cup just behind-left of it. Descending toward the neck while nudging 1.5 cm forward since the fingertips sit further out than the image suggests.
move_to
right_x0.4650right_y0.2500right_z0.2200right_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]: [-0.0673, 0.8471, 0.6376, -0.2947, -0.1211, -0.0521, 0.4982, 0.6758, 1.8877, 2.0033, -0.8173, 0.5327, 0.3759, 0.9994] state[eef_state]: left_x=0.3133 left_y=0.0039 left_z=0.1992 left_yaw=0.0466 left_pitch=0.0588 left_roll=0.0302 left_gripper=0.4982 right_x=0.4507 right_y=0.2509 right_z=0.3074 right_yaw=0.0264 right_pitch=-0.0296 right_roll=-0.012 right_gripper=0.9994 state[joint_eff]: [0.1162, -1.7709, 9.6615, 1.7118, 0.1197, 0.1148, -0.1099, 0.5265, -10.4684, 8.6359, 1.1013, 0.4811, 0.2369, -0.0757] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.25, "right_z": 0.22, "right_gripper": 1.0}, "note": "Right wrist cam shows the white bottle directly under the jaws with its open neck on the jaw column and the red cup just behind-left of it. Descending toward the neck while nudging 1.5 cm forward since the fingertips sit further out than the image suggests."})
tool
executing move_to over 6 steps (0.6s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe bottle fills the right wrist view with its neck at the top edge, so the neck is several cm further forward and nearly at gripper height. Moving forward 5 cm and slightly up to get above the neck before descending on it.
move_to
right_x0.5100right_y0.2500right_z0.2600right_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]: [-0.0689, 0.852, 0.6426, -0.3199, -0.1123, -0.0463, 0.4993, 0.6586, 1.874, 1.636, -0.5304, 0.511, 0.3592, 0.9994] state[eef_state]: left_x=0.3113 left_y=0.002 left_z=0.1946 left_yaw=0.0344 left_pitch=0.0331 left_roll=0.0336 left_gripper=0.4993 right_x=0.4558 right_y=0.2481 right_z=0.2088 right_yaw=0.0326 right_pitch=-0.0922 right_roll=-0.0538 right_gripper=0.9994 state[joint_eff]: [-0.0342, -1.9487, 6.6803, 1.9951, -0.1441, -0.0952, 0.105, -0.8274, -10.7692, 7.0359, 1.7949, 0.2613, -0.0611, -0.0757] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.25, "right_z": 0.26, "right_gripper": 1.0}, "note": "The bottle fills the right wrist view with its neck at the top edge, so the neck is several cm further forward and nearly at gripper height. Moving forward 5 cm and slightly up to get above the neck before descending on it."})
tool
executing move_to over 5 steps (0.5s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteThe bottle's open neck is now on the jaw column just below centre with the red cup directly beyond it. Descending 6 cm with a slight forward nudge so the open jaws straddle the neck.
move_to
right_x0.5250right_y0.2550right_z0.1900right_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]: [-0.0689, 0.8566, 0.6422, -0.3225, -0.1146, -0.0528, 0.4993, 0.5957, 2.0815, 2.0903, -0.7353, 0.4587, 0.3061, 0.9994] state[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1926 left_yaw=0.0398 left_pitch=0.0258 left_roll=0.03 left_gripper=0.4993 right_x=0.5091 right_y=0.2549 right_z=0.2528 right_yaw=0.0408 right_pitch=-0.0785 right_roll=-0.0432 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.9077, 7.0769, 1.7949, -0.0659, 0.0317, -0.0024, -0.3624, -11.7402, 8.6769, 0.989, 0.1783, 0.0611, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.525, "right_y": 0.255, "right_z": 0.19, "right_gripper": 1.0}, "note": "The bottle's open neck is now on the jaw column just below centre with the red cup directly beyond it. Descending 6 cm with a slight forward nudge so the open jaws straddle the neck."})
tool
executing move_to over 5 steps (0.5s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteThe bottle's neck rim now fills the right wrist view just ahead of the jaws. Advancing 3 cm and lowering 4 cm so the jaws sit around the neck below its rim.
move_to
right_x0.5450right_y0.2550right_z0.1500right_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]: [-0.0689, 0.8566, 0.6422, -0.3248, -0.115, -0.0532, 0.4993, 0.5842, 2.0956, 1.8858, -0.5571, 0.4397, 0.292, 0.9994] state[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1921 left_yaw=0.0403 left_pitch=0.0236 left_roll=0.0301 left_gripper=0.4993 right_x=0.515 right_y=0.2547 right_z=0.1887 right_yaw=0.0499 right_pitch=-0.1202 right_roll=-0.0644 right_gripper=0.9994 state[joint_eff]: [-0.0342, -1.7026, 7.0359, 1.7509, -0.0952, -0.0513, -0.0073, -0.841, -11.5077, 6.9265, 1.6386, 0.1929, -0.0562, -0.0757] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.545, "right_y": 0.255, "right_z": 0.15, "right_gripper": 1.0}, "note": "The bottle's neck rim now fills the right wrist view just ahead of the jaws. Advancing 3 cm and lowering 4 cm so the jaws sit around the neck below its rim."})
tool
executing move_to over 3 steps (0.3s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe descent stopped at z=0.19, so the jaws are resting on the bottle's shoulder behind the neck, which still appears ahead of the fingertips. Lifting slightly and moving 3.5 cm forward to get directly over the neck.
move_to
right_x0.5750right_y0.2600right_z0.2300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3256, -0.115, -0.0528, 0.4993, 0.5705, 2.1509, 1.9091, -0.4435, 0.432, 0.2764, 0.9994] state[eef_state]: left_x=0.3109 left_y=0.0025 left_z=0.1919 left_yaw=0.0401 left_pitch=0.0228 left_roll=0.0305 left_gripper=0.4993 right_x=0.5392 right_y=0.2624 right_z=0.1866 right_yaw=0.0541 right_pitch=-0.0525 right_roll=-0.0314 right_gripper=0.9994 state[joint_eff]: [-0.0889, -1.6615, 7.2274, 1.7607, -0.0708, -0.022, -0.0073, -1.5521, -8.7179, 6.8444, 0.7009, -0.0415, -0.0904, -0.0757] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.575, "right_y": 0.26, "right_z": 0.23, "right_gripper": 1.0}, "note": "The descent stopped at z=0.19, so the jaws are resting on the bottle's shoulder behind the neck, which still appears ahead of the fingertips. Lifting slightly and moving 3.5 cm forward to get directly over the neck."})
tool
executing move_to over 3 steps (0.3s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe neck rim now sits between the jaws at the bottom of the wrist view, with the red cup just beyond it. Descending so the jaws come down around the neck just under the rim.
move_to
right_x0.5800right_y0.2700right_z0.1650right_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]: [-0.0689, 0.8593, 0.6422, -0.3279, -0.115, -0.0532, 0.4993, 0.5476, 2.3089, 2.2742, -0.5987, 0.3981, 0.2508, 0.9994] state[eef_state]: left_x=0.3108 left_y=0.0025 left_z=0.1907 left_yaw=0.0403 left_pitch=0.0179 left_roll=0.0308 left_gripper=0.4993 right_x=0.5737 right_y=0.2739 right_z=0.221 right_yaw=0.0732 right_pitch=-0.017 right_roll=-0.0096 right_gripper=0.9994 state[joint_eff]: [-0.2393, -1.8803, 7.2274, 1.7558, -0.0952, -0.0366, -0.0122, -1.5795, -13.3949, 8.0889, 0.8571, 0.2271, 0.0611, -0.0757] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.58, "right_y": 0.27, "right_z": 0.165, "right_gripper": 1.0}, "note": "The neck rim now sits between the jaws at the bottom of the wrist view, with the red cup just beyond it. Descending so the jaws come down around the neck just under the rim."})
tool
executing move_to over 4 steps (0.4s)
step 205
assistant
agent noteThe descent stalled at z=0.21 with x also slipping back, which looks like the arm's reach limit rather than contact. Pitching the tool forward to extend reach so the jaws can drop around the neck.
move_to
right_x0.5850right_y0.2650right_z0.1600right_pitch0.4000right_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]: [-0.0689, 0.8623, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5343, 2.3341, 2.3425, -0.7254, 0.3878, 0.2462, 0.9994] state[eef_state]: left_x=0.3111 left_y=0.0025 left_z=0.1899 left_yaw=0.0403 left_pitch=0.0152 left_roll=0.031 left_gripper=0.4994 right_x=0.5685 right_y=0.2629 right_z=0.2115 right_yaw=0.0685 right_pitch=-0.0945 right_roll=-0.0455 right_gripper=0.9994 state[joint_eff]: [-0.212, -1.8667, 7.1863, 1.7265, -0.0562, -0.0806, -0.0073, -0.6906, -12.8889, 8.7726, 1.4823, 0.2027, -0.0659, -0.0757] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.585, "right_y": 0.265, "right_z": 0.16, "right_pitch": 0.4, "right_gripper": 1.0}, "note": "The descent stalled at z=0.21 with x also slipping back, which looks like the arm's reach limit rather than contact. Pitching the tool forward to extend reach so the jaws can drop around the neck."})
tool
executing move_to over 17 steps (1.7s)
step 222
assistant
agent noteThe neck sits ~5 cm past the fingertips at the x=0.6 bound, so a neck grasp is out of reach. New plan: grasp the bottle's side handle (on the arm's left) with the tool yawed 90°, so wrist roll can tip the bottle forward toward the red cup. Rising and moving over the handle while starting the yaw.
move_to
right_x0.5300right_y0.3400right_z0.3000right_pitch0.0000right_yaw-1.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0689, 0.8642, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5541, 2.2265, 1.5913, 0.4961, 0.4889, 0.0639, 0.9994] state[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1893 left_yaw=0.0403 left_pitch=0.0133 left_roll=0.0312 left_gripper=0.4994 right_x=0.5842 right_y=0.2682 right_z=0.1931 right_yaw=0.0538 right_pitch=0.4374 right_roll=0.0144 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.8667, 7.4051, 1.7705, -0.1001, -0.0708, -0.0171, -0.3487, -9.4974, 5.2991, 1.3065, 0.0952, -0.2759, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_y": 0.34, "right_z": 0.3, "right_pitch": 0.0, "right_yaw": -1.0, "right_gripper": 1.0}, "note": "The neck sits ~5 cm past the fingertips at the x=0.6 bound, so a neck grasp is out of reach. New plan: grasp the bottle's side handle (on the arm's left) with the tool yawed 90\u00b0, so wrist roll can tip the bottle forward toward the red cup. Rising and moving over the handle while starting the yaw."})
tool
executing move_to over 15 steps (1.5s)
step 237
assistant
agent noteThe right arm lagged badly on the yawing move (readback x=0.48, y=0.19, z=0.16) and the white bottle is hidden under the arm in the top view. Re-commanding a higher pose beside the bottle to let the IK settle and check the bottle is still upright.
move_to
right_x0.5000right_y0.3200right_z0.2800right_yaw-1.3000right_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]: [-0.0689, 0.8696, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6643, 2.5492, 2.5546, -1.5177, 1.0275, 1.4551, 0.9994] state[eef_state]: left_x=0.3117 left_y=0.0024 left_z=0.1877 left_yaw=0.0401 left_pitch=0.008 left_roll=0.0322 left_gripper=0.4994 right_x=0.4791 right_y=0.1877 right_z=0.1598 right_yaw=-0.8536 right_pitch=0.0176 right_roll=-0.0277 right_gripper=0.9994 state[joint_eff]: [-0.0205, -2.0034, 7.0496, 1.8242, -0.0952, -0.0611, -0.0171, -0.3214, -18.1402, 6.4479, 0.3834, 0.7106, 0.1294, -0.0757] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.32, "right_z": 0.28, "right_yaw": -1.3, "right_gripper": 1.0}, "note": "The right arm lagged badly on the yawing move (readback x=0.48, y=0.19, z=0.16) and the white bottle is hidden under the arm in the top view. Re-commanding a higher pose beside the bottle to let the IK settle and check the bottle is still upright."})
tool
executing move_to over 12 steps (1.2s)
step 249
assistant
agent noteThe right arm is stuck in a folded configuration and not tracking; its wrist view suggests the white bottle may have been knocked over. Retracting toward the base with yaw back to zero to recover the arm before reassessing.
move_to
right_x0.3500right_y0.2000right_z0.3000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0685, 0.87, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6964, 2.5191, 2.4615, -1.5364, 1.0092, 1.5574, 0.9994] state[eef_state]: left_x=0.3117 left_y=0.0025 left_z=0.1876 left_yaw=0.0405 left_pitch=0.0076 left_roll=0.0322 left_gripper=0.4994 right_x=0.4607 right_y=0.195 right_z=0.1478 right_yaw=-0.875 right_pitch=-0.0014 right_roll=-0.0218 right_gripper=0.9994 state[joint_eff]: [-0.0752, -1.7299, 7.0769, 1.7509, -0.0464, -0.0513, -0.0171, -0.253, -16.9915, 5.4632, -0.1001, 0.6911, 0.1538, -0.0757] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.2, "right_z": 0.3, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The right arm is stuck in a folded configuration and not tracking; its wrist view suggests the white bottle may have been knocked over. Retracting toward the base with yaw back to zero to recover the arm before reassessing."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteBoth containers and the red cup now sit at the far edge of the table (x ≳ 0.62 m in either arm's frame), beyond the x = 0.6 workspace bound and the arms' reach for a grasp. My approach moves nudged the blue jug forward (its body was closer to the base than estimated and my jaws kept closing just short of it), and the right arm's yawed reposition stalled in a folded pose and pushed the white bottle forward as well. Neither container can now be grasped, so the pours cannot be completed.
give_up
hindsight1) The top-cam depth estimate was badly off: objects whose base appears at image-y≈95 were at x≈0.50–0.55, not 0.40–0.45, and the jug/bottles were already near the x=0.6 bound; anything with base above image-y≈55 is beyond the box. Estimate x by comparing to your own gripper's appearance at a known x rather than the rough scale. 2) Approaching a tall container from behind at low z with an open gripper repeatedly closed 'just short' — the wrist cam shows the object filling the frame between the jaws while it is still 2–4 cm past the fingertips; each further advance pushes the object away. Come from above (z ≥ object top + 5 cm) and descend, never advance at body height. 3) A descent that stalls with x also slipping back is the reach limit, not contact; at x≳0.55 the arm cannot descend below z≈0.19 with the tool vertical. Pitching forward (+0.4–0.6) gains ~3–4 cm of reach. 4) Large yaw changes (≈ -1 rad) at x≈0.5 caused the IK to fold the elbow (joints 2,3 ≈ 2.5 rad) and stall far from target, sweeping the arm through the workspace; do yaw changes near the base (x≈0.3, z≈0.3) before extending. 5) The blue jug is a wide canister (~9 cm+) with a side D-handle; the white bottle is ~24 cm tall with a ~5 cm neck at z≈0.24 and a side handle at +y; the red cup sits directly beyond (+x of) the white bottle, near the far fence, so a pour would need the tool yawed ±90° and rolled, or the cup moved closer first. 6) Gripper close in the pinned pitch pose reads 0.011 when empty, as documented.
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]: [-0.0689, 0.8745, 0.6422, -0.3279, -0.115, -0.0532, 0.4994, 0.7757, 1.5448, 1.4658, -0.7918, 0.6941, 0.5541, 0.9994] state[eef_state]: left_x=0.312 left_y=0.0024 left_z=0.1862 left_yaw=0.0403 left_pitch=0.0027 left_roll=0.0324 left_gripper=0.4994 right_x=0.3584 right_y=0.1983 right_z=0.2591 right_yaw=-0.0932 right_pitch=-0.0697 right_roll=-0.0651 right_gripper=0.9994 state[joint_eff]: [-0.1299, -2.1538, 7.0632, 1.7753, -0.0806, -0.0513, -0.0171, -0.0068, -11.6444, 7.7333, 1.7021, 0.4762, -0.0171, -0.0757] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Both containers and the red cup now sit at the far edge of the table (x \u2273 0.62 m in either arm's frame), beyond the x = 0.6 workspace bound and the arms' reach for a grasp. My approach moves nudged the blue jug forward (its body was closer to the base than estimated and my jaws kept closing just short of it), and the right arm's yawed reposition stalled in a folded pose and pushed the white bottle forward as well. Neither container can now be grasped, so the pours cannot be completed.", "hindsight": "1) The top-cam depth estimate was badly off: objects whose base appears at image-y\u224895 were at x\u22480.50\u20130.55, not 0.40\u20130.45, and the jug/bottles were already near the x=0.6 bound; anything with base above image-y\u224855 is beyond the box. Estimate x by comparing to your own gripper's appearance at a known x rather than the rough scale. 2) Approaching a tall container from behind at low z with an open gripper repeatedly closed 'just short' \u2014 the wrist cam shows the object filling the frame between the jaws while it is still 2\u20134 cm past the fingertips; each further advance pushes the object away. Come from above (z \u2265 object top + 5 cm) and descend, never advance at body height. 3) A descent that stalls with x also slipping back is the reach limit, not contact; at x\u22730.55 the arm cannot descend below z\u22480.19 with the tool vertical. Pitching forward (+0.4\u20130.6) gains ~3\u20134 cm of reach. 4) Large yaw changes (\u2248 -1 rad) at x\u22480.5 caused the IK to fold the elbow (joints 2,3 \u2248 2.5 rad) and stall far from target, sweeping the arm through the workspace; do yaw changes near the base (x\u22480.3, z\u22480.3) before extending. 5) The blue jug is a wide canister (~9 cm+) with a side D-handle; the white bottle is ~24 cm tall with a ~5 cm neck at z\u22480.24 and a side handle at +y; the red cup sits directly beyond (+x of) the white bottle, near the far fence, so a pour would need the tool yawed \u00b190\u00b0 and rolled, or the cup moved closer first. 6) Gripper close in the pinned pitch pose reads 0.011 when empty, as documented."})
tool
give_up: Both containers and the red cup now sit at the far edge of the table (x ≳ 0.62 m in either arm's frame), beyond the x = 0.6 workspace bound and the arms' reach for a grasp. My approach moves nudged the blue jug forward (its body was closer to the base than estimated and my jaws kept closing just short of it), and the right arm's yawed reposition stalled in a folded pose and pushed the white bottle forward as well. Neither container can now be grasped, so the pours 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"
  }
]
call 0 attempt 0 · /messages · status 200 · 40.04 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, 0.617, -0.3779, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4291, 9.4564, 1.7363, -0.0122, 0.1392, -0.0562, -0.7726, -1.4838, 9.9897, 1.7118, -0.0904, 0.0366, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b769f16cec69e4274ad5bb029525af5649c1a85cb62d8175b6ffcc29e6a6aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4acec36ab3a98c5670dc30bb2087bfd8ecce93bc306ea726f5f01efaf32bbc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9af77753540728fdc424b166f7441f48388eef9ce41fe2115b07f5b46d7ee98f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 15.49 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4291, 9.4564, 1.7363, -0.0122, 0.1392, -0.0562, -0.7726, -1.4838, 9.9897, 1.7118, -0.0904, 0.0366, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b769f16cec69e4274ad5bb029525af5649c1a85cb62d8175b6ffcc29e6a6aa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4acec36ab3a98c5670dc30bb2087bfd8ecce93bc306ea726f5f01efaf32bbc99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9af77753540728fdc424b166f7441f48388eef9ce41fe2115b07f5b46d7ee98f",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
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  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start by flying the left arm above the blue (left) container to line up over its neck.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Kgr9ypb1bw9Hfw87mUn9Bn",
      "input": {
        "note": "Top view shows a blue-labeled bottle (left container), a red cup behind/between, and a white bottle (right container). Moving the left arm high above the blue bottle's estimated position to line up before descending onto its neck.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.22,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Kgr9ypb1bw9Hfw87mUn9Bn",
      "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]: [-0.7303, 1.6535, 1.721, -0.8036, -0.5995, -0.4877, 0.9996, -0.0193, 0.7986, 0.6086, -0.3843, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3984 left_y=-0.2182 left_z=0.3067 left_yaw=0.0061 left_pitch=-0.0283 left_roll=0.0034 left_gripper=0.9996 right_x=0.2951 right_y=0.0001 right_z=0.1799 right_yaw=-0.0039 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.5263, -0.3248, 0.149, -0.0562, 0.0342, -1.0188, 7.4872, 1.8339, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f94aa4af4d9c719e2d8e5e505aa9c8d4e26915efb48d53e3831de3e5f823b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9394a3bc5ff7e27273f9483b8bb5f4a6590606cae7a13a409f571326496362ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9da6ffda0167792f1ac46675363c49ae6c1ead3b16ed0152619d3d0f2283bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 14.32 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4291, 9.4564, 1.7363, -0.0122, 0.1392, -0.0562, -0.7726, -1.4838, 9.9897, 1.7118, -0.0904, 0.0366, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7303, 1.6535, 1.721, -0.8036, -0.5995, -0.4877, 0.9996, -0.0193, 0.7986, 0.6086, -0.3843, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3984 left_y=-0.2182 left_z=0.3067 left_yaw=0.0061 left_pitch=-0.0283 left_roll=0.0034 left_gripper=0.9996 right_x=0.2951 right_y=0.0001 right_z=0.1799 right_yaw=-0.0039 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.5263, -0.3248, 0.149, -0.0562, 0.0342, -1.0188, 7.4872, 1.8339, -0.0611, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f94aa4af4d9c719e2d8e5e505aa9c8d4e26915efb48d53e3831de3e5f823b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9394a3bc5ff7e27273f9483b8bb5f4a6590606cae7a13a409f571326496362ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9da6ffda0167792f1ac46675363c49ae6c1ead3b16ed0152619d3d0f2283bdc",
        "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_01AXPiNZQ6EKFf4vrq2uTvkW",
      "input": {
        "note": "Left wrist cam shows the blue bottle just left of the jaw column with the white bottle and red cup beyond it. Descending partway and shifting 1 cm right to bring the bottle neck under the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.23,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AXPiNZQ6EKFf4vrq2uTvkW",
      "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]: [-0.7486, 1.6497, 1.4879, -0.6155, -0.6064, -0.511, 0.9996, -0.02, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3975 left_y=-0.227 left_z=0.2441 left_yaw=0.0065 left_pitch=-0.0551 left_roll=0.0156 left_gripper=0.9996 right_x=0.295 right_y=-0.0002 right_z=0.1797 right_yaw=-0.005 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.1983, 6.7487, 1.6825, -0.4029, -0.0073, -0.0562, -0.1026, -1.2513, 7.0496, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e45e214888e2fb8df978e6afce0ef030156aa42e13e8d1e0f779258ed46bdfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7edb9bdfc6a51df826dabfd75b1e0ebd6d8ac660922a4afb0b23494fd4dc81ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e580d732e251849896d75ee3bdac1f890a09231abee4b8a782100fec3932e64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.305 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.617, -0.3779, -0.0219, -0.033, 0.9996, -0.0154, 0.7967, 0.6109, -0.3744, -0.0128, -0.0231, 0.9994]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1851 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9996 right_x=0.2965 right_y=0.0013 right_z=0.1836 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4581, -1.4291, 9.4564, 1.7363, -0.0122, 0.1392, -0.0562, -0.7726, -1.4838, 9.9897, 1.7118, -0.0904, 0.0366, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7303, 1.6535, 1.721, -0.8036, -0.5995, -0.4877, 0.9996, -0.0193, 0.7986, 0.6086, -0.3843, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3984 left_y=-0.2182 left_z=0.3067 left_yaw=0.0061 left_pitch=-0.0283 left_roll=0.0034 left_gripper=0.9996 right_x=0.2951 right_y=0.0001 right_z=0.1799 right_yaw=-0.0039 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.5263, -0.3248, 0.149, -0.0562, 0.0342, -1.0188, 7.4872, 1.8339, -0.0611, -0.0611, -0.0171]",
      "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]: [-0.7486, 1.6497, 1.4879, -0.6155, -0.6064, -0.511, 0.9996, -0.02, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3975 left_y=-0.227 left_z=0.2441 left_yaw=0.0065 left_pitch=-0.0551 left_roll=0.0156 left_gripper=0.9996 right_x=0.295 right_y=-0.0002 right_z=0.1797 right_yaw=-0.005 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.1983, 6.7487, 1.6825, -0.4029, -0.0073, -0.0562, -0.1026, -1.2513, 7.0496, 1.8242, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e45e214888e2fb8df978e6afce0ef030156aa42e13e8d1e0f779258ed46bdfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7edb9bdfc6a51df826dabfd75b1e0ebd6d8ac660922a4afb0b23494fd4dc81ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e580d732e251849896d75ee3bdac1f890a09231abee4b8a782100fec3932e64",
        "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_01Kbsnast2jfmcQoD6sNxT6e",
      "input": {
        "note": "Blue bottle now fills the left wrist view, centred ~3 cm left of the jaw column with its spout pointing forward. Shifting left 3 cm and descending toward the bottle's shoulder height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Kbsnast2jfmcQoD6sNxT6e",
      "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]: [-0.6853, 1.6176, 1.1767, -0.3511, -0.5671, -0.4679, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1981 left_z=0.1696 left_yaw=0.0183 left_pitch=-0.0855 left_roll=0.0398 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.2239, 6.5709, 1.7314, -0.1587, 0.0708, -0.0611, -0.0752, -1.0598, 7.0359, 1.7363, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ab31780ed68c8e173c80898e565bcd1c50f335e62868df32ac51dcc88b86f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68986603eec81f35d1a55975d2f4331d85b5044eb2ce9421e4d68edf429fec4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5da53d3f2e6fdb06bde34e3ae18f460c4f82f406cb3d316bdafb7af9e25671f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 12.24 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7303, 1.6535, 1.721, -0.8036, -0.5995, -0.4877, 0.9996, -0.0193, 0.7986, 0.6086, -0.3843, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3984 left_y=-0.2182 left_z=0.3067 left_yaw=0.0061 left_pitch=-0.0283 left_roll=0.0034 left_gripper=0.9996 right_x=0.2951 right_y=0.0001 right_z=0.1799 right_yaw=-0.0039 right_pitch=-0.0141 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -7.7607, 9.1692, 1.5263, -0.3248, 0.149, -0.0562, 0.0342, -1.0188, 7.4872, 1.8339, -0.0611, -0.0611, -0.0171]",
      "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]: [-0.7486, 1.6497, 1.4879, -0.6155, -0.6064, -0.511, 0.9996, -0.02, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3975 left_y=-0.227 left_z=0.2441 left_yaw=0.0065 left_pitch=-0.0551 left_roll=0.0156 left_gripper=0.9996 right_x=0.295 right_y=-0.0002 right_z=0.1797 right_yaw=-0.005 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.1983, 6.7487, 1.6825, -0.4029, -0.0073, -0.0562, -0.1026, -1.2513, 7.0496, 1.8242, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.6853, 1.6176, 1.1767, -0.3511, -0.5671, -0.4679, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1981 left_z=0.1696 left_yaw=0.0183 left_pitch=-0.0855 left_roll=0.0398 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.2239, 6.5709, 1.7314, -0.1587, 0.0708, -0.0611, -0.0752, -1.0598, 7.0359, 1.7363, -0.0269, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1ab31780ed68c8e173c80898e565bcd1c50f335e62868df32ac51dcc88b86f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68986603eec81f35d1a55975d2f4331d85b5044eb2ce9421e4d68edf429fec4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5da53d3f2e6fdb06bde34e3ae18f460c4f82f406cb3d316bdafb7af9e25671f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwsKEAgRGAI4AUIIdGhpbmtpbmcSDJ4AiKjz8PLmLgglaBoMx5z3VoqLHbbs2RI0IjCsu6j/6VlKmTyeK5zUxNNfSnrb+6LCnlxMeCnPsl/fapqyKFzVvCnTGQEg5Ot+A3wqzAo1UuLWRlfYn8dQ8NXh6PKowvMIJIrp8MdiosZG8+Q5DGQVP4PXvUiDYZzp+KSO5w+JmmoWSSAY8irlVoyzSRk6G/jk76NU8vq8Xhf+vXx4tab0ECncpeWggH7ppMVG8c2i2aKGv/jzK7WWVMqCa1+hgit5CdTDmRT39jJVRbd7ghCfY4szJEb3a/r3QDg7msA0k5e73QFuHPnTEELah3qtMVoXqVzQrznoywdT8yQBKPtU0nfu320Nc7ZUQjjrxlWe31vux7lXtlzhPS7EWpKenm7O+PmQC9rkUllberihVlPmJRj9U3+ep1MfH9cBPK3J5kAoNrr2sz/0Fi6X7bgVTnQrTYf8mSAM6UEIt1ahw2yfOz0CTjegZokjjJJ6oij6g7w0Op2gcK7a49c6qihlF7RitUi3xakN7+MkLHfC81G846Th0jxvXf88Bo12z0rOfe7Xl9H1oiZLXNbjaeX7Zc2hlT2Cev6StJqD0HESsk1eGyIXYzRVO7vDu8RE2LMUzbDTENdSL4GOZYJi8YqP0OJL9MIym/MJQJdwgThY2P1RBQ8rx4Uepjl3CxmFW9eVOIVvtD0VI6bB8C+QRlntiiBu5LIxlwDjnlZpYYLhb4KP/7veLAaiEi6fIPzjgfvpok6twTGM+CCtE76pzJuZ8gEC1F2ffLT2CFA5eC6Ns/EuAwRIuBaNY66UrFAgnu+yg6X8lLuTWDJSdte+DkvDJgbM2t6mGdgSeDpOuEBFYx6xCYN9aBq+4f5U4i0MMISC/SI8hygV18k9WDdcYbFlr8wmi6Qy7KWYu/2VF1ZFMdFeS1k1cuOvOTLRf68G+FDg1yJVq7rRG8uiwpC3y6/YGXL9Vtit0M6VPDMxedakzkDhodEtIRfwYSljjgpBjHUT3gW0USWwmj82KwZ1I/c16N9rJwJaGA/7r+B/I7Cj+kPv734+UCYNDO5z2QdTRxAwGycFhA7gET+uff7ZYdO8ZdfIpTllYVlNP9prOguxuBs48oPXR6Epf/zfJr9IaawrbEOAEJUEEvIgwS1+wUQhcsRsATM3dP3LC6JqTRqQ+2cvhIAWv6HOZX84tf5fEnARefMu1l+g328yv3XwpyNUMSnBud/Y2eNkXkTE1aDI8xQMM4H28vSIN7AOJyP4i1PZtcuUnAGE1xkZ/r3QQYVyQwXfgLC1kCnq+kGxsjmWPmrhec8YcUiek1rSO01qpeq8UO+P3hnwpKiAo2c1zmAcu7iREib/X26ZD8ZTvXm1W9wRNrVLJo2eFCzrbxIrZKb8JYWvAhQ5NPRzAECTQUDVDaRCTeFF1VtnJltBaLbTGt3I0IEojK4eODk4hbZAlns5yf4vDuMDZAQgO5dh4HZBxyQJyugQ7a6cRnJ0E/ehVnmc4zzhMvmCmRxLvacd95HMn6kysBircuJ1mUYHe+Qgy1URFwVaRjC9eV+JCD37PePwxzN3mJ8Au774gtL7b3c4TJhr8yEjYlqjTssIiFpOQ4ZYno93n6QusyXRFi2ycjSRyRjYdmu4w1milGf7xhAs309ulBSMMLulSWZ1goaLLri+68gLYlB3sVVkfIt5jHpFPX5fzBVfCgSlVvy+fHQRuuGBXvpgjIhTWbvSdNItBeFLXicmpkeUkhfqTG4SYiHALp5TuwRZr4Q0yyq74ONRtI04rvPi7rISo35aiAjSDXPl1kg6d5jnOmYdv3xRsruKf+Ggjp21LxJ3APTz7zxRPb/PD/0K5dO0AENU4FI1BnfC4r835Ll3Qb2DmWBhuo328wLjiBg5sGL5SyNqHm1cIun5U6p9QyiD7ygYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01USDqGiZCCnzDC3d7LXzQwv",
      "input": {
        "note": "Bottle is now on the jaw column but still has clear frame below it, so it is a few cm ahead of the fingertips. Advancing 3 cm and lowering to body height to bring the jaws around the bottle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.2,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01USDqGiZCCnzDC3d7LXzQwv",
      "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]: [-0.6285, 1.7599, 1.1625, -0.2066, -0.5385, -0.4423, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1942 left_z=0.1236 left_yaw=0.0408 left_pitch=-0.1084 left_roll=0.0517 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -9.3607, 6.5573, 1.6874, -0.1441, 0.1343, -0.0562, -0.212, -1.0462, 7.1316, 1.7167, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c6c935602d1ad4d0885ab256058155e10ad7797c60681626583c360cfc7c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9343262193d6e76e1bfff6131935bfdaadcb4f2fcba398a450c95eb1112c9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:150b6bb49af10a9704d03cd1a3fe11bc985dc12ede41de31a55c420388a61d82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 8.31 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]: [-0.7486, 1.6497, 1.4879, -0.6155, -0.6064, -0.511, 0.9996, -0.02, 0.7986, 0.6083, -0.3847, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3975 left_y=-0.227 left_z=0.2441 left_yaw=0.0065 left_pitch=-0.0551 left_roll=0.0156 left_gripper=0.9996 right_x=0.295 right_y=-0.0002 right_z=0.1797 right_yaw=-0.005 right_pitch=-0.0149 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -8.1983, 6.7487, 1.6825, -0.4029, -0.0073, -0.0562, -0.1026, -1.2513, 7.0496, 1.8242, -0.0464, -0.0513, -0.0122]",
      "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]: [-0.6853, 1.6176, 1.1767, -0.3511, -0.5671, -0.4679, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1981 left_z=0.1696 left_yaw=0.0183 left_pitch=-0.0855 left_roll=0.0398 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.2239, 6.5709, 1.7314, -0.1587, 0.0708, -0.0611, -0.0752, -1.0598, 7.0359, 1.7363, -0.0269, -0.0317, -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]: [-0.6285, 1.7599, 1.1625, -0.2066, -0.5385, -0.4423, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1942 left_z=0.1236 left_yaw=0.0408 left_pitch=-0.1084 left_roll=0.0517 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -9.3607, 6.5573, 1.6874, -0.1441, 0.1343, -0.0562, -0.212, -1.0462, 7.1316, 1.7167, -0.0269, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15c6c935602d1ad4d0885ab256058155e10ad7797c60681626583c360cfc7c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9343262193d6e76e1bfff6131935bfdaadcb4f2fcba398a450c95eb1112c9b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:150b6bb49af10a9704d03cd1a3fe11bc985dc12ede41de31a55c420388a61d82",
        "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_01JbduVn9bJP9fD2Vj3bex3V",
      "input": {
        "note": "Top view shows the open jaws still a few cm behind the bottle's base and the wrist view still has table below the bottle. Advancing another 4 cm so the jaws straddle the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.47,
          "left_y": -0.195,
          "left_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JbduVn9bJP9fD2Vj3bex3V",
      "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]: [-0.5617, 1.9045, 1.251, -0.1886, -0.5083, -0.4191, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.4598 left_y=-0.1836 left_z=0.0929 left_yaw=0.0753 left_pitch=-0.1531 left_roll=0.0755 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.2085, 9.2239, 1.7265, -0.1197, 0.2564, -0.0562, -0.1846, -1.2923, 7.0085, 1.7216, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9605184ea067ea84a2c8e841903a5c48a1f9463adae9e9693c9ac81fae95fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:043a0818ee86db6691b149249def2ec3b9d8527ee2e413e6e6b9e3f70da3724b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:720253d80465c6a253ca996142c0fac6a380f22d1ef262d0695368c6a490c7b6",
        "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 · 12.06 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]: [-0.6853, 1.6176, 1.1767, -0.3511, -0.5671, -0.4679, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.3979 left_y=-0.1981 left_z=0.1696 left_yaw=0.0183 left_pitch=-0.0855 left_roll=0.0398 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1026, -9.2239, 6.5709, 1.7314, -0.1587, 0.0708, -0.0611, -0.0752, -1.0598, 7.0359, 1.7363, -0.0269, -0.0317, -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]: [-0.6285, 1.7599, 1.1625, -0.2066, -0.5385, -0.4423, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1942 left_z=0.1236 left_yaw=0.0408 left_pitch=-0.1084 left_roll=0.0517 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -9.3607, 6.5573, 1.6874, -0.1441, 0.1343, -0.0562, -0.212, -1.0462, 7.1316, 1.7167, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.5617, 1.9045, 1.251, -0.1886, -0.5083, -0.4191, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.4598 left_y=-0.1836 left_z=0.0929 left_yaw=0.0753 left_pitch=-0.1531 left_roll=0.0755 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.2085, 9.2239, 1.7265, -0.1197, 0.2564, -0.0562, -0.1846, -1.2923, 7.0085, 1.7216, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9605184ea067ea84a2c8e841903a5c48a1f9463adae9e9693c9ac81fae95fc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:043a0818ee86db6691b149249def2ec3b9d8527ee2e413e6e6b9e3f70da3724b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:720253d80465c6a253ca996142c0fac6a380f22d1ef262d0695368c6a490c7b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgRGAI4AUIIdGhpbmtpbmcSDCn+6wyuUZXtKIl3/xoMuRUqujfAN2+eMBrrIjD+y+wOGIFmuwS3BOe1Stf4HKBnD3RlYCY76DstvdyguChUXsCu85DJZIcAIrtkgF4q6AkZXP2gqUDZgDEpIWzzO0a8OtLOMZmID6o7YVklcVg0iL8SwNHcptu8Up4useCZorfFvVJ1Ze+2gHZDgOxjjNafITdu7zCuPU+To95rKTgemaodXTd2OatBz28WUBXUaqQ0wlIMz21AXrRGuCVw1fxXauSJ5es1nY3XLcXyPKCadL8nuRO2ZJl8U0EB0EA/yEMU6zmoA2izQ6ZX4aywhcybrE249q23+rBqHAxwzoMPgn8WeCBkxYa4M4ZZPSYiFXJXp75s0hoa0nHi7OTj1i2gH0m9PhGCpqgN1uzIgiFGx6e1wULDY6nlBWKuETdLaf/uteppFTN6WOoTeCHiHUmX5lNnPd8Rc3R7SgVmB9SsGANWLHiFRdbqNI11Hh8yK1ykNdX9o2fnnYH1PypPnhH3Mzx0qqrz76meIZQlzlUQP5T5WZgvM+Eh/YQt6UTKYsg2PuLdaTbqlfA9zRMfDPW7tC1MInADTofrJczdlMywHrd14mnHaeMTPwvXXgIh+cokr0Xf+GrMqv+psPFdgXwuUf+bzNle8Kpu+BuC3ZebEtirwakrq3ZJP37/OcQTIM3GftV1ANBFfRM8X0e8AN/TNXEoxkaWy4OfWveSQ7mFvOehTJRX/jssXok/ElDw5Qr4BN1e0XKMhRcTyFmudIVsVo5fxv5xRJ4teDWyS4m/luoA1/tA3pgOoMhs9np82KJvPSK/xYjg9buQTUy6TllBr1eGm8+JDM/RycbDquXMn2tDQG731Lig2C+eM+Kurikb2aZFlb+mZQfuqXR9SgYZxUot2hjAPaj6sE3+z/rd/QKp20RX0EDdsBq7HyJol7Ohf6uNUJyok8IIMm/bGZMDaZc9fJWieo5nwlnTLrU0DYxSq31HDNzL/A2tF47FeVq5sw+OBfMEwTgXE31LklBRyvlvyR5jB4lNLrIBaT/sr6PzLFL8PuMjRRdGvsQNTEHm1qG656ysLS2yVXVIWtxrZ7Po102m7AgsVKN9843AktsbV3cJbSrh5Wyu5UZ/TTBI+oL6oT2gJd62QnlXlUj7dAcSND6o0x7bpoTINBKhhJp0onfAuk5h9Y+pr0L5IWJBHNk9nOXVkEiVhYLYlXwIyO044G7n8sXrgW9UGqYKyU0XQV+QoSI/ki+C5mj2WaQSuNwDQk0pbHa/9UJss4/8E2SqpTnRZ2DWFA/8/NcvCK63omUeifdohY9x9lM4fqFreIJ66OTfvdizpAnZiDYFNsJ0kVojXPfR6zrb0DeK14y9V4w0kH85dvfA1vSuvAvuztMaZxEMOPpu8fwbJarotqAlnGnV8f4qjfnmm5CVgwec0AllRkUvMolf0WvgTmXFAuisfd4mrIYTVV+I9aexGmfrlIOw47QLqbBQFvnus7NTezP61szUcJJBncdsUF1RGAesxMgvI5sGZmSBPbTB/AzOeiPdn8mfvzoR1otbpZzbT06Tubkq0KKqMvGtroewtxmioOey9zsNQ0TRt4sAzUtQLxGYt6FLJnZL0LnyhwtLt/XeUYSPf8C1tsHuLbS55DGbxUVMbZSMdyfZFyTUHcppmoxYFZLjIgQgp9YxU+kK39dGDpCSUgIx1rx3CQB6Etqxriwx4m2yVqSKAIQuw5DP2YPvHSBtrl62Me8kCbLj3g/bHQxI1BUpJlKd6scQS8wbWbRSDxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0187FjpaDxjDynPkrjEfeRic",
      "input": {
        "note": "The bottle fills the left wrist view right at the jaws and the arm stopped slightly short of target, suggesting the jaws are around the body. Closing the gripper to test the grasp.",
        "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_0187FjpaDxjDynPkrjEfeRic",
      "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]: [-0.5617, 1.9045, 1.2514, -0.1852, -0.5076, -0.408, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4604 left_y=-0.1841 left_z=0.0935 left_yaw=0.0685 left_pitch=-0.1508 left_roll=0.0812 left_gripper=0.0112 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.0991, 9.0735, 1.6679, -0.0952, 0.1294, 0.9939, -0.1573, -1.2513, 7.0222, 1.7118, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1120e8bfdf933e71e9bbb6e17e749ccf1792f3d47261a3d842cbf60867a3d5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:759eeecf6ebd9bdafb88c5ff4df88dad965ee204b270419db37598aa99c6fc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10a230bce67b57fb1a062ccbf65d77269895ccda061e3c5a60d8f9b4550275c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 10.58 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]: [-0.6285, 1.7599, 1.1625, -0.2066, -0.5385, -0.4423, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4274 left_y=-0.1942 left_z=0.1236 left_yaw=0.0408 left_pitch=-0.1084 left_roll=0.0517 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.5265, -9.3607, 6.5573, 1.6874, -0.1441, 0.1343, -0.0562, -0.212, -1.0462, 7.1316, 1.7167, -0.0269, -0.0562, -0.0122]",
      "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]: [-0.5617, 1.9045, 1.251, -0.1886, -0.5083, -0.4191, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.4598 left_y=-0.1836 left_z=0.0929 left_yaw=0.0753 left_pitch=-0.1531 left_roll=0.0755 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.2085, 9.2239, 1.7265, -0.1197, 0.2564, -0.0562, -0.1846, -1.2923, 7.0085, 1.7216, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5617, 1.9045, 1.2514, -0.1852, -0.5076, -0.408, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4604 left_y=-0.1841 left_z=0.0935 left_yaw=0.0685 left_pitch=-0.1508 left_roll=0.0812 left_gripper=0.0112 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.0991, 9.0735, 1.6679, -0.0952, 0.1294, 0.9939, -0.1573, -1.2513, 7.0222, 1.7118, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1120e8bfdf933e71e9bbb6e17e749ccf1792f3d47261a3d842cbf60867a3d5ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:759eeecf6ebd9bdafb88c5ff4df88dad965ee204b270419db37598aa99c6fc8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a230bce67b57fb1a062ccbf65d77269895ccda061e3c5a60d8f9b4550275c4",
        "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_01W6hHZpM2uxNhHaxduwABiM",
      "input": {
        "note": "Gripper closed empty (0.011) — the bottle surface sits just beyond the fingertips in the wrist view. Reopening and advancing ~4 cm further so the jaws actually straddle the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.5,
          "left_y": -0.19,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W6hHZpM2uxNhHaxduwABiM",
      "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]: [-0.5266, 2.0159, 1.404, -0.2611, -0.4965, -0.4149, 0.9951, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4881 left_y=-0.1823 left_z=0.0861 left_yaw=0.1023 left_pitch=-0.1835 left_roll=0.0899 left_gripper=0.9951 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -10.3453, 9.7436, 1.58, -0.0952, 0.3541, -0.0708, -0.212, -1.265, 7.0359, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43832c39c4b0830e5d2069c41e8aefee92701d328383fd6fe6b499de2b5a8ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e41ee55729c9d663292233636d2ea2b4c3f6acdd6fecaefa8e046da0033fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8aa94891c8f6e6cbcc9b8ce0b653084a7463c61c9ae37b8651ae4188035b3d9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 12.7 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]: [-0.5617, 1.9045, 1.251, -0.1886, -0.5083, -0.4191, 0.9996, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.4598 left_y=-0.1836 left_z=0.0929 left_yaw=0.0753 left_pitch=-0.1531 left_roll=0.0755 left_gripper=0.9996 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.2085, 9.2239, 1.7265, -0.1197, 0.2564, -0.0562, -0.1846, -1.2923, 7.0085, 1.7216, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5617, 1.9045, 1.2514, -0.1852, -0.5076, -0.408, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4604 left_y=-0.1841 left_z=0.0935 left_yaw=0.0685 left_pitch=-0.1508 left_roll=0.0812 left_gripper=0.0112 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.0991, 9.0735, 1.6679, -0.0952, 0.1294, 0.9939, -0.1573, -1.2513, 7.0222, 1.7118, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5266, 2.0159, 1.404, -0.2611, -0.4965, -0.4149, 0.9951, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4881 left_y=-0.1823 left_z=0.0861 left_yaw=0.1023 left_pitch=-0.1835 left_roll=0.0899 left_gripper=0.9951 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -10.3453, 9.7436, 1.58, -0.0952, 0.3541, -0.0708, -0.212, -1.265, 7.0359, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43832c39c4b0830e5d2069c41e8aefee92701d328383fd6fe6b499de2b5a8ed6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1e41ee55729c9d663292233636d2ea2b4c3f6acdd6fecaefa8e046da0033fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa94891c8f6e6cbcc9b8ce0b653084a7463c61c9ae37b8651ae4188035b3d9b",
        "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_01QcdeUgmFAU9UXFEcKdKNTa",
      "input": {
        "note": "Wrist view shows the bottle body very close but offset to the arm's left of the jaw column, with the right jaw beside it. Shifting the gripper ~3 cm left to centre the bottle between the jaws before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.5,
          "left_y": -0.15,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01QcdeUgmFAU9UXFEcKdKNTa",
      "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]: [-0.4629, 2.0209, 1.4082, -0.268, -0.4622, -0.3786, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4977 left_y=-0.1563 left_z=0.0821 left_yaw=0.1211 left_pitch=-0.2068 left_roll=0.0992 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -14.5026, 5.9145, 1.37, -0.105, 0.1636, -0.1294, -0.0615, -1.0462, 7.0085, 1.6972, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4284d22ab310f15bc16fda8cbe0ff8190166369c5d60393624591be1e5748f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac141fb9e347ab96b58f0f4384a997c726c129e68ed88ad056a5e23c0727ebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7358f291525301e7e9d70ee743c9cdc0c84518388d8bf6036b64e87eca59c4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 8.374 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]: [-0.5617, 1.9045, 1.2514, -0.1852, -0.5076, -0.408, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4604 left_y=-0.1841 left_z=0.0935 left_yaw=0.0685 left_pitch=-0.1508 left_roll=0.0812 left_gripper=0.0112 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.7179, -10.0991, 9.0735, 1.6679, -0.0952, 0.1294, 0.9939, -0.1573, -1.2513, 7.0222, 1.7118, -0.0611, -0.0317, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5266, 2.0159, 1.404, -0.2611, -0.4965, -0.4149, 0.9951, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4881 left_y=-0.1823 left_z=0.0861 left_yaw=0.1023 left_pitch=-0.1835 left_roll=0.0899 left_gripper=0.9951 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -10.3453, 9.7436, 1.58, -0.0952, 0.3541, -0.0708, -0.212, -1.265, 7.0359, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4629, 2.0209, 1.4082, -0.268, -0.4622, -0.3786, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4977 left_y=-0.1563 left_z=0.0821 left_yaw=0.1211 left_pitch=-0.2068 left_roll=0.0992 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -14.5026, 5.9145, 1.37, -0.105, 0.1636, -0.1294, -0.0615, -1.0462, 7.0085, 1.6972, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4284d22ab310f15bc16fda8cbe0ff8190166369c5d60393624591be1e5748f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cac141fb9e347ab96b58f0f4384a997c726c129e68ed88ad056a5e23c0727ebb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7358f291525301e7e9d70ee743c9cdc0c84518388d8bf6036b64e87eca59c4cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TyweheEGZTh4YtsNdoPvHX",
      "input": {
        "note": "The bottle body now fills the left wrist view centred on the jaw column and the top view shows the gripper right at the bottle's position. Closing to grasp the body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01TyweheEGZTh4YtsNdoPvHX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4606, 2.0201, 1.4082, -0.2752, -0.4553, -0.392, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4967 left_y=-0.1558 left_z=0.081 left_yaw=0.1261 left_pitch=-0.2144 left_roll=0.0885 left_gripper=0.0112 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.947, 6.4479, 1.4921, -0.2369, 0.1001, 0.9304, -0.1983, -1.1282, 7.0359, 1.7558, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ff0be64eb7e55f4f9bfd1b938780071d03c3074f9aaf41af2bccfa9df86fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69a95ae096f7593ab167b931dff594a796052a057d5f6ca218772dafb759bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e1b22a3342e8c95b3ff246984500ce225a0c5ce422912a67858322efb0502c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 19.37 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]: [-0.5266, 2.0159, 1.404, -0.2611, -0.4965, -0.4149, 0.9951, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4881 left_y=-0.1823 left_z=0.0861 left_yaw=0.1023 left_pitch=-0.1835 left_roll=0.0899 left_gripper=0.9951 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -10.3453, 9.7436, 1.58, -0.0952, 0.3541, -0.0708, -0.212, -1.265, 7.0359, 1.7265, -0.022, -0.0269, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4629, 2.0209, 1.4082, -0.268, -0.4622, -0.3786, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4977 left_y=-0.1563 left_z=0.0821 left_yaw=0.1211 left_pitch=-0.2068 left_roll=0.0992 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -14.5026, 5.9145, 1.37, -0.105, 0.1636, -0.1294, -0.0615, -1.0462, 7.0085, 1.6972, -0.0562, -0.0611, -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]: [-0.4606, 2.0201, 1.4082, -0.2752, -0.4553, -0.392, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4967 left_y=-0.1558 left_z=0.081 left_yaw=0.1261 left_pitch=-0.2144 left_roll=0.0885 left_gripper=0.0112 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.947, 6.4479, 1.4921, -0.2369, 0.1001, 0.9304, -0.1983, -1.1282, 7.0359, 1.7558, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89ff0be64eb7e55f4f9bfd1b938780071d03c3074f9aaf41af2bccfa9df86fc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d69a95ae096f7593ab167b931dff594a796052a057d5f6ca218772dafb759bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e1b22a3342e8c95b3ff246984500ce225a0c5ce422912a67858322efb0502c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQkKEAgRGAI4AUIIdGhpbmtpbmcSDAlOi+GDNteypQrMcRoMinFTHBds5lCdL+6jIjC40a1wWZPXfOD2u0gKCnNjyh2mWl/aPxCLvOnFIRwb1LCyzPKCmHRn/rfhh0PhrwkqwgjZe2tMJzVU+mJTFoW7iU4NPsUckc57VdVaa+csHyAb1XkNKOmbyzsYXWfJ7A8oq7TpofpcsbkMvDtMwTd7uzkKB9bnfmZrUQUSicThjmHicisT1gL0WrD4gigldeOyxRCQuodAEpVBMtjQ+BXFAJjoD6fQz/FPUCn41kb4veVX6QMzmDTy2hV0EzfUn9sEitnH9cJ+yzUYhj60C+nnWUoDsQNqiCIjeK3zW3sBAeLWKH1EOfqoJnC9NHKirkPeIAt7aRejCSKLsY4lA/F52hUADLrGzs7bccXmWLsGxdEQ2Oz50u/4Dc6eduXDs9j2n+jxkMrqpOHLmQ7cBVr+R8OdKaokSOE7GEOC3VQybwnGKQoXT3MOkArB+TleRl5uZunFwT7RgwpcEt+P/kZTgzvmKAppFwYHt1LPqD1Ifcj5DJQpcYsdqLefqAQ/wIjN5wOutzEbje6My5FiU+3THx7Wc9enRQZt+MixcrW+Kb0ggtCa8rIk2BiT7mMWZDoI0sCpXByIo7czhz/h5sP1C3IkaCVYX61NgmqEy+BZgRGkEFb6P/TAsITztIelVoPkBpcgfabI934SqJ1VcM9CkPy+CHQ3yTIds1n5iG7I01AnhIwttGRgsk4bAg81dX6KZSnDFwszNAMbtPq690gWAZzbmjZcC/T7jAD+ewWQ+hrJbIRjubPXz48wrQ4LvZKiWO4ci5XsCcXpIXBbIura/DmtaXjN5kV7oT1o8+/MXLj0Z3Km7006uI1v8nsln6nT9Sx37T41V8berxjgdPIhpBYon3Myju4C7uLhGGsqvVPG8nHgXX43bM4V9oF5fuCxEcDFk/bsmITnDP7jDWOJC+ceH2OJMqDL59f03FE6FKXZyaqGAhyiEfCnk5LQVJVo7fCYxQufs2oH8liDoi7BhYXMombVgDU2KMPZ7/+6m/pbZnRrqiWUAD9+py2BmQ0vQxRxpCMuJ8rbyb+1x4Ukg9/4RljoSQv9pMHBMIhB5YbjxeJXL09LdSam07qoQ2QudNtNXSdzHNPVyexqNUErzmPnNKKXR8/JOdf+aL2dDXQE85kNiBdC1cswvgd08e5/HKw09Qn+TD1Ss8QWuVP6zIq4sm1IHwNVnGyBvXMRrc228EWNkZuUewJM9wCXzMNtW8krPvijUWAKyhY5ZqONbdXsuJDWiLfVud4jvBKGmiYBzZsRVuCI9ZHMKLgRJ/m5DvjeFj1BBOHp32QzGphf9EIufn7P7nRROfLdxaMqcbnlvn4+fvQqCxLp6kHh7qe79/yWfxwLbxRhR05qI8MHd3Gzw79is2a3qZqjEFSiRFoTu4/TP5+WGNtFvKHp8Nes5/2EqQdNYEUMPHMmfZ9BsbPpKIDJ2b5PG6nYsxQ1AnFrOkh9jsgDqe/VIyPkUkh4xNj4artdC41xAfQG1ljBLB86jfvqTdnfVgyQLvQMHH9vgo7CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013hVXJBbRbjMRbE4Y963V5g",
      "input": {
        "note": "Second empty close: the bottle body is visible just beyond the closed jaws, so it is still ahead of the fingertips and the arm is near its reach at this height. Reopening, tipping the tool forward (positive pitch) and pushing the target further out to reach around the bottle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_x": 0.53,
          "left_y": -0.155,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_013hVXJBbRbjMRbE4Y963V5g",
      "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]: [-0.4774, 2.0975, 1.1259, 0.5808, -0.6292, -0.1638, 0.9975, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5268 left_y=-0.1514 left_z=0.0908 left_yaw=0.1321 left_pitch=0.2434 left_roll=0.0932 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.2906, 5.2855, 1.9853, -0.2369, 0.2271, -0.022, -0.1436, -1.2376, 7.0359, 1.7118, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5cc3a912b19577b472aed5d2ac592a59e4172fdd673506098fa83f9132b7546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57da04e3186b632d89c5c08ace5f6ddaea634c8d969362092ad9eb9c4d6b304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50af00713787b7dc8cd196f140cfccdcaf9e08e0a87b0be25a2f3615ae5119dd",
        "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 · 16.12 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]: [-0.4629, 2.0209, 1.4082, -0.268, -0.4622, -0.3786, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4977 left_y=-0.1563 left_z=0.0821 left_yaw=0.1211 left_pitch=-0.2068 left_roll=0.0992 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1846, -14.5026, 5.9145, 1.37, -0.105, 0.1636, -0.1294, -0.0615, -1.0462, 7.0085, 1.6972, -0.0562, -0.0611, -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]: [-0.4606, 2.0201, 1.4082, -0.2752, -0.4553, -0.392, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4967 left_y=-0.1558 left_z=0.081 left_yaw=0.1261 left_pitch=-0.2144 left_roll=0.0885 left_gripper=0.0112 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.947, 6.4479, 1.4921, -0.2369, 0.1001, 0.9304, -0.1983, -1.1282, 7.0359, 1.7558, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4774, 2.0975, 1.1259, 0.5808, -0.6292, -0.1638, 0.9975, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5268 left_y=-0.1514 left_z=0.0908 left_yaw=0.1321 left_pitch=0.2434 left_roll=0.0932 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.2906, 5.2855, 1.9853, -0.2369, 0.2271, -0.022, -0.1436, -1.2376, 7.0359, 1.7118, -0.0513, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5cc3a912b19577b472aed5d2ac592a59e4172fdd673506098fa83f9132b7546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57da04e3186b632d89c5c08ace5f6ddaea634c8d969362092ad9eb9c4d6b304",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50af00713787b7dc8cd196f140cfccdcaf9e08e0a87b0be25a2f3615ae5119dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsBgKEAgRGAI4AUIIdGhpbmtpbmcSDLZnV3QVpHeYoiRUtBoM2KC1V5f6j35vXB1FIjCGCdZwNhxriXoWU60GAbeEiUiPSQyq2Ow/WUrkXTha0bcg7qWEntlExjBToCkYtVwqzRf4gWEn4ALSkTK3rLIa2yVEbpPE0702SWsFgDGCKwW2eKXEa6CLFWVAGPxb2Ln9NwOodk2jY2/5rYSRXOgOGOzAR0TEsct68pKnNvqs5KvuEUjBT5y011+uDrRIfbqKQrEbbt4KWeBXtO3TdDeN+TiIRJWli5tXtah4IT87yMa+r0L4978bOLr609z4N/aPSXVPN4qOcZfKRsb7M8gMKKVyAon5/I3f2HkdQukRV8CCuVWWLL+gpViH4YDOZhfyEuoyN6Lz71cRe8bvuGL7FJobtP66Y9YbzTPls4q9rzote48rNUmYieIGynGNB53R8Sy/7YObUGR0KQVNxGrT1D2X/HgjRbCGMrEcEAxNs9n7ewbgGStWF4Zc80ek4O3hp0TjmifcCaVFt3ds7HOs3DJiE5wHwS1wsaAmEtgzW+ka7cSYnAkuavDdv6PtQ2nM64MbGN64OjUebHrjI1XOxQRB6y7M+sUhqwhNGz2iwuNhuWuaMzMINxbJl/+WmPJU/041077R9yxnmJz8jwtOnqgNBQ3LOQlBfFzF89mc7UR6umX8QzqVvB/rrzkSKgKeFuD1wUdleFcZwUMQF/o1Y7loYXSDp3aIr7s3OstEvOYhaG+tkvz/Iq9NanbYKhafrk8GSLuh2ytiRDNSSV1nQl/JY3213ngUWyrY26vO6Zov2kBS9o7vn1XXbWOqc6LeBgJWho6vWwnVO1TwXyNFqNlEAwHiyDsobqnzHzhvb87mfD8OPol8B62WOcsQsMDGDd+8OKoF9mPG7TcvwjOJfFnoy00nuRUi+jpp9HLiraSUUlH6gOL1EoKWnfFvQPw5HMZsqgfjxb9VpJiPHPRa+QpqHIpO/eNtnW8jRS4jco7WuVmO+930zMMjzGQQYAVChk0y5EmCjrnh6eNs4hOvvcDY/uy9iuYcCaNXeqHzqxg//fPvlQRyHNxcRzWeoPm5Locko15wKa6Zdc+7Ujf22VyLuBfeAohVhroeI8XsyIyny1VkqE90TW/51/1++CiaEHWI0GKyhKqSNPaeg/pkph87tuvzmpShTYtuetY1vKagApH8oSmPuKLcu/GFqnUvE4XPro1Vrxi+zrpXRb4BLajXu/NRKcOLCjkFjv0liS83LLR6xwEPdDe/K3gJAp6oDvAdKVE1NqDVJN0ceqlYcqgt7lZmjEQ7/FXjfwGxymKXKVsPEQgnixzVuX3otLyzhvOpN6eCfnvKgH3pO6aYxI2MQl4pF9BPyYTh1ZuI7d2pRCcVeo047LfohyQ9Qxrp/t6c36rb/YUuuGfakjqXi5d4Q4N8QqpZVbEoyWE9GWUC5BiLn4FsuENbfLr4qOAObQqOrb93zbGdDWGimjRl5pqC3qfMbqsIhRi50KCfcEXGxnO9/6WAxDQM/JwxFXnL2lnh0tQ+lIoC3uNOPDTsyB4EMpehTopwM9R1z5mbif6e4H/90DMmwYcTrE0XUZ7kSWqVSCBuI999XVI4VTZZ4IUChp1WZdYtqL9XrqGJbrFtla3Dd+d8QUF4ODRDI2MYNvAp/DcwVvEuzTD+MU9AepOygRwKhLj3aD/LaReimaYb65HH4ye+wXPnP/aUp+5Od8PeQ9eTjR7exnvcEQ90IHdANMAdKZmbqKdotJ4e/K3VT+zGZ+zvHopOF3pElGxFhVRmkYz1cI87WIE3nis/e17Rf4M6QYESVzGUVa2Gujo5V75nOCg2TxBSsiB13o4eQgJtlJUSr9wAMYlYDM+9YMQjI6c5wAuXWO0n0Cyhfof3pUaFTVqe64KFateeW+wX1q34vCxpnB/uSkoLYnc534DIxMJ7rYtOk53sGheFHvnoaXh1XwclICvld+E864kldiBpGW5GoioInNN7gQ5giIctamj+zG209cNOCA/w0epFQt0rNe1/Uab2zpTQ7mk2iARE7gpa5RoAkRE5OYYNnZUR8CSJTuzq9wMCuCJ/Jv0T2SNulfy2jHhROu/F9kmKqEnQxtp2N31dyvx34q5sxvmmzKPx3L9y1nPe2e26U0RpXu5QI0rDmJhPXKHn5fWe+L9S0cakPqa8FO98HB7lT18ezGnVs1N/4iyu/j1IPHWU43NiwAups4l5RGjeNUSGqi1t5nKxBPkbfk0KOH5YwfFyhGA3obtyJozN8muacISCWhZ75ZcI+UynUx8fGKU9Mt9mDc1xKY6EmhrsEh8zOfyI/0Fy+yQnz7KJWFhrkriqkHUK2bVjuWlIMs7EvAiqjsMP+85L/utPkKADVv5uLMXTPFZUtVoqGG9A4H8o+QVxTLucuVuSOMb5TXVzXYe7mWRct1vQkf9HYqhq7hL8s6ipxzKqRc6EEhjiUwPGyDqYGlTRGnRd0Im9kfj+iA0IhKvcv4KGqf28Up3Tj3YNTX2t0uoXx2bYuwvykiG3onyLAnN8YNjMW2n6qz5dWp7SPQOuZgH0AoAlWD43hLAr+c5dBxuyVRzolljHexG+Gb+G6/t1sB+RZI6Bml2ZL6ZBmqVIvjgEy0cWh8wQPMpOCrUCvk1LBBx0QZrkoX3wrzRFgZpAWTh54cfaGeFwD4LI9LYnd5E/d9h6bDCFtP1j1EcboENGjmz9FlRasbt/qmbAj8SeSzqAn99s/bA2WViNs5fdzzDsYsVkoyyR6xrFMdChod2Cyb3bDPnZStGEyA+BRrW3CozaCt8fIjb9A4Lzkua6MVb0G5zmluhrg32Gr4DGM/6ZyJ5ePoQlSv0iHjKwcgxkavJrbweCGHnm4NivpgfQT75LXy40BEoOIf/WElRY0jDW7IUpZv7Igvb2YI4vNuF7br7W6eblGxhNizLUDMEDM6gMhCrw1e9SpE67CbWRnUJHzlYvrNYOW4H183kMZoktVIyI7SbClB10d4YjY3L+B8ktvK2hUdS45JDeeFDMWYGsWRm1s4BBrqAa0Pd5tCZZcwqjWWbtf5Hcqo30wrqh4e2G73rciPiyPFuJi4JOP/NPtkiwNd4DeCH56zc8bKVuzLHTo8D3QgsqFb1THIdk+QQproZ9q8Gc1HKXfxw0HfQQa9GsHhQ1SwVGb1mmcGCm59Bj3+zr9tf8L9tnhnVgZI3x7FsqE+hHNuRASHEq6minu3U0kJDIDYQAxdi0cIJ1AyYLMrnNHiCVmfFr2xWipKVLJIcQR3MqNOEwzT8Z8nMVopEHyuMfVXcOePYbpAsTni+A0+MON5L1+9XuCtSesnyUAl0c3nUxUay0LmPH+i6VdXJbxWPd5pZN0fpoR7hIFHTi5INh7rpucg48y+riSTXGQbTxueIP/PU64Mav1z6opK0/pNV82oELHT1yHrkpCZ0OvloUfVx4tARPeRnuCAKuyQndGRrdZG1wyqw4vJpIa2TEm5nTLBSK4VTMKuMbZTqApYAAiLIK2uqe/02Pk/bXJPq3zTMmkka6pFYtVf7gVW5QVTopldIqNTxVp5owohccbJew65EI7eRKzpbP56t8j/mb9esPpgiEiA7KRdKAarriWp4z0MWYcsn2Yw8t1avQgU+7lroQMPGQInPC0EAryTnlx6QNCcX2aOvXzxWNJby39IZ4usvff6e4J0jzweotAD8rcbq9aw0isfmfnCzBejs0SYzFLjReOT8kp6UT3osmRidMnm0gObrr+OFvPrtOYd+pTXlj5N0hVHkr5WgvELEAqkYDI3zPhin4UQ7ERyHWOpui8yKzONL7Melq4eyxdHu19SgU55p47e8/V8LTShfH/Vu7q/4/aQG+CIOrZ/x0XSSfPStfcmP0lTPNHyOoLelpNyR98Rdqd6B8jL6Ai0Gf9IxnBjmdM4RPRR/6rJ0F0qzPdFeL7TA39o+0nY7Q5vlMm7g5VonBvtmdVc4tMbG8BEjjiTMuO5xdFU8EvOntydxhMjw63UvuXYaoQqnO43WrIEzXxbMFex43CpheSJDaHzP7pUKa1OlsRFmM2uYAJP2olHEYngrVbCIpM4ewLTobFvPtdLAtkkDns/5oSXNITyqGxQcZ4pSD9Q4z8YPw5lg0nOdv4Q9IpEv6BjkBYyH0v4cT0jEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PtNK9q3JPd9YCZg4BPAbKD",
      "input": {
        "note": "The wrist view now looks down onto the jug's handle and top, meaning the jug is short and my previous closes were above it. Descending to body height with the tool vertical so the jaws surround the jug body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.52,
          "left_y": -0.155,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PtNK9q3JPd9YCZg4BPAbKD",
      "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]: [-0.4694, 2.1071, 1.2106, 0.2543, -0.5713, -0.2905, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5175 left_y=-0.1514 left_z=0.0542 left_yaw=0.1408 left_pitch=0.0277 left_roll=0.0981 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.5658, 8.4718, 1.6923, 0.0122, -0.0806, -0.1392, 0.0342, -1.1282, 7.0085, 1.7314, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc94355230da9287e1062defd6145197696b53663a1568d815515e3410a1a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b15e7b4a09f778c265e8834c2ffe125f243f8a333cfd6957c79536688f17f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1812e4244b2ceb0dd4084f9df6ea3f75c62efa3effe2a3af088ab89ae93880d4",
        "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 · 4.701 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]: [-0.4606, 2.0201, 1.4082, -0.2752, -0.4553, -0.392, 0.0112, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.4967 left_y=-0.1558 left_z=0.081 left_yaw=0.1261 left_pitch=-0.2144 left_roll=0.0885 left_gripper=0.0112 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.947, 6.4479, 1.4921, -0.2369, 0.1001, 0.9304, -0.1983, -1.1282, 7.0359, 1.7558, -0.0464, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4774, 2.0975, 1.1259, 0.5808, -0.6292, -0.1638, 0.9975, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5268 left_y=-0.1514 left_z=0.0908 left_yaw=0.1321 left_pitch=0.2434 left_roll=0.0932 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.2906, 5.2855, 1.9853, -0.2369, 0.2271, -0.022, -0.1436, -1.2376, 7.0359, 1.7118, -0.0513, -0.0562, -0.0171]",
      "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]: [-0.4694, 2.1071, 1.2106, 0.2543, -0.5713, -0.2905, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5175 left_y=-0.1514 left_z=0.0542 left_yaw=0.1408 left_pitch=0.0277 left_roll=0.0981 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.5658, 8.4718, 1.6923, 0.0122, -0.0806, -0.1392, 0.0342, -1.1282, 7.0085, 1.7314, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc94355230da9287e1062defd6145197696b53663a1568d815515e3410a1a65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0b15e7b4a09f778c265e8834c2ffe125f243f8a333cfd6957c79536688f17f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1812e4244b2ceb0dd4084f9df6ea3f75c62efa3effe2a3af088ab89ae93880d4",
        "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_01978HCBRLPL5HifdzC1bg5m",
      "input": {
        "note": "The jug body now sits between the open jaws in the wrist view, slightly left of the jaw column and with its base near the bottom edge, so it is ~2 cm ahead. Top view suggests I nudged it forward earlier. Advancing 2.5 cm and 1 cm left before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.545,
          "left_y": -0.145,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01978HCBRLPL5HifdzC1bg5m",
      "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]: [-0.4362, 2.1654, 1.2747, 0.2245, -0.5568, -0.2993, 0.9988, -0.02, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5319 left_y=-0.141 left_z=0.0421 left_yaw=0.167 left_pitch=0.0034 left_roll=0.097 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1795 right_yaw=-0.005 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -11.4803, 8.5675, 1.7265, -0.0659, 0.3443, -0.1343, -0.3624, -1.1829, 7.2137, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1052f06df76ab62c814c8dca310fc0fa1c2dc06f6528849cdf9a3c82fad66d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e945671777fa8efb09bcb8484bced25aad346a59af47926cc89f94c248db94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62eb7cf35d3fb5d39ff7aa1a4448a18635e28430288ff7a1ed076f7904c81c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.31 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]: [-0.4774, 2.0975, 1.1259, 0.5808, -0.6292, -0.1638, 0.9975, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5268 left_y=-0.1514 left_z=0.0908 left_yaw=0.1321 left_pitch=0.2434 left_roll=0.0932 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -10.2906, 5.2855, 1.9853, -0.2369, 0.2271, -0.022, -0.1436, -1.2376, 7.0359, 1.7118, -0.0513, -0.0562, -0.0171]",
      "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]: [-0.4694, 2.1071, 1.2106, 0.2543, -0.5713, -0.2905, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5175 left_y=-0.1514 left_z=0.0542 left_yaw=0.1408 left_pitch=0.0277 left_roll=0.0981 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.5658, 8.4718, 1.6923, 0.0122, -0.0806, -0.1392, 0.0342, -1.1282, 7.0085, 1.7314, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4362, 2.1654, 1.2747, 0.2245, -0.5568, -0.2993, 0.9988, -0.02, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5319 left_y=-0.141 left_z=0.0421 left_yaw=0.167 left_pitch=0.0034 left_roll=0.097 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1795 right_yaw=-0.005 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -11.4803, 8.5675, 1.7265, -0.0659, 0.3443, -0.1343, -0.3624, -1.1829, 7.2137, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1052f06df76ab62c814c8dca310fc0fa1c2dc06f6528849cdf9a3c82fad66d90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5e945671777fa8efb09bcb8484bced25aad346a59af47926cc89f94c248db94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62eb7cf35d3fb5d39ff7aa1a4448a18635e28430288ff7a1ed076f7904c81c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gYKEAgRGAI4AUIIdGhpbmtpbmcSDJxyMX7ZLm8L1QfsqRoMUy277vAetQOqemyMIjAQ8jK1fOjzljsErLcDSvspbSFi0PJtIlgG4sPqMYrsthY7m5keBR+zD/9KOkNGwxcq8wUaPJVCvhwxeah6X1sXwtTHOVF9nJkmFYaBjxf8CP68DU5/PlFdL+li8v3bDS8HYuNIhiZeIw6mwCkf0kbGJiTr019BZi7s0fAbr1f0bIW3WZMilYfuRvy3aYMG0t12oE7OBamjm5GDwizA1ql7g52FcBaX13JoDM+PpvDtr1gtv5UnuNOgRUZUKbiVkybPY3vmSkVAP93NQMBX5VQmRDzicWpqV5SkwHNRQ8Rrsdix0+qmKJdlkLXVk3joNg+Ve66uJNMDexc+BfHAtOEa5e91aUPGYPCFxeydSbOUlYSiarCqU6Ri4bNXJe2eK+8ja9KfPCNKbnhwotQF95+aulusxZ9Tyf3DsHEg4M4rQFmEirvBrPYHfNnTuQYmOM0cYg1JfixxhTQt6r6EbYZkcAQVVIGvj2Vgq3/ixcR4Ruz1Jn6hmPiuLmoW91ItQ6qvEysiBUBkbBVPlc3LwSbdzgSBaRyK8BwCEQ53PehphIiYkNZWaXmEjQadU0BUGewnBiC8XtAh11G/KYh7JbWRkCyKM1k3MGkht69lkJFyMOOD3iN9YLpI60Hl7Spd3iJ0MNMDZpzHErhGJYbGnYtYRLQSJegx5q1MBL6fzeNyGV35PDa8iRh/LAbHsVIsZr8uMBKzrrDK232vRj9tmrt4M+kczgDR0nQ3H7lBv9ap3Wfc+5Bb19gHnWKh2U2sG3KN34C17Nrx3jMHEnRFsGSpgBbtawGr3ijUQrMASX04Z7iVSKU+dZlKe8of6SqYXFnESnse69UPi5Xru2//J2oWb9vOJJ6iUipyDzSIN566IrMxvk497XEhZWQu7fcUYP5I7VIA4Gw8XTd0qGJl5He+CMDWnt22YsQb8HIwvGzlGEAaSOIJ2XJA+z2n6Him1uFJcfvYRO9gonDJ3/zjauVLurfqOZc2vSISVTzyh31pVbGJBG5HBe3NWt6tn97B86dvpVf4ZxHNDH0DJy7X0BIZMMiXMwGp1/nw4ilHchk0kxSLwi6FgxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QMLF5E7hG74o8GgPHo8aNJ",
      "input": {
        "note": "The jug body now fills the wrist view right between the jaws and the arm stopped 1 cm short, likely touching it. Closing to grasp.",
        "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_01QMLF5E7hG74o8GgPHo8aNJ",
      "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]: [-0.4221, 2.1826, 1.2869, 0.2253, -0.5533, -0.281, 0.0109, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5361 left_y=-0.1351 left_z=0.0376 left_yaw=0.1687 left_pitch=-0.0024 left_roll=0.1131 left_gripper=0.0109 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -11.7675, 8.294, 1.7265, -0.0562, 0.2076, 0.9646, -0.1299, -1.0735, 7.0222, 1.7607, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2060515c9264b8abe376f4f5ce8b9e92c9c7379be021d46fc3183d4452a60dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b34029efe443fcc45a7eacad9824f704ea1ff5b02bf578f1e3d9aab7834673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:151983c07e70a608720a38e0feeb055bfe7659d77887db0238c8c25ef52b3788",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 6.843 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]: [-0.4694, 2.1071, 1.2106, 0.2543, -0.5713, -0.2905, 0.9988, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5175 left_y=-0.1514 left_z=0.0542 left_yaw=0.1408 left_pitch=0.0277 left_roll=0.0981 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1709, -9.5658, 8.4718, 1.6923, 0.0122, -0.0806, -0.1392, 0.0342, -1.1282, 7.0085, 1.7314, -0.0611, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4362, 2.1654, 1.2747, 0.2245, -0.5568, -0.2993, 0.9988, -0.02, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5319 left_y=-0.141 left_z=0.0421 left_yaw=0.167 left_pitch=0.0034 left_roll=0.097 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1795 right_yaw=-0.005 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -11.4803, 8.5675, 1.7265, -0.0659, 0.3443, -0.1343, -0.3624, -1.1829, 7.2137, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4221, 2.1826, 1.2869, 0.2253, -0.5533, -0.281, 0.0109, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5361 left_y=-0.1351 left_z=0.0376 left_yaw=0.1687 left_pitch=-0.0024 left_roll=0.1131 left_gripper=0.0109 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -11.7675, 8.294, 1.7265, -0.0562, 0.2076, 0.9646, -0.1299, -1.0735, 7.0222, 1.7607, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2060515c9264b8abe376f4f5ce8b9e92c9c7379be021d46fc3183d4452a60dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53b34029efe443fcc45a7eacad9824f704ea1ff5b02bf578f1e3d9aab7834673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:151983c07e70a608720a38e0feeb055bfe7659d77887db0238c8c25ef52b3788",
        "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_01Mzpy93JqfHt28dQ7rMa9bM",
      "input": {
        "note": "Empty close again: the jug is just beyond the fingertips and the arm is at its reach limit at this height. Reopening and pitching the tool forward to extend the fingertips a few cm further out around the jug.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.5,
          "left_x": 0.57,
          "left_y": -0.135,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Mzpy93JqfHt28dQ7rMa9bM",
      "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]: [-0.4267, 2.4527, 1.2179, 1.079, -0.6525, 0.0013, 0.9975, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5642 left_y=-0.1347 left_z=0.0359 left_yaw=0.1574 left_pitch=0.431 left_roll=0.1296 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.3436, 6.5299, 2.1514, -0.1734, 0.1441, -0.0024, -0.3214, -1.265, 7.0496, 1.7021, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35102b0f170d35ea07b7ad7f0132d50fa8cd9d1a51bddc086c1d3724575c3a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f8c2d4213ade1527e0efe072dacb222ec06388ac6214166e08058f34d76b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec78432354a286e88dcfd782177d1a82a2feb91e5fc4ad994285a90e8edbfaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 20.99 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]: [-0.4362, 2.1654, 1.2747, 0.2245, -0.5568, -0.2993, 0.9988, -0.02, 0.7986, 0.6083, -0.3855, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5319 left_y=-0.141 left_z=0.0421 left_yaw=0.167 left_pitch=0.0034 left_roll=0.097 left_gripper=0.9988 right_x=0.2949 right_y=-0.0002 right_z=0.1795 right_yaw=-0.005 right_pitch=-0.0156 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.1436, -11.4803, 8.5675, 1.7265, -0.0659, 0.3443, -0.1343, -0.3624, -1.1829, 7.2137, 1.7363, -0.0171, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4221, 2.1826, 1.2869, 0.2253, -0.5533, -0.281, 0.0109, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5361 left_y=-0.1351 left_z=0.0376 left_yaw=0.1687 left_pitch=-0.0024 left_roll=0.1131 left_gripper=0.0109 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -11.7675, 8.294, 1.7265, -0.0562, 0.2076, 0.9646, -0.1299, -1.0735, 7.0222, 1.7607, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4267, 2.4527, 1.2179, 1.079, -0.6525, 0.0013, 0.9975, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5642 left_y=-0.1347 left_z=0.0359 left_yaw=0.1574 left_pitch=0.431 left_roll=0.1296 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.3436, 6.5299, 2.1514, -0.1734, 0.1441, -0.0024, -0.3214, -1.265, 7.0496, 1.7021, -0.0659, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35102b0f170d35ea07b7ad7f0132d50fa8cd9d1a51bddc086c1d3724575c3a07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f8c2d4213ade1527e0efe072dacb222ec06388ac6214166e08058f34d76b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec78432354a286e88dcfd782177d1a82a2feb91e5fc4ad994285a90e8edbfaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgcKEAgRGAI4AUIIdGhpbmtpbmcSDIXGcJTewZuZ4QTMWBoMz2hj9GH9wgblU/GaIjBvD9Hw9u4PQ3vOD7IuvsEzYxkjKl3vEs+cmaJqLcsje4fyNZ5+RyuW7o6tU9mgHhgqywZU+L/9asBCs8fd3I6KTJbAjhQRWT/jZ3xcrF5lAarQCoqv4DDhbvghfoX4uAEzI6/d+9E5gASCHs47xVBtfQJdnxaCjuZnbxhOP4hpwYrOX/v/vghkpeaKlJnwEvCtt4bruL4a0TnpYl2jz4bdsl83emNL2psTo8a9lOumfrg/seHfzDjr7yOfEPKIdht42XX/oyaaDp7JroPSwAsm2JaaJVnv//UDg+eaDfKYh3pZKhUC1TUXCa/sRXj5GVV0z66NwWcEqqKcxevzGMrQtD21yUNF9F2C9EzVn/EnJXfnctBKCiNVAdRqnuRDbkeX3oJ4pcGXlaPwCBPQqdoHJe7nRxiZyGwkQzxe16MLgIT7vxAWwtHJs8DfZt0fhmYif2yVftsJiYQIDCvHdJSG7lM5n9Qep+MHtHP3ymfBH8Ojq0zsqY9/bnnVXHnri4VHHJ5YnWczNGz5fXztdhGtggBWEEPEWw6Gi03pDxKru60dGb7BDmBtg2q6l11RqYmZTRf1RNgJi3oJdBQJUN/1zNQa0XBO99xPdoxVh7KBiW9ROVJXGk66EcmhQxLgFHocAYcEze0N08bjn8ik+Bo0GJb+ILLT9FQncWFLVkoApzS0RT0kzGYxy1Jnmib/ecPL5wLmSrpv9Up6gL+ikoHwDew4rjPlUaBrXDXEUplaKx7z+v9N14ZwGpM5FjP6F/i3ao15uOHCMyVJBsMQKTssF5s0er49OcBMmkdoSVTfnlP0dKF6dudhqo4GzlmcRAPyMnUlMRBZ7rHp4v/bXnhNtMWzV0lIS+bdWNj8UYY0PPDsObey4qCyOa9zsbDDK4XckIJKLaGuI9QBmDnppXYyfDmKUFBnTe4EBDxs/HSSNLrbrJE383RfZBeXPrEKNjKNaF9KexeRQnspyzF1X4fIir5vRmB1Wkf21QVCGQmyzcWNiLGH/O5N4Z+6d/HPbXI0CQUzRkUWWYPSKkUO03qBK/GiZVDV8ImMFhoi8JmQtuZcnipbQoCUv1Yh6lXZvnsq98YNlwx11a1QJQrHHsmC/VSPDFDuhV93Z3vu94nUbpS7fdBDFSkmD3FLZ1h06/JObsP/JBn528COWMC2nG/Tlb2K302jS3Bk+Dol7ocYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SZkY5LWVQpsKopykHdHdJR",
      "input": {
        "note": "With the tool pitched forward the arm reached x=0.564 and the jug body fills the wrist view between both jaws. Closing to grasp.",
        "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_01SZkY5LWVQpsKopykHdHdJR",
      "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]: [-0.4267, 2.4649, 1.2209, 1.0855, -0.6548, 0.0006, 0.0111, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5641 left_y=-0.1343 left_z=0.0316 left_yaw=0.1592 left_pitch=0.429 left_roll=0.1307 left_gripper=0.0111 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -13.3402, 4.3556, 1.7118, -0.0366, -0.0269, 0.9353, -0.0205, -1.1282, 7.0085, 1.7509, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387bcc9484c8cf8e8192bb8c90f140e4d84f253224244b11c4b9afa8978127da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2f19dbb1dc1158aaba4164755321b9467b9b2de0a85b993cf1b73c1817c625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecf1ae7de639fa72bd449aec800663d20bdc8637b1c4d28355d36d2368e4603a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 5.701 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]: [-0.4221, 2.1826, 1.2869, 0.2253, -0.5533, -0.281, 0.0109, -0.02, 0.7986, 0.6083, -0.3851, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5361 left_y=-0.1351 left_z=0.0376 left_yaw=0.1687 left_pitch=-0.0024 left_roll=0.1131 left_gripper=0.0109 right_x=0.2949 right_y=-0.0001 right_z=0.1796 right_yaw=-0.0047 right_pitch=-0.0153 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -11.7675, 8.294, 1.7265, -0.0562, 0.2076, 0.9646, -0.1299, -1.0735, 7.0222, 1.7607, -0.0562, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4267, 2.4527, 1.2179, 1.079, -0.6525, 0.0013, 0.9975, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5642 left_y=-0.1347 left_z=0.0359 left_yaw=0.1574 left_pitch=0.431 left_roll=0.1296 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.3436, 6.5299, 2.1514, -0.1734, 0.1441, -0.0024, -0.3214, -1.265, 7.0496, 1.7021, -0.0659, -0.0269, -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]: [-0.4267, 2.4649, 1.2209, 1.0855, -0.6548, 0.0006, 0.0111, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5641 left_y=-0.1343 left_z=0.0316 left_yaw=0.1592 left_pitch=0.429 left_roll=0.1307 left_gripper=0.0111 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -13.3402, 4.3556, 1.7118, -0.0366, -0.0269, 0.9353, -0.0205, -1.1282, 7.0085, 1.7509, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:387bcc9484c8cf8e8192bb8c90f140e4d84f253224244b11c4b9afa8978127da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef2f19dbb1dc1158aaba4164755321b9467b9b2de0a85b993cf1b73c1817c625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf1ae7de639fa72bd449aec800663d20bdc8637b1c4d28355d36d2368e4603a",
        "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_01Br3JdMrH1PkdapGYyYs9fJ",
      "input": {
        "note": "Still an empty close; the top view shows the jug was nudged near the far edge, just past the fingertips. Trying one more full-extension reach with maximum forward pitch to get the jaws around it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.6,
          "left_x": 0.6,
          "left_y": -0.13,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Br3JdMrH1PkdapGYyYs9fJ",
      "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]: [-0.387, 2.6373, 1.4048, 1.3029, -0.6556, 0.0799, 0.9951, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5966 left_y=-0.123 left_z=0.0434 left_yaw=0.2256 left_pitch=0.6136 left_roll=0.0733 left_gripper=0.9951 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.5641, 6.1197, 1.4335, 0.2857, 0.3492, -0.0073, -0.0752, -1.2376, 7.2137, 1.7216, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3cc0d480b7fb92f43ebeb465fb1952b482a8d7245e3357b8c49e3357221743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daff4443b7e2e74950273f07961fb3983a2f8843d1401250c0647ed24b671850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df4b4fb7a422ca7c13614fc301a58d1c27aad1729bd0860231ea2c00c0f1f92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 37.23 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]: [-0.4267, 2.4527, 1.2179, 1.079, -0.6525, 0.0013, 0.9975, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5642 left_y=-0.1347 left_z=0.0359 left_yaw=0.1574 left_pitch=0.431 left_roll=0.1296 left_gripper=0.9975 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -11.3436, 6.5299, 2.1514, -0.1734, 0.1441, -0.0024, -0.3214, -1.265, 7.0496, 1.7021, -0.0659, -0.0269, -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]: [-0.4267, 2.4649, 1.2209, 1.0855, -0.6548, 0.0006, 0.0111, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5641 left_y=-0.1343 left_z=0.0316 left_yaw=0.1592 left_pitch=0.429 left_roll=0.1307 left_gripper=0.0111 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -13.3402, 4.3556, 1.7118, -0.0366, -0.0269, 0.9353, -0.0205, -1.1282, 7.0085, 1.7509, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.387, 2.6373, 1.4048, 1.3029, -0.6556, 0.0799, 0.9951, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5966 left_y=-0.123 left_z=0.0434 left_yaw=0.2256 left_pitch=0.6136 left_roll=0.0733 left_gripper=0.9951 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.5641, 6.1197, 1.4335, 0.2857, 0.3492, -0.0073, -0.0752, -1.2376, 7.2137, 1.7216, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3cc0d480b7fb92f43ebeb465fb1952b482a8d7245e3357b8c49e3357221743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daff4443b7e2e74950273f07961fb3983a2f8843d1401250c0647ed24b671850",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df4b4fb7a422ca7c13614fc301a58d1c27aad1729bd0860231ea2c00c0f1f92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7QcKEAgRGAI4AUIIdGhpbmtpbmcSDJAoZPum5ld1hBc5ZRoMXlPvi0QVsI3+AmgOIjC/ZukB+O2/z1EeVtZ+C1AT5EcOuZQJOT3X6JpGrrFzlGpp02XfppQFXQ16Z2x5IgkqigclLhHrNtYYZbjnzfHFbDShvhSB0VYaWipcVgN1XdCnWImhtfM6PHtjYLwtpo0j7HecPgcebjf4Ad4fgYMUDXDKwPpk/IYhxUof4YMEo8ubW0jkZhQLNBpdQg/AZhyNzSOxzPRBVA0MtSpUHyCPI/A9a0Rvjnc7hTfyxrNUaf89X76c5vgMVMC+4w3WfG0LqlXP+Ngnk+YgLxXFxa+Lk1wq1VGN8A473oJpbCph9Gpc7PTigVOWZhRKi0DPjTN21Ucido198b92ugQQEyCRZPcZ1SsIw5QVRI/PObaAwWmB+MikIxHC/vUqim+HCeW8Vnzrso6IR0D4snkDfzPi0SpQRXhJ65eyEfU6rS5TtTeV4McJrxcT6SAuIAHX15uVQ7DUviiXpuMiE3QnW3yJ456cIYRfUQCVTDDLjWbfcg9Eu8V8OaZL0GhZ531XM73mXeTaRINLKdUoeoliOO6jXLMYUSJm3KxU1LKNM2hJbXdeeQXuC0p9smNyxrLNPZJ/hxDo2PdqyyG0brNLkL1G9XvGQeIg/Ov0p5oX8WS9S6MS8Pd5obxzL1Bf45/Ij7/qPC9vdmHRh8SkbQeuOOEgXkbl21H0ZSGKqOHkw+UzHVS+lHFs8/VXyR8a/nOboDNIbcS5MhKIBP20kKOEzpicVoXKu06vAsf2oUtE4zMLxvKiEW7sgHa+C2VfwhfkTjlGIIjHFGuut2zUlS0KdVNAKBzr/UMC9quKHb3EFYa52zH3zIEhB6U81kRKN5IQOC13q1iEV0V2n797uGt5JxDUfun5FjP+JDbnNKdB/S7eKQJ3Ya/d3sGdWGr6tGAB/NlBAITTMX6jaq9w17LahnPXy/SkGOFUEDBoCaeeCiRirxFH1LrlGaT3Cw4xPb17BR1DthMsb5fFWgul/rfoTX1inuuIaFSC1D+JtO1krBTMqY+nqcl5yaeoMlPsJs5Y6wMddNof/CT3gQ6UgAxZPSeeQRYZ54r5HfNCsilBk8Em7esnW+adYn3Ce2jg1Ef8HWTbVzMFmchGEOq5uUBFLc/PYZYfnelSwkDGwFCKv14jbinwC/FpCOOeo9hF1q5PP4jCyF/8BymatCR4XRn6iiH83SeBY7RGLqjPTJRWfzq5T8nqdZcfS+EOO6YhTN5+DsaX/y9jF5iRWAz3vDhKbnI4vvRMHhnaI/+pIE6L3PyUEUWcOVQPnJA3CJZVd44YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Y7Y5s4EKxoCPeKDtFkPkE",
      "input": {
        "note": "At full extension the jug body spans the wrist view between both jaws. Closing to grasp it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017Y7Y5s4EKxoCPeKDtFkPkE",
      "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]: [-0.3836, 2.6427, 1.412, 1.3178, -0.6594, 0.0593, 0.0108, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.5976 left_y=-0.1206 left_z=0.046 left_yaw=0.2534 left_pitch=0.6277 left_roll=0.0357 left_gripper=0.0108 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -14.7761, 3.6034, 1.3065, -0.0122, 0.0904, 0.9646, -0.1709, -1.2923, 7.0085, 1.7949, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ee81343d2a324b6375004db7a6b09e268981b4f37aa095dd2161d960343b5f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7bbeec43331db23cbdbbbb69af2e59b6b28607a0210167790c77cf68d694ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85abbbf7ce5d736aeaee438df8ba3a3d5b00075a40764c929b11e35cfe184062",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 9.935 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]: [-0.4267, 2.4649, 1.2209, 1.0855, -0.6548, 0.0006, 0.0111, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5641 left_y=-0.1343 left_z=0.0316 left_yaw=0.1592 left_pitch=0.429 left_roll=0.1307 left_gripper=0.0111 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.005 right_pitch=-0.0153 right_roll=-0.0005 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -13.3402, 4.3556, 1.7118, -0.0366, -0.0269, 0.9353, -0.0205, -1.1282, 7.0085, 1.7509, -0.0464, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.387, 2.6373, 1.4048, 1.3029, -0.6556, 0.0799, 0.9951, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5966 left_y=-0.123 left_z=0.0434 left_yaw=0.2256 left_pitch=0.6136 left_roll=0.0733 left_gripper=0.9951 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.5641, 6.1197, 1.4335, 0.2857, 0.3492, -0.0073, -0.0752, -1.2376, 7.2137, 1.7216, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3836, 2.6427, 1.412, 1.3178, -0.6594, 0.0593, 0.0108, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.5976 left_y=-0.1206 left_z=0.046 left_yaw=0.2534 left_pitch=0.6277 left_roll=0.0357 left_gripper=0.0108 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -14.7761, 3.6034, 1.3065, -0.0122, 0.0904, 0.9646, -0.1709, -1.2923, 7.0085, 1.7949, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ee81343d2a324b6375004db7a6b09e268981b4f37aa095dd2161d960343b5f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b7bbeec43331db23cbdbbbb69af2e59b6b28607a0210167790c77cf68d694ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85abbbf7ce5d736aeaee438df8ba3a3d5b00075a40764c929b11e35cfe184062",
        "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_01QwtVBZH5Leq9Di6evvDvN5",
      "input": {
        "note": "The jug closed empty again at the x=0.6 workspace bound — my approaches nudged it past reach. Parking the left arm and bringing the right arm high above the white bottle to attempt the second pour while I reconsider the jug.",
        "targets": {
          "left_gripper": 0.5,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.2,
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_y": 0.25,
          "right_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01QwtVBZH5Leq9Di6evvDvN5",
      "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]: [-0.0673, 0.8471, 0.6376, -0.2947, -0.1211, -0.0521, 0.4982, 0.6758, 1.8877, 2.0033, -0.8173, 0.5327, 0.3759, 0.9994]\nstate[eef_state]: left_x=0.3133 left_y=0.0039 left_z=0.1992 left_yaw=0.0466 left_pitch=0.0588 left_roll=0.0302 left_gripper=0.4982 right_x=0.4507 right_y=0.2509 right_z=0.3074 right_yaw=0.0264 right_pitch=-0.0296 right_roll=-0.012 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.7709, 9.6615, 1.7118, 0.1197, 0.1148, -0.1099, 0.5265, -10.4684, 8.6359, 1.1013, 0.4811, 0.2369, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2d597191fbf0ab6fd98964791829f996f08dc836902002ab055606208dabeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8cecc160369a073ec3ae5e3362aded544168da8f8d5198c49fc2cde7d6eecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:02c0e875b644a70963a38074e9fe7e6dae12da7e6e7117aa8b24326fdf1cfd79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 14.2 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]: [-0.387, 2.6373, 1.4048, 1.3029, -0.6556, 0.0799, 0.9951, -0.02, 0.7986, 0.6083, -0.3855, -0.0124, -0.0235, 0.9994]\nstate[eef_state]: left_x=0.5966 left_y=-0.123 left_z=0.0434 left_yaw=0.2256 left_pitch=0.6136 left_roll=0.0733 left_gripper=0.9951 right_x=0.2949 right_y=-0.0001 right_z=0.1795 right_yaw=-0.0047 right_pitch=-0.0156 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -10.5641, 6.1197, 1.4335, 0.2857, 0.3492, -0.0073, -0.0752, -1.2376, 7.2137, 1.7216, -0.0513, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.3836, 2.6427, 1.412, 1.3178, -0.6594, 0.0593, 0.0108, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.5976 left_y=-0.1206 left_z=0.046 left_yaw=0.2534 left_pitch=0.6277 left_roll=0.0357 left_gripper=0.0108 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -14.7761, 3.6034, 1.3065, -0.0122, 0.0904, 0.9646, -0.1709, -1.2923, 7.0085, 1.7949, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0673, 0.8471, 0.6376, -0.2947, -0.1211, -0.0521, 0.4982, 0.6758, 1.8877, 2.0033, -0.8173, 0.5327, 0.3759, 0.9994]\nstate[eef_state]: left_x=0.3133 left_y=0.0039 left_z=0.1992 left_yaw=0.0466 left_pitch=0.0588 left_roll=0.0302 left_gripper=0.4982 right_x=0.4507 right_y=0.2509 right_z=0.3074 right_yaw=0.0264 right_pitch=-0.0296 right_roll=-0.012 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.7709, 9.6615, 1.7118, 0.1197, 0.1148, -0.1099, 0.5265, -10.4684, 8.6359, 1.1013, 0.4811, 0.2369, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2d597191fbf0ab6fd98964791829f996f08dc836902002ab055606208dabeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8cecc160369a073ec3ae5e3362aded544168da8f8d5198c49fc2cde7d6eecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02c0e875b644a70963a38074e9fe7e6dae12da7e6e7117aa8b24326fdf1cfd79",
        "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_01UCy1M4Bu8w34vb7VpGU2d5",
      "input": {
        "note": "Right wrist cam shows the white bottle directly under the jaws with its open neck on the jaw column and the red cup just behind-left of it. Descending toward the neck while nudging 1.5 cm forward since the fingertips sit further out than the image suggests.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.465,
          "right_y": 0.25,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UCy1M4Bu8w34vb7VpGU2d5",
      "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]: [-0.0689, 0.852, 0.6426, -0.3199, -0.1123, -0.0463, 0.4993, 0.6586, 1.874, 1.636, -0.5304, 0.511, 0.3592, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.002 left_z=0.1946 left_yaw=0.0344 left_pitch=0.0331 left_roll=0.0336 left_gripper=0.4993 right_x=0.4558 right_y=0.2481 right_z=0.2088 right_yaw=0.0326 right_pitch=-0.0922 right_roll=-0.0538 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.9487, 6.6803, 1.9951, -0.1441, -0.0952, 0.105, -0.8274, -10.7692, 7.0359, 1.7949, 0.2613, -0.0611, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f1abd63453b2f7157c1b53c127d72f2d6cb56712c0490386ace254da91bf8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7946c9bea8eff1f75d246cfa65451c8a22df07d38c47514d140988719d0bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a05c2edc708d7fac51902da21ce4d35dba152d9a7b9131c427035b7306972424",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 18.88 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]: [-0.3836, 2.6427, 1.412, 1.3178, -0.6594, 0.0593, 0.0108, -0.02, 0.7986, 0.6083, -0.3851, -0.012, -0.0238, 0.9994]\nstate[eef_state]: left_x=0.5976 left_y=-0.1206 left_z=0.046 left_yaw=0.2534 left_pitch=0.6277 left_roll=0.0357 left_gripper=0.0108 right_x=0.2949 right_y=-0.0002 right_z=0.1796 right_yaw=-0.0048 right_pitch=-0.0153 right_roll=-0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -14.7761, 3.6034, 1.3065, -0.0122, 0.0904, 0.9646, -0.1709, -1.2923, 7.0085, 1.7949, -0.0611, -0.0757, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0673, 0.8471, 0.6376, -0.2947, -0.1211, -0.0521, 0.4982, 0.6758, 1.8877, 2.0033, -0.8173, 0.5327, 0.3759, 0.9994]\nstate[eef_state]: left_x=0.3133 left_y=0.0039 left_z=0.1992 left_yaw=0.0466 left_pitch=0.0588 left_roll=0.0302 left_gripper=0.4982 right_x=0.4507 right_y=0.2509 right_z=0.3074 right_yaw=0.0264 right_pitch=-0.0296 right_roll=-0.012 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.7709, 9.6615, 1.7118, 0.1197, 0.1148, -0.1099, 0.5265, -10.4684, 8.6359, 1.1013, 0.4811, 0.2369, -0.0757]",
      "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]: [-0.0689, 0.852, 0.6426, -0.3199, -0.1123, -0.0463, 0.4993, 0.6586, 1.874, 1.636, -0.5304, 0.511, 0.3592, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.002 left_z=0.1946 left_yaw=0.0344 left_pitch=0.0331 left_roll=0.0336 left_gripper=0.4993 right_x=0.4558 right_y=0.2481 right_z=0.2088 right_yaw=0.0326 right_pitch=-0.0922 right_roll=-0.0538 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.9487, 6.6803, 1.9951, -0.1441, -0.0952, 0.105, -0.8274, -10.7692, 7.0359, 1.7949, 0.2613, -0.0611, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f1abd63453b2f7157c1b53c127d72f2d6cb56712c0490386ace254da91bf8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad7946c9bea8eff1f75d246cfa65451c8a22df07d38c47514d140988719d0bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a05c2edc708d7fac51902da21ce4d35dba152d9a7b9131c427035b7306972424",
        "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_01FSUHBR9pjdCvHANVcppM2F",
      "input": {
        "note": "The bottle fills the right wrist view with its neck at the top edge, so the neck is several cm further forward and nearly at gripper height. Moving forward 5 cm and slightly up to get above the neck before descending on it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.51,
          "right_y": 0.25,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FSUHBR9pjdCvHANVcppM2F",
      "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]: [-0.0689, 0.8566, 0.6422, -0.3225, -0.1146, -0.0528, 0.4993, 0.5957, 2.0815, 2.0903, -0.7353, 0.4587, 0.3061, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1926 left_yaw=0.0398 left_pitch=0.0258 left_roll=0.03 left_gripper=0.4993 right_x=0.5091 right_y=0.2549 right_z=0.2528 right_yaw=0.0408 right_pitch=-0.0785 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.9077, 7.0769, 1.7949, -0.0659, 0.0317, -0.0024, -0.3624, -11.7402, 8.6769, 0.989, 0.1783, 0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b17decdccb0a254fad3312f699169c37ed8868b6966ab05094c99dd9da8d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b52e31cc75a0c86c09967400bbad608a5469ca423ad48f176afbec0f481e495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9eff1a6ff0f502c702e0af5a013628be8895ced012f771048101b85c13ffad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 8.482 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]: [-0.0673, 0.8471, 0.6376, -0.2947, -0.1211, -0.0521, 0.4982, 0.6758, 1.8877, 2.0033, -0.8173, 0.5327, 0.3759, 0.9994]\nstate[eef_state]: left_x=0.3133 left_y=0.0039 left_z=0.1992 left_yaw=0.0466 left_pitch=0.0588 left_roll=0.0302 left_gripper=0.4982 right_x=0.4507 right_y=0.2509 right_z=0.3074 right_yaw=0.0264 right_pitch=-0.0296 right_roll=-0.012 right_gripper=0.9994\nstate[joint_eff]: [0.1162, -1.7709, 9.6615, 1.7118, 0.1197, 0.1148, -0.1099, 0.5265, -10.4684, 8.6359, 1.1013, 0.4811, 0.2369, -0.0757]",
      "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]: [-0.0689, 0.852, 0.6426, -0.3199, -0.1123, -0.0463, 0.4993, 0.6586, 1.874, 1.636, -0.5304, 0.511, 0.3592, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.002 left_z=0.1946 left_yaw=0.0344 left_pitch=0.0331 left_roll=0.0336 left_gripper=0.4993 right_x=0.4558 right_y=0.2481 right_z=0.2088 right_yaw=0.0326 right_pitch=-0.0922 right_roll=-0.0538 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.9487, 6.6803, 1.9951, -0.1441, -0.0952, 0.105, -0.8274, -10.7692, 7.0359, 1.7949, 0.2613, -0.0611, -0.0757]",
      "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]: [-0.0689, 0.8566, 0.6422, -0.3225, -0.1146, -0.0528, 0.4993, 0.5957, 2.0815, 2.0903, -0.7353, 0.4587, 0.3061, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1926 left_yaw=0.0398 left_pitch=0.0258 left_roll=0.03 left_gripper=0.4993 right_x=0.5091 right_y=0.2549 right_z=0.2528 right_yaw=0.0408 right_pitch=-0.0785 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.9077, 7.0769, 1.7949, -0.0659, 0.0317, -0.0024, -0.3624, -11.7402, 8.6769, 0.989, 0.1783, 0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b17decdccb0a254fad3312f699169c37ed8868b6966ab05094c99dd9da8d33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b52e31cc75a0c86c09967400bbad608a5469ca423ad48f176afbec0f481e495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9eff1a6ff0f502c702e0af5a013628be8895ced012f771048101b85c13ffad5",
        "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_01VS2qCKvHD3qg6369BUVFHx",
      "input": {
        "note": "The bottle's open neck is now on the jaw column just below centre with the red cup directly beyond it. Descending 6 cm with a slight forward nudge so the open jaws straddle the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.525,
          "right_y": 0.255,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VS2qCKvHD3qg6369BUVFHx",
      "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]: [-0.0689, 0.8566, 0.6422, -0.3248, -0.115, -0.0532, 0.4993, 0.5842, 2.0956, 1.8858, -0.5571, 0.4397, 0.292, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1921 left_yaw=0.0403 left_pitch=0.0236 left_roll=0.0301 left_gripper=0.4993 right_x=0.515 right_y=0.2547 right_z=0.1887 right_yaw=0.0499 right_pitch=-0.1202 right_roll=-0.0644 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7026, 7.0359, 1.7509, -0.0952, -0.0513, -0.0073, -0.841, -11.5077, 6.9265, 1.6386, 0.1929, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c2da2056f34989d8a8724bc48d096f5ff5b52d55f38e9a2c018df2694e4102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fde5159119d57f3322e53b5b21bc122e4c81208cef387e71bafb73ff764d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4968e27213811d7797766527b1f3cd85df5a34e8d3bf3c7c2df1dd6793fef1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 9.778 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.852, 0.6426, -0.3199, -0.1123, -0.0463, 0.4993, 0.6586, 1.874, 1.636, -0.5304, 0.511, 0.3592, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.002 left_z=0.1946 left_yaw=0.0344 left_pitch=0.0331 left_roll=0.0336 left_gripper=0.4993 right_x=0.4558 right_y=0.2481 right_z=0.2088 right_yaw=0.0326 right_pitch=-0.0922 right_roll=-0.0538 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.9487, 6.6803, 1.9951, -0.1441, -0.0952, 0.105, -0.8274, -10.7692, 7.0359, 1.7949, 0.2613, -0.0611, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3225, -0.1146, -0.0528, 0.4993, 0.5957, 2.0815, 2.0903, -0.7353, 0.4587, 0.3061, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1926 left_yaw=0.0398 left_pitch=0.0258 left_roll=0.03 left_gripper=0.4993 right_x=0.5091 right_y=0.2549 right_z=0.2528 right_yaw=0.0408 right_pitch=-0.0785 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.9077, 7.0769, 1.7949, -0.0659, 0.0317, -0.0024, -0.3624, -11.7402, 8.6769, 0.989, 0.1783, 0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3248, -0.115, -0.0532, 0.4993, 0.5842, 2.0956, 1.8858, -0.5571, 0.4397, 0.292, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1921 left_yaw=0.0403 left_pitch=0.0236 left_roll=0.0301 left_gripper=0.4993 right_x=0.515 right_y=0.2547 right_z=0.1887 right_yaw=0.0499 right_pitch=-0.1202 right_roll=-0.0644 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7026, 7.0359, 1.7509, -0.0952, -0.0513, -0.0073, -0.841, -11.5077, 6.9265, 1.6386, 0.1929, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c2da2056f34989d8a8724bc48d096f5ff5b52d55f38e9a2c018df2694e4102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37fde5159119d57f3322e53b5b21bc122e4c81208cef387e71bafb73ff764d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4968e27213811d7797766527b1f3cd85df5a34e8d3bf3c7c2df1dd6793fef1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+AoKEAgRGAI4AUIIdGhpbmtpbmcSDPsU6/U+1vR5pqNr8RoMrNCVCXzfSEI/Gyw1IjBECcuYLjVC0TmbGSlSS81vmj+Py3NhtLu8M87W+DhoZ4jX8FjLy35ulB8i/ltedKwqlQrbWKmc+x0bFFvQKryulvSvyE9XowWWTxwfIEgGSZxB/jAUjDSUI6MFVCEFEWv/MJF2EQNxYbUfpZcW4KmKro5YRsajPTUK3WjPMCKzFzdTi6zZjxihoeZf0lQaDs05sS+xmwspyLyIL7nkfwtuXBCtqYTib9wM1bOeLCxvr1947HstAzZwmdEJUp49Hb91SYHRlsEZzUBGIgHVpUTTnLCar9+pUjDy11GvYKn7HooNtAx/t+oDY2ByGnDkml3rD6pavs9kFT0ufX4xkF/RNmhWTnacNr1uvPXdH+HJ4jHKCwDofdpNrBDt51CzKQCCFIbNlz81wD4+XMHNhcfSobwN/V/iyTlUo3v12sCORRNHDk+/eL8USjwOTCqrBgocqK+M6pBU63iKs38/njjg5eX+LXU6wNGsJSknq8vR/xlB7xvqj5NSmxR5DPY4JPY+JCJ8sDFczJqmki35S0XPdXHQw2uFiz3vV7qa62MdT7hyGuvOeyllWRb4eYuGhpzR4qCTNBKTxFWXn0pENy80Z1Xbz2jQpNu0aejEETn90uqSutyzvh5RfoIXHTizcRVNqS4//CahJ5kghBciwNRM9ZpQYjrsaFHHqd5Bf3J5Pksq+d+A36MRcQ9NnCgWmEwk6kBSQt0ONJhd/s0Q8OlCMC7eluUoXUiO8D+dg3RdwiP0mruPhb55vKdMVPwzsHCuryr6rR/ldqOL/nukWI840wtWRLdjJTi9hKgkSJUAs8+tlEGzhGoYxU3N9McS8z050te/hTRHOjnUWqjJIg9rsBdhly1ijM+TX3wBRxTNgMTAjHHWEnyPsBRh9HGBRzDcVMx5qV8/ge2p72MNcaoztLNTnK17IAoQsLTVEEFb9kzMsyunNQvz8Zk+2/lkIh1zlcr4nQqYs2VzGEIKRGr8dO4/DR11Tzm0q8r1woXnOAJV8xWJBzSl3Ws/tqXXS4SSbFrGy3YeaJm1QCvA5Zi9VKtjS/zxB+7fThGMISx4jVz31RGyLrnpIVytps0v+HjMsLhJz9duMu3uiyVElGcwXGVjfXt3PTs4SlhFOvF7YE7YN+MuVm/Z7MIHzPoEYLsW3ja6RqeEZtgsHiJwKv7bOlxomN7DkKhyVaJpTQGVn5CV0Rxtd9rFLlDEeUpCBw7HjE9jOvP7nPzXPzq90g5qpPZuou/PbA92dattWhpkU10FbqXTHXkbT6BJwjnGsYrWUkvGnxY7YSBy+VOpjeD4cF4h0DvSGdok+/AAb0CYZaGJaDplPJiixk221wC80h4ddDDH+DifCOXvK2RRyyeN39O/uGevsI2jPJOkVOVCLyd7dfKbJ10ZQCbru/wjBgQwB1t8XxUPSlY/NgifEYBqfnPp2st1zdtUs9vkA21jqnP84T2ZIdZJ399DPKgtKV2BdD3I9ydA013S3LfwRyZAckv6KLPEL0b7XvVjW37xqG48xjCU0P8929xRkAHpD73GV5/SOJjSKs/A5lkmfpXduAACzhuwkRGCZK9YNzRGDK/LI9lQy3K5S8C8XU2GZpwS2u0vIknPkid6j/GaY/evAJV8oBvKAOZrgSV+NGCPxEqUS2hHGZTFuuWBH+YV59S9iIiTZCQwTfUeB6/ZVzxuw9ayleeIeg5RWv/UtXhj62mHk8jLb4Jcx5S4D1tsmT5cWlzrtlmuaSaaVCDPqbrLjFwp2BRokPqRQybnD+R90kMCFqpvRz2GCUvU5XhpH8mjsPDEr2IrWBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U9XMPSnVuGUQiDnNBM4PXQ",
      "input": {
        "note": "The bottle's neck rim now fills the right wrist view just ahead of the jaws. Advancing 3 cm and lowering 4 cm so the jaws sit around the neck below its rim.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.545,
          "right_y": 0.255,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01U9XMPSnVuGUQiDnNBM4PXQ",
      "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]: [-0.0689, 0.8566, 0.6422, -0.3256, -0.115, -0.0528, 0.4993, 0.5705, 2.1509, 1.9091, -0.4435, 0.432, 0.2764, 0.9994]\nstate[eef_state]: left_x=0.3109 left_y=0.0025 left_z=0.1919 left_yaw=0.0401 left_pitch=0.0228 left_roll=0.0305 left_gripper=0.4993 right_x=0.5392 right_y=0.2624 right_z=0.1866 right_yaw=0.0541 right_pitch=-0.0525 right_roll=-0.0314 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6615, 7.2274, 1.7607, -0.0708, -0.022, -0.0073, -1.5521, -8.7179, 6.8444, 0.7009, -0.0415, -0.0904, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c01fdabb0e4a9502d242d86e059bef039b15d9b3d8df8dd10d3b7a5e962f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd979acc70af7165b452d9a125fcd94ebbcd44f67f316ce8f56e2e2d4f691d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fcc1486d87db3ee9a9961e0987ed32b415577054f91053ab9715fbcbadd3064c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 7.829 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3225, -0.1146, -0.0528, 0.4993, 0.5957, 2.0815, 2.0903, -0.7353, 0.4587, 0.3061, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1926 left_yaw=0.0398 left_pitch=0.0258 left_roll=0.03 left_gripper=0.4993 right_x=0.5091 right_y=0.2549 right_z=0.2528 right_yaw=0.0408 right_pitch=-0.0785 right_roll=-0.0432 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.9077, 7.0769, 1.7949, -0.0659, 0.0317, -0.0024, -0.3624, -11.7402, 8.6769, 0.989, 0.1783, 0.0611, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3248, -0.115, -0.0532, 0.4993, 0.5842, 2.0956, 1.8858, -0.5571, 0.4397, 0.292, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1921 left_yaw=0.0403 left_pitch=0.0236 left_roll=0.0301 left_gripper=0.4993 right_x=0.515 right_y=0.2547 right_z=0.1887 right_yaw=0.0499 right_pitch=-0.1202 right_roll=-0.0644 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7026, 7.0359, 1.7509, -0.0952, -0.0513, -0.0073, -0.841, -11.5077, 6.9265, 1.6386, 0.1929, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3256, -0.115, -0.0528, 0.4993, 0.5705, 2.1509, 1.9091, -0.4435, 0.432, 0.2764, 0.9994]\nstate[eef_state]: left_x=0.3109 left_y=0.0025 left_z=0.1919 left_yaw=0.0401 left_pitch=0.0228 left_roll=0.0305 left_gripper=0.4993 right_x=0.5392 right_y=0.2624 right_z=0.1866 right_yaw=0.0541 right_pitch=-0.0525 right_roll=-0.0314 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6615, 7.2274, 1.7607, -0.0708, -0.022, -0.0073, -1.5521, -8.7179, 6.8444, 0.7009, -0.0415, -0.0904, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7c01fdabb0e4a9502d242d86e059bef039b15d9b3d8df8dd10d3b7a5e962f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd979acc70af7165b452d9a125fcd94ebbcd44f67f316ce8f56e2e2d4f691d7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcc1486d87db3ee9a9961e0987ed32b415577054f91053ab9715fbcbadd3064c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgRGAI4AUIIdGhpbmtpbmcSDNPBIUQxPPCDiU4m1BoMJIzZaLjsTLNVus4bIjCLFmUDXDclhZ3q/eli723tY9zbkPeXEkuyECIZzQIT178HF5jqf/9ABe6r8IcHo5wqqwgFMbzvIJCXbVJH6c7Fs56yiZD5Qwe06TTCjWmCSgzmHB5Cl5gLHNHzWHjhTEXnSYGwEi8u7WpHrVLXN8OSKHKvvktI2O/O1SahoBgeP34WWS2cWlGW2iPMChERiJSBB5gopHUa8OyJ4A4XM62yK43PW86aoxcVw7R7fy05DSVLOeGsUUgvYhuMe6cTiJFfU2omqzTaPIbjK4LUVtlk27Cn7hh+1CUPjZ2prk/SAl4JnJ4o2ppf9egfM1IXgjSUFp009SoXOrrnLQ8FC7ZRyMVSRhQ47ooRcYSXITqPe9nN9XHPlz7SAgmnUYfDyDm9Ly0NEj2Tm9mpjmkEnC1hUtz67f4147YULKfF4gnxFcQI0YYPDSRDz+9rAJLtqC8I59m6vr0r1fj0Aln8ycXwL0jGnUsne4+DgaXjxIzMUk/py1tg2Nsy878sY12teE7H99we+J3iRVqmAMycly85lPsShe1E6P2hJMbyXjbqugmUZxEk63ZItauR1NtGUxuNT7ZUHaOnHEwEvG/jbrUJGKfuiPN/bZshjpVv8/vuCbzLrHW5IAFM/Hz0hVD1BDgSGkuntxbOyUwOgh1f329Qw9sMQHFl6hZwpmzd2wySUgBY8x01gQgeamDlQGJkwi0lI/+O5Ds/Bzk+unoxwS1YZUtVe2nT04VVuP/yS0krNLWHsXfejxLdaeOS7oFx92uLV41ARDfXd5/s2xt9grXDvaYAB7c9k08w5Jk5kA/eFLHelK2y3MbFtgR73adNl1PTgEhtQg+28luEpAroEBVq17e8mbwTucciOOi3WTM9KmpMxd98zinu0UVyy7caFpcOZDaUKVHRCfVYFWDdKHgr4sMHqLR/rj4k94QUxxm77XlyQA4bYgWJ56l5a0lWG2R7XEFOxLUe6LtC+qHuSeF1l1OtQqNQ0Lf45AJEmt5+FNWkRk+eoJgGqTjO3Q5rI/lJJpHFnPBPWGqTzCYOI/JNen8UocSrrpia2YXldTkoZrtQGyUnXiUagoqa+xmdXn0yC8vI/myPQ0L5SADU1dM+fp/N0sSk+CEHzkQqY5FTBP5ATTdz4hgyiU3yqkSrCgbtninoreRCPESUDE6OJGmCkYt/J59ir7Yw8TeG+SQlF7iNNi8Y9l5Zc1Ew/d8tKKceESW1rcL670qNCODPtFv2PRxCtS9DdbMC5XTihEv8qEgrJcP34cAISofvqIP2Z8IAgpUOVoXlzlE7O26OdWLWZShwb5T4z8R1Nv4fW1lPOEoouXNGfCtukn8zSuMcyCNgcUwaPxg/i6JJGBMymrejCe/lZHVrlL4gWd8GdQ83I+rzubAS2yy7EFuq57uMWj6hPL5Ipx3yzZ4IceyY+9Z3z9d2oLc0Xj3mgLkLwVd2stG1o+8ElURUVxwrYl9rhG7+ax1izIIkx/SxyxxX7xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zEt6maxMwsSYysGMVW3ou",
      "input": {
        "note": "The descent stopped at z=0.19, so the jaws are resting on the bottle's shoulder behind the neck, which still appears ahead of the fingertips. Lifting slightly and moving 3.5 cm forward to get directly over the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.575,
          "right_y": 0.26,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_012zEt6maxMwsSYysGMVW3ou",
      "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]: [-0.0689, 0.8593, 0.6422, -0.3279, -0.115, -0.0532, 0.4993, 0.5476, 2.3089, 2.2742, -0.5987, 0.3981, 0.2508, 0.9994]\nstate[eef_state]: left_x=0.3108 left_y=0.0025 left_z=0.1907 left_yaw=0.0403 left_pitch=0.0179 left_roll=0.0308 left_gripper=0.4993 right_x=0.5737 right_y=0.2739 right_z=0.221 right_yaw=0.0732 right_pitch=-0.017 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.8803, 7.2274, 1.7558, -0.0952, -0.0366, -0.0122, -1.5795, -13.3949, 8.0889, 0.8571, 0.2271, 0.0611, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dbb452fac3b68fe64e06c624c2da0822ae658760caa8fe222739fed932ec635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f59c2dc57cfad48053f974aedb0010b9180e058b32c4efe4978aa8edd710de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49953f68cec7080dc3d5a2bf3fb1db404ada6625b42384718235c3d23ec6776e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 12.78 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3248, -0.115, -0.0532, 0.4993, 0.5842, 2.0956, 1.8858, -0.5571, 0.4397, 0.292, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=0.0025 left_z=0.1921 left_yaw=0.0403 left_pitch=0.0236 left_roll=0.0301 left_gripper=0.4993 right_x=0.515 right_y=0.2547 right_z=0.1887 right_yaw=0.0499 right_pitch=-0.1202 right_roll=-0.0644 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.7026, 7.0359, 1.7509, -0.0952, -0.0513, -0.0073, -0.841, -11.5077, 6.9265, 1.6386, 0.1929, -0.0562, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3256, -0.115, -0.0528, 0.4993, 0.5705, 2.1509, 1.9091, -0.4435, 0.432, 0.2764, 0.9994]\nstate[eef_state]: left_x=0.3109 left_y=0.0025 left_z=0.1919 left_yaw=0.0401 left_pitch=0.0228 left_roll=0.0305 left_gripper=0.4993 right_x=0.5392 right_y=0.2624 right_z=0.1866 right_yaw=0.0541 right_pitch=-0.0525 right_roll=-0.0314 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6615, 7.2274, 1.7607, -0.0708, -0.022, -0.0073, -1.5521, -8.7179, 6.8444, 0.7009, -0.0415, -0.0904, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8593, 0.6422, -0.3279, -0.115, -0.0532, 0.4993, 0.5476, 2.3089, 2.2742, -0.5987, 0.3981, 0.2508, 0.9994]\nstate[eef_state]: left_x=0.3108 left_y=0.0025 left_z=0.1907 left_yaw=0.0403 left_pitch=0.0179 left_roll=0.0308 left_gripper=0.4993 right_x=0.5737 right_y=0.2739 right_z=0.221 right_yaw=0.0732 right_pitch=-0.017 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.8803, 7.2274, 1.7558, -0.0952, -0.0366, -0.0122, -1.5795, -13.3949, 8.0889, 0.8571, 0.2271, 0.0611, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dbb452fac3b68fe64e06c624c2da0822ae658760caa8fe222739fed932ec635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f59c2dc57cfad48053f974aedb0010b9180e058b32c4efe4978aa8edd710de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49953f68cec7080dc3d5a2bf3fb1db404ada6625b42384718235c3d23ec6776e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wgKEAgRGAI4AUIIdGhpbmtpbmcSDPBj+WjXNgcVAg8WbBoMbIAFQT2bRJjNgfrtIjB1/3unL9MIAi7PkOAmxvQM2x0iIMJlbvpSk+JRnXxlrebvSCIDfkzgQPm+sjPmoFoqnAg5KkTNSbm2HY8zTRvnb/m/g4lmIg5J7XyiixpT4mBqGfwWIrqOH3HXn1yRnXYX+xslohFrDzbKyB0w0t+w7ubIXL7JvpUVUCn09L0XndLYct6PdCva7Pgj9GlWh6iu+x5eN5Di1LIl+kf3HMoJR6DFKFGIX4bDUkElhOb0Iv+jIGnROj7OGUph4fbnGq6O3gLbvTvmHeMHf4o2qimA1ickDSg8Dc7alpdyd/WX7C8bvl5ed+F932EMPiI3clPrYSnnfgRsmClBeGuOXlFUUfw7NiNaThCMoPcwpt1YoUS8iwKY5sbWiFpFOppPPWb2Pw1T5KTNcOksNmWW4CHJ7YMzVXuUJQE2NAam6/zrTtKIYVGXIqmPXROQe9eo9dC0vEm8wEoKiC+R2nsNlH8ypoEj9A4opN7AyrXtw3Pq7SLNI9PAMD3+vPFhC2fiEXeVFDTLnnaWSg4PMPViQo+nQKPi2Gocdq/AbRhsYRhjPvck+62YtXIqHGorJddA5DFvQtBrVzAgh8/acJbVABB7pxwRQkCICJNBs/6oCqUSzuBApiVjPVy3IuSKdPOuJJymgmAiY8fGCCaMwWIEW35iC3B8zKxBq/apcK+O1r0y3oWJnupNWkQX8/s/i/tyGTMKmmaMyKrEX5SopVflPsyg/M7MY0zYglW8I7JvRDoWiPwieh9o0tm6jh8eL+XuHwO2rJTXTLtibqscmAvJK2rJdPjauuWmpv0pwC2J9UrvXxgBbpcKMhyBaJF8EIGIMNXQaVIYdbGKXYuxHbpAKBcK8p4C9TX9SBIO+cvmS9c1a9fRYbDWAU0oD08U3efEnV1qV7okC0sONSkSrUgxg7Tf2xKzpzID4qVnAb8ahzA6X8FShfK34ehNZCe5SA/NOKfTBYGZg4ZzJdiQOHM49N5dBSWVgaMjwtOzHTJ011vVuZpFdtESor4wcGMMhzCRhb89rFzCrZk8YX25HicW8qCjVjWuR1bZv42N1cD+ayfRFDuYB08T5D5UIPkR7vjGxTwHSvFaESdLBGmpatWRrlDl0GjA89QTTFYIOSWYUboW66cICVTN9mpKaXhcwdSrvLiTPg+KWzSiE7jZN+6bb3qIn4sCeemaeDsdjxql57M3vLkRnyDTLuAh1VbraLfGFtVjY0qfCBYOHks+Y+rCJutPlXkYL1Tia/QRfPWJ4m0Y1sfQvuO/RUm/i7oSt6WLWAKEdY3pQPGuR/SrLkCYHgVlXZka5rK/dv85wD8dKMXuuin+CjyHAcWDMA4eqlDdcCEtLvUSdVqG4eeWWDrLSXvUi+bLoXrCvrXXnLq2N9OI5vbOyb9BiqQXieMe5+SVCfhjCwbUHgqvML8qirRLUvVH8pnsdUuD0xLXnHL6kwtZ+80mpkkdF5b/vBMrXjaqthgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SP2nm7XmnKYdFZfnmGfGma",
      "input": {
        "note": "The neck rim now sits between the jaws at the bottom of the wrist view, with the red cup just beyond it. Descending so the jaws come down around the neck just under the rim.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.58,
          "right_y": 0.27,
          "right_z": 0.165
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SP2nm7XmnKYdFZfnmGfGma",
      "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]: [-0.0689, 0.8623, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5343, 2.3341, 2.3425, -0.7254, 0.3878, 0.2462, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=0.0025 left_z=0.1899 left_yaw=0.0403 left_pitch=0.0152 left_roll=0.031 left_gripper=0.4994 right_x=0.5685 right_y=0.2629 right_z=0.2115 right_yaw=0.0685 right_pitch=-0.0945 right_roll=-0.0455 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.8667, 7.1863, 1.7265, -0.0562, -0.0806, -0.0073, -0.6906, -12.8889, 8.7726, 1.4823, 0.2027, -0.0659, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55ad898ca79c37967ac4e8d5f64b1aa626a4595a91182ee659b8b5c621c9d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc0a651f1fe5dca62df209e23d82cdd0c5bced039a68520d261df3549e0b822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31e5ec17f83f232c89ab69d21fd4993a21d159a4d321c5ca8b496af663f1e672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 47.06 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8566, 0.6422, -0.3256, -0.115, -0.0528, 0.4993, 0.5705, 2.1509, 1.9091, -0.4435, 0.432, 0.2764, 0.9994]\nstate[eef_state]: left_x=0.3109 left_y=0.0025 left_z=0.1919 left_yaw=0.0401 left_pitch=0.0228 left_roll=0.0305 left_gripper=0.4993 right_x=0.5392 right_y=0.2624 right_z=0.1866 right_yaw=0.0541 right_pitch=-0.0525 right_roll=-0.0314 right_gripper=0.9994\nstate[joint_eff]: [-0.0889, -1.6615, 7.2274, 1.7607, -0.0708, -0.022, -0.0073, -1.5521, -8.7179, 6.8444, 0.7009, -0.0415, -0.0904, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8593, 0.6422, -0.3279, -0.115, -0.0532, 0.4993, 0.5476, 2.3089, 2.2742, -0.5987, 0.3981, 0.2508, 0.9994]\nstate[eef_state]: left_x=0.3108 left_y=0.0025 left_z=0.1907 left_yaw=0.0403 left_pitch=0.0179 left_roll=0.0308 left_gripper=0.4993 right_x=0.5737 right_y=0.2739 right_z=0.221 right_yaw=0.0732 right_pitch=-0.017 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.8803, 7.2274, 1.7558, -0.0952, -0.0366, -0.0122, -1.5795, -13.3949, 8.0889, 0.8571, 0.2271, 0.0611, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8623, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5343, 2.3341, 2.3425, -0.7254, 0.3878, 0.2462, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=0.0025 left_z=0.1899 left_yaw=0.0403 left_pitch=0.0152 left_roll=0.031 left_gripper=0.4994 right_x=0.5685 right_y=0.2629 right_z=0.2115 right_yaw=0.0685 right_pitch=-0.0945 right_roll=-0.0455 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.8667, 7.1863, 1.7265, -0.0562, -0.0806, -0.0073, -0.6906, -12.8889, 8.7726, 1.4823, 0.2027, -0.0659, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55ad898ca79c37967ac4e8d5f64b1aa626a4595a91182ee659b8b5c621c9d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dc0a651f1fe5dca62df209e23d82cdd0c5bced039a68520d261df3549e0b822",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31e5ec17f83f232c89ab69d21fd4993a21d159a4d321c5ca8b496af663f1e672",
        "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_013ZJUgxpc9G1XgWDpyCXdS8",
      "input": {
        "note": "The descent stalled at z=0.21 with x also slipping back, which looks like the arm's reach limit rather than contact. Pitching the tool forward to extend reach so the jaws can drop around the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.585,
          "right_y": 0.265,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_013ZJUgxpc9G1XgWDpyCXdS8",
      "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]: [-0.0689, 0.8642, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5541, 2.2265, 1.5913, 0.4961, 0.4889, 0.0639, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1893 left_yaw=0.0403 left_pitch=0.0133 left_roll=0.0312 left_gripper=0.4994 right_x=0.5842 right_y=0.2682 right_z=0.1931 right_yaw=0.0538 right_pitch=0.4374 right_roll=0.0144 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.8667, 7.4051, 1.7705, -0.1001, -0.0708, -0.0171, -0.3487, -9.4974, 5.2991, 1.3065, 0.0952, -0.2759, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef56ed7463c9b63416231244d34a803d51e6be42c782f32bcc7c70818815fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310ced499ef269a823f090e22c88d4ba6257390f26ad02a6e0d04104991fd9e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27524f77456657ac1b3a430a27cdb13b5ea05f517f16633b226c9224d4b7315a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 10.75 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8593, 0.6422, -0.3279, -0.115, -0.0532, 0.4993, 0.5476, 2.3089, 2.2742, -0.5987, 0.3981, 0.2508, 0.9994]\nstate[eef_state]: left_x=0.3108 left_y=0.0025 left_z=0.1907 left_yaw=0.0403 left_pitch=0.0179 left_roll=0.0308 left_gripper=0.4993 right_x=0.5737 right_y=0.2739 right_z=0.221 right_yaw=0.0732 right_pitch=-0.017 right_roll=-0.0096 right_gripper=0.9994\nstate[joint_eff]: [-0.2393, -1.8803, 7.2274, 1.7558, -0.0952, -0.0366, -0.0122, -1.5795, -13.3949, 8.0889, 0.8571, 0.2271, 0.0611, -0.0757]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8623, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5343, 2.3341, 2.3425, -0.7254, 0.3878, 0.2462, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=0.0025 left_z=0.1899 left_yaw=0.0403 left_pitch=0.0152 left_roll=0.031 left_gripper=0.4994 right_x=0.5685 right_y=0.2629 right_z=0.2115 right_yaw=0.0685 right_pitch=-0.0945 right_roll=-0.0455 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.8667, 7.1863, 1.7265, -0.0562, -0.0806, -0.0073, -0.6906, -12.8889, 8.7726, 1.4823, 0.2027, -0.0659, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8642, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5541, 2.2265, 1.5913, 0.4961, 0.4889, 0.0639, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1893 left_yaw=0.0403 left_pitch=0.0133 left_roll=0.0312 left_gripper=0.4994 right_x=0.5842 right_y=0.2682 right_z=0.1931 right_yaw=0.0538 right_pitch=0.4374 right_roll=0.0144 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.8667, 7.4051, 1.7705, -0.1001, -0.0708, -0.0171, -0.3487, -9.4974, 5.2991, 1.3065, 0.0952, -0.2759, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef56ed7463c9b63416231244d34a803d51e6be42c782f32bcc7c70818815fa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310ced499ef269a823f090e22c88d4ba6257390f26ad02a6e0d04104991fd9e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27524f77456657ac1b3a430a27cdb13b5ea05f517f16633b226c9224d4b7315a",
        "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_018pUfvYZgRCLc63XpCUahGz",
      "input": {
        "note": "The neck sits ~5 cm past the fingertips at the x=0.6 bound, so a neck grasp is out of reach. New plan: grasp the bottle's side handle (on the arm's left) with the tool yawed 90°, so wrist roll can tip the bottle forward toward the red cup. Rising and moving over the handle while starting the yaw.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.53,
          "right_y": 0.34,
          "right_yaw": -1.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_018pUfvYZgRCLc63XpCUahGz",
      "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]: [-0.0689, 0.8696, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6643, 2.5492, 2.5546, -1.5177, 1.0275, 1.4551, 0.9994]\nstate[eef_state]: left_x=0.3117 left_y=0.0024 left_z=0.1877 left_yaw=0.0401 left_pitch=0.008 left_roll=0.0322 left_gripper=0.4994 right_x=0.4791 right_y=0.1877 right_z=0.1598 right_yaw=-0.8536 right_pitch=0.0176 right_roll=-0.0277 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -2.0034, 7.0496, 1.8242, -0.0952, -0.0611, -0.0171, -0.3214, -18.1402, 6.4479, 0.3834, 0.7106, 0.1294, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4cf032f9fbe18bb0887a29903621f849187c6dc6da274b1769fc374961f266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2efb6f60b239fb01c5d25f6aa072230c1bfd5b044ff6ecf54bcdde2f52ab87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d128022130ef7baa7f646792edca29d56bb4da27330593bc8c6bcf05dc39c18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 11.78 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8623, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5343, 2.3341, 2.3425, -0.7254, 0.3878, 0.2462, 0.9994]\nstate[eef_state]: left_x=0.3111 left_y=0.0025 left_z=0.1899 left_yaw=0.0403 left_pitch=0.0152 left_roll=0.031 left_gripper=0.4994 right_x=0.5685 right_y=0.2629 right_z=0.2115 right_yaw=0.0685 right_pitch=-0.0945 right_roll=-0.0455 right_gripper=0.9994\nstate[joint_eff]: [-0.212, -1.8667, 7.1863, 1.7265, -0.0562, -0.0806, -0.0073, -0.6906, -12.8889, 8.7726, 1.4823, 0.2027, -0.0659, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8642, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5541, 2.2265, 1.5913, 0.4961, 0.4889, 0.0639, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1893 left_yaw=0.0403 left_pitch=0.0133 left_roll=0.0312 left_gripper=0.4994 right_x=0.5842 right_y=0.2682 right_z=0.1931 right_yaw=0.0538 right_pitch=0.4374 right_roll=0.0144 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.8667, 7.4051, 1.7705, -0.1001, -0.0708, -0.0171, -0.3487, -9.4974, 5.2991, 1.3065, 0.0952, -0.2759, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8696, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6643, 2.5492, 2.5546, -1.5177, 1.0275, 1.4551, 0.9994]\nstate[eef_state]: left_x=0.3117 left_y=0.0024 left_z=0.1877 left_yaw=0.0401 left_pitch=0.008 left_roll=0.0322 left_gripper=0.4994 right_x=0.4791 right_y=0.1877 right_z=0.1598 right_yaw=-0.8536 right_pitch=0.0176 right_roll=-0.0277 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -2.0034, 7.0496, 1.8242, -0.0952, -0.0611, -0.0171, -0.3214, -18.1402, 6.4479, 0.3834, 0.7106, 0.1294, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4cf032f9fbe18bb0887a29903621f849187c6dc6da274b1769fc374961f266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2efb6f60b239fb01c5d25f6aa072230c1bfd5b044ff6ecf54bcdde2f52ab87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d128022130ef7baa7f646792edca29d56bb4da27330593bc8c6bcf05dc39c18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HqwPCTrvyErbt4ckpoiehk",
      "input": {
        "note": "The right arm lagged badly on the yawing move (readback x=0.48, y=0.19, z=0.16) and the white bottle is hidden under the arm in the top view. Re-commanding a higher pose beside the bottle to let the IK settle and check the bottle is still upright.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.5,
          "right_y": 0.32,
          "right_yaw": -1.3,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01HqwPCTrvyErbt4ckpoiehk",
      "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]: [-0.0685, 0.87, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6964, 2.5191, 2.4615, -1.5364, 1.0092, 1.5574, 0.9994]\nstate[eef_state]: left_x=0.3117 left_y=0.0025 left_z=0.1876 left_yaw=0.0405 left_pitch=0.0076 left_roll=0.0322 left_gripper=0.4994 right_x=0.4607 right_y=0.195 right_z=0.1478 right_yaw=-0.875 right_pitch=-0.0014 right_roll=-0.0218 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7299, 7.0769, 1.7509, -0.0464, -0.0513, -0.0171, -0.253, -16.9915, 5.4632, -0.1001, 0.6911, 0.1538, -0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab11b1e450c1f2748bdc04e16729c3640facfcd310646a9ddece0bc9fa7cc951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d0b2091d6cb33412bc643e14fd71a2ab78590a0d10a6e71eaab4111b65b168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:93855b82c3d24cc6c290c6a2790834bd5ae8842f3314fcc7895b8a75509565e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 25.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8642, 0.6422, -0.3275, -0.115, -0.0532, 0.4994, 0.5541, 2.2265, 1.5913, 0.4961, 0.4889, 0.0639, 0.9994]\nstate[eef_state]: left_x=0.3113 left_y=0.0024 left_z=0.1893 left_yaw=0.0403 left_pitch=0.0133 left_roll=0.0312 left_gripper=0.4994 right_x=0.5842 right_y=0.2682 right_z=0.1931 right_yaw=0.0538 right_pitch=0.4374 right_roll=0.0144 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.8667, 7.4051, 1.7705, -0.1001, -0.0708, -0.0171, -0.3487, -9.4974, 5.2991, 1.3065, 0.0952, -0.2759, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0689, 0.8696, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6643, 2.5492, 2.5546, -1.5177, 1.0275, 1.4551, 0.9994]\nstate[eef_state]: left_x=0.3117 left_y=0.0024 left_z=0.1877 left_yaw=0.0401 left_pitch=0.008 left_roll=0.0322 left_gripper=0.4994 right_x=0.4791 right_y=0.1877 right_z=0.1598 right_yaw=-0.8536 right_pitch=0.0176 right_roll=-0.0277 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -2.0034, 7.0496, 1.8242, -0.0952, -0.0611, -0.0171, -0.3214, -18.1402, 6.4479, 0.3834, 0.7106, 0.1294, -0.0757]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0685, 0.87, 0.6422, -0.3275, -0.115, -0.0528, 0.4994, 0.6964, 2.5191, 2.4615, -1.5364, 1.0092, 1.5574, 0.9994]\nstate[eef_state]: left_x=0.3117 left_y=0.0025 left_z=0.1876 left_yaw=0.0405 left_pitch=0.0076 left_roll=0.0322 left_gripper=0.4994 right_x=0.4607 right_y=0.195 right_z=0.1478 right_yaw=-0.875 right_pitch=-0.0014 right_roll=-0.0218 right_gripper=0.9994\nstate[joint_eff]: [-0.0752, -1.7299, 7.0769, 1.7509, -0.0464, -0.0513, -0.0171, -0.253, -16.9915, 5.4632, -0.1001, 0.6911, 0.1538, -0.0757]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab11b1e450c1f2748bdc04e16729c3640facfcd310646a9ddece0bc9fa7cc951",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83d0b2091d6cb33412bc643e14fd71a2ab78590a0d10a6e71eaab4111b65b168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93855b82c3d24cc6c290c6a2790834bd5ae8842f3314fcc7895b8a75509565e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShwwKEAgRGAI4AUIIdGhpbmtpbmcSDAlfZzyeIKUAbdgTWRoM634XCCpXDBdukuVwIjAEPp9HEIc/HTDmhawdHsdh2d3wYfYMGPtQk9xb8BS4tmtKRhs2+YxADl28CeZBYMEqpAtb46T7FvlJWh7HEXn5MvOE0yITDOq2qUSafOr+KNlpIf+lHa/uNPqDmGfyX8ANCQ41QqML67HIsZjKZEFNjKxJMMQa1dxLs8aVHBKb/MO/Obez+2u1yrgwzn67hxCk/06mjE34LdbV1WunZevIg5iaR3/WNIJueKvjJXZZOJIuq5UT5DMmLCyOiygagPZQ0wpSMA5V1wFArb/CcPo1S6wJW7wM8ZgnxcOeeZqaym8mES5WpdbPKkD7WU5F9+ExM13N2Olciu4bYExC9xmNX3MWWZ3jYf/SQJ1KH/uAaJd4BEF9+DfQoi40/+kwbLdDXBQtOdi6J5Mevl2t4sUZ2F1Usrw96b56h+kL0wU5pQrGyQRDE95YIpkM3MG+pn0l3C5ncBs0rQMUTq+BJFGjKXrxGQ0FbPb0uc82weHnrfI0dpSWwLy7XRL3fzSkDH50rXelYYqbEVrwZElZaAgJ0Rz+kUuVR5gRAxsTC1G6vAdmNSZzCoFJEX1luEaG/DLgEhS4RCRTHJ37jKpT6fvUnwCazSDl6sPNawR+o0dU8YHGljmc037BjqX7RodQJP1Bi+7RaIyRsyD4C4oHp4JxGNbikcT1ieFeVrrfwgtoTTezclEo9gXfJt8zH4huI9z7P2gWVTs3p0k0rsqh6a2CsqTy7nOnlrmrYW8r9juDgZaT/bppj+3DvG5HZ49Pz2SFut4Rpb6QuBDrLVSqxExAmzn83ZJ7NzIUbGEvUn9KgzJ9p4RHAfHc3nCXdiH1D/UK8jJXg7L6AuHpovcFfdtU2DH3g3M8zZNBVGCKfnZu4FOD0c1sZ69NodqZxm39HgAkMk6jbTyatuoFfwP41FTA1hLVMbdqL36h0VLzvSaasRKN0+RGuSwXaUzk6RexByiREeK2qtO80CoaI0hpAid/trNitw4SDrhDXEnZW0vUJvgOpAy9EMB6WnjVS5nPZHV0ChAPvrFYf2CPLEr4U2cR83YiBUYafif5pXpE3C7K+mWI9HiDezymwq5AJ0+imJKH8DTXTx/S9MQyNMXJgQqY+vyHNxoXwZOmopz9wS3fDLHo4kxuzcDL5jodisY1D6zB0mxdX0+MwrjFzo0UOqYqs+wuXHqF7zhLrOFrjmmfU2cpgZBjQJjcHbQheGn6BoTtcKmcz138tSQjWPbQOr1QrRsmRhQ/5JiVpr0YfKCS/NwFBcyJpJ5XiLbZn2wv2NXDv/TIDy43wXlaMkh67ueoIfFzkN5rrHhVeG4Y+2L7fNFZSI2RsY/Q3fyPSGX+2b/gDUQPKu5J4btqV0bwDXo5TOx9oFr+1sO2N4jZwP7OQ6dNq0dEG+6X6G7NlZknnpuZQH/ALxTPiicUalCKxa/rVPYxDUgFqqMkEgX72PiRpECWPGB7Lkq5HL/+qxPLBlRal1dtOmhSH/lWMu6kq8/EYjBiYxLogg7x3ourZCZ9UW76jxVYVE1vJdoTaEUjlybus17ElUSOV9+YnkADrX87bD9K2bgEFhO/PIhS1CEUuc4KQ6DLgX1CJKSTTODzLaO7PsyEqso9tZtoVToFX6iM/B/cCElUsMwB9BBpcoqlEzM4olRJhFYjFIcF1uhd/GUI3tOQZe0X9w64LpxZSobE0me00KPvlXTYrLymv9XW+tyQfv4SBqk1JHbKVbCOR0eXzxFzN4pKahc6VFBO+/LwelID8dVxkpAu3BiNS+Z4G+3R07Wgbd4B3xi2ELATxoleqqWohjUbbP+e0g5EiWCn0ugr6E3xf5fX3ESNwv+gWrZMTj9trtoOectQvUt9VhxDkCBR9+OUQTWh8LqUdFVSqY5T6BYDLLUBnDNJxeBMOSHUWseQ1Of4C/BDnk6lZVd+mgfYPF284NVHaqBJoG//1+3DexJsIdb3iYNahFhta2IbHFL9tAMEaXb3KUUteEC3tWhCWEHWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018iCTMaZdWiLAKPBca9WdpX",
      "input": {
        "note": "The right arm is stuck in a folded configuration and not tracking; its wrist view suggests the white bottle may have been knocked over. Retracting toward the base with yaw back to zero to recover the arm before reassessing.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.35,
          "right_y": 0.2,
          "right_yaw": 0.0,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018iCTMaZdWiLAKPBca9WdpX",
      "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]: [-0.0689, 0.8745, 0.6422, -0.3279, -0.115, -0.0532, 0.4994, 0.7757, 1.5448, 1.4658, -0.7918, 0.6941, 0.5541, 0.9994]\nstate[eef_state]: left_x=0.312 left_y=0.0024 left_z=0.1862 left_yaw=0.0403 left_pitch=0.0027 left_roll=0.0324 left_gripper=0.4994 right_x=0.3584 right_y=0.1983 right_z=0.2591 right_yaw=-0.0932 right_pitch=-0.0697 right_roll=-0.0651 right_gripper=0.9994\nstate[joint_eff]: [-0.1299, -2.1538, 7.0632, 1.7753, -0.0806, -0.0513, -0.0171, -0.0068, -11.6444, 7.7333, 1.7021, 0.4762, -0.0171, -0.0757]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93bbdb53b35ef8ba3932c63a8e0965f8a231e50d3db3dc54ae8b05e522ce6d4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:783bf893f886b585bdb89278f7628fafa3a04b460ee4b49503a62f0949ed8347",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f96d18c5e6e1a224cae9f4996fb379a40cd0ffee2ca16e918feaf8070d4ef0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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