adhoc

completed
2026-09-18T16:23:53.446130+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (74 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
578.6 s
total steps
335
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 moving the left arm above the left container (the bottle) to line up a grasp, keeping the gripper open.
agent noteTop view shows a white bottle (left container) and a white canister (right container) in the centre with red and blue cups behind them. Moving the left arm up and over to hover above the estimated bottle position so I can check alignment in the wrist camera.
move_to
left_x0.3300left_y-0.2500left_z0.2800left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0189, 0.9996, -0.0154, 0.7967, 0.6109, -0.3706, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.7316, -1.5795, 9.265, 1.7851, -0.0269, 0.0024, -0.0562, -0.8, -1.4838, 9.7846, 1.7021, -0.1001, 0.0904, -0.0366] 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 moving the left arm above the left container (the bottle) to line up a grasp, keeping the gripper open.
move_to({"targets": {"left_x": 0.33, "left_y": -0.25, "left_z": 0.28, "left_gripper": 1.0}, "note": "Top view shows a white bottle (left container) and a white canister (right container) in the centre with red and blue cups behind them. Moving the left arm up and over to hover above the estimated bottle position so I can check alignment in the wrist camera."})
tool
executing move_to over 23 steps (2.3s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteWrist camera shows the white bottle just below-left of the jaw column and the top view confirms the gripper is over it. Shifting slightly forward and left toward the bottle and descending to body height to prepare the grasp.
move_to
left_x0.3500left_y-0.2200left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9554, 1.5455, 1.4776, -0.7738, -0.7486, -0.6636, 0.9996, -0.0143, 0.7967, 0.6086, -0.3698, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.329 left_y=-0.2509 left_z=0.2705 left_yaw=-0.0094 left_pitch=-0.0187 left_roll=-0.0062 left_gripper=0.9996 right_x=0.2969 right_y=0.0015 right_z=0.1835 right_yaw=0.0019 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5538, -6.6256, 8.759, 1.2039, -0.442, 0.0415, -0.0562, -0.1709, -1.0598, 7.241, 1.7558, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.22, "left_z": 0.16, "left_gripper": 1.0}, "note": "Wrist camera shows the white bottle just below-left of the jaw column and the top view confirms the gripper is over it. Shifting slightly forward and left toward the bottle and descending to body height to prepare the grasp."})
tool
executing move_to over 8 steps (0.8s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe bottle now fills the wrist view centred on the jaw column, but its full width visible below means it's still a few cm beyond the fingertips. Advancing 3 cm forward and descending to mid-body height to bracket the bottle between the jaws.
move_to
left_x0.3800left_y-0.2200left_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]: [-0.8379, 1.5181, 0.9897, -0.2741, -0.6724, -0.5678, 0.9996, -0.0147, 0.7975, 0.6086, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.3472 left_y=-0.2159 left_z=0.1543 left_yaw=0.0034 left_pitch=-0.0383 left_roll=0.0078 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1833 right_yaw=0.0008 right_pitch=-0.0023 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.0085, 6.7897, 1.58, -0.2808, 0.1392, -0.0611, -0.1709, -1.3197, 7.0632, 1.7167, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.22, "left_z": 0.1, "left_gripper": 1.0}, "note": "The bottle now fills the wrist view centred on the jaw column, but its full width visible below means it's still a few cm beyond the fingertips. Advancing 3 cm forward and descending to mid-body height to bracket the bottle between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe bottle body fills the wrist camera and the top view shows the jaws straddling it. Closing the gripper to grasp the bottle.
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]: [-0.7704, 1.6993, 0.9463, -0.033, -0.627, -0.5236, 0.9996, -0.0147, 0.7982, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.3792 left_y=-0.2185 left_z=0.0994 left_yaw=0.0141 left_pitch=-0.051 left_roll=0.0101 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1829 right_yaw=0.0008 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.0068, -7.7744, 5.7368, 1.7607, -0.2418, 0.0659, -0.0562, -0.1299, -1.3607, 7.1179, 1.79, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle body fills the wrist camera and the top view shows the jaws straddling it. Closing the gripper to grasp the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe gripper closed empty (reading 0.009) — the wrist view shows the closed jaws with the bottle just beyond them. Opening and advancing 4 cm forward so the jaws bracket the bottle body.
move_to
left_x0.4200left_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]: [-0.7689, 1.7, 0.9401, -0.0364, -0.6273, -0.5312, 0.0092, -0.0147, 0.7986, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.3779 left_y=-0.2164 left_z=0.0963 left_yaw=0.0203 left_pitch=-0.058 left_roll=0.0113 left_gripper=0.0092 right_x=0.2969 right_y=0.0013 right_z=0.1828 right_yaw=0.0008 right_pitch=-0.0038 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.1709, -8.1026, 6.5846, 1.4774, -0.232, 0.0611, 0.7057, -0.0752, -1.1145, 7.159, 1.7558, -0.0415, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_gripper": 1.0}, "note": "The gripper closed empty (reading 0.009) \u2014 the wrist view shows the closed jaws with the bottle just beyond them. Opening and advancing 4 cm forward so the jaws bracket the bottle body."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteArm advanced to x=0.41 with the bottle now filling the wrist view right up to the jaws and the top view shows the fingers around its body. Closing the gripper 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]: [-0.6895, 1.7947, 1.0325, -0.0311, -0.5751, -0.482, 0.9988, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.411 left_y=-0.2097 left_z=0.0882 left_yaw=0.0349 left_pitch=-0.0821 left_roll=0.0219 left_gripper=0.9988 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0015 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.747, 9.1009, 1.6093, -0.2076, 0.1392, -0.1343, -0.1436, -1.2786, 7.0769, 1.7216, -0.0366, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Arm advanced to x=0.41 with the bottle now filling the wrist view right up to the jaws and the top view shows the fingers around its body. Closing the gripper to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteSecond close was also empty; the wrist view shows the bottle base still a few cm beyond the closed jaws. Opening and pushing a further 4 cm forward to reach the bottle body.
move_to
left_x0.4500left_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]: [-0.6903, 1.7947, 1.0321, -0.0364, -0.5751, -0.4892, 0.0095, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4101 left_y=-0.2094 left_z=0.0872 left_yaw=0.0383 left_pitch=-0.0862 left_roll=0.0199 left_gripper=0.0095 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.0342, -8.9094, 6.4752, 1.5165, -0.2027, 0.0415, 0.7497, -0.1299, -1.1829, 7.4325, 1.7118, -0.022, -0.0806, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_z": 0.1, "left_gripper": 1.0}, "note": "Second close was also empty; the wrist view shows the bottle base still a few cm beyond the closed jaws. Opening and pushing a further 4 cm forward to reach the bottle body."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteGripper is now at x=0.44 with the bottle body right against the jaw in the wrist view and the top view shows the fingers on the bottle. 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]: [-0.6266, 1.8721, 1.1629, -0.0883, -0.5377, -0.4561, 0.9983, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4426 left_y=-0.2043 left_z=0.0915 left_yaw=0.0562 left_pitch=-0.103 left_roll=0.0249 left_gripper=0.9983 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.3214, -8.9778, 8.8137, 1.4579, -0.1685, 0.1685, -0.1245, -0.0752, -0.9641, 7.1863, 1.7216, -0.0806, -0.0659, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Gripper is now at x=0.44 with the bottle body right against the jaw in the wrist view and the top view shows the fingers on the bottle. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThird close was empty too: the wrist view shows the bottle base about 2–3 cm beyond the converged jaws, though laterally centred. Opening and advancing another 3 cm.
move_to
left_x0.4750left_z0.0900left_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]: [-0.625, 1.874, 1.1629, -0.0891, -0.5381, -0.4641, 0.0092, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4428 left_y=-0.2035 left_z=0.0906 left_yaw=0.0624 left_pitch=-0.1048 left_roll=0.0205 left_gripper=0.0092 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.2393, -9.935, 6.2291, 1.4432, -0.1929, 0.0366, 0.6813, -0.0752, -1.2376, 7.0359, 1.7167, -0.0611, -0.0366, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.475, "left_z": 0.09, "left_gripper": 1.0}, "note": "Third close was empty too: the wrist view shows the bottle base about 2\u20133 cm beyond the converged jaws, though laterally centred. Opening and advancing another 3 cm."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe bottle now fills the wrist view right down to the jaws but sits left of the jaw column, so it lies a bit to the arm's left. Shifting 2 cm left before closing.
move_to
left_y-0.1800left_z0.0800left_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]: [-0.5838, 1.9564, 1.2495, -0.1116, -0.5152, -0.445, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4651 left_y=-0.1987 left_z=0.0799 left_yaw=0.0775 left_pitch=-0.1298 left_roll=0.0339 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.4308, -9.812, 8.9504, 1.5849, -0.1636, 0.149, -0.1343, -0.1983, -1.1692, 7.4051, 1.746, -0.0464, -0.0464, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.18, "left_z": 0.08, "left_gripper": 1.0}, "note": "The bottle now fills the wrist view right down to the jaws but sits left of the jaw column, so it lies a bit to the arm's left. Shifting 2 cm left before closing."})
tool
executing move_to over 2 steps (0.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteArm stopped slightly short in y with rising shoulder effort, suggesting a finger is touching the bottle; the bottle is against the jaws in the wrist view. Closing the gripper.
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]: [-0.5686, 1.9503, 1.2221, -0.0921, -0.5026, -0.4347, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.464 left_y=-0.1913 left_z=0.0746 left_yaw=0.0778 left_pitch=-0.1371 left_roll=0.0357 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.001 right_pitch=-0.0042 right_roll=-0.0011 right_gripper=0.9998 state[joint_eff]: [1.1419, -12.547, 5.641, 1.5458, -0.1832, 0.0513, -0.1392, -0.253, -1.0735, 7.3231, 1.7118, -0.0513, -0.0659, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Arm stopped slightly short in y with rising shoulder effort, suggesting a finger is touching the bottle; the bottle is against the jaws in the wrist view. Closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteStill an empty close; the arm is stalling around x=0.46 at this height, apparently at its reach limit with the tool vertical, while the bottle sits just beyond the jaws. Pitching the tool forward and raising to z=0.15 to extend reach and grasp the bottle's upper body instead.
move_to
left_x0.5000left_z0.1500left_pitch0.5000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5713, 1.9507, 1.2003, -0.0891, -0.4965, -0.4419, 0.0099, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4585 left_y=-0.1904 left_z=0.0664 left_yaw=0.0761 left_pitch=-0.1549 left_roll=0.0382 left_gripper=0.0099 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0017 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [0.1299, -10.1538, 7.8838, 1.3797, -0.2808, 0.0171, 0.7253, -0.1026, -1.265, 7.0906, 1.7216, -0.0269, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_z": 0.15, "left_pitch": 0.5, "left_gripper": 1.0}, "note": "Still an empty close; the arm is stalling around x=0.46 at this height, apparently at its reach limit with the tool vertical, while the bottle sits just beyond the jaws. Pitching the tool forward and raising to z=0.15 to extend reach and grasp the bottle's upper body instead."})
tool
executing move_to over 22 steps (2.2s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteWith the tool pitched forward the wrist camera now shows the Clorox bottle (with handle) just left of the jaw column and the red cup to its right. Shifting 4 cm left to centre the bottle body between the jaws.
move_to
left_y-0.1500left_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]: [-0.5842, 2.0384, 0.9989, 0.9379, -0.6853, -0.0437, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.4982 left_y=-0.1911 left_z=0.1461 left_yaw=0.0806 left_pitch=0.4802 left_roll=0.0326 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.0008 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.2256, -9.9214, 5.6, 2.0586, -0.0366, 0.188, -0.1392, -0.1299, -1.1145, 7.0769, 1.746, -0.022, -0.022, -0.0171] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_z": 0.13, "left_gripper": 1.0}, "note": "With the tool pitched forward the wrist camera now shows the Clorox bottle (with handle) just left of the jaw column and the red cup to its right. Shifting 4 cm left to centre the bottle body between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe bottle body is now very close, filling the left half of the wrist view, still ~3 cm left of the jaw column; top view shows the fingers right beside its base. Shifting 3 cm more to the left to centre it.
move_to
left_y-0.1200left_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]: [-0.4934, 2.0384, 0.9028, 1.005, -0.6243, -0.0406, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4985 left_y=-0.1468 left_z=0.1232 left_yaw=0.1033 left_pitch=0.4526 left_roll=0.0488 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.8547, -10.4137, 5.1487, 2.044, 0.1636, 0.0317, -0.1392, -0.0752, -0.9368, 7.0769, 1.7265, -0.0513, -0.0366, -0.0122] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_gripper": 1.0}, "note": "The bottle body is now very close, filling the left half of the wrist view, still ~3 cm left of the jaw column; top view shows the fingers right beside its base. Shifting 3 cm more to the left to centre it."})
tool
executing move_to over 3 steps (0.3s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe bottle body is now centred between the two jaws in the wrist view and the top view shows the fingers at the bottle. 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]: [-0.4404, 2.0384, 0.8677, 1.0168, -0.5785, -0.0402, 0.9988, -0.0147, 0.7986, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.4998 left_y=-0.1248 left_z=0.1122 left_yaw=0.1074 left_pitch=0.4295 left_roll=0.0571 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1824 right_yaw=0.0008 right_pitch=-0.0046 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.1299, -12.0137, 4.2462, 1.9902, 0.0562, 0.0611, -0.1392, -0.0752, -1.265, 7.0769, 1.746, -0.0415, -0.0415, -0.0122] 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_gripper": 0.0}, "note": "The bottle body is now centred between the two jaws in the wrist view and the top view shows the fingers at the bottle. Closing to grasp 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 noteEmpty close again; the top view shows I've been nudging the bottle forward — it now sits beside the red cup about 6 cm beyond the fingertips. Opening and reaching further forward with maximum forward pitch to get the jaws around its body.
move_to
left_x0.5600left_z0.1400left_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]: [-0.4271, 2.0384, 0.8543, 1.0157, -0.5678, -0.036, 0.0097, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.4988 left_y=-0.1187 left_z=0.1069 left_yaw=0.1051 left_pitch=0.416 left_roll=0.0682 left_gripper=0.0097 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.0752, -12.1094, 4.5607, 2.0098, 0.0562, -0.0073, 0.735, -0.1026, -0.9778, 7.0632, 1.7411, -0.0513, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_x": 0.56, "left_z": 0.14, "left_pitch": 0.6, "left_gripper": 1.0}, "note": "Empty close again; the top view shows I've been nudging the bottle forward \u2014 it now sits beside the red cup about 6 cm beyond the fingertips. Opening and reaching further forward with maximum forward pitch to get the jaws around its body."})
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 bottle body now appears squarely between the two jaw tips in the wrist view, though the top view shows it has been pushed to the far side of the red cup. Closing to attempt 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]: [-0.3698, 2.2051, 1.0718, 1.1328, -0.5388, 0.0456, 0.995, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.553 left_y=-0.1133 left_z=0.1283 left_yaw=0.1293 left_pitch=0.5576 left_roll=0.0643 left_gripper=0.995 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [0.1709, -10.4684, 6.9265, 1.9853, 0.1099, 0.2857, -0.0073, -0.1983, -1.0462, 7.0222, 1.7607, -0.0366, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). 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_gripper": 0.0}, "note": "The bottle body now appears squarely between the two jaw tips in the wrist view, though the top view shows it has been pushed to the far side of the red cup. Closing to attempt the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteAnother empty close: the bottle base is wider than the 9.5 cm jaw stroke, so the fingertips just butt against it and push it, and it is now at the far table edge. Backing off slightly and rising to cap height to look for a grasp on the narrower neck/handle region.
move_to
left_x0.5300left_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]: [-0.3687, 2.2173, 1.076, 1.1378, -0.5423, 0.0452, 0.0098, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.554 left_y=-0.1125 left_z=0.1244 left_yaw=0.1332 left_pitch=0.5549 left_roll=0.0656 left_gripper=0.0098 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0889, -12.2598, 4.7795, 1.6923, 0.0464, -0.0415, 0.7253, -0.0615, -1.2923, 7.0496, 1.79, -0.022, -0.0562, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_z": 0.25, "left_gripper": 1.0}, "note": "Another empty close: the bottle base is wider than the 9.5 cm jaw stroke, so the fingertips just butt against it and push it, and it is now at the far table edge. Backing off slightly and rising to cap height to look for a grasp on the narrower neck/handle region."})
tool
executing move_to over 10 steps (1.0s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteWrist view now shows the bottle's cap and its handle loop on the near-right side; the arm stalled at z=0.22 so I'll target the handle grip lower down. Moving right and forward to bring the jaws around the handle bar at about 18 cm height.
move_to
left_x0.5500left_y-0.1400left_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]: [-0.3836, 1.8851, 1.0824, 0.7666, -0.5724, 0.033, 0.9952, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.5321 left_y=-0.1077 left_z=0.221 left_yaw=0.1461 left_pitch=0.5275 left_roll=0.0706 left_gripper=0.9952 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.6222, -12.5607, 9.1145, 1.6044, -0.0171, 0.0708, -0.1441, -0.3761, -1.2923, 7.1863, 1.7167, -0.0366, -0.0757, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.14, "left_z": 0.18, "left_gripper": 1.0}, "note": "Wrist view now shows the bottle's cap and its handle loop on the near-right side; the arm stalled at z=0.22 so I'll target the handle grip lower down. Moving right and forward to bring the jaws around the handle bar at about 18 cm height."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe handle loop is centred in the wrist view with its grip bar just right of the jaw column and the red cup close at bottom-right. Shifting 3 cm right and 2 cm forward so the jaws bracket the handle bar itself.
move_to
left_x0.5700left_y-0.1650left_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]: [-0.4244, 2.0319, 1.1412, 0.8295, -0.614, 0.0269, 0.9988, -0.0147, 0.8017, 0.6075, -0.3702, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.5469 left_y=-0.1315 left_z=0.1828 left_yaw=0.1421 left_pitch=0.5074 left_roll=0.0807 left_gripper=0.9988 right_x=0.297 right_y=0.0013 right_z=0.1815 right_yaw=0.0014 right_pitch=-0.008 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [-0.5538, -11.453, 7.8291, 2.0781, -0.2076, 0.0073, -0.1294, -0.1162, -0.9504, 7.0496, 1.7118, -0.0366, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_x": 0.57, "left_y": -0.165, "left_z": 0.18, "left_gripper": 1.0}, "note": "The handle loop is centred in the wrist view with its grip bar just right of the jaw column and the red cup close at bottom-right. Shifting 3 cm right and 2 cm forward so the jaws bracket the handle bar itself."})
tool
executing move_to over 3 steps (0.3s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe handle bar now runs down the jaw column between the two jaw tips in the wrist view, with the red cup safely off to the right. Closing on the handle.
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]: [-0.458, 2.1284, 1.2713, 0.7921, -0.6556, 0.0181, 0.9988, -0.0147, 0.804, 0.6075, -0.3698, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5653 left_y=-0.1546 left_z=0.1767 left_yaw=0.1529 left_pitch=0.506 left_roll=0.0756 left_gripper=0.9988 right_x=0.2972 right_y=0.0013 right_z=0.1809 right_yaw=0.0012 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.7726, -10.6188, 7.1316, 1.5409, -0.0904, -0.0024, -0.1392, -0.253, -1.4291, 7.159, 1.7265, -0.0464, -0.022, -0.0122] camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The handle bar now runs down the jaw column between the two jaw tips in the wrist view, with the red cup safely off to the right. Closing on the handle."})
tool
executing move_to over 10 steps (1.0s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteEmpty close: the handle bar is visible just above the converged jaw tips, so it's still a few cm beyond the fingertips. Opening and advancing to the forward workspace limit to get the jaws around the handle.
move_to
left_x0.6000left_z0.1700left_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]: [-0.4557, 2.1387, 1.2732, 0.7784, -0.6552, 0.0147, 0.0096, -0.0147, 0.8051, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998] state[eef_state]: left_x=0.5663 left_y=-0.1537 left_z=0.1689 left_yaw=0.15 left_pitch=0.488 left_roll=0.086 left_gripper=0.0096 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0008 right_pitch=-0.0111 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.0889, -12.4786, 6.147, 1.8779, -0.0513, -0.0317, 0.7253, -0.1983, -1.1829, 7.241, 1.7363, -0.0366, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_z": 0.17, "left_gripper": 1.0}, "note": "Empty close: the handle bar is visible just above the converged jaw tips, so it's still a few cm beyond the fingertips. Opening and advancing to the forward workspace limit to get the jaws around the handle."})
tool
executing move_to over 10 steps (1.0s)
step 202
top_cam
camera top_cam step 202
left_cam
camera left_cam step 202
right_cam
camera right_cam step 202
assistant
agent noteAt the forward limit the wide bottle body still sits between the jaws with the red cup dangerously close under the right jaw; the narrow neck is higher and further. Raising to neck height, slightly left, to try a grasp under the cap.
move_to
left_x0.6000left_y-0.1200left_z0.2400left_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]: [-0.4286, 2.2204, 1.4067, 0.7181, -0.6502, 0.0029, 0.995, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.5931 left_y=-0.1495 left_z=0.1655 left_yaw=0.1769 left_pitch=0.4815 left_roll=0.0777 left_gripper=0.995 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.212, -11.3299, 8.9915, 1.6923, 0.1538, 0.1099, -0.022, -0.212, -1.1692, 7.241, 1.7607, -0.0464, -0.0611, -0.0122] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.12, "left_z": 0.24, "left_pitch": 0.3, "left_gripper": 1.0}, "note": "At the forward limit the wide bottle body still sits between the jaws with the red cup dangerously close under the right jaw; the narrow neck is higher and further. Raising to neck height, slightly left, to try a grasp under the cap."})
tool
executing move_to over 7 steps (0.7s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteThe wrist camera now looks down on the bottle cap sitting almost on the jaw column between the open jaws. Descending so the jaws come down around the neck just below the cap.
move_to
left_x0.6000left_y-0.1100left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.363, 2.1181, 1.6291, 0.1947, -0.5938, -0.0929, 0.9985, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998] state[eef_state]: left_x=0.6059 left_y=-0.1206 left_z=0.2127 left_yaw=0.1997 left_pitch=0.3142 left_roll=0.0841 left_gripper=0.9985 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998 state[joint_eff]: [0.4308, -16.212, 8.6496, 1.4921, 0.0562, 0.0122, -0.1538, -0.1162, -1.2786, 7.2137, 1.7167, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_y": -0.11, "left_z": 0.16, "left_gripper": 1.0}, "note": "The wrist camera now looks down on the bottle cap sitting almost on the jaw column between the open jaws. Descending so the jaws come down around the neck just below the cap."})
tool
executing move_to over 4 steps (0.4s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
assistant
agent noteThe bottle's neck now stands between the two jaws in the wrist view with the handle loop to the left. Closing on the neck.
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]: [-0.3519, 2.1479, 1.4734, 0.3092, -0.5774, -0.1017, 0.9988, -0.0147, 0.8082, 0.6075, -0.3695, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.5947 left_y=-0.1118 left_z=0.1494 left_yaw=0.1905 left_pitch=0.2515 left_roll=0.1093 left_gripper=0.9988 right_x=0.2976 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0137 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [0.6359, -12.4786, 7.0222, 2.254, -0.1587, 0.1343, -0.1343, -0.1436, -1.5521, 7.2274, 1.7705, -0.022, -0.0806, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle's neck now stands between the two jaws in the wrist view with the handle loop to the left. Closing on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteThe Clorox bottle has been pushed to the far table edge beyond the forward workspace limit and the jaws again closed short of it. Parking the left arm home and bringing the right arm over the right canister to inspect it for a graspable feature.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_gripper1.0000right_x0.4200right_y0.2700right_z0.2800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3511, 2.1597, 1.4639, 0.3069, -0.5797, -0.1047, 0.01, -0.0147, 0.8082, 0.6075, -0.3698, -0.0116, -0.0273, 0.9998] state[eef_state]: left_x=0.5932 left_y=-0.1104 left_z=0.1381 left_yaw=0.1919 left_pitch=0.2319 left_roll=0.1197 left_gripper=0.01 right_x=0.2975 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.001 right_gripper=0.9998 state[joint_eff]: [-0.2256, -13.4359, 7.5692, 1.7705, -0.0659, -0.0171, 0.7106, -0.0615, -1.2376, 7.0496, 1.7363, -0.0317, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [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_gripper": 1.0, "right_x": 0.42, "right_y": 0.27, "right_z": 0.28, "right_gripper": 1.0}, "note": "The Clorox bottle has been pushed to the far table edge beyond the forward workspace limit and the jaws again closed short of it. Parking the left arm home and bringing the right arm over the right canister to inspect it for a graspable feature."})
tool
executing move_to over 23 steps (2.3s)
step 246
assistant
agent noteRight wrist camera shows the canister's round lid at bottom-left, about 5 cm left of the jaw column and close, with the red and blue measuring cups beyond. Shifting left and lowering to line up over the canister.
move_to
right_x0.4300right_y0.3200right_z0.2000right_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]: [-0.2821, 0.9073, 0.7219, -0.3843, -0.4744, -0.1768, 0.9982, 0.7654, 1.8008, 1.7348, -0.6735, 0.6003, 0.4358, 0.9998] state[eef_state]: left_x=0.3123 left_y=-0.0028 left_z=0.2114 left_yaw=0.1989 left_pitch=0.0552 left_roll=0.0996 left_gripper=0.9982 right_x=0.4187 right_y=0.2689 right_z=0.2674 right_yaw=0.0307 right_pitch=-0.0335 right_roll=-0.0176 right_gripper=0.9998 state[joint_eff]: [0.2803, -1.7573, 6.5026, 1.6728, -0.149, -0.0171, -0.0024, 0.4034, -9.6889, 8.759, 1.1404, 0.4518, 0.2662, -0.0366] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.32, "right_z": 0.2, "right_gripper": 1.0}, "note": "Right wrist camera shows the canister's round lid at bottom-left, about 5 cm left of the jaw column and close, with the red and blue measuring cups beyond. Shifting left and lowering to line up over the canister."})
tool
executing move_to over 5 steps (0.5s)
step 251
assistant
agent noteThe canister lid is now large at the bottom-left of the right wrist view and the top view shows the canister just left of the gripper. Shifting a further 5 cm left to centre the jaws over it before descending.
move_to
right_x0.4300right_y0.3650right_z0.2000right_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]: [-0.281, 0.9108, 0.7212, -0.3981, -0.4706, -0.1772, 0.9983, 0.8249, 1.9633, 1.7, -0.5495, 0.625, 0.4698, 0.9998] state[eef_state]: left_x=0.311 left_y=-0.0027 left_z=0.2073 left_yaw=0.1968 left_pitch=0.0383 left_roll=0.1057 left_gripper=0.9983 right_x=0.4261 right_y=0.3141 right_z=0.1953 right_yaw=0.0512 right_pitch=-0.0743 right_roll=-0.0527 right_gripper=0.9998 state[joint_eff]: [-0.294, -2.1675, 7.0769, 1.7949, -0.2369, -0.0611, -0.0073, 0.3624, -11.5487, 6.8444, 1.5409, 0.4615, 0.1685, -0.0366] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.365, "right_z": 0.2, "right_gripper": 1.0}, "note": "The canister lid is now large at the bottom-left of the right wrist view and the top view shows the canister just left of the gripper. Shifting a further 5 cm left to centre the jaws over it before descending."})
tool
executing move_to over 5 steps (0.5s)
step 256
assistant
agent noteThe right arm stalled at y=0.32, apparently at its reach limit with the tool vertical, while the canister lid still sits left of the jaws. Pitching the tool forward to extend reach and lowering to body height while shifting left onto the canister.
move_to
right_x0.4300right_y0.3700right_z0.1300right_pitch0.5000right_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]: [-0.281, 0.9108, 0.7212, -0.3992, -0.4698, -0.1768, 0.9983, 0.8318, 1.9846, 1.6955, -0.5114, 0.6281, 0.4797, 0.9998] state[eef_state]: left_x=0.3109 left_y=-0.0028 left_z=0.2071 left_yaw=0.1959 left_pitch=0.0371 left_roll=0.1062 left_gripper=0.9983 right_x=0.4287 right_y=0.3217 right_z=0.1886 right_yaw=0.0512 right_pitch=-0.0638 right_roll=-0.0376 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.812, 6.9538, 1.6484, -0.1734, -0.022, -0.0171, 0.1299, -12.1504, 7.3231, 1.5702, 0.4225, 0.1001, -0.0366] camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.37, "right_z": 0.13, "right_pitch": 0.5, "right_gripper": 1.0}, "note": "The right arm stalled at y=0.32, apparently at its reach limit with the tool vertical, while the canister lid still sits left of the jaws. Pitching the tool forward to extend reach and lowering to body height while shifting left onto the canister."})
tool
executing move_to over 19 steps (1.9s)
step 275
assistant
agent noteThe canister now sits just left of the right jaws, beyond the right arm's y limit, so I'm parking the right arm and bringing the left arm across to hover above the canister instead.
move_to
right_x0.3000right_y0.0000right_z0.2000right_pitch0.0000right_gripper1.0000left_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]: [-0.281, 0.9108, 0.7212, -0.4023, -0.4702, -0.1768, 0.9983, 0.9463, 2.2581, 1.2739, 0.7692, 0.9012, 0.0673, 0.9998] state[eef_state]: left_x=0.3105 left_y=-0.0026 left_z=0.2065 left_yaw=0.1962 left_pitch=0.0345 left_roll=0.1078 left_gripper=0.9983 right_x=0.4304 right_y=0.3664 right_z=0.1071 right_yaw=0.0835 right_pitch=0.4214 right_roll=-0.0914 right_gripper=0.9998 state[joint_eff]: [-0.1299, -1.9624, 7.1043, 1.6825, -0.1978, -0.022, -0.0171, 0.841, -13.1214, 6.1197, 2.1856, 0.3053, 0.022, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "right_pitch": 0.0, "right_gripper": 1.0, "left_x": 0.4, "left_y": -0.23, "left_z": 0.25, "left_gripper": 1.0}, "note": "The canister now sits just left of the right jaws, beyond the right arm's y limit, so I'm parking the right arm and bringing the left arm across to hover above the canister instead."})
tool
executing move_to over 31 steps (3.1s)
step 306
assistant
agent noteLeft wrist view shows the canister has been knocked over and lies on its side in the foreground, lid toward the base, slightly left of the jaw column. Moving over its body and descending to try a grasp across it.
move_to
left_x0.4200left_y-0.2000left_z0.0600left_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]: [-0.8253, 1.7702, 1.5898, -0.7258, -0.8612, -0.6544, 0.9988, -0.0212, 0.8291, 0.6365, -0.3641, 0.0116, -0.1226, 0.9998] state[eef_state]: left_x=0.3984 left_y=-0.2287 left_z=0.2402 left_yaw=0.1882 left_pitch=0.0168 left_roll=0.1031 left_gripper=0.9988 right_x=0.3032 right_y=-0.0049 right_z=0.1884 right_yaw=0.0251 right_pitch=-0.0033 right_roll=-0.0944 right_gripper=0.9998 state[joint_eff]: [-0.4034, -9.0325, 8.7453, 0.9841, -0.6618, 0.0073, -0.1392, -0.1709, -1.9487, 9.853, 1.707, -0.1832, -0.0708, -0.0366] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.06, "left_gripper": 1.0}, "note": "Left wrist view shows the canister has been knocked over and lies on its side in the foreground, lid toward the base, slightly left of the jaw column. Moving over its body and descending to try a grasp across it."})
tool
executing move_to over 12 steps (1.2s)
step 318
assistant
agent noteThe lying canister's body occupies the left half of the wrist view with its centre off-screen left, and the top view shows it forward-left of the gripper. Shifting left and forward to centre the jaws across its body.
move_to
left_x0.4600left_y-0.1400left_z0.0600left_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]: [-0.733, 1.9312, 1.0561, -0.0044, -0.8043, -0.5594, 0.9988, -0.0235, 0.831, 0.6395, -0.3836, -0.0002, -0.1383, 0.9997] state[eef_state]: left_x=0.4138 left_y=-0.1965 left_z=0.0612 left_yaw=0.195 left_pitch=-0.0112 left_roll=0.1367 left_gripper=0.9988 right_x=0.3012 right_y=-0.0034 right_z=0.1852 right_yaw=0.0411 right_pitch=-0.022 right_roll=-0.1002 right_gripper=0.9997 state[joint_eff]: [0.5675, -9.306, 5.5726, 1.3455, -0.3736, 0.0513, -0.1392, -0.0615, -1.6615, 6.7761, 1.9023, 0.105, 0.1245, -0.0171] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.14, "left_z": 0.06, "left_gripper": 1.0}, "note": "The lying canister's body occupies the left half of the wrist view with its centre off-screen left, and the top view shows it forward-left of the gripper. Shifting left and forward to centre the jaws across its body."})
tool
executing move_to over 6 steps (0.6s)
step 324
assistant
agent noteThe canister label now fills the wrist view between the jaw tips. Closing to test whether the lying canister fits between the jaws.
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]: [-0.5438, 1.9526, 1.0382, 0.123, -0.6956, -0.4103, 0.9988, -0.0235, 0.8314, 0.6395, -0.3847, -0.0017, -0.139, 0.9997] state[eef_state]: left_x=0.4541 left_y=-0.1381 left_z=0.0534 left_yaw=0.2306 left_pitch=-0.0257 left_roll=0.1423 left_gripper=0.9988 right_x=0.301 right_y=-0.0032 right_z=0.1849 right_yaw=0.0428 right_pitch=-0.0235 right_roll=-0.0999 right_gripper=0.9997 state[joint_eff]: [0.212, -10.5504, 5.7231, 1.663, -0.2027, 0.1441, -0.1392, -0.0205, -1.347, 7.0359, 1.746, -0.0024, -0.0171, -0.0073] camera 'top_cam' (step 324): [image omitted: streamed camera frame] camera 'left_cam' (step 324): [image omitted: streamed camera frame] camera 'right_cam' (step 324): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The canister label now fills the wrist view between the jaw tips. Closing to test whether the lying canister fits between the jaws."})
tool
executing move_to over 10 steps (1.0s)
step 334
assistant
agent noteBoth containers are now unreachable. The left container (a Clorox bottle) has a body wider than the 9.5 cm jaw stroke, so every grasp attempt butted the fingertips against it and nudged it forward until it sat at the far table edge beyond the x=0.6 workspace limit; a neck/handle grasp there also fell short. The right container (wipes canister) was beyond the right arm's y-limit/reach, got knocked over while extending toward it, and now lies ~20 cm beyond the left arm's fingertips at the far edge as well. No arm can reach either container for a pour.
give_up
hindsight1) Both containers in this scene (Clorox bottle body ~10 cm, wipes canister ~10 cm) are wider than the 9.5 cm gripper; do not attempt body grasps — the fingertips just push the object forward a few cm per attempt. For the bottle, only the neck under the cap (z≈0.15–0.25) or the handle bar is graspable; approach from above with the tool vertical, not by advancing horizontally. 2) Wrist-camera depth is badly misleading at low z: an object whose label fills the frame with its bottom at the image's bottom edge was still 5–20 cm beyond the fingertips (every close was empty at 0.01). Trust the top view for x: at the start the bottle base at top-cam image y≈120 was actually at x≈0.45+, not 0.33; treat top-cam image-y as strongly compressed (objects sit further forward than they look). 3) Reach with tool vertical is ~0.50 m radial from the base (e.g. stalled at x=0.46,y=-0.19 and x=0.43,y=0.32); pitching forward 0.5 rad gets to ~0.6 but the x-box clips at 0.6. Objects at top-cam image y<40 are essentially unreachable. 4) The red/blue cups are measuring cups with handles at about left (x≈0.55,y≈-0.13)/right frame y≈0.4. 5) Moving one arm with forward pitch near an object swings the fingertips into it and knocked the canister over — raise z well above object height before pitching or translating nearby.
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]: [-0.5446, 1.9526, 1.0374, 0.1207, -0.6804, -0.416, 0.0096, -0.0235, 0.8314, 0.6395, -0.3847, -0.0013, -0.1394, 0.9997] state[eef_state]: left_x=0.4535 left_y=-0.1405 left_z=0.0515 left_yaw=0.222 left_pitch=-0.035 left_roll=0.1319 left_gripper=0.0096 right_x=0.301 right_y=-0.0032 right_z=0.1849 right_yaw=0.0427 right_pitch=-0.0236 right_roll=-0.1004 right_gripper=0.9997 state[joint_eff]: [0.0615, -9.8393, 5.8325, 1.4676, -0.4615, 0.0269, 0.7448, -0.0615, -1.4154, 7.2547, 1.746, -0.0024, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Both containers are now unreachable. The left container (a Clorox bottle) has a body wider than the 9.5 cm jaw stroke, so every grasp attempt butted the fingertips against it and nudged it forward until it sat at the far table edge beyond the x=0.6 workspace limit; a neck/handle grasp there also fell short. The right container (wipes canister) was beyond the right arm's y-limit/reach, got knocked over while extending toward it, and now lies ~20 cm beyond the left arm's fingertips at the far edge as well. No arm can reach either container for a pour.", "hindsight": "1) Both containers in this scene (Clorox bottle body ~10 cm, wipes canister ~10 cm) are wider than the 9.5 cm gripper; do not attempt body grasps \u2014 the fingertips just push the object forward a few cm per attempt. For the bottle, only the neck under the cap (z\u22480.15\u20130.25) or the handle bar is graspable; approach from above with the tool vertical, not by advancing horizontally. 2) Wrist-camera depth is badly misleading at low z: an object whose label fills the frame with its bottom at the image's bottom edge was still 5\u201320 cm beyond the fingertips (every close was empty at 0.01). Trust the top view for x: at the start the bottle base at top-cam image y\u2248120 was actually at x\u22480.45+, not 0.33; treat top-cam image-y as strongly compressed (objects sit further forward than they look). 3) Reach with tool vertical is ~0.50 m radial from the base (e.g. stalled at x=0.46,y=-0.19 and x=0.43,y=0.32); pitching forward 0.5 rad gets to ~0.6 but the x-box clips at 0.6. Objects at top-cam image y<40 are essentially unreachable. 4) The red/blue cups are measuring cups with handles at about left (x\u22480.55,y\u2248-0.13)/right frame y\u22480.4. 5) Moving one arm with forward pitch near an object swings the fingertips into it and knocked the canister over \u2014 raise z well above object height before pitching or translating nearby."})
tool
give_up: Both containers are now unreachable. The left container (a Clorox bottle) has a body wider than the 9.5 cm jaw stroke, so every grasp attempt butted the fingertips against it and nudged it forward until it sat at the far table edge beyond the x=0.6 workspace limit; a neck/handle grasp there also fell short. The right container (wipes canister) was beyond the right arm's y-limit/reach, got knocked over while extending toward it, and now lies ~20 cm beyond the left arm's fingertips at the far edge as well. No arm can reach either container for a pour.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 42.47 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0189, 0.9996, -0.0154, 0.7967, 0.6109, -0.3706, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.5795, 9.265, 1.7851, -0.0269, 0.0024, -0.0562, -0.8, -1.4838, 9.7846, 1.7021, -0.1001, 0.0904, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6a94ac31d7336c9d42598efda197a6da712f7e1eb3a8c008eeb4f35d50e8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c8faa1bdbe6f71757f0c3130200ef5ebffc906d612739a20a2e5b4e39324241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b02bf42e9e03772223df594a4069430235d03e05977009612bbfe42570b7591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 14.14 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0189, 0.9996, -0.0154, 0.7967, 0.6109, -0.3706, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.5795, 9.265, 1.7851, -0.0269, 0.0024, -0.0562, -0.8, -1.4838, 9.7846, 1.7021, -0.1001, 0.0904, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6a94ac31d7336c9d42598efda197a6da712f7e1eb3a8c008eeb4f35d50e8f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c8faa1bdbe6f71757f0c3130200ef5ebffc906d612739a20a2e5b4e39324241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b02bf42e9e03772223df594a4069430235d03e05977009612bbfe42570b7591",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start by moving the left arm above the left container (the bottle) to line up a grasp, keeping the gripper open.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FM8qLy7KGRQo6sZxMa84kp",
      "input": {
        "note": "Top view shows a white bottle (left container) and a white canister (right container) in the centre with red and blue cups behind them. Moving the left arm up and over to hover above the estimated bottle position so I can check alignment in the wrist camera.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.33,
          "left_y": -0.25,
          "left_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01FM8qLy7KGRQo6sZxMa84kp",
      "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]: [-0.9554, 1.5455, 1.4776, -0.7738, -0.7486, -0.6636, 0.9996, -0.0143, 0.7967, 0.6086, -0.3698, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=-0.2509 left_z=0.2705 left_yaw=-0.0094 left_pitch=-0.0187 left_roll=-0.0062 left_gripper=0.9996 right_x=0.2969 right_y=0.0015 right_z=0.1835 right_yaw=0.0019 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.6256, 8.759, 1.2039, -0.442, 0.0415, -0.0562, -0.1709, -1.0598, 7.241, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92f02ad768274dad2bce8b14401cca56ef009b4ae3594096ff0378a57037fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3e346a2c9fadf4e1e6f8fdd16f07b895328fb4d442de0bd2e9b48faff8f02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50ffe2c608b250a78cd455dfff98ad9b13315cd186a0dcba8b5b59b835ccf40f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 9.896 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0189, 0.9996, -0.0154, 0.7967, 0.6109, -0.3706, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.5795, 9.265, 1.7851, -0.0269, 0.0024, -0.0562, -0.8, -1.4838, 9.7846, 1.7021, -0.1001, 0.0904, -0.0366]",
      "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]: [-0.9554, 1.5455, 1.4776, -0.7738, -0.7486, -0.6636, 0.9996, -0.0143, 0.7967, 0.6086, -0.3698, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=-0.2509 left_z=0.2705 left_yaw=-0.0094 left_pitch=-0.0187 left_roll=-0.0062 left_gripper=0.9996 right_x=0.2969 right_y=0.0015 right_z=0.1835 right_yaw=0.0019 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.6256, 8.759, 1.2039, -0.442, 0.0415, -0.0562, -0.1709, -1.0598, 7.241, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a92f02ad768274dad2bce8b14401cca56ef009b4ae3594096ff0378a57037fc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3e346a2c9fadf4e1e6f8fdd16f07b895328fb4d442de0bd2e9b48faff8f02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50ffe2c608b250a78cd455dfff98ad9b13315cd186a0dcba8b5b59b835ccf40f",
        "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_01TZK1an9oU1WghE9jd3tCJM",
      "input": {
        "note": "Wrist camera shows the white bottle just below-left of the jaw column and the top view confirms the gripper is over it. Shifting slightly forward and left toward the bottle and descending to body height to prepare the grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": -0.22,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TZK1an9oU1WghE9jd3tCJM",
      "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]: [-0.8379, 1.5181, 0.9897, -0.2741, -0.6724, -0.5678, 0.9996, -0.0147, 0.7975, 0.6086, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.2159 left_z=0.1543 left_yaw=0.0034 left_pitch=-0.0383 left_roll=0.0078 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1833 right_yaw=0.0008 right_pitch=-0.0023 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.0085, 6.7897, 1.58, -0.2808, 0.1392, -0.0611, -0.1709, -1.3197, 7.0632, 1.7167, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ee39821dea5fa699c41fa9d8868c20aec1c45de3f2dc34c26de76212a73ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d6e3f71996bf19d8846ef3a703849d1785a29377acbc6a030586ae735c9bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54de2c8370b3f2eb4f296b502e823e0dacdf52a2590c68e40d72feff98556503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 6.473 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6174, -0.3782, -0.0219, -0.0189, 0.9996, -0.0154, 0.7967, 0.6109, -0.3706, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0017 left_z=0.1852 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1844 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -1.5795, 9.265, 1.7851, -0.0269, 0.0024, -0.0562, -0.8, -1.4838, 9.7846, 1.7021, -0.1001, 0.0904, -0.0366]",
      "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]: [-0.9554, 1.5455, 1.4776, -0.7738, -0.7486, -0.6636, 0.9996, -0.0143, 0.7967, 0.6086, -0.3698, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=-0.2509 left_z=0.2705 left_yaw=-0.0094 left_pitch=-0.0187 left_roll=-0.0062 left_gripper=0.9996 right_x=0.2969 right_y=0.0015 right_z=0.1835 right_yaw=0.0019 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.6256, 8.759, 1.2039, -0.442, 0.0415, -0.0562, -0.1709, -1.0598, 7.241, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8379, 1.5181, 0.9897, -0.2741, -0.6724, -0.5678, 0.9996, -0.0147, 0.7975, 0.6086, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.2159 left_z=0.1543 left_yaw=0.0034 left_pitch=-0.0383 left_roll=0.0078 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1833 right_yaw=0.0008 right_pitch=-0.0023 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.0085, 6.7897, 1.58, -0.2808, 0.1392, -0.0611, -0.1709, -1.3197, 7.0632, 1.7167, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88ee39821dea5fa699c41fa9d8868c20aec1c45de3f2dc34c26de76212a73ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50d6e3f71996bf19d8846ef3a703849d1785a29377acbc6a030586ae735c9bc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54de2c8370b3f2eb4f296b502e823e0dacdf52a2590c68e40d72feff98556503",
        "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_01LGgKXtEVC4aqf5swFne4ot",
      "input": {
        "note": "The bottle now fills the wrist view centred on the jaw column, but its full width visible below means it's still a few cm beyond the fingertips. Advancing 3 cm forward and descending to mid-body height to bracket the bottle between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.38,
          "left_y": -0.22,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LGgKXtEVC4aqf5swFne4ot",
      "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]: [-0.7704, 1.6993, 0.9463, -0.033, -0.627, -0.5236, 0.9996, -0.0147, 0.7982, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3792 left_y=-0.2185 left_z=0.0994 left_yaw=0.0141 left_pitch=-0.051 left_roll=0.0101 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1829 right_yaw=0.0008 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.7744, 5.7368, 1.7607, -0.2418, 0.0659, -0.0562, -0.1299, -1.3607, 7.1179, 1.79, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6157993def0043e7d25c14e42aea236141e35af06e0bbc27ad4fa42c048ef910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf3f4c3c2c3e8aaf56a253d08e5c0cebba1409485f580bca0195d61d7ba0579e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbdaaf3bc554754936107cc2b183845e47ddee3dffc1668fc84e7eb82e86fcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 7.342 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]: [-0.9554, 1.5455, 1.4776, -0.7738, -0.7486, -0.6636, 0.9996, -0.0143, 0.7967, 0.6086, -0.3698, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.329 left_y=-0.2509 left_z=0.2705 left_yaw=-0.0094 left_pitch=-0.0187 left_roll=-0.0062 left_gripper=0.9996 right_x=0.2969 right_y=0.0015 right_z=0.1835 right_yaw=0.0019 right_pitch=-0.0015 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -6.6256, 8.759, 1.2039, -0.442, 0.0415, -0.0562, -0.1709, -1.0598, 7.241, 1.7558, -0.0562, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8379, 1.5181, 0.9897, -0.2741, -0.6724, -0.5678, 0.9996, -0.0147, 0.7975, 0.6086, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.2159 left_z=0.1543 left_yaw=0.0034 left_pitch=-0.0383 left_roll=0.0078 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1833 right_yaw=0.0008 right_pitch=-0.0023 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.0085, 6.7897, 1.58, -0.2808, 0.1392, -0.0611, -0.1709, -1.3197, 7.0632, 1.7167, -0.022, -0.0611, -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]: [-0.7704, 1.6993, 0.9463, -0.033, -0.627, -0.5236, 0.9996, -0.0147, 0.7982, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3792 left_y=-0.2185 left_z=0.0994 left_yaw=0.0141 left_pitch=-0.051 left_roll=0.0101 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1829 right_yaw=0.0008 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.7744, 5.7368, 1.7607, -0.2418, 0.0659, -0.0562, -0.1299, -1.3607, 7.1179, 1.79, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6157993def0043e7d25c14e42aea236141e35af06e0bbc27ad4fa42c048ef910",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf3f4c3c2c3e8aaf56a253d08e5c0cebba1409485f580bca0195d61d7ba0579e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbdaaf3bc554754936107cc2b183845e47ddee3dffc1668fc84e7eb82e86fcb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAYKEAgRGAI4AUIIdGhpbmtpbmcSDNBROjFW8H4YVpg3sxoMJpErFpdZi/Gfe4S3IjAzwwltqdW5jIPIXb7k4orMMGaGSwgZSQrZ+nqfBx2WHe7ej/mmsJw9yE5VNkDG1Hsq3QUtddHvSXLYKbWWBA8UnMwK3FcFZ9rBIoDXSBr4a2Sgw/uLIOIynFG5u7kUFfgh6FhJ03jdWEdi8rBefn7os0Wd03tiEm6bahxK+7imd7J/jiOkE4B4XQx5d6QMzwCJ56JNELCJXJj955N77Ei7jMRgPXK2gSf+u4QxQd1kyi7f7aLgh2KUMDDwYt8LTDeoSdZkRNiWp7OjBmTot2VT7ARfiTuLdQNJ8jCaJmb7jIhOlWu3GCRWEGaw8i07u7DqXbZVyIvV5rYtcRXwjFfltIDzsis2bhcUotGmag8XuFH74UQ0PsiPR1riGsjia08OQ7XFzztyHQCwROvVBW9j9+uJZ6Cvqxr6SauqLcwA8ZOd4POxVhYdpX4qsacuaIx+CS0eN2LjNkdV2tP8p+bcZ849fXH9vewhax54EzE/rs0rRPz9tRzObalbJwio13E7hPTUV5U6EiQvGk984D69Eyhi5ebO2Ty/KmCfay0/qNoZT0zY5Di32ARs95GKnfm+noEL03BAKJgwfhl+Q+u1WRUDwKj6Ibme5ZH/1ooyULTzf5rws3YbhyKrb7M8yYfWmTAiDfNoXWFdpLilo0jgX12s9xISx5j8CaYQ4tLLYomzLUHP2KEgYxYJChv51ulK83yogzMZQSSkX4u9H4hRCPcQXni76U/p9HSkaIloAjU5aUsbgtA0nJ5QligSSgZd32J7uroctbSXntbtqpaLJiQx97h6Mg0ctPRK4pBjf/YnBXM9UkZK9qgX9v01modTmAOyDy8+8/diX3wf/3qVhR7NFxyZjG7T949yPSzREQaWdN5YJx8OPcBaJ1prLt5MNmSyk0BD9hMqOlKcMaapoqNSTteftmq1zJ24UA49ymicqvKzuIll3pxak1k+L0TvWEUwVKzY3Qe/A5tvJXlogc1LFka0n/uSOIGv6RGToYMc2xA6CTiPClYba+anzBRi0TPM4BNJZNVS/TnsJEGzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GhWRL5T8iKjmTWuNxDN5Mo",
      "input": {
        "note": "The bottle body fills the wrist camera and the top view shows the jaws straddling it. Closing the gripper to grasp the bottle.",
        "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_01GhWRL5T8iKjmTWuNxDN5Mo",
      "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]: [-0.7689, 1.7, 0.9401, -0.0364, -0.6273, -0.5312, 0.0092, -0.0147, 0.7986, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3779 left_y=-0.2164 left_z=0.0963 left_yaw=0.0203 left_pitch=-0.058 left_roll=0.0113 left_gripper=0.0092 right_x=0.2969 right_y=0.0013 right_z=0.1828 right_yaw=0.0008 right_pitch=-0.0038 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1026, 6.5846, 1.4774, -0.232, 0.0611, 0.7057, -0.0752, -1.1145, 7.159, 1.7558, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea89959e548ebabe226aff84b34531ce41174153b1be9bf2450aa4dbcb8b624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548c102fd18d97c14da30bb95b27ac60514dd536cb175478e4397547c3479b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:473c324a5158b4a9d819d869f9ff8e5ca5aa5d1519bdc2b645189c5cc29cc2e2",
        "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 · 7.385 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]: [-0.8379, 1.5181, 0.9897, -0.2741, -0.6724, -0.5678, 0.9996, -0.0147, 0.7975, 0.6086, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3472 left_y=-0.2159 left_z=0.1543 left_yaw=0.0034 left_pitch=-0.0383 left_roll=0.0078 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1833 right_yaw=0.0008 right_pitch=-0.0023 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.0085, 6.7897, 1.58, -0.2808, 0.1392, -0.0611, -0.1709, -1.3197, 7.0632, 1.7167, -0.022, -0.0611, -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]: [-0.7704, 1.6993, 0.9463, -0.033, -0.627, -0.5236, 0.9996, -0.0147, 0.7982, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3792 left_y=-0.2185 left_z=0.0994 left_yaw=0.0141 left_pitch=-0.051 left_roll=0.0101 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1829 right_yaw=0.0008 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.7744, 5.7368, 1.7607, -0.2418, 0.0659, -0.0562, -0.1299, -1.3607, 7.1179, 1.79, -0.0317, -0.0415, -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]: [-0.7689, 1.7, 0.9401, -0.0364, -0.6273, -0.5312, 0.0092, -0.0147, 0.7986, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3779 left_y=-0.2164 left_z=0.0963 left_yaw=0.0203 left_pitch=-0.058 left_roll=0.0113 left_gripper=0.0092 right_x=0.2969 right_y=0.0013 right_z=0.1828 right_yaw=0.0008 right_pitch=-0.0038 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1026, 6.5846, 1.4774, -0.232, 0.0611, 0.7057, -0.0752, -1.1145, 7.159, 1.7558, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ea89959e548ebabe226aff84b34531ce41174153b1be9bf2450aa4dbcb8b624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548c102fd18d97c14da30bb95b27ac60514dd536cb175478e4397547c3479b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:473c324a5158b4a9d819d869f9ff8e5ca5aa5d1519bdc2b645189c5cc29cc2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgkKEAgRGAI4AUIIdGhpbmtpbmcSDPnYLTiAZDAhzEv8mxoMuZYZXC6FafaUDGuWIjChHhhNY0bJrc1dNuLLI1C4vY2I4U5hAK7ZFNHW6yU1vU6zp0YAxHTLOOjhwkpvmbcqrwhcFVl9UsCGAgLfIZaiuQpWoD+sZPcPVWN5tibFVp4gMgEs1Gvcsl0CSsYhC0ZMhvuaIYT8/34m2WgHW+fP+Uz5fCJQw4JmaVTCnfMueQiD72wALtRISm7kLmZaF5O7tyNGtaD8aLT11mxDF7VwwoQRPG5sq2db9pIOEiAKa5TEGTn7Ythh9gookE4xMmtkw/zesBlyVu6kGxNYcahcRZCSFgCVKlZ05dRuSB6wib+nVpcWvgY72is0xoz9jwnBnUiVCgKfJraCbdfQlpiCmLrRgOgWFyNdEOI5iJRiATe8mYwaxUflmnJ8REzSs9WNorDK/LmgcYyM5ayv5r7747HFQJeowIHbnbCSvrjRIZIf+mH7BU6bQ42Uffy9or495VYj5UOookGuwjkJqC5C3hPK/b23atP/RPRVaHhHD8nyee6BeN+J6TsdQr+E7lkEdUfvlJQYPiwGAaS6BBpTOLF+o0KLGYEBVzP0DVyN+EShLSj/GPwGIi5dyEJ7aobUCfG6wPisIyNQbGuYk1Bp3RWd3WOzonbqGe/jRe3K0qSdUy1KJWP8+mfuOLgK66zmZD1AOyTtfYjEgqM5bo4Clxa1fwLJyCUBn6uSY8bOcTF38ceK6HQewdQwOn8ytbqb1gMySkxguJ5xCY7dlbsKwx7bgkfGjEFgLwJbL2LINnkkQAaY/cu9okFTKtFPIzxXaFQ1HbFjii13G1Q1xIMnlPR7Aw73LvUb2UmmHPk/1ML0Fcvkyo0tsxRwYYdAWG8MDDkKhz7fihw5yH22//pBhaa85CGYSqL7edT/wtwnbtLfHCTb5EeCYDd2RsVs2MNq3Nai6sVwP5HE4mPJDa+4KTS5d7wEg9gf9jg4qC0nwTUKWVl10fSaqoHi+qqxkAip6vAJ65z2RkliznGeaoSgGaoDRaIHvnmeib06lXEZoG8DysA+5ifjpUlGUbYx1yEL1bAzSTM86qmogiuoxK25pdNICHKNkzgjpqncEje3FkY1yFjHDrqKX4vkYtVZDCQe7St5I4b6L4PDPCKe/JSiT18+7ccHx5s2A0Fk5ctlVTxwPlLVlT0azhaVHUrNh1OSCevyfoq4KPny/6b+HMdbDlJuF9Uvl74rFoqmmS1jj3JWTuaHcnru/alwZJaLUplYeVa4cRnLmgE3c3SfDcmFEmyZcHauOZM8c//GC5AooCMf3lnFRaBlZV0xhNYExAdhYDbbtoIIVKAki2YPMIWdXhyT6Q4CBtByD1l3f9xkrr6uqZsCX4xTEz27eu+JNOPtQuBjeZrtbYb75rJ3xJjn3RxLorPKicfj7JRb0xxrnk627USpQdJ0UCm1VELHCMR+vG/3UrdwMbGMQoBQ7fp5+hCYqVVtAxETyMJqSbWkOjyRJzCRmg6ud01b/YR65GB01zoNZRHlEds6dBLCsQkyOa8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CKWxY5yt4zdccmSPw7zSnx",
      "input": {
        "note": "The gripper closed empty (reading 0.009) — the wrist view shows the closed jaws with the bottle just beyond them. Opening and advancing 4 cm forward so the jaws bracket the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CKWxY5yt4zdccmSPw7zSnx",
      "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]: [-0.6895, 1.7947, 1.0325, -0.0311, -0.5751, -0.482, 0.9988, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.2097 left_z=0.0882 left_yaw=0.0349 left_pitch=-0.0821 left_roll=0.0219 left_gripper=0.9988 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0015 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.747, 9.1009, 1.6093, -0.2076, 0.1392, -0.1343, -0.1436, -1.2786, 7.0769, 1.7216, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:162297c0b95b2200aeaebf124d7f55d18103827d9757354afd465c08c8d6c0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986c07772e14351e1ac789a8ce3cd6aa9461b424814ec180487b1f6fb2053c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f59ce8918de80642dcc640f0f50709d117b03a82cc544dca7e980988861b035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 15.57 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]: [-0.7704, 1.6993, 0.9463, -0.033, -0.627, -0.5236, 0.9996, -0.0147, 0.7982, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3792 left_y=-0.2185 left_z=0.0994 left_yaw=0.0141 left_pitch=-0.051 left_roll=0.0101 left_gripper=0.9996 right_x=0.2969 right_y=0.0013 right_z=0.1829 right_yaw=0.0008 right_pitch=-0.0034 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.0068, -7.7744, 5.7368, 1.7607, -0.2418, 0.0659, -0.0562, -0.1299, -1.3607, 7.1179, 1.79, -0.0317, -0.0415, -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]: [-0.7689, 1.7, 0.9401, -0.0364, -0.6273, -0.5312, 0.0092, -0.0147, 0.7986, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3779 left_y=-0.2164 left_z=0.0963 left_yaw=0.0203 left_pitch=-0.058 left_roll=0.0113 left_gripper=0.0092 right_x=0.2969 right_y=0.0013 right_z=0.1828 right_yaw=0.0008 right_pitch=-0.0038 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1026, 6.5846, 1.4774, -0.232, 0.0611, 0.7057, -0.0752, -1.1145, 7.159, 1.7558, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6895, 1.7947, 1.0325, -0.0311, -0.5751, -0.482, 0.9988, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.2097 left_z=0.0882 left_yaw=0.0349 left_pitch=-0.0821 left_roll=0.0219 left_gripper=0.9988 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0015 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.747, 9.1009, 1.6093, -0.2076, 0.1392, -0.1343, -0.1436, -1.2786, 7.0769, 1.7216, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:162297c0b95b2200aeaebf124d7f55d18103827d9757354afd465c08c8d6c0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:986c07772e14351e1ac789a8ce3cd6aa9461b424814ec180487b1f6fb2053c7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f59ce8918de80642dcc640f0f50709d117b03a82cc544dca7e980988861b035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSqQgKEAgRGAI4AUIIdGhpbmtpbmcSDPM8ZQr98KEkSmj4IRoMCLd0+vcqFJkPB5w/IjBXHBzqRL/kVPO4Q+jLnFKU7GBeQO/sJW1ZQ0JtzRXUs9hWri9NwmUER9Q/RG11IOQqxgcN4419LC13TcPzuBTI4VrowqT/9hccDf6EROep1bZdzQj+5LHX6umTWewfvVapsv6tbZGSEiOB2XKrvyCOyJMDCg09juhenvOKk8aQTqh2iSF0Ez3Cp41pB2fyDYaImIQT78/um/en6Y+3mHqf4vJRs6Gde5Q9cRYWccruOzXe4eSafCU6XaV9eKoe0MBKffXCBrKYbhIkG3hHFtXuBRo9YnRlNSxFOuaMWx9IuvXL5BGjxMa3w/M6OwjCK7vJCDmYdcD6LsaH+pSA3ISUozEWHc3oePYI/8zDwLijDTbO5McoX1mBxHvWAxeLMBRJAWfEWiagYFtPGOco4WDpxixQdfHnR9dps9EXjUkyU8sEXzexza10SQDYRdVuqIR2pzp65ox9GysNFISLx5HRbHhqg07J8PRVdqW5Udc9tPrnuP7y8aUGPTGdby4yxt4laHLkok/wJavhFS5rY+p6C6ITh9AxfuB7sm2kkGBrtSYNPUq1ZhL2tl4CznOtNsEqsjsUoOvBFxNY5KkY7pDhyJFdvGpNnayav7ZAywICYaWFDwickcBF5LJrk6Fjf2JWTRB5p5OIhO61xQmI2tbqqm+CRmioMfhaM4gxzP0yZm1YXpsK3NcE3I/RjQLMDADwMoKnoEG3xxq14AUAGaLuabNcTIwahHzsFtkaZHpt7h6xqe8Qf+J2O4tajAeZmiVor5k3obYg1dcdJ6aRv74hX+GosQvfRbLMzKShNzw3CvP9Eqq1vJXV11ddb3ZWWixJ0/9axa3meKNx/F/piq7NeB7sqvwTCxcJXDQ+jN8ljttYnPwkg1QQOe7CKrFBsyX377eyQVmAxnp4oK7D/1o/iAN7KwEydjqZhUH+s98PuthGeuq1I89nhtFbJ+8DcboDbh5nNwpqfJP9weRmNwsbMudKYztfDe2hXSKax3kYxTL/MN6kzc5kaObJpJEOoMH/X8E1T7vZB2j4VfYhylq4GlORY/U5W324/xYoVvuu9bVulME8RfDi3Jsat3hkjNOn1UuMxOxrvGUvIDBG8dVRbDKWUfWFIydOZYRhnxp94Qvh8Rp7HoRZp02KfHdSt2WnJo9RCy0cMpzbfr5suEWzoHv9AyTrB0E5giTPDbcuHUBOB1x7M2oP2DE0brMtNMaMA9AfgKsbHHwravvjaBfbikPVKayFyRVJQP43MLEiiDgW3y1dFpsbyB/ozrWmCkM/u5dhDlij8FvrkAa3APwgbS+bb1DC5V8ORnh6JPHF9HMrxYjGQ2H5rb/P4wuJ+X7vx/GtamRUdC0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nvw3tWqmprhwCdxeYT1eWN",
      "input": {
        "note": "Arm advanced to x=0.41 with the bottle now filling the wrist view right up to the jaws and the top view shows the fingers around its body. Closing the gripper 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_01Nvw3tWqmprhwCdxeYT1eWN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6903, 1.7947, 1.0321, -0.0364, -0.5751, -0.4892, 0.0095, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4101 left_y=-0.2094 left_z=0.0872 left_yaw=0.0383 left_pitch=-0.0862 left_roll=0.0199 left_gripper=0.0095 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.9094, 6.4752, 1.5165, -0.2027, 0.0415, 0.7497, -0.1299, -1.1829, 7.4325, 1.7118, -0.022, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276a0fb19ea9192d6996d19fd972e3a6dc4fd6904f3f6f93d6b1c11bf431390c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428667180a14b9a4d07f1282599e68814abf6dc98f2c54d4a2c6250726e3785e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e66b19892318b862f1a64074f33ddef21387cdf65271ea5b884cec374a5cf470",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.677 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]: [-0.7689, 1.7, 0.9401, -0.0364, -0.6273, -0.5312, 0.0092, -0.0147, 0.7986, 0.6083, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3779 left_y=-0.2164 left_z=0.0963 left_yaw=0.0203 left_pitch=-0.058 left_roll=0.0113 left_gripper=0.0092 right_x=0.2969 right_y=0.0013 right_z=0.1828 right_yaw=0.0008 right_pitch=-0.0038 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -8.1026, 6.5846, 1.4774, -0.232, 0.0611, 0.7057, -0.0752, -1.1145, 7.159, 1.7558, -0.0415, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6895, 1.7947, 1.0325, -0.0311, -0.5751, -0.482, 0.9988, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.2097 left_z=0.0882 left_yaw=0.0349 left_pitch=-0.0821 left_roll=0.0219 left_gripper=0.9988 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0015 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.747, 9.1009, 1.6093, -0.2076, 0.1392, -0.1343, -0.1436, -1.2786, 7.0769, 1.7216, -0.0366, -0.0757, -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 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]: [-0.6903, 1.7947, 1.0321, -0.0364, -0.5751, -0.4892, 0.0095, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4101 left_y=-0.2094 left_z=0.0872 left_yaw=0.0383 left_pitch=-0.0862 left_roll=0.0199 left_gripper=0.0095 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.9094, 6.4752, 1.5165, -0.2027, 0.0415, 0.7497, -0.1299, -1.1829, 7.4325, 1.7118, -0.022, -0.0806, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:276a0fb19ea9192d6996d19fd972e3a6dc4fd6904f3f6f93d6b1c11bf431390c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:428667180a14b9a4d07f1282599e68814abf6dc98f2c54d4a2c6250726e3785e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e66b19892318b862f1a64074f33ddef21387cdf65271ea5b884cec374a5cf470",
        "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_01CHc8wniGPigaBpQ6wRMrjQ",
      "input": {
        "note": "Second close was also empty; the wrist view shows the bottle base still a few cm beyond the closed jaws. Opening and pushing a further 4 cm forward to reach the bottle body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.45,
          "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_01CHc8wniGPigaBpQ6wRMrjQ",
      "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]: [-0.6266, 1.8721, 1.1629, -0.0883, -0.5377, -0.4561, 0.9983, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.2043 left_z=0.0915 left_yaw=0.0562 left_pitch=-0.103 left_roll=0.0249 left_gripper=0.9983 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9778, 8.8137, 1.4579, -0.1685, 0.1685, -0.1245, -0.0752, -0.9641, 7.1863, 1.7216, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5c4bd982b4bdb38ad41379ea8b71aa5d6cbef152fece4f16bd6e1a94743dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34c8fba076d7e7c6a1b82e8db7c218e30586347b779db14537991225b7cce70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9d39cb1172511a961d5f69b5ce152c6d9d751429081d84efe68a784540bc3335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 12.56 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]: [-0.6895, 1.7947, 1.0325, -0.0311, -0.5751, -0.482, 0.9988, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.411 left_y=-0.2097 left_z=0.0882 left_yaw=0.0349 left_pitch=-0.0821 left_roll=0.0219 left_gripper=0.9988 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0015 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.747, 9.1009, 1.6093, -0.2076, 0.1392, -0.1343, -0.1436, -1.2786, 7.0769, 1.7216, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.6903, 1.7947, 1.0321, -0.0364, -0.5751, -0.4892, 0.0095, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4101 left_y=-0.2094 left_z=0.0872 left_yaw=0.0383 left_pitch=-0.0862 left_roll=0.0199 left_gripper=0.0095 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.9094, 6.4752, 1.5165, -0.2027, 0.0415, 0.7497, -0.1299, -1.1829, 7.4325, 1.7118, -0.022, -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 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]: [-0.6266, 1.8721, 1.1629, -0.0883, -0.5377, -0.4561, 0.9983, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.2043 left_z=0.0915 left_yaw=0.0562 left_pitch=-0.103 left_roll=0.0249 left_gripper=0.9983 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9778, 8.8137, 1.4579, -0.1685, 0.1685, -0.1245, -0.0752, -0.9641, 7.1863, 1.7216, -0.0806, -0.0659, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e5c4bd982b4bdb38ad41379ea8b71aa5d6cbef152fece4f16bd6e1a94743dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34c8fba076d7e7c6a1b82e8db7c218e30586347b779db14537991225b7cce70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d39cb1172511a961d5f69b5ce152c6d9d751429081d84efe68a784540bc3335",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAgKEAgRGAI4AUIIdGhpbmtpbmcSDAUjLlm9pWZ/hZbA5RoM2kZ+CTFYJV6qvU2cIjCSMBIPeOSlp+J59Bm0Caf2IHWhkqF2rVf7R7zaFbWnlzhwZZF8BYgwb6Q+6Aq/AoAqqQcyC3jMP4Rk/ONlScrwmeNZiUC6hyoeXIIrPOHr0Tvw2kkzCr+OHSW1zf407meeDz/cVFWzhFOL/iEAod06rX3WSWpnJNhSFWhdHgQCtO0oVdJOA/pUnfWZ4JFuWLOHAkcL1SMGWecX2d+0zfbNVfI5OEMkFunNPlZtytCpSuWyhvTfqaqwHCvo3s++PrIHaZNb8KjC3IGmIAJpChcLprqDen4nf8oYRmiI9d2nci+r/1kxBmhiWv5e/Khl/gb2QjeuFFwild+n0RonBi76ImCv6sTPWDbvlAyZNvK/xMH+w6sGMTwmvI6iJDM85ZnYGiR6pA3szmgRJ2qMhIPS/HmE1IiVwxmLjDEKaggki5OMFKgqzLsJlVndP4YtTissh5wpTz/E6RAlUuS/boMIWC0WEPZGLdy0+GUMDqvK/usXk0qJMXHAZ3WhwKZkNEAFsWDMiZ64hW1FOLOstURi4jf7Dl7teicUYtKWYzqrhrIt6oa+ywSbaJVEgwkues5NcIohFzUZId68qQdvxb8ygHlgY29iIDWbllR78C04TELuVDewOJfjhEVGSWMxpEMC7KGNzMjTUoNvLmtj00FPTaI73Z8azAS+SFSrNZQ5LzXVH0OtsmnXlyib63DhDeF0TXkSeyuv3fHRp27kR98W7sqQYTA2U5ZxJMHPHHenHIc29y/Ta6tih2ccuIdIfmGr3zJix3vpsdJKvjNU+28kX0syGSSpvLl6XiaVsnBn60VmiO0IsisGqKdbXVqQlhc3hQX0dU5FFLlotAkvcTgYSzlAEsaMBjjSjo1T6AUVIk2VgxykucvO6O6ZXzEuE+ykmxsBPEI55WLNlaqUcL84HiNBXSt6Sbgiwl7CHvPAv8Y/8tSZfCyMDz9hww8/gQ24DQklPVSAa678fP1HrFhufJ7e3LWllw4l/6GcNfh7SrAIWvq8g6o8QoC0bLKp4pEDswJCYeLYNxvPYgEVtyoLk3XyDVZ6/+7DNSnBq84d7yiVkoiaaYwRBU6yKSAFmiWx7SXClHFNx+yEGwzcyIZZDi+SGGMWD7FPIhNStuAZ2tCmTIU1ysldEmvdQ0jBUOYNU+fcqyI1bVjlmhGny8CpTMMvKZaUCij+mA7IIUYRgEts1v0zkFrB6+8WfWCAvuasd9DzxO9twz5Jaou8kRcIm3TykKEHEg9ZOfewfg3ogauN/zDyHs3ot2WgQKZNDz5kap0oP0Kf+kYxt/6B0pPO2zhhLMGb2s2J2YGqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKHAytpQsxcBgbyjRngj5k",
      "input": {
        "note": "Gripper is now at x=0.44 with the bottle body right against the jaw in the wrist view and the top view shows the fingers on the bottle. 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_01PKHAytpQsxcBgbyjRngj5k",
      "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]: [-0.625, 1.874, 1.1629, -0.0891, -0.5381, -0.4641, 0.0092, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.2035 left_z=0.0906 left_yaw=0.0624 left_pitch=-0.1048 left_roll=0.0205 left_gripper=0.0092 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.935, 6.2291, 1.4432, -0.1929, 0.0366, 0.6813, -0.0752, -1.2376, 7.0359, 1.7167, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0aa44f96a4149eaf57c1b39ffdbc185ab62a37e77539b9bf3dcfc5b31323c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b2489b2bb3c2fe115b9fcb3870b4a87bbce735565d1793ab1994d1b55fe38a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25ab526d6ab144d59f18a2a3a02bf78a252fc606de2ba9fa80e60518a4b4138e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 12.7 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]: [-0.6903, 1.7947, 1.0321, -0.0364, -0.5751, -0.4892, 0.0095, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4101 left_y=-0.2094 left_z=0.0872 left_yaw=0.0383 left_pitch=-0.0862 left_roll=0.0199 left_gripper=0.0095 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -8.9094, 6.4752, 1.5165, -0.2027, 0.0415, 0.7497, -0.1299, -1.1829, 7.4325, 1.7118, -0.022, -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 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]: [-0.6266, 1.8721, 1.1629, -0.0883, -0.5377, -0.4561, 0.9983, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.2043 left_z=0.0915 left_yaw=0.0562 left_pitch=-0.103 left_roll=0.0249 left_gripper=0.9983 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9778, 8.8137, 1.4579, -0.1685, 0.1685, -0.1245, -0.0752, -0.9641, 7.1863, 1.7216, -0.0806, -0.0659, -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]: [-0.625, 1.874, 1.1629, -0.0891, -0.5381, -0.4641, 0.0092, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.2035 left_z=0.0906 left_yaw=0.0624 left_pitch=-0.1048 left_roll=0.0205 left_gripper=0.0092 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.935, 6.2291, 1.4432, -0.1929, 0.0366, 0.6813, -0.0752, -1.2376, 7.0359, 1.7167, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0aa44f96a4149eaf57c1b39ffdbc185ab62a37e77539b9bf3dcfc5b31323c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b2489b2bb3c2fe115b9fcb3870b4a87bbce735565d1793ab1994d1b55fe38a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25ab526d6ab144d59f18a2a3a02bf78a252fc606de2ba9fa80e60518a4b4138e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSng8KEAgRGAI4AUIIdGhpbmtpbmcSDDFSOmqc9jyUOWV/whoMiflhScDgkUd0j4GwIjCCcLhXuei3yGI4tg/5FLkWCS2iR2nM8iOL/KeUB+pX1lEmDkrpqpFrj0oFwGN15AUquw6mtRhm0nchC9npP+hvHYLY1xMbY0eR5kE4/usVsSmPfksbm2kpk8dRDkL5qu9dRisN+R1XfmrJ/rxBgpw3qmf4lyL5uELLn0Ubd7gb/17j2MhQDeGXPC1X0XcWDd/HWHjQscRRqDSPLBdNJrvYWUrgy6d0VfgYjgTq+5+dC++LC/LYAfKp5wS4CtzR/JjqSD0LCs8LmMPURkospy+V/0JUKPQ5bUuuzYaKjthhuSVn46ARcmGdqWE8lX3XkxjvRmdarhxNfwaeHU/gL/r76FPr52PpQdmBreM/uZB4KQEta6/hw2bZayVyjNWJ5NQNotf9bBd63pze3eawCm5gKwY7zKeTLaBLHNaHHJYYxoqLkPOKFVHp9xclGn+PJ/1iPaTAUAawYkmzC2l24idpPRrVaSi7L7viyE+uvs4UmN/gwz3jKrJ9+j4+8nNCPrr4GGCjLV+9LYfbc/BqonES2zFY0vgzWM5OCDGnQDAiarX2wogeGfL/zWyidIXx/qw/HQWvVls9zPzEcj+TOhvYwyRuDOE35g8Kzm0fjGH4bxkNyfI0r/2Xgixk62waNGi/DK3pstIOKhlEimD49uaI6r8elEPjiMAK8Ze17W40kvbl5q8JFTFaH/oYYI8kj+IrlK17vMgAnjOzk2K3wQmbdo3EdCtrojVirOQxzwebyEqZCnB0gFANsYGqMzhqaicZZno4l6x/jOfHzAnXjvFdLzLlB3rHbyFSUnVWgIF9besJOKhyhUh6xvIE8ZfWXccv2Gz0j4l6WhOVzFd3wdVs/c7o4JtDj/RspMMksJJ5ybj0RL79s4geo6GCj1Q06z8pWZpexz2yT4AB1p/k+JuayEroRLbhC2zJcmHiX9cFuWuM0oTUiNATDJ39E2zTiISkc4OogSvSQiejDSKsH5T3/5sJVD8uf8O2OUMNkADgAeeo1S8xCZXSpXAf/h1lWnz+nm+IrHOsPBFXqwAlT4OwIWOVJOXiDCtlGilQJux3AnupkF8OgEYOkEfb714hZQLZ2VTtU9FgFyHx+lPzHLXzLGohx54fT+XdI+bViYAcGMZ4SPkBIENHXIqN57kAibHaehdpg6UoBymw1RYi85/mpWjkVNLDYxplkJtMckTDXDJ0YmasR3MjNYNGpyJjeLUzyGxDSv3kTKnERMQwDOWDdJcsDmytnm59vocYniaaAT/Wc4RZ2eeKvIXO4ky8w8o0GagMjW1Wk5ncsX+NulEVqvhHWqGzadMREOQtpSfjB1cGQHhGSu42K4AjSvK0guwGPyuLcnclr83M/G2CFtkMt2sxri1sWaCJ1vtGXpF4eRD0//+0mnMGaslVpQnknZxH55KyDDu2Fr0OxRjbv6iymgG0NLlHx8hPcx2QWk8R01SeUW9gy6fPRup6xm0hWF3NhKq8F3rbKwUM1qI+yhcwJgbNMge0DRmldaPOcLzXn00YTKXJP62yjou0zheoT2tMJPC8LXt3ZFamKhtX4iugQ7RR9cl40Ziw033SrGAAXW/i7rAvgR1zO7cCsYZagIdyGVZBhZZz6W8b5ySwMYF3LnAHkqjkZ9zzHeI0IfwyPX8siVj33iD543QAi/mX2MhDrs/j7Zebd0MJ+r2ylcaUIFxweiccVrrU0VFWVbMYBd2Aj+Wz+9a4K7nE7p0r3Rc9rbGVsvkx5f06IfsR4qE7lGmyTn2gxilWbDEq9aBN+8xqp3bNOOdX2pX2KkCnMy0YKq5DwzbDbwOlO3cV5A5iQ3J92A7qcgcslJ3RO4zJ0mc3EN8sfc3umFPWhor4KXB6mxZXuVyyIQWiEAjBJiqaR5DPQx9TlTJdvGp26RMiTrt26N8agnbq1oNF3LzzMiOHiFiWdd0cbaMARYA2Nf/wfM4MiHlHviE3+b6Gw6mVfUfL3VhFw+OjkGRFvJVHzZs0nfBMf5XCu8ZbPyX96okl+Mtm7BuwUZ40M1QNgZwYHZugUe3qyjHATMy6d31/N8u+lcR3w9A7w0sLSuoapWVujWJq7PxrxlSrqpkqnqEALcejF5t/NC6Ts4gZMKEdXHJ2naMCLdY7UB9+B7ETd/WcB0vw7W6KT54GrjNMvIMhEy45c/PA7f8KjV1PeRUlBCDjlQJq9YOJ6HUjv2Riq2RBd2fjbVzPVSuuw27G0LiIz438Z2ChCrHdk0hxR2cUIFPJdwjTs4fj3M9dDgH6OQbN5xE/5fDR9S/9TGbtDjym2cduFutLb1XbD5VvouxVAdH3YNxzQzWgHF+XJCb5TdapFtbJid4cHmtcdYcwUVy4DF/whLiqGhzpIsTFK9MoVfuZe9Hp5/MdKYdAQRVXX8I1nbAXPrSMYxCU5Vf+tYZY9d1QwbFjNVVwSsnYOkdCA6bE7wFbSplDaUwABwIk0kfGMu+ZH8sDInQ10JthmwcLGIcalIu15q0UknONjnMrYDXhxYGUjMi8p+Ut8IUZYC1vGlQS5n0phc5z7LPyEX0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ARJcQ413cuzdXRU9PvVzMu",
      "input": {
        "note": "Third close was empty too: the wrist view shows the bottle base about 2–3 cm beyond the converged jaws, though laterally centred. Opening and advancing another 3 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.475,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ARJcQ413cuzdXRU9PvVzMu",
      "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]: [-0.5838, 1.9564, 1.2495, -0.1116, -0.5152, -0.445, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1987 left_z=0.0799 left_yaw=0.0775 left_pitch=-0.1298 left_roll=0.0339 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -9.812, 8.9504, 1.5849, -0.1636, 0.149, -0.1343, -0.1983, -1.1692, 7.4051, 1.746, -0.0464, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6836f97b990c08258e2f86805508a4dab22c82aa59e8f772b55014b6d1465ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b5d83adc050afd6ee56696e90efacd11b9f15b6fcb52e054dffbbf7558eb7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2aa53bb1b1d11499385441802df4da51869a458d10867feae7c9faa577d9cdcd",
        "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 · 8.191 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]: [-0.6266, 1.8721, 1.1629, -0.0883, -0.5377, -0.4561, 0.9983, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4426 left_y=-0.2043 left_z=0.0915 left_yaw=0.0562 left_pitch=-0.103 left_roll=0.0249 left_gripper=0.9983 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.3214, -8.9778, 8.8137, 1.4579, -0.1685, 0.1685, -0.1245, -0.0752, -0.9641, 7.1863, 1.7216, -0.0806, -0.0659, -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]: [-0.625, 1.874, 1.1629, -0.0891, -0.5381, -0.4641, 0.0092, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.2035 left_z=0.0906 left_yaw=0.0624 left_pitch=-0.1048 left_roll=0.0205 left_gripper=0.0092 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.935, 6.2291, 1.4432, -0.1929, 0.0366, 0.6813, -0.0752, -1.2376, 7.0359, 1.7167, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5838, 1.9564, 1.2495, -0.1116, -0.5152, -0.445, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1987 left_z=0.0799 left_yaw=0.0775 left_pitch=-0.1298 left_roll=0.0339 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -9.812, 8.9504, 1.5849, -0.1636, 0.149, -0.1343, -0.1983, -1.1692, 7.4051, 1.746, -0.0464, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6836f97b990c08258e2f86805508a4dab22c82aa59e8f772b55014b6d1465ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b5d83adc050afd6ee56696e90efacd11b9f15b6fcb52e054dffbbf7558eb7f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa53bb1b1d11499385441802df4da51869a458d10867feae7c9faa577d9cdcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UeinLPBf7eigg8KZybSnLL",
      "input": {
        "note": "The bottle now fills the wrist view right down to the jaws but sits left of the jaw column, so it lies a bit to the arm's left. Shifting 2 cm left before closing.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.18,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UeinLPBf7eigg8KZybSnLL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5686, 1.9503, 1.2221, -0.0921, -0.5026, -0.4347, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1913 left_z=0.0746 left_yaw=0.0778 left_pitch=-0.1371 left_roll=0.0357 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.001 right_pitch=-0.0042 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -12.547, 5.641, 1.5458, -0.1832, 0.0513, -0.1392, -0.253, -1.0735, 7.3231, 1.7118, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9749f4d0f02e91267a505b9d2c1fd2b3239bbcfd2f824eb1b502a8eb168adf09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df557fb42bbbc3eb963d310baae1128410505d5e800574fbecbfb8e8aa3bb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4472798200054c8b484f4c8fdf832f11d70b6194c2de2ec9844b641669e567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 23.25 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]: [-0.625, 1.874, 1.1629, -0.0891, -0.5381, -0.4641, 0.0092, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4428 left_y=-0.2035 left_z=0.0906 left_yaw=0.0624 left_pitch=-0.1048 left_roll=0.0205 left_gripper=0.0092 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -9.935, 6.2291, 1.4432, -0.1929, 0.0366, 0.6813, -0.0752, -1.2376, 7.0359, 1.7167, -0.0611, -0.0366, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.5838, 1.9564, 1.2495, -0.1116, -0.5152, -0.445, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1987 left_z=0.0799 left_yaw=0.0775 left_pitch=-0.1298 left_roll=0.0339 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -9.812, 8.9504, 1.5849, -0.1636, 0.149, -0.1343, -0.1983, -1.1692, 7.4051, 1.746, -0.0464, -0.0464, -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 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]: [-0.5686, 1.9503, 1.2221, -0.0921, -0.5026, -0.4347, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1913 left_z=0.0746 left_yaw=0.0778 left_pitch=-0.1371 left_roll=0.0357 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.001 right_pitch=-0.0042 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -12.547, 5.641, 1.5458, -0.1832, 0.0513, -0.1392, -0.253, -1.0735, 7.3231, 1.7118, -0.0513, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9749f4d0f02e91267a505b9d2c1fd2b3239bbcfd2f824eb1b502a8eb168adf09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df557fb42bbbc3eb963d310baae1128410505d5e800574fbecbfb8e8aa3bb6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4472798200054c8b484f4c8fdf832f11d70b6194c2de2ec9844b641669e567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AcKEAgRGAI4AUIIdGhpbmtpbmcSDFUuWWfssSJ1687ZNBoM0C/pl+h5jUz88X/fIjDgJBCBVcxIHXDo9MplATpNI6lebiv4M+g9AroDC7fwpyoQ+oyvjKikvWxgylRJItEqiQcNmNWKcRzdPPKavVN7qKVfz1X9lnqQS642HTN745lnTtWjRTiHRS5yB0KZPya73ls3aXUjzh9tZbEMRQYGw/9QHdJ+TsVG3s0yM6Q4+pxQlRyGRiA8ITFQN6R/vFhb/Kh6aGGummdMTAhAg7SdARNQo6Pmz+kNH0hbsuj+SbVyRRobHlKt5TMSJ8Q91OnQysEiols2osK75vQZPFzuMp7gBH6331l6MsPHnuVruv3ngqcBCv+cArNMnir8fys4sf/pvlGqb504cxMIj/nMrn1nGOZ5xvs7XhZ0tTJySMwL/jd7JU7D5kC4YlAMJICooZS8KVI1UJcZK87KZcCdTxUvcNjnSJixruKKDuvLTBlDAlaJVzpcxwUJeQFBTeOAyEldVct67A94KQ+Y17de6peeAzssUWYdsm7Iatiwb3VYcC8PtOHLHBsYZFoFD9DBrd17SjecbRn0EfUSWIDfT6oyNd6M2epLKRGafq+zOk5JsCLZuPEeiy6k93UH+QlsfpGg2owEfWF5Id0kwI2qOpcuFdBkgQQGppP3/WIeYLtYIaLFNm0saKHlq8nxM6UedGJK3qrJkCh85UgmYJ0xBsMrFdfOLfbDv5BSAldl4VssKrnBfPvio/TPAVqSIO/ULZYxnwJPGwys1NENutEmFKE9mTAuvsJhBlr4729ekLhdxgWNzFXJLJd3WJgXdPV63AxlfgzvebaEtcagJp1ve9j+ITrjqgSR7llzRLcW3X2SXEwpMqkz+GtrXXcFjv9OHNSZB8tMoZbPLhfL/beiMUiqvPcZJlg+hGaN1NMT5t38Uuffc51viIuDZvs9QfhpDEBQEvy7kUcbGu9mTqhw+liZeXu3Vq+IDAGRNbloZ94wht2+NqauUXYHuKSAXfbWr2jW7BPyrEPAkhCGxhxlNJCZt0GwUE5hxgMk5n2XR3GirDsXWBKNPs58vXvi31Qo3N7UrZREwFa3yAuYhqForVlGX+bM8DzAl3xNIR83xct1v6A/peqfESIVMpnTQ18xuLnmD9XvA8pPftvJsDEzeE7jgf7AeeuQ21mJBtVm+0+wbGML9oqmEmZTfLiYlUry6LVGi4I30RUBdEfYqE1d08CPyLe6pBZ6zu9pBlztvuy3lTmnbJpRyUXav56G0D3OW/PdD97Tz51ifkTCDj5qqbbqyIBMuQEEAYKhjaeCLrwIBab6u9WtWvsGqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HTyDLW5pUEYdeBUrT6s84T",
      "input": {
        "note": "Arm stopped slightly short in y with rising shoulder effort, suggesting a finger is touching the bottle; the bottle is against the jaws in the wrist view. Closing the gripper.",
        "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_01HTyDLW5pUEYdeBUrT6s84T",
      "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]: [-0.5713, 1.9507, 1.2003, -0.0891, -0.4965, -0.4419, 0.0099, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.1904 left_z=0.0664 left_yaw=0.0761 left_pitch=-0.1549 left_roll=0.0382 left_gripper=0.0099 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0017 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.1538, 7.8838, 1.3797, -0.2808, 0.0171, 0.7253, -0.1026, -1.265, 7.0906, 1.7216, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7341e8aff463144c4d622e7749ee8cc18630d7ba2a3e941def1912eadae557d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53c1ac123f9a78c2ffa25e3e662c76ac203fba6edb54adee54fac1c93aabef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23d4fe6df2943a315ea2f818e349b751abc80346bda55d109eb34a4d29c885d5",
        "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 · 10.3 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]: [-0.5838, 1.9564, 1.2495, -0.1116, -0.5152, -0.445, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4651 left_y=-0.1987 left_z=0.0799 left_yaw=0.0775 left_pitch=-0.1298 left_roll=0.0339 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0012 right_pitch=-0.0042 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -9.812, 8.9504, 1.5849, -0.1636, 0.149, -0.1343, -0.1983, -1.1692, 7.4051, 1.746, -0.0464, -0.0464, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.5686, 1.9503, 1.2221, -0.0921, -0.5026, -0.4347, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1913 left_z=0.0746 left_yaw=0.0778 left_pitch=-0.1371 left_roll=0.0357 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.001 right_pitch=-0.0042 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -12.547, 5.641, 1.5458, -0.1832, 0.0513, -0.1392, -0.253, -1.0735, 7.3231, 1.7118, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.5713, 1.9507, 1.2003, -0.0891, -0.4965, -0.4419, 0.0099, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.1904 left_z=0.0664 left_yaw=0.0761 left_pitch=-0.1549 left_roll=0.0382 left_gripper=0.0099 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0017 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.1538, 7.8838, 1.3797, -0.2808, 0.0171, 0.7253, -0.1026, -1.265, 7.0906, 1.7216, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7341e8aff463144c4d622e7749ee8cc18630d7ba2a3e941def1912eadae557d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b53c1ac123f9a78c2ffa25e3e662c76ac203fba6edb54adee54fac1c93aabef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d4fe6df2943a315ea2f818e349b751abc80346bda55d109eb34a4d29c885d5",
        "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_011CgjifQ4NPh9ro1BN3h9CA",
      "input": {
        "note": "Still an empty close; the arm is stalling around x=0.46 at this height, apparently at its reach limit with the tool vertical, while the bottle sits just beyond the jaws. Pitching the tool forward and raising to z=0.15 to extend reach and grasp the bottle's upper body instead.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.5,
          "left_x": 0.5,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_011CgjifQ4NPh9ro1BN3h9CA",
      "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]: [-0.5842, 2.0384, 0.9989, 0.9379, -0.6853, -0.0437, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4982 left_y=-0.1911 left_z=0.1461 left_yaw=0.0806 left_pitch=0.4802 left_roll=0.0326 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.0008 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.9214, 5.6, 2.0586, -0.0366, 0.188, -0.1392, -0.1299, -1.1145, 7.0769, 1.746, -0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2164f2ed0e40a28f2ee76a0908dd100f678fabb1b9ae7d2e3e7e06178ef0f2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116376391f87af0190d8573a6f4e0f48e10a892f2906be4700e084330f4a045f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa9a29b3c821f5dd32d540ba8652f14aaf6cfbd68e0e078b2108f3f5b3d0094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 16.53 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]: [-0.5686, 1.9503, 1.2221, -0.0921, -0.5026, -0.4347, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.464 left_y=-0.1913 left_z=0.0746 left_yaw=0.0778 left_pitch=-0.1371 left_roll=0.0357 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.001 right_pitch=-0.0042 right_roll=-0.0011 right_gripper=0.9998\nstate[joint_eff]: [1.1419, -12.547, 5.641, 1.5458, -0.1832, 0.0513, -0.1392, -0.253, -1.0735, 7.3231, 1.7118, -0.0513, -0.0659, -0.0122]",
      "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]: [-0.5713, 1.9507, 1.2003, -0.0891, -0.4965, -0.4419, 0.0099, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.1904 left_z=0.0664 left_yaw=0.0761 left_pitch=-0.1549 left_roll=0.0382 left_gripper=0.0099 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0017 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.1538, 7.8838, 1.3797, -0.2808, 0.0171, 0.7253, -0.1026, -1.265, 7.0906, 1.7216, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5842, 2.0384, 0.9989, 0.9379, -0.6853, -0.0437, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4982 left_y=-0.1911 left_z=0.1461 left_yaw=0.0806 left_pitch=0.4802 left_roll=0.0326 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.0008 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.9214, 5.6, 2.0586, -0.0366, 0.188, -0.1392, -0.1299, -1.1145, 7.0769, 1.746, -0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2164f2ed0e40a28f2ee76a0908dd100f678fabb1b9ae7d2e3e7e06178ef0f2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:116376391f87af0190d8573a6f4e0f48e10a892f2906be4700e084330f4a045f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa9a29b3c821f5dd32d540ba8652f14aaf6cfbd68e0e078b2108f3f5b3d0094c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UxQMTq3edoa1rQ2ySfCkxd",
      "input": {
        "note": "With the tool pitched forward the wrist camera now shows the Clorox bottle (with handle) just left of the jaw column and the red cup to its right. Shifting 4 cm left to centre the bottle body between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.15,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UxQMTq3edoa1rQ2ySfCkxd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4934, 2.0384, 0.9028, 1.005, -0.6243, -0.0406, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4985 left_y=-0.1468 left_z=0.1232 left_yaw=0.1033 left_pitch=0.4526 left_roll=0.0488 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.4137, 5.1487, 2.044, 0.1636, 0.0317, -0.1392, -0.0752, -0.9368, 7.0769, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fbce1114aba5e0e0eba8c71365e9bdb572cf8b2aa97aa268f9d485102d6902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d71252a606090409bd18c5cde40747c8db90add28959a544ef43bdda1d11127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d3eee86a892431fbba7efb30f65bf9253598738992f0a91c701951fc3655244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.445 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]: [-0.5713, 1.9507, 1.2003, -0.0891, -0.4965, -0.4419, 0.0099, -0.0143, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4585 left_y=-0.1904 left_z=0.0664 left_yaw=0.0761 left_pitch=-0.1549 left_roll=0.0382 left_gripper=0.0099 right_x=0.2969 right_y=0.0015 right_z=0.1826 right_yaw=0.0017 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -10.1538, 7.8838, 1.3797, -0.2808, 0.0171, 0.7253, -0.1026, -1.265, 7.0906, 1.7216, -0.0269, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5842, 2.0384, 0.9989, 0.9379, -0.6853, -0.0437, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4982 left_y=-0.1911 left_z=0.1461 left_yaw=0.0806 left_pitch=0.4802 left_roll=0.0326 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.0008 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.9214, 5.6, 2.0586, -0.0366, 0.188, -0.1392, -0.1299, -1.1145, 7.0769, 1.746, -0.022, -0.022, -0.0171]",
      "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]: [-0.4934, 2.0384, 0.9028, 1.005, -0.6243, -0.0406, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4985 left_y=-0.1468 left_z=0.1232 left_yaw=0.1033 left_pitch=0.4526 left_roll=0.0488 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.4137, 5.1487, 2.044, 0.1636, 0.0317, -0.1392, -0.0752, -0.9368, 7.0769, 1.7265, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5fbce1114aba5e0e0eba8c71365e9bdb572cf8b2aa97aa268f9d485102d6902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d71252a606090409bd18c5cde40747c8db90add28959a544ef43bdda1d11127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d3eee86a892431fbba7efb30f65bf9253598738992f0a91c701951fc3655244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FdNPQ1SWGZKQswzeJyE5pq",
      "input": {
        "note": "The bottle body is now very close, filling the left half of the wrist view, still ~3 cm left of the jaw column; top view shows the fingers right beside its base. Shifting 3 cm more to the left to centre it.",
        "targets": {
          "left_gripper": 1.0,
          "left_y": -0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FdNPQ1SWGZKQswzeJyE5pq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4404, 2.0384, 0.8677, 1.0168, -0.5785, -0.0402, 0.9988, -0.0147, 0.7986, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.1248 left_z=0.1122 left_yaw=0.1074 left_pitch=0.4295 left_roll=0.0571 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1824 right_yaw=0.0008 right_pitch=-0.0046 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -12.0137, 4.2462, 1.9902, 0.0562, 0.0611, -0.1392, -0.0752, -1.265, 7.0769, 1.746, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15005e8e7c8946582b80aa9264e38fea2529951e6ff34c917f0436b27a82943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de8771bf6a458286cdeafc3f53bc434d80fedffda112ddaf01cf902b3081129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5582df4e60eaf6990b6d2d542a3b5fa78842d42e1cad865f4806c2807d169db3",
        "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 · 15.58 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]: [-0.5842, 2.0384, 0.9989, 0.9379, -0.6853, -0.0437, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4982 left_y=-0.1911 left_z=0.1461 left_yaw=0.0806 left_pitch=0.4802 left_roll=0.0326 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1826 right_yaw=0.0008 right_pitch=-0.0042 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.9214, 5.6, 2.0586, -0.0366, 0.188, -0.1392, -0.1299, -1.1145, 7.0769, 1.746, -0.022, -0.022, -0.0171]",
      "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]: [-0.4934, 2.0384, 0.9028, 1.005, -0.6243, -0.0406, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4985 left_y=-0.1468 left_z=0.1232 left_yaw=0.1033 left_pitch=0.4526 left_roll=0.0488 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.4137, 5.1487, 2.044, 0.1636, 0.0317, -0.1392, -0.0752, -0.9368, 7.0769, 1.7265, -0.0513, -0.0366, -0.0122]",
      "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]: [-0.4404, 2.0384, 0.8677, 1.0168, -0.5785, -0.0402, 0.9988, -0.0147, 0.7986, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.1248 left_z=0.1122 left_yaw=0.1074 left_pitch=0.4295 left_roll=0.0571 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1824 right_yaw=0.0008 right_pitch=-0.0046 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -12.0137, 4.2462, 1.9902, 0.0562, 0.0611, -0.1392, -0.0752, -1.265, 7.0769, 1.746, -0.0415, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c15005e8e7c8946582b80aa9264e38fea2529951e6ff34c917f0436b27a82943",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de8771bf6a458286cdeafc3f53bc434d80fedffda112ddaf01cf902b3081129",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5582df4e60eaf6990b6d2d542a3b5fa78842d42e1cad865f4806c2807d169db3",
        "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+AYKEAgRGAI4AUIIdGhpbmtpbmcSDJOoqnbIXaSShPXPpxoMh/kv6CKGHe4WYWx/IjCR+xpgpuI9a6khYIcSmrAOzBzf9K+XveVhI1zxPlpIWjcQI5UHUaZwexGs62XH9xIqlQaTtDRN6SXH1I0Kl90OTfM0TrG7ONRqbw6V8UfWigbrly0eoI/Vs0RaMBD3/eECBrWsWiJ5RzE20aNxPTCllefKXRvPszFqWh79gRpgChceo6g6kJZg/pZ0mkdcEbyNQO7zIL3fwa3XmQTyBTK8vRP+OWrhJrUYiP934IkVZb+529F6R5pWhU2suWjLgbLQ0TcdbnOUQYLoXjGudmvbYRSdSR5mkprJhyalK2SQ/Z8jKlYsrkVGqolvyjU2nJNrcBaNs9lNrIomiprAaJ/24f2ENak3L5gTaMs8MJvASfAly28btG/MiUNUVG662kTBFXHBDA1y8xiaK0ITmLP+Kpsp0pewJicWxcsjrKhbGVfVCRw85yoFbp9ntL4yz+qLCbeINTRoQVetNgOb4UFcxw4vA+eZmHQuVsERldowpHvi1z8DqsCuv1WZfbVuCbwdzJZtQpOeoePk76BWCAAJQvf039BSPK5UU5KiwCkp0uQQzgM3CiFpppSCdxDEt2In5oM0sX6A32cuzYClpxjSF094jgDgNiWND6c4vbF5Snfd4sWcnLisD2PBOdAzSLdPzvjqJKe4Qdkp54+lkW50Y6T9BLqALTNONhrr4aKwLYpa8KK+7+YbdwKyEEyoWnsxsFgVl8LhfApBB2M5m+9/iANsLxhpr4W68q2FxBSZRsxuTfvs1Tv9YlqsHKDIAatwqsZNuqUvSQh9VMbz2iGEMg77XGvddZeWk5/bpAVUZHzRUdZkJX0dRiCXqbLoT36AnJAG0bWEM5EiW2Zm+CoSfEIlWMqGS/qO6kjqQMbNSxRamfHqYlmDDMWL1kRdge6FWQHde3uz8w9Nye43gQ8Fho2cGDRNCdUb5nI7BOIKfMUrmSXE5Xe7IbcMYOND3bv+x16pTiplGzdbnXGSQAsTy3PRnlOhoFrr1TWRzdERDi067HonROgNW8llpxZDFi/0FWasJIMDMCs2mpDXD2dvq0lE9FYPuaGw6+4mKf5ZvizjrxbHMjRtd43gXB+jOqoDG2RFcEGUE9jFG4mfQkU5jvzS4vo6Y8sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZm6sxUDYWjQA1akrgugr5",
      "input": {
        "note": "The bottle body is now centred between the two jaws in the wrist view and the top view shows the fingers at the bottle. 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_01XZm6sxUDYWjQA1akrgugr5",
      "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]: [-0.4271, 2.0384, 0.8543, 1.0157, -0.5678, -0.036, 0.0097, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4988 left_y=-0.1187 left_z=0.1069 left_yaw=0.1051 left_pitch=0.416 left_roll=0.0682 left_gripper=0.0097 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1094, 4.5607, 2.0098, 0.0562, -0.0073, 0.735, -0.1026, -0.9778, 7.0632, 1.7411, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dd081237b1ea48d9d3ff7774fc7cb98702746b5adb3f1d9734adb8f16172b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a2fad9ab9ad2b7605e49e7fbab96d732b427397acb4e57c249d485532b736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c86a548e460597f38a1eae86618260f051a9663cf631684e1d51d67cbc2e22e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 9.323 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]: [-0.4934, 2.0384, 0.9028, 1.005, -0.6243, -0.0406, 0.9988, -0.0147, 0.7986, 0.6079, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4985 left_y=-0.1468 left_z=0.1232 left_yaw=0.1033 left_pitch=0.4526 left_roll=0.0488 left_gripper=0.9988 right_x=0.2969 right_y=0.0014 right_z=0.1826 right_yaw=0.0014 right_pitch=-0.0042 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.8547, -10.4137, 5.1487, 2.044, 0.1636, 0.0317, -0.1392, -0.0752, -0.9368, 7.0769, 1.7265, -0.0513, -0.0366, -0.0122]",
      "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]: [-0.4404, 2.0384, 0.8677, 1.0168, -0.5785, -0.0402, 0.9988, -0.0147, 0.7986, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.1248 left_z=0.1122 left_yaw=0.1074 left_pitch=0.4295 left_roll=0.0571 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1824 right_yaw=0.0008 right_pitch=-0.0046 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -12.0137, 4.2462, 1.9902, 0.0562, 0.0611, -0.1392, -0.0752, -1.265, 7.0769, 1.746, -0.0415, -0.0415, -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]: [-0.4271, 2.0384, 0.8543, 1.0157, -0.5678, -0.036, 0.0097, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4988 left_y=-0.1187 left_z=0.1069 left_yaw=0.1051 left_pitch=0.416 left_roll=0.0682 left_gripper=0.0097 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1094, 4.5607, 2.0098, 0.0562, -0.0073, 0.735, -0.1026, -0.9778, 7.0632, 1.7411, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87dd081237b1ea48d9d3ff7774fc7cb98702746b5adb3f1d9734adb8f16172b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8a2fad9ab9ad2b7605e49e7fbab96d732b427397acb4e57c249d485532b736f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86a548e460597f38a1eae86618260f051a9663cf631684e1d51d67cbc2e22e6",
        "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_01FR6yuRmvpiapEujmbtCUfd",
      "input": {
        "note": "Empty close again; the top view shows I've been nudging the bottle forward — it now sits beside the red cup about 6 cm beyond the fingertips. Opening and reaching further forward with maximum forward pitch to get the jaws around its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.6,
          "left_x": 0.56,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FR6yuRmvpiapEujmbtCUfd",
      "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]: [-0.3698, 2.2051, 1.0718, 1.1328, -0.5388, 0.0456, 0.995, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.553 left_y=-0.1133 left_z=0.1283 left_yaw=0.1293 left_pitch=0.5576 left_roll=0.0643 left_gripper=0.995 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.4684, 6.9265, 1.9853, 0.1099, 0.2857, -0.0073, -0.1983, -1.0462, 7.0222, 1.7607, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b207729f1ac87a52a470aea91c9156dafae338b9e60a648caad12a31fd00f1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5640f329fd0deb9f9183b3c4d477a338e6ac1cd249156ed26565926f42f461d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03c28143bc733b871c9a20847ac23da37fa007d56faec7abeb1dae47ec43d494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 21.53 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4404, 2.0384, 0.8677, 1.0168, -0.5785, -0.0402, 0.9988, -0.0147, 0.7986, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4998 left_y=-0.1248 left_z=0.1122 left_yaw=0.1074 left_pitch=0.4295 left_roll=0.0571 left_gripper=0.9988 right_x=0.2969 right_y=0.0013 right_z=0.1824 right_yaw=0.0008 right_pitch=-0.0046 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -12.0137, 4.2462, 1.9902, 0.0562, 0.0611, -0.1392, -0.0752, -1.265, 7.0769, 1.746, -0.0415, -0.0415, -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]: [-0.4271, 2.0384, 0.8543, 1.0157, -0.5678, -0.036, 0.0097, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4988 left_y=-0.1187 left_z=0.1069 left_yaw=0.1051 left_pitch=0.416 left_roll=0.0682 left_gripper=0.0097 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1094, 4.5607, 2.0098, 0.0562, -0.0073, 0.735, -0.1026, -0.9778, 7.0632, 1.7411, -0.0513, -0.0708, -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]: [-0.3698, 2.2051, 1.0718, 1.1328, -0.5388, 0.0456, 0.995, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.553 left_y=-0.1133 left_z=0.1283 left_yaw=0.1293 left_pitch=0.5576 left_roll=0.0643 left_gripper=0.995 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.4684, 6.9265, 1.9853, 0.1099, 0.2857, -0.0073, -0.1983, -1.0462, 7.0222, 1.7607, -0.0366, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b207729f1ac87a52a470aea91c9156dafae338b9e60a648caad12a31fd00f1c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5640f329fd0deb9f9183b3c4d477a338e6ac1cd249156ed26565926f42f461d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03c28143bc733b871c9a20847ac23da37fa007d56faec7abeb1dae47ec43d494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrgoKEAgRGAI4AUIIdGhpbmtpbmcSDI35Uqrb/evjeMyB6xoMczyWM1O6YBuUBb3gIjAOiYIFuUP/bgCP+d3iYbTHQsb4VEp8r06OHc+ijRJBr3evgX+8h8y4hbgvo9+nBtAqywn2NW6wHRbwYQyxy8yqZQL1NiQAtGQXxU1JZAvXvq3fhnK21DW4U2SJVYn9Rs1bGRmxBcTg3rqd97kPRN8n2LHB2JGt0n533icPDZGtXKfnI9Be0uzL1xXL223c76jIT2f1o4G+hoNe7PwY2n6AqnUJMqR3fvlMbf5VTuN1l8VNjb2qv5goeBmO/2Rg1j2hnZz2tZDuuSSRyxWeRtXDbZ43FYMEz/BQuUpD8Y5JnkBU7FDlAHmA6JSc1zBN6N9mXTC2ufPOYd9sMLLU9ajOiEXq0XYolJYvMClK0DJgDS2B6sOjjqwqlneNtpnInjoNSUuGgReXQ61sIvEKe4EzbcpdqlJI+WBhdzmU9BFQnPVtLYKQPzSYYIHtxSjRb6LH8NPXFcZ6Y/Y4pjbx8SbO6nj9NKUipxcWOqyvFYxtrkBrQDRUJGbzBNO+ZnBUmLB9ZRTW3nC2w//Ugh0hq+rLhXv1sBmvp5xzSgZCRnF47igF0k6qv74cGA6oEYji9iKnU6jt08UcJF5n1BG7uBOxmV2EsHRrN09S5/I4dP0LukEL8f7J9hW0o2fQcb53vSzORMssCpNBVsxuZEcD80Re/REpHSqICrFN7Mw4dPG+dtYWD1js4o1GHWMmTym+xGx5tjKvlPwpTo4UIEbou1uDzttMvT9UF/jXXLuJE5b0F95Kd/vOecWMt5A4KYq1ij+P0xCx8rlsYEeVGg/cdeD5iIpgkrtG0rvJDUZPIlF/rlpa9pXpdhFyR+o9WU6Jl0PTTAfIERiUPbORTYDq6kWmbeQ+8YOQsXLEwImCuDVZVIumIiBfR6GqpAb1DXbGoordmCb09el/zHZK2U8qtE2cENqNmWglZpv1WErae3hRFXwHDaWhdqLd/iXJ3OCu3iZeuRLebQyJghaCMGT2FZJycWRRiAI47J5mA/wApKVfW/eLbdvkoBldrU7KUt4spt+rCPcU1lVOoQ5XfSuKa/b1uGHQxtPaLlQeD9vVxqBCP56EISosuffQtdWlty6/y8Py9nU6fHmusmKQEAWzyO2pNnW+pJCCcZr0Ai39if7Q5mpfCmd7ve4w1eyMj+k83BGfcsn7x1lLZE5Dj0F/TVYzSWgDZq9WHKbqjPwACZRGh6vAKFUMRnE9sKAk5pPv5LmqQh2ykuxxKew8G51OOqvtgNtZladOo45vCIOPA3iG9X6/Ad66Tn0zeq1A/LC1GNQwjGYHhHsVY9xlnYI/26V1EQP+Gn5tKugk8USlLE1ON2nM+sjiaOPI7qcgg4gdhYE4pvjEszoywhl6dK4EFI9ylHAENwq6qCfU105dK+bGJ3YLoFKSfidbcyA0cJ60+ZgX7OmnakIStGTidJDcmlQWrf0jWmj9rl3DrvMktPD003TqK98Kel6R8bwrsLUfpfyzX5DQRXc5CAtVE9YtIP4LlPstiVo1IyfftJLOKupw4DkM26hGz3z3zcqNgcCynvUdNerMQCw1+8vS1xLabn90Rjf9+Z7Cd3s/0Eh/mDnPhG1Kcdn0JIekpge5tQ6nc3TCTbmrTZpixscth6fP0raICqBNyLrmWr+LDFHZqhk9UcTrQEEHuZldfN3ud3ZOvXEgE7itsfb2tS1bRaBQ0/HR1rs9ObLrz1xlveFDEkIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQbCSqiDVSp3GBaNe9P8CM",
      "input": {
        "note": "The bottle body now appears squarely between the two jaw tips in the wrist view, though the top view shows it has been pushed to the far side of the red cup. Closing to attempt 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_01WQbCSqiDVSp3GBaNe9P8CM",
      "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]: [-0.3687, 2.2173, 1.076, 1.1378, -0.5423, 0.0452, 0.0098, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.554 left_y=-0.1125 left_z=0.1244 left_yaw=0.1332 left_pitch=0.5549 left_roll=0.0656 left_gripper=0.0098 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.2598, 4.7795, 1.6923, 0.0464, -0.0415, 0.7253, -0.0615, -1.2923, 7.0496, 1.79, -0.022, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18152cd8d6ed3eccb9ba320b915f6877b664fab8d8d9aacfb15a4271df377dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3ab4a8537af52678ebb09dd4b84925b2dc5a4ee1357355b2f1174ef0fc2179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e6fee06afd0f3a8e60e855a95d620f365840d36ed0df024904456f1e2118bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 17.9 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]: [-0.4271, 2.0384, 0.8543, 1.0157, -0.5678, -0.036, 0.0097, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.4988 left_y=-0.1187 left_z=0.1069 left_yaw=0.1051 left_pitch=0.416 left_roll=0.0682 left_gripper=0.0097 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -12.1094, 4.5607, 2.0098, 0.0562, -0.0073, 0.735, -0.1026, -0.9778, 7.0632, 1.7411, -0.0513, -0.0708, -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]: [-0.3698, 2.2051, 1.0718, 1.1328, -0.5388, 0.0456, 0.995, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.553 left_y=-0.1133 left_z=0.1283 left_yaw=0.1293 left_pitch=0.5576 left_roll=0.0643 left_gripper=0.995 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.4684, 6.9265, 1.9853, 0.1099, 0.2857, -0.0073, -0.1983, -1.0462, 7.0222, 1.7607, -0.0366, -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]: [-0.3687, 2.2173, 1.076, 1.1378, -0.5423, 0.0452, 0.0098, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.554 left_y=-0.1125 left_z=0.1244 left_yaw=0.1332 left_pitch=0.5549 left_roll=0.0656 left_gripper=0.0098 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.2598, 4.7795, 1.6923, 0.0464, -0.0415, 0.7253, -0.0615, -1.2923, 7.0496, 1.79, -0.022, -0.0562, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18152cd8d6ed3eccb9ba320b915f6877b664fab8d8d9aacfb15a4271df377dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e3ab4a8537af52678ebb09dd4b84925b2dc5a4ee1357355b2f1174ef0fc2179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e6fee06afd0f3a8e60e855a95d620f365840d36ed0df024904456f1e2118bfd",
        "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_014ZuRu2emWNKJ7yS93g7HDE",
      "input": {
        "note": "Another empty close: the bottle base is wider than the 9.5 cm jaw stroke, so the fingertips just butt against it and push it, and it is now at the far table edge. Backing off slightly and rising to cap height to look for a grasp on the narrower neck/handle region.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.53,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014ZuRu2emWNKJ7yS93g7HDE",
      "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, 1.8851, 1.0824, 0.7666, -0.5724, 0.033, 0.9952, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5321 left_y=-0.1077 left_z=0.221 left_yaw=0.1461 left_pitch=0.5275 left_roll=0.0706 left_gripper=0.9952 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.5607, 9.1145, 1.6044, -0.0171, 0.0708, -0.1441, -0.3761, -1.2923, 7.1863, 1.7167, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8664ab114177475f95183ce4dbfd19e1e175ae9b6b6a4542bbff93144cdab8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d36c80c714e584aff9a6ecf2c27180f1a4c20ec8ef21daec1d0c3f9f570d62fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2af765d681b6eb93f7df825ff4db7192e54718c7418f3622e013694ce515564",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 14.12 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]: [-0.3698, 2.2051, 1.0718, 1.1328, -0.5388, 0.0456, 0.995, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.553 left_y=-0.1133 left_z=0.1283 left_yaw=0.1293 left_pitch=0.5576 left_roll=0.0643 left_gripper=0.995 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1709, -10.4684, 6.9265, 1.9853, 0.1099, 0.2857, -0.0073, -0.1983, -1.0462, 7.0222, 1.7607, -0.0366, -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]: [-0.3687, 2.2173, 1.076, 1.1378, -0.5423, 0.0452, 0.0098, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.554 left_y=-0.1125 left_z=0.1244 left_yaw=0.1332 left_pitch=0.5549 left_roll=0.0656 left_gripper=0.0098 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.2598, 4.7795, 1.6923, 0.0464, -0.0415, 0.7253, -0.0615, -1.2923, 7.0496, 1.79, -0.022, -0.0562, -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]: [-0.3836, 1.8851, 1.0824, 0.7666, -0.5724, 0.033, 0.9952, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5321 left_y=-0.1077 left_z=0.221 left_yaw=0.1461 left_pitch=0.5275 left_roll=0.0706 left_gripper=0.9952 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.5607, 9.1145, 1.6044, -0.0171, 0.0708, -0.1441, -0.3761, -1.2923, 7.1863, 1.7167, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8664ab114177475f95183ce4dbfd19e1e175ae9b6b6a4542bbff93144cdab8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d36c80c714e584aff9a6ecf2c27180f1a4c20ec8ef21daec1d0c3f9f570d62fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2af765d681b6eb93f7df825ff4db7192e54718c7418f3622e013694ce515564",
        "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_01FqJ5mTja5JgGJGJmyMJnfw",
      "input": {
        "note": "Wrist view now shows the bottle's cap and its handle loop on the near-right side; the arm stalled at z=0.22 so I'll target the handle grip lower down. Moving right and forward to bring the jaws around the handle bar at about 18 cm height.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.55,
          "left_y": -0.14,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FqJ5mTja5JgGJGJmyMJnfw",
      "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]: [-0.4244, 2.0319, 1.1412, 0.8295, -0.614, 0.0269, 0.9988, -0.0147, 0.8017, 0.6075, -0.3702, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5469 left_y=-0.1315 left_z=0.1828 left_yaw=0.1421 left_pitch=0.5074 left_roll=0.0807 left_gripper=0.9988 right_x=0.297 right_y=0.0013 right_z=0.1815 right_yaw=0.0014 right_pitch=-0.008 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.453, 7.8291, 2.0781, -0.2076, 0.0073, -0.1294, -0.1162, -0.9504, 7.0496, 1.7118, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e0132f9e5c1c4bd12424cd1d71666c24e8a015f958b95aeb19a7204c6b46ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:728543db773b603aae496001e85499560459638e0e5e3f93599b7983eab1613e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:307aea9ad243fc8faaec3d360faa5e1c1ff4b159c96eae4b2f1e9eff84e96de1",
        "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 · 8.916 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]: [-0.3687, 2.2173, 1.076, 1.1378, -0.5423, 0.0452, 0.0098, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.554 left_y=-0.1125 left_z=0.1244 left_yaw=0.1332 left_pitch=0.5549 left_roll=0.0656 left_gripper=0.0098 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0012 right_pitch=-0.0046 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.2598, 4.7795, 1.6923, 0.0464, -0.0415, 0.7253, -0.0615, -1.2923, 7.0496, 1.79, -0.022, -0.0562, -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]: [-0.3836, 1.8851, 1.0824, 0.7666, -0.5724, 0.033, 0.9952, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5321 left_y=-0.1077 left_z=0.221 left_yaw=0.1461 left_pitch=0.5275 left_roll=0.0706 left_gripper=0.9952 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.5607, 9.1145, 1.6044, -0.0171, 0.0708, -0.1441, -0.3761, -1.2923, 7.1863, 1.7167, -0.0366, -0.0757, -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 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]: [-0.4244, 2.0319, 1.1412, 0.8295, -0.614, 0.0269, 0.9988, -0.0147, 0.8017, 0.6075, -0.3702, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5469 left_y=-0.1315 left_z=0.1828 left_yaw=0.1421 left_pitch=0.5074 left_roll=0.0807 left_gripper=0.9988 right_x=0.297 right_y=0.0013 right_z=0.1815 right_yaw=0.0014 right_pitch=-0.008 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.453, 7.8291, 2.0781, -0.2076, 0.0073, -0.1294, -0.1162, -0.9504, 7.0496, 1.7118, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e0132f9e5c1c4bd12424cd1d71666c24e8a015f958b95aeb19a7204c6b46ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:728543db773b603aae496001e85499560459638e0e5e3f93599b7983eab1613e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:307aea9ad243fc8faaec3d360faa5e1c1ff4b159c96eae4b2f1e9eff84e96de1",
        "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_01GnwCvUxe6WgAzAPyzmZY1X",
      "input": {
        "note": "The handle loop is centred in the wrist view with its grip bar just right of the jaw column and the red cup close at bottom-right. Shifting 3 cm right and 2 cm forward so the jaws bracket the handle bar itself.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.57,
          "left_y": -0.165,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GnwCvUxe6WgAzAPyzmZY1X",
      "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]: [-0.458, 2.1284, 1.2713, 0.7921, -0.6556, 0.0181, 0.9988, -0.0147, 0.804, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5653 left_y=-0.1546 left_z=0.1767 left_yaw=0.1529 left_pitch=0.506 left_roll=0.0756 left_gripper=0.9988 right_x=0.2972 right_y=0.0013 right_z=0.1809 right_yaw=0.0012 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6188, 7.1316, 1.5409, -0.0904, -0.0024, -0.1392, -0.253, -1.4291, 7.159, 1.7265, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b18dd7e368d2d9fd20f73d03d74d5a8d3236ca5cfc576b937c72113e54c23e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0963451edc527d7b41770cc1d7053e9f184feae0f1beb94a1f848934ab732d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed99d016b7f9bbb121b19475eb7022d2d32153da32237ffaa1dd609bae3a8605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 9.374 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]: [-0.3836, 1.8851, 1.0824, 0.7666, -0.5724, 0.033, 0.9952, -0.0147, 0.7986, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5321 left_y=-0.1077 left_z=0.221 left_yaw=0.1461 left_pitch=0.5275 left_roll=0.0706 left_gripper=0.9952 right_x=0.2969 right_y=0.0014 right_z=0.1824 right_yaw=0.0014 right_pitch=-0.0046 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -12.5607, 9.1145, 1.6044, -0.0171, 0.0708, -0.1441, -0.3761, -1.2923, 7.1863, 1.7167, -0.0366, -0.0757, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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]: [-0.4244, 2.0319, 1.1412, 0.8295, -0.614, 0.0269, 0.9988, -0.0147, 0.8017, 0.6075, -0.3702, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5469 left_y=-0.1315 left_z=0.1828 left_yaw=0.1421 left_pitch=0.5074 left_roll=0.0807 left_gripper=0.9988 right_x=0.297 right_y=0.0013 right_z=0.1815 right_yaw=0.0014 right_pitch=-0.008 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.453, 7.8291, 2.0781, -0.2076, 0.0073, -0.1294, -0.1162, -0.9504, 7.0496, 1.7118, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.458, 2.1284, 1.2713, 0.7921, -0.6556, 0.0181, 0.9988, -0.0147, 0.804, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5653 left_y=-0.1546 left_z=0.1767 left_yaw=0.1529 left_pitch=0.506 left_roll=0.0756 left_gripper=0.9988 right_x=0.2972 right_y=0.0013 right_z=0.1809 right_yaw=0.0012 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6188, 7.1316, 1.5409, -0.0904, -0.0024, -0.1392, -0.253, -1.4291, 7.159, 1.7265, -0.0464, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b18dd7e368d2d9fd20f73d03d74d5a8d3236ca5cfc576b937c72113e54c23e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0963451edc527d7b41770cc1d7053e9f184feae0f1beb94a1f848934ab732d75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed99d016b7f9bbb121b19475eb7022d2d32153da32237ffaa1dd609bae3a8605",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwsKEAgRGAI4AUIIdGhpbmtpbmcSDM76PWQoG1d/7EHtXRoMQpFs7mIabV13yahMIjAyMLEb5EoaHsfc1g/Q5Vt1EFtZtVvXG1IjylnZgByaKzTvE3G7idmuE3aHEp+M9QkqyAqgwXhzWw5HVYOph0/Zwa4nLNdlnZzLk6NFHgOPJUfE6ZHUmHIMMCfc1OTkwVr6vkV9zcmwn6vuDVOVEua8mreqUmQGmuMDJAmZiVTJE7BBWLjNSSwo2Z3tDxxU/+SnuPtnbmV7frR6q0zspg+9rYg9T3pviKleDNlPuNATiD6KKs4qrayN20mHnLXqRuMVzJXwl1U2AIeNQGYXctuEvgOyRqSK0TptIumBF/gOvAeWtIJ8RH5k6OiyCQP/xxcgWldfwhyv9gGDAOj+33lTLtgpgLk9s1nUhUCdMQtWjIU9/K2NLvVaGk5yCHQfUrQv3NU/H+Y/x4zHXfiQok3GNDqBkZE9WXI4cvgrWUa0bSLeqGgTy4GCqoXj+uNrVti2RvWf8xqKKXoyVCmaCw8meNX6DbJxgm/R0DlUmbbpbdIsRIRQ7MnuHhpccZoq6fSVScW3QQwcftNkiqIPSxt8EPzjTBVYGtweq70/Sv4iSBlv6106Fl4bVLMw9i7VOc7lyyQQpHUUBmpr3N97k8yCA5acScbsBmz7D86FYkVHycu5Dc4IcCfCpUFiAIlItk9q/rQSyDfHDveRJNqqKtdVCu9/g+unF6PjF8D4jgag7zXUZcRca7XWSeWYAzK4h6ryFZKMjjtJ0MZtp98dmtEy1H4Dzfq/nzbfedJkdPAKnn3pB9pBGekk/Vk2sbWcgDIIhmdt2ffnaGLOH2G64Bmutbg1scgvN0N3wIsX+r8lctpxtm47N0unLFDnqFGhqdUvi6sltNpABlvjOMeznFoL1rNJbr+A3sLCmDoNdouZ9ZEAKLjsBxB5GHNWzqlzAYR1T9miuVKw+hZPpNYLndsnCrLHi4zpG7Dzsz0yywNsq21h7uoPIJ10xvkHLwnGtXFpV+bh6WdX0doHO0AHETWj+jmdZFgmWz7MOvebPBXTzuogEQRHJEF2bAAlSAnEr/myfkKHdDLB7sGCwbjaK+qU+Fymc5TiU2xyhUqQ0lY/ZJhgW0YuBspSkgaKWGXkmF6R5lQRKtXZkWkfNBUlKrBZvd/YJ8M8BR7wQjUdHuN9pSkIFBOM6tsCEf9qm81e4GhtisytDDbomAd3FtNElTg4BqhlfVbRYpi9hNG2j+IP6WaVct9xztfGojCu45d9RIVnJknO7pG8Ja8cWE1pHMpcEzwCql/f8MMgaoui7tddCxTtMdnniEKkgPirnAMkxjdm/UzvcVjipjy74Y5P3+dqr8yWwkAOJPPaXS1F9Ojf9jW+vr28sr1NeIGKlz4XsDWicAHFUZw44+UFPDn/MAMukHS6C8EUpn1TgKTiecXmOF5QTxF6uQwAgWuk7f0HE8Ea2otdnTElMQtp542baRP1MCPBsXQyLlzKUcYYQjs6nFASlvnuVm+0FUBy5JPrY0xXZ2iT0slKTZKW7AVzt/1eASw86RiW/U0R7MOFThQOrMgeWYf+fjolyFDlzbFtZFYe488lk84sG0cfj/+MJXQIe0DsLVeQwBVy28Q1Hw2HCx51d6MDNhx/LM0vBMQLFcRbjM4lsVwLlY+2tIFalMcIzyshgvgIoziIqw0fy7kfRa021uqnkFnKLFw7RH6HQBiG391HnxErtG40/nVS7b/iysbcT079nhB84fYgCoqzDZeZDfkxYBAxMshJATNVkAm8b/uLBby6kO25HTlO7AC/xwpyvIIRYqAiL3b3+c1hVwnxfm/tGNKVWdEsAhQjfepBQ8tHXiRRnOqyahdprWgAVnuWfe99cIBthrdLRyywMk4D1Fvtdx5y5l+I/wernYY0h2TagPM7kGFYaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cyx7gJGNZLiLuomGyFF2Ss",
      "input": {
        "note": "The handle bar now runs down the jaw column between the two jaw tips in the wrist view, with the red cup safely off to the right. Closing on the handle.",
        "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_01Cyx7gJGNZLiLuomGyFF2Ss",
      "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]: [-0.4557, 2.1387, 1.2732, 0.7784, -0.6552, 0.0147, 0.0096, -0.0147, 0.8051, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5663 left_y=-0.1537 left_z=0.1689 left_yaw=0.15 left_pitch=0.488 left_roll=0.086 left_gripper=0.0096 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0008 right_pitch=-0.0111 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4786, 6.147, 1.8779, -0.0513, -0.0317, 0.7253, -0.1983, -1.1829, 7.241, 1.7363, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de036d6e02484de13fc6bb99cabf0215ae702feedb92f1f564defaff3f6f7df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0a93d3f5512138f93b0f4276327630de24ed0b64467bface54a53e71111e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f04f9227738abffbde46bea9af09275d355141c63471e6084870f23e3a77eb80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 23.32 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]: [-0.4244, 2.0319, 1.1412, 0.8295, -0.614, 0.0269, 0.9988, -0.0147, 0.8017, 0.6075, -0.3702, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5469 left_y=-0.1315 left_z=0.1828 left_yaw=0.1421 left_pitch=0.5074 left_roll=0.0807 left_gripper=0.9988 right_x=0.297 right_y=0.0013 right_z=0.1815 right_yaw=0.0014 right_pitch=-0.008 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -11.453, 7.8291, 2.0781, -0.2076, 0.0073, -0.1294, -0.1162, -0.9504, 7.0496, 1.7118, -0.0366, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.458, 2.1284, 1.2713, 0.7921, -0.6556, 0.0181, 0.9988, -0.0147, 0.804, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5653 left_y=-0.1546 left_z=0.1767 left_yaw=0.1529 left_pitch=0.506 left_roll=0.0756 left_gripper=0.9988 right_x=0.2972 right_y=0.0013 right_z=0.1809 right_yaw=0.0012 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6188, 7.1316, 1.5409, -0.0904, -0.0024, -0.1392, -0.253, -1.4291, 7.159, 1.7265, -0.0464, -0.022, -0.0122]",
      "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]: [-0.4557, 2.1387, 1.2732, 0.7784, -0.6552, 0.0147, 0.0096, -0.0147, 0.8051, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5663 left_y=-0.1537 left_z=0.1689 left_yaw=0.15 left_pitch=0.488 left_roll=0.086 left_gripper=0.0096 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0008 right_pitch=-0.0111 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4786, 6.147, 1.8779, -0.0513, -0.0317, 0.7253, -0.1983, -1.1829, 7.241, 1.7363, -0.0366, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de036d6e02484de13fc6bb99cabf0215ae702feedb92f1f564defaff3f6f7df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd0a93d3f5512138f93b0f4276327630de24ed0b64467bface54a53e71111e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04f9227738abffbde46bea9af09275d355141c63471e6084870f23e3a77eb80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlAoKEAgRGAI4AUIIdGhpbmtpbmcSDE5MKS/hXrre4E2IlRoMYjPf2JX5jbkDimHxIjCXv+tWcWiFNwDo7f9joeITOA0zWQQuenZ3W0SaNTrHz4jStXPtJdivAybfjSetH08qsQnUiZIRbm7qEA7eC4LFGrEcwJzgFY5SM4alHPJxR9JMcTHlALdRb2RBLSaTQtxbEehdBhMTA8aXZxqjfF/LI+mwN3B2zXPuL+HpEXf4syc7O5zAo9gi6Gfe7B7zbC9UYBNuUwdmJtmnZmt018TOX/SuVE9LhwBS8oeDOFDzwjqQRU6FatpL7sj9v/JkmtpRR5Z2Hy/rkVG3ql9MJRe5izGP7y8wAdD0AHrkVqOcxcQVosGYV8LiujXsWpWgrlfnrfmBPmnOH2xRW67StyuXyHeXl9sK+N5I3oRIUJZ20TXxRevd3AUgcoVVnuox1i1OXDf7RMd5g/wxdcCGAAlAoi4NV/mktzrZdyIVNgYYhscWn5FbzBKR4WwGs67RpxUn21krFw52kaG7jLlUH1KjVjifS1fjRxfbytAOaHl9FadqCtAFdF4CdlQC27C8fM947F2TDaN7MMhMoWlW/xIHlKsAvv2an+UOhCY5nEUZPhWA1ed94g7b8FZEobTs6A2Eiv4KAkMwjjTyUVRyLp41y7FYcZaVf4h2MJR/sFGjNHxv/cXzg5Kfjct9Bugx4IWbvq0mdCui+/15fwATE3+fC+kUu1S6njgJP9UC4BF690K0FPjpV/d/Fc4CIe9u/Ey3LDJQrsJjMt/Ss+dgJ0QlgH1tfc0/nHAYSQNdmROLv6jJlvcFv9pErQkMlB7xYNIwl0EkOwmiDdTMDWjp7yMsnWQjXj1xhP6TwY+B3dhl60L8H11Uot5LqHcVfmTrXCIbjCqTBLuN1GONVNN1nNi/TZQyjNDRz/wdg1mglngE7JIwxQMnAuiZjo+aJ3KcITS5c7ertnJKhJP/hsSLtXC66EiaCc/rt+ffabR4gEre7HSmz99H/Ao8ZFAifGhFOH1WOZQhbXP/JyR95UsyrZjBzoaFJ14N5iljAzZV7L4KAfR+j5FrdRyECVMQG2KTh291Z7M+V/JzmcSKdwu4EK+s+fPGg7c5qv8Pl1qeQ5+C0BPWJERH3AloWk02nLHUXZaY83WHfY+foy8k8TQpjmK5nXPaHTKyp4dLWGw7eFnLhkaKOx2cMRVboMZL5/amC5+66nU20H0GQM2rJmHDUWJ6UqacTGeGV+eUj6PF74vwlwVKWZdtlqMuvDmfevRTT5lXlIwTjInFyiOpcU/nhjzFKyP6PazWJcBH/GP8uJ1BSZFL+hP3qYG+CdnNfA/NE/WAfW83EtI3vRtaEWpx9c9s/X+NEplqU70TEjk/kousLq0k91Ks/9nPQL+n745Wt2+AaArgamFVPadCCVzh90TtBVICL6rndyhGfOkcLLWQcoQ60IIpd81uBO5xcnxFzsay2h3WWgTVY6Vfs4U99J5a97pSHuwIp8rjrebwNpfdVMh8m5PnLeJjjLeAvJXg6ay6GftbXstJZrUK3WNL7ULCFMajuod3cgFUrSsEUg5c1iZ7MJmVSGDnnsUz3B+syhqyDM9ghJ+itdzwL8+yGldjFGt5zVRNq7tER0AJzQk9ioPBV6HFeiNyc4qi+XwTzFQSrs2GOME0y0YSq75AxuG+kqmBmiDGRDE/KFe4383m/3E+B/MwjosPjNfecOQBJuIBIgdjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015rBpBShBxp5ZGpj37d918d",
      "input": {
        "note": "Empty close: the handle bar is visible just above the converged jaw tips, so it's still a few cm beyond the fingertips. Opening and advancing to the forward workspace limit to get the jaws around the handle.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.6,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015rBpBShBxp5ZGpj37d918d",
      "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]: [-0.4286, 2.2204, 1.4067, 0.7181, -0.6502, 0.0029, 0.995, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5931 left_y=-0.1495 left_z=0.1655 left_yaw=0.1769 left_pitch=0.4815 left_roll=0.0777 left_gripper=0.995 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -11.3299, 8.9915, 1.6923, 0.1538, 0.1099, -0.022, -0.212, -1.1692, 7.241, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e5aa585263886d3e70cd7b3a56349b74bba3788f36b62daf7376b895779621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9442b28891e68e79d96c50a1557af0346c56220ff3bc57cfc1a8102440996d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44d718d953d55f63e35579464fe64e949977abdca768fae32eafaa41e1229f9d",
        "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 · 12.85 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]: [-0.458, 2.1284, 1.2713, 0.7921, -0.6556, 0.0181, 0.9988, -0.0147, 0.804, 0.6075, -0.3698, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5653 left_y=-0.1546 left_z=0.1767 left_yaw=0.1529 left_pitch=0.506 left_roll=0.0756 left_gripper=0.9988 right_x=0.2972 right_y=0.0013 right_z=0.1809 right_yaw=0.0012 right_pitch=-0.0099 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -10.6188, 7.1316, 1.5409, -0.0904, -0.0024, -0.1392, -0.253, -1.4291, 7.159, 1.7265, -0.0464, -0.022, -0.0122]",
      "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]: [-0.4557, 2.1387, 1.2732, 0.7784, -0.6552, 0.0147, 0.0096, -0.0147, 0.8051, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5663 left_y=-0.1537 left_z=0.1689 left_yaw=0.15 left_pitch=0.488 left_roll=0.086 left_gripper=0.0096 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0008 right_pitch=-0.0111 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4786, 6.147, 1.8779, -0.0513, -0.0317, 0.7253, -0.1983, -1.1829, 7.241, 1.7363, -0.0366, -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 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]: [-0.4286, 2.2204, 1.4067, 0.7181, -0.6502, 0.0029, 0.995, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5931 left_y=-0.1495 left_z=0.1655 left_yaw=0.1769 left_pitch=0.4815 left_roll=0.0777 left_gripper=0.995 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -11.3299, 8.9915, 1.6923, 0.1538, 0.1099, -0.022, -0.212, -1.1692, 7.241, 1.7607, -0.0464, -0.0611, -0.0122]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7e5aa585263886d3e70cd7b3a56349b74bba3788f36b62daf7376b895779621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9442b28891e68e79d96c50a1557af0346c56220ff3bc57cfc1a8102440996d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d718d953d55f63e35579464fe64e949977abdca768fae32eafaa41e1229f9d",
        "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_01LxUYBZjqMwApdWH9WMhwB6",
      "input": {
        "note": "At the forward limit the wide bottle body still sits between the jaws with the red cup dangerously close under the right jaw; the narrow neck is higher and further. Raising to neck height, slightly left, to try a grasp under the cap.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.3,
          "left_x": 0.6,
          "left_y": -0.12,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LxUYBZjqMwApdWH9WMhwB6",
      "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]: [-0.363, 2.1181, 1.6291, 0.1947, -0.5938, -0.0929, 0.9985, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.6059 left_y=-0.1206 left_z=0.2127 left_yaw=0.1997 left_pitch=0.3142 left_roll=0.0841 left_gripper=0.9985 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -16.212, 8.6496, 1.4921, 0.0562, 0.0122, -0.1538, -0.1162, -1.2786, 7.2137, 1.7167, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fa71b848f34a2a488e65507f48e126e85a0d9d88ef25dbed284a5d27783df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0875821128a30decf584a5c0fe525d1592d6e2838bf3fdecb7fe60495f0ee031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d25e06529118234804ce6ff092708be903d41f97feadd6f3f176b8e3a16ebd82",
        "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 · 6.11 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]: [-0.4557, 2.1387, 1.2732, 0.7784, -0.6552, 0.0147, 0.0096, -0.0147, 0.8051, 0.6075, -0.3698, -0.0116, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5663 left_y=-0.1537 left_z=0.1689 left_yaw=0.15 left_pitch=0.488 left_roll=0.086 left_gripper=0.0096 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0008 right_pitch=-0.0111 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -12.4786, 6.147, 1.8779, -0.0513, -0.0317, 0.7253, -0.1983, -1.1829, 7.241, 1.7363, -0.0366, -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 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]: [-0.4286, 2.2204, 1.4067, 0.7181, -0.6502, 0.0029, 0.995, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5931 left_y=-0.1495 left_z=0.1655 left_yaw=0.1769 left_pitch=0.4815 left_roll=0.0777 left_gripper=0.995 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -11.3299, 8.9915, 1.6923, 0.1538, 0.1099, -0.022, -0.212, -1.1692, 7.241, 1.7607, -0.0464, -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 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]: [-0.363, 2.1181, 1.6291, 0.1947, -0.5938, -0.0929, 0.9985, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.6059 left_y=-0.1206 left_z=0.2127 left_yaw=0.1997 left_pitch=0.3142 left_roll=0.0841 left_gripper=0.9985 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -16.212, 8.6496, 1.4921, 0.0562, 0.0122, -0.1538, -0.1162, -1.2786, 7.2137, 1.7167, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fa71b848f34a2a488e65507f48e126e85a0d9d88ef25dbed284a5d27783df9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0875821128a30decf584a5c0fe525d1592d6e2838bf3fdecb7fe60495f0ee031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d25e06529118234804ce6ff092708be903d41f97feadd6f3f176b8e3a16ebd82",
        "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_01NE639XEYDfxxUpms1fb18Q",
      "input": {
        "note": "The wrist camera now looks down on the bottle cap sitting almost on the jaw column between the open jaws. Descending so the jaws come down around the neck just below the cap.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.6,
          "left_y": -0.11,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NE639XEYDfxxUpms1fb18Q",
      "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]: [-0.3519, 2.1479, 1.4734, 0.3092, -0.5774, -0.1017, 0.9988, -0.0147, 0.8082, 0.6075, -0.3695, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5947 left_y=-0.1118 left_z=0.1494 left_yaw=0.1905 left_pitch=0.2515 left_roll=0.1093 left_gripper=0.9988 right_x=0.2976 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0137 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -12.4786, 7.0222, 2.254, -0.1587, 0.1343, -0.1343, -0.1436, -1.5521, 7.2274, 1.7705, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f3d89b8d32a9958e20d57a5d61d492c9797d0f6022d7f5a61a6d79bd7617fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b250eae1c21c025dd5c33cc4d2b732e2af11e92e12c00dd495246ce6920ec011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:090d50aca5203441e0694ca6631d3cdf637c144bebb2e81c67a05bbeaed6d193",
        "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 · 26.19 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]: [-0.4286, 2.2204, 1.4067, 0.7181, -0.6502, 0.0029, 0.995, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5931 left_y=-0.1495 left_z=0.1655 left_yaw=0.1769 left_pitch=0.4815 left_roll=0.0777 left_gripper=0.995 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.212, -11.3299, 8.9915, 1.6923, 0.1538, 0.1099, -0.022, -0.212, -1.1692, 7.241, 1.7607, -0.0464, -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 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]: [-0.363, 2.1181, 1.6291, 0.1947, -0.5938, -0.0929, 0.9985, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.6059 left_y=-0.1206 left_z=0.2127 left_yaw=0.1997 left_pitch=0.3142 left_roll=0.0841 left_gripper=0.9985 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -16.212, 8.6496, 1.4921, 0.0562, 0.0122, -0.1538, -0.1162, -1.2786, 7.2137, 1.7167, -0.0122, -0.0611, -0.0122]",
      "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]: [-0.3519, 2.1479, 1.4734, 0.3092, -0.5774, -0.1017, 0.9988, -0.0147, 0.8082, 0.6075, -0.3695, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5947 left_y=-0.1118 left_z=0.1494 left_yaw=0.1905 left_pitch=0.2515 left_roll=0.1093 left_gripper=0.9988 right_x=0.2976 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0137 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -12.4786, 7.0222, 2.254, -0.1587, 0.1343, -0.1343, -0.1436, -1.5521, 7.2274, 1.7705, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f3d89b8d32a9958e20d57a5d61d492c9797d0f6022d7f5a61a6d79bd7617fb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b250eae1c21c025dd5c33cc4d2b732e2af11e92e12c00dd495246ce6920ec011",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090d50aca5203441e0694ca6631d3cdf637c144bebb2e81c67a05bbeaed6d193",
        "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+gcKEAgRGAI4AUIIdGhpbmtpbmcSDLboMcxfFtX14wZmKhoMxeLe6WGkqCjxX6NLIjCmyp6nfPUdqMf/8pmgLqYdQffWfZmF+5KVP4FG6f9oqvU2OeQwrNLB7x3FmtAMC0Eqlwe+LXrzTvmmEGVYhoJzz+upglapJTHYQ5iummR/fTxR+MLb0a6JPgMtvoiSerprMX09qRtTsyB5g4WToRnmN94Z/RIYLtt0wSMSJHOMHEPRfhJm2gILcxmnA51Dpae3gClzQcxYhI27hB+H39et5pujboaZdxQx/W9UL7cScF8MENh7VdOn5/ly0CPFUPirllv4gi78DaCfV+ElACG0fE8oB1EaC4QW/72YgoZKRg9yraZoZTBxl8KndDWqUkzN+hdfcPVgJioR3TFVCeAaWR7+1lW8capCqsRTLRvHE9GaBmLBb4WIbq+YdMBj1A5JwGXDz+PK5bMhzYEshkwZ3Ki3uyPd9+9Vq62/+0OqzxQHyZ5qrKWZPrz9hyxKLrDdNyr0UoC52TzcDAPgFbH6ttOA4ke9Zosdt0fblDuLIKCfmeNqwHqJN9/nlx2Nh3qnn+wziazH9lMS4bmOlV0vlw1QnHz+pYGhGofYGHKjOz8xbd2mycRxEJ0Q2RQnRQsb7Ptv6E97TrB6+0Ti6vby/y506Vr8cDWS5rBkh5Q6G+OJ3pqaNU7nKDbbf/eBIxOJFtx9GcJePUJZ69KqCaWxE2VZCPm8kfhyRA7LQ549eJv1T4/7mdedf+hvOMp4PjnjzR4gAg3Z/Og5QsObN28mUFF+4XRuMT7aFDdMijG7pKx6MeJpTMe5E8zgMSkgfOymwjNont3FS6gmq1HDOyqQ1Orox8O7uWsbhp0h/eix7TfzPOObBSD3KFKIeDNCW7BfCwAwXcDyiOQQTR4Aon0G8GTJ5UXuZQsXj9VAkjXAxUpP7wpCnKk7QE3sQ9F8DLnqa7UwwmQKq2UCFsdrFu+1oS7Jn3dDiByrxyobydcac9//G/EK7ez7J1DnneTTqGajzBTsSuT9bUJFHK4XNaCjcnhphug1/kAjj2zTdQnxZ/DQB/dbCVg+cC3HbI5+Z5DfL2JVUJnqamxehEW2K4yTt+gChnB2pM0BzzPsLwkJFAWaGCg/fRFE/wjDNFjAboPYkWqsEO/HX/yymDfQYaS0vTq0xfAJ5lqWukAhj+Us10U5mvwdGXeA2JX2rwm8yi27yXFGbbHy7CKp8htaDWcTIe+jHsLBXj/CnOYNTqsVIg8K8+khgLC7MOZdjHgL4cBeU/kdbzy68CayBMCerySfes4S71Ju0d3G0VQ8R/ZdUW20BPVEZARRn5MYe34qmUzW15K1B2qInE6mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018STBDF2teT7BEgWRA3cwdu",
      "input": {
        "note": "The bottle's neck now stands between the two jaws in the wrist view with the handle loop to the left. Closing on the neck.",
        "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_018STBDF2teT7BEgWRA3cwdu",
      "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]: [-0.3511, 2.1597, 1.4639, 0.3069, -0.5797, -0.1047, 0.01, -0.0147, 0.8082, 0.6075, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5932 left_y=-0.1104 left_z=0.1381 left_yaw=0.1919 left_pitch=0.2319 left_roll=0.1197 left_gripper=0.01 right_x=0.2975 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -13.4359, 7.5692, 1.7705, -0.0659, -0.0171, 0.7106, -0.0615, -1.2376, 7.0496, 1.7363, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6348a7802e17d2424a1cd0e080dbf45a0c07f161c61fe61703d21666dccb52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9f8f9ddb3b1f6606b30fcd583c6833bc4ed95ca6bccdb9f8caebf3032b7bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faa12db99c6bb862e6d85240a50ffd22de676e7c8a88ad467276635ed6aa1f70",
        "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 · 18.02 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]: [-0.363, 2.1181, 1.6291, 0.1947, -0.5938, -0.0929, 0.9985, -0.0147, 0.8051, 0.6075, -0.3698, -0.012, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.6059 left_y=-0.1206 left_z=0.2127 left_yaw=0.1997 left_pitch=0.3142 left_roll=0.0841 left_gripper=0.9985 right_x=0.2973 right_y=0.0013 right_z=0.1806 right_yaw=0.0014 right_pitch=-0.0111 right_roll=-0.0008 right_gripper=0.9998\nstate[joint_eff]: [0.4308, -16.212, 8.6496, 1.4921, 0.0562, 0.0122, -0.1538, -0.1162, -1.2786, 7.2137, 1.7167, -0.0122, -0.0611, -0.0122]",
      "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]: [-0.3519, 2.1479, 1.4734, 0.3092, -0.5774, -0.1017, 0.9988, -0.0147, 0.8082, 0.6075, -0.3695, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5947 left_y=-0.1118 left_z=0.1494 left_yaw=0.1905 left_pitch=0.2515 left_roll=0.1093 left_gripper=0.9988 right_x=0.2976 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0137 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -12.4786, 7.0222, 2.254, -0.1587, 0.1343, -0.1343, -0.1436, -1.5521, 7.2274, 1.7705, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.3511, 2.1597, 1.4639, 0.3069, -0.5797, -0.1047, 0.01, -0.0147, 0.8082, 0.6075, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5932 left_y=-0.1104 left_z=0.1381 left_yaw=0.1919 left_pitch=0.2319 left_roll=0.1197 left_gripper=0.01 right_x=0.2975 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -13.4359, 7.5692, 1.7705, -0.0659, -0.0171, 0.7106, -0.0615, -1.2376, 7.0496, 1.7363, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6348a7802e17d2424a1cd0e080dbf45a0c07f161c61fe61703d21666dccb52e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9f8f9ddb3b1f6606b30fcd583c6833bc4ed95ca6bccdb9f8caebf3032b7bf5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faa12db99c6bb862e6d85240a50ffd22de676e7c8a88ad467276635ed6aa1f70",
        "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_01MG71AFTvHMB42MDHCXYviZ",
      "input": {
        "note": "The Clorox bottle has been pushed to the far table edge beyond the forward workspace limit and the jaws again closed short of it. Parking the left arm home and bringing the right arm over the right canister to inspect it for a graspable feature.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.27,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01MG71AFTvHMB42MDHCXYviZ",
      "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]: [-0.2821, 0.9073, 0.7219, -0.3843, -0.4744, -0.1768, 0.9982, 0.7654, 1.8008, 1.7348, -0.6735, 0.6003, 0.4358, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.0028 left_z=0.2114 left_yaw=0.1989 left_pitch=0.0552 left_roll=0.0996 left_gripper=0.9982 right_x=0.4187 right_y=0.2689 right_z=0.2674 right_yaw=0.0307 right_pitch=-0.0335 right_roll=-0.0176 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -1.7573, 6.5026, 1.6728, -0.149, -0.0171, -0.0024, 0.4034, -9.6889, 8.759, 1.1404, 0.4518, 0.2662, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b52d6ba5e33069a37a67812f86fadb1d767b38ef29773661342e75ae23572a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79ca53829b222c4fb1cd2251ab4d86242d292c06f94e37b230108c4fc17cfd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db384229d7b36126788f63e2ae4a39fe45c9982b4d482857fefc8928a24faf80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 12.74 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]: [-0.3519, 2.1479, 1.4734, 0.3092, -0.5774, -0.1017, 0.9988, -0.0147, 0.8082, 0.6075, -0.3695, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5947 left_y=-0.1118 left_z=0.1494 left_yaw=0.1905 left_pitch=0.2515 left_roll=0.1093 left_gripper=0.9988 right_x=0.2976 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0137 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [0.6359, -12.4786, 7.0222, 2.254, -0.1587, 0.1343, -0.1343, -0.1436, -1.5521, 7.2274, 1.7705, -0.022, -0.0806, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3511, 2.1597, 1.4639, 0.3069, -0.5797, -0.1047, 0.01, -0.0147, 0.8082, 0.6075, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5932 left_y=-0.1104 left_z=0.1381 left_yaw=0.1919 left_pitch=0.2319 left_roll=0.1197 left_gripper=0.01 right_x=0.2975 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -13.4359, 7.5692, 1.7705, -0.0659, -0.0171, 0.7106, -0.0615, -1.2376, 7.0496, 1.7363, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2821, 0.9073, 0.7219, -0.3843, -0.4744, -0.1768, 0.9982, 0.7654, 1.8008, 1.7348, -0.6735, 0.6003, 0.4358, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.0028 left_z=0.2114 left_yaw=0.1989 left_pitch=0.0552 left_roll=0.0996 left_gripper=0.9982 right_x=0.4187 right_y=0.2689 right_z=0.2674 right_yaw=0.0307 right_pitch=-0.0335 right_roll=-0.0176 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -1.7573, 6.5026, 1.6728, -0.149, -0.0171, -0.0024, 0.4034, -9.6889, 8.759, 1.1404, 0.4518, 0.2662, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31b52d6ba5e33069a37a67812f86fadb1d767b38ef29773661342e75ae23572a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79ca53829b222c4fb1cd2251ab4d86242d292c06f94e37b230108c4fc17cfd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db384229d7b36126788f63e2ae4a39fe45c9982b4d482857fefc8928a24faf80",
        "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_012yR7XceJgDWWqQWqKgzv35",
      "input": {
        "note": "Right wrist camera shows the canister's round lid at bottom-left, about 5 cm left of the jaw column and close, with the red and blue measuring cups beyond. Shifting left and lowering to line up over the canister.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.32,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012yR7XceJgDWWqQWqKgzv35",
      "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]: [-0.281, 0.9108, 0.7212, -0.3981, -0.4706, -0.1772, 0.9983, 0.8249, 1.9633, 1.7, -0.5495, 0.625, 0.4698, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.0027 left_z=0.2073 left_yaw=0.1968 left_pitch=0.0383 left_roll=0.1057 left_gripper=0.9983 right_x=0.4261 right_y=0.3141 right_z=0.1953 right_yaw=0.0512 right_pitch=-0.0743 right_roll=-0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.1675, 7.0769, 1.7949, -0.2369, -0.0611, -0.0073, 0.3624, -11.5487, 6.8444, 1.5409, 0.4615, 0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55ba9d550dc6cb96bc035fb72305280326e12cb8276cc110a63a4f8fae69a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54624834f2af8fd079e2bd16f100553d44b115833e725433f9b5714403719674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9687a638cdb52533fba23eb0ab07e62c04e630b74068be3b0e6d14eb4d50619f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 14.65 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]: [-0.3511, 2.1597, 1.4639, 0.3069, -0.5797, -0.1047, 0.01, -0.0147, 0.8082, 0.6075, -0.3698, -0.0116, -0.0273, 0.9998]\nstate[eef_state]: left_x=0.5932 left_y=-0.1104 left_z=0.1381 left_yaw=0.1919 left_pitch=0.2319 left_roll=0.1197 left_gripper=0.01 right_x=0.2975 right_y=0.0013 right_z=0.1798 right_yaw=0.001 right_pitch=-0.0141 right_roll=-0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -13.4359, 7.5692, 1.7705, -0.0659, -0.0171, 0.7106, -0.0615, -1.2376, 7.0496, 1.7363, -0.0317, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.2821, 0.9073, 0.7219, -0.3843, -0.4744, -0.1768, 0.9982, 0.7654, 1.8008, 1.7348, -0.6735, 0.6003, 0.4358, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.0028 left_z=0.2114 left_yaw=0.1989 left_pitch=0.0552 left_roll=0.0996 left_gripper=0.9982 right_x=0.4187 right_y=0.2689 right_z=0.2674 right_yaw=0.0307 right_pitch=-0.0335 right_roll=-0.0176 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -1.7573, 6.5026, 1.6728, -0.149, -0.0171, -0.0024, 0.4034, -9.6889, 8.759, 1.1404, 0.4518, 0.2662, -0.0366]",
      "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]: [-0.281, 0.9108, 0.7212, -0.3981, -0.4706, -0.1772, 0.9983, 0.8249, 1.9633, 1.7, -0.5495, 0.625, 0.4698, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.0027 left_z=0.2073 left_yaw=0.1968 left_pitch=0.0383 left_roll=0.1057 left_gripper=0.9983 right_x=0.4261 right_y=0.3141 right_z=0.1953 right_yaw=0.0512 right_pitch=-0.0743 right_roll=-0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.1675, 7.0769, 1.7949, -0.2369, -0.0611, -0.0073, 0.3624, -11.5487, 6.8444, 1.5409, 0.4615, 0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f55ba9d550dc6cb96bc035fb72305280326e12cb8276cc110a63a4f8fae69a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54624834f2af8fd079e2bd16f100553d44b115833e725433f9b5714403719674",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9687a638cdb52533fba23eb0ab07e62c04e630b74068be3b0e6d14eb4d50619f",
        "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_01GoRRNp8Vh8d5b5qrBGmSsp",
      "input": {
        "note": "The canister lid is now large at the bottom-left of the right wrist view and the top view shows the canister just left of the gripper. Shifting a further 5 cm left to centre the jaws over it before descending.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.365,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GoRRNp8Vh8d5b5qrBGmSsp",
      "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]: [-0.281, 0.9108, 0.7212, -0.3992, -0.4698, -0.1768, 0.9983, 0.8318, 1.9846, 1.6955, -0.5114, 0.6281, 0.4797, 0.9998]\nstate[eef_state]: left_x=0.3109 left_y=-0.0028 left_z=0.2071 left_yaw=0.1959 left_pitch=0.0371 left_roll=0.1062 left_gripper=0.9983 right_x=0.4287 right_y=0.3217 right_z=0.1886 right_yaw=0.0512 right_pitch=-0.0638 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.6484, -0.1734, -0.022, -0.0171, 0.1299, -12.1504, 7.3231, 1.5702, 0.4225, 0.1001, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed86dc17a34b128dd3f929b7a9604de5bcc781d2376aa76928eecb2d82a1a84e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383bf33145cf95bb459c6f0a5baaead6b67655dcbb7e4f67f98a2a475536b6ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b275daef8d602289022afbb014bab60b8403d05951c6da3634ef17140a5b8cdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 18.44 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2821, 0.9073, 0.7219, -0.3843, -0.4744, -0.1768, 0.9982, 0.7654, 1.8008, 1.7348, -0.6735, 0.6003, 0.4358, 0.9998]\nstate[eef_state]: left_x=0.3123 left_y=-0.0028 left_z=0.2114 left_yaw=0.1989 left_pitch=0.0552 left_roll=0.0996 left_gripper=0.9982 right_x=0.4187 right_y=0.2689 right_z=0.2674 right_yaw=0.0307 right_pitch=-0.0335 right_roll=-0.0176 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -1.7573, 6.5026, 1.6728, -0.149, -0.0171, -0.0024, 0.4034, -9.6889, 8.759, 1.1404, 0.4518, 0.2662, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.3981, -0.4706, -0.1772, 0.9983, 0.8249, 1.9633, 1.7, -0.5495, 0.625, 0.4698, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.0027 left_z=0.2073 left_yaw=0.1968 left_pitch=0.0383 left_roll=0.1057 left_gripper=0.9983 right_x=0.4261 right_y=0.3141 right_z=0.1953 right_yaw=0.0512 right_pitch=-0.0743 right_roll=-0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.1675, 7.0769, 1.7949, -0.2369, -0.0611, -0.0073, 0.3624, -11.5487, 6.8444, 1.5409, 0.4615, 0.1685, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.3992, -0.4698, -0.1768, 0.9983, 0.8318, 1.9846, 1.6955, -0.5114, 0.6281, 0.4797, 0.9998]\nstate[eef_state]: left_x=0.3109 left_y=-0.0028 left_z=0.2071 left_yaw=0.1959 left_pitch=0.0371 left_roll=0.1062 left_gripper=0.9983 right_x=0.4287 right_y=0.3217 right_z=0.1886 right_yaw=0.0512 right_pitch=-0.0638 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.6484, -0.1734, -0.022, -0.0171, 0.1299, -12.1504, 7.3231, 1.5702, 0.4225, 0.1001, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed86dc17a34b128dd3f929b7a9604de5bcc781d2376aa76928eecb2d82a1a84e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:383bf33145cf95bb459c6f0a5baaead6b67655dcbb7e4f67f98a2a475536b6ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b275daef8d602289022afbb014bab60b8403d05951c6da3634ef17140a5b8cdc",
        "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_01RcYwoJ9WQzFDm3CfznUs4m",
      "input": {
        "note": "The right arm stalled at y=0.32, apparently at its reach limit with the tool vertical, while the canister lid still sits left of the jaws. Pitching the tool forward to extend reach and lowering to body height while shifting left onto the canister.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.5,
          "right_x": 0.43,
          "right_y": 0.37,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01RcYwoJ9WQzFDm3CfznUs4m",
      "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]: [-0.281, 0.9108, 0.7212, -0.4023, -0.4702, -0.1768, 0.9983, 0.9463, 2.2581, 1.2739, 0.7692, 0.9012, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0026 left_z=0.2065 left_yaw=0.1962 left_pitch=0.0345 left_roll=0.1078 left_gripper=0.9983 right_x=0.4304 right_y=0.3664 right_z=0.1071 right_yaw=0.0835 right_pitch=0.4214 right_roll=-0.0914 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.9624, 7.1043, 1.6825, -0.1978, -0.022, -0.0171, 0.841, -13.1214, 6.1197, 2.1856, 0.3053, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0dd0ce28e68b7b5426c5822c1521c14f439a0f97c482c9f80f344f801fd6220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9ae02c54c98648e9b947388664f9cf7dbbd27e164b18e4edf2ce4f44e5ad83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad39494493695218de4563f9958bc8b8251f0580da25b53ce6c7a0e729a01f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 21.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.3981, -0.4706, -0.1772, 0.9983, 0.8249, 1.9633, 1.7, -0.5495, 0.625, 0.4698, 0.9998]\nstate[eef_state]: left_x=0.311 left_y=-0.0027 left_z=0.2073 left_yaw=0.1968 left_pitch=0.0383 left_roll=0.1057 left_gripper=0.9983 right_x=0.4261 right_y=0.3141 right_z=0.1953 right_yaw=0.0512 right_pitch=-0.0743 right_roll=-0.0527 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -2.1675, 7.0769, 1.7949, -0.2369, -0.0611, -0.0073, 0.3624, -11.5487, 6.8444, 1.5409, 0.4615, 0.1685, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.3992, -0.4698, -0.1768, 0.9983, 0.8318, 1.9846, 1.6955, -0.5114, 0.6281, 0.4797, 0.9998]\nstate[eef_state]: left_x=0.3109 left_y=-0.0028 left_z=0.2071 left_yaw=0.1959 left_pitch=0.0371 left_roll=0.1062 left_gripper=0.9983 right_x=0.4287 right_y=0.3217 right_z=0.1886 right_yaw=0.0512 right_pitch=-0.0638 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.6484, -0.1734, -0.022, -0.0171, 0.1299, -12.1504, 7.3231, 1.5702, 0.4225, 0.1001, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.4023, -0.4702, -0.1768, 0.9983, 0.9463, 2.2581, 1.2739, 0.7692, 0.9012, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0026 left_z=0.2065 left_yaw=0.1962 left_pitch=0.0345 left_roll=0.1078 left_gripper=0.9983 right_x=0.4304 right_y=0.3664 right_z=0.1071 right_yaw=0.0835 right_pitch=0.4214 right_roll=-0.0914 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.9624, 7.1043, 1.6825, -0.1978, -0.022, -0.0171, 0.841, -13.1214, 6.1197, 2.1856, 0.3053, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0dd0ce28e68b7b5426c5822c1521c14f439a0f97c482c9f80f344f801fd6220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9ae02c54c98648e9b947388664f9cf7dbbd27e164b18e4edf2ce4f44e5ad83e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad39494493695218de4563f9958bc8b8251f0580da25b53ce6c7a0e729a01f7f",
        "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_01CaXj5UyYLvx28WxZZhEwyo",
      "input": {
        "note": "The canister now sits just left of the right jaws, beyond the right arm's y limit, so I'm parking the right arm and bringing the left arm across to hover above the canister instead.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.23,
          "left_z": 0.25,
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_01CaXj5UyYLvx28WxZZhEwyo",
      "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]: [-0.8253, 1.7702, 1.5898, -0.7258, -0.8612, -0.6544, 0.9988, -0.0212, 0.8291, 0.6365, -0.3641, 0.0116, -0.1226, 0.9998]\nstate[eef_state]: left_x=0.3984 left_y=-0.2287 left_z=0.2402 left_yaw=0.1882 left_pitch=0.0168 left_roll=0.1031 left_gripper=0.9988 right_x=0.3032 right_y=-0.0049 right_z=0.1884 right_yaw=0.0251 right_pitch=-0.0033 right_roll=-0.0944 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.0325, 8.7453, 0.9841, -0.6618, 0.0073, -0.1392, -0.1709, -1.9487, 9.853, 1.707, -0.1832, -0.0708, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e2df4465a7e261ee113152db2b881e1a34744ccb3e306b5e6c5e79873c5f63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6425714fa688e6262e5c824d152e6cc8c172114fd26ea295b02379853982f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0812227a4c4d50af62dfe861d6f6ede524244f89fc2df279eb252990325207c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.3992, -0.4698, -0.1768, 0.9983, 0.8318, 1.9846, 1.6955, -0.5114, 0.6281, 0.4797, 0.9998]\nstate[eef_state]: left_x=0.3109 left_y=-0.0028 left_z=0.2071 left_yaw=0.1959 left_pitch=0.0371 left_roll=0.1062 left_gripper=0.9983 right_x=0.4287 right_y=0.3217 right_z=0.1886 right_yaw=0.0512 right_pitch=-0.0638 right_roll=-0.0376 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.812, 6.9538, 1.6484, -0.1734, -0.022, -0.0171, 0.1299, -12.1504, 7.3231, 1.5702, 0.4225, 0.1001, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.4023, -0.4702, -0.1768, 0.9983, 0.9463, 2.2581, 1.2739, 0.7692, 0.9012, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0026 left_z=0.2065 left_yaw=0.1962 left_pitch=0.0345 left_roll=0.1078 left_gripper=0.9983 right_x=0.4304 right_y=0.3664 right_z=0.1071 right_yaw=0.0835 right_pitch=0.4214 right_roll=-0.0914 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.9624, 7.1043, 1.6825, -0.1978, -0.022, -0.0171, 0.841, -13.1214, 6.1197, 2.1856, 0.3053, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8253, 1.7702, 1.5898, -0.7258, -0.8612, -0.6544, 0.9988, -0.0212, 0.8291, 0.6365, -0.3641, 0.0116, -0.1226, 0.9998]\nstate[eef_state]: left_x=0.3984 left_y=-0.2287 left_z=0.2402 left_yaw=0.1882 left_pitch=0.0168 left_roll=0.1031 left_gripper=0.9988 right_x=0.3032 right_y=-0.0049 right_z=0.1884 right_yaw=0.0251 right_pitch=-0.0033 right_roll=-0.0944 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.0325, 8.7453, 0.9841, -0.6618, 0.0073, -0.1392, -0.1709, -1.9487, 9.853, 1.707, -0.1832, -0.0708, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e2df4465a7e261ee113152db2b881e1a34744ccb3e306b5e6c5e79873c5f63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d6425714fa688e6262e5c824d152e6cc8c172114fd26ea295b02379853982f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0812227a4c4d50af62dfe861d6f6ede524244f89fc2df279eb252990325207c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvBUKEAgRGAI4AUIIdGhpbmtpbmcSDC5bMnXptvclvYqIKBoMUDqhJqN0yldpW8GaIjC+tvjW9xUWh/1O747U6/q2lQKIjq1iVjHZA6Ecw80CS3LpqZY/ChkO9B9FVOm/BDYq2RTkrrRsbpkob2VPPk6XVXOnRZlDyPB9mfSavhKAbLZAomaQ3MeXSupKOdFZ3fxiTPIaaBEcAWK3/ov/E6TPREm8WsoSLwTMqWcED+k8s4eR6tK2sskU4i3W2HRZY65RSXYVLPW8L/NJJWXKzr8XHGNYTBEjFv2ELHByB8HjBcV774Or5sg96tkyplrlbLkzWnHEbPu4/BQ1vJI3AzFbMKFS8XdHOcJ6j0PGLFTbH6l/C2C21elkF43vQINAjHD0BK5OA9fBGxmDTJtxvhKC52VgdXJHbn4NVcYPEUca24ieSselumv8sD4lOoil9QJ5ha5237qJV3Tl37j4y4KpRXyAkyBUu7zurdhwFRkO6clbGK8zSxB/9VF6a9j8npKvTlv2o/0jJ0jxq2hdS1odMyXrWaXevHZ/pPe1ye93CpzYEzi7qFPdKnuNSskxF6A+dGKd5xyOvG8qK1FRbdJrDS1gwiZpTq53vhEzhvmZzaEGMob/+20nDviBk1WcXTzHh50UUsWp4Gv7gBrymuOnucbBm9ln0DAFPvNTrug9SOEm7QyR/VztdzhNnJmgxbU3qmaMrXuE2vXfeVZ9sga8QooDKskgMJ9ZGOB2+gnKUK1ecFWyLKnoD4ZLMrtJmSCaeKuPUM2e6ZN7BuS0cyahRe/Aw9h/CkiwH7oP+Xjr8gIx2qrh3juAalknImXm/TYLL+xCeAcz+6ggR8DvR4DXkr/LkiKHWT3HN1NH/7GcmKJm4UMbObOUyH5W8wObuHx7yajMzg6yIN0YgfzXVjOQQnVd2tB8L+It8iHlnx6fkQfyzCZCeDMqpTCFH+z9IAlmguvJKsunR8XYl7NOWJpwSi4VgX2lbEFzKFEddCEuJM9JmZHUOXR+y9Yx3dQPWL4uYdHb30ZH6eWkxW3Mf3Dat6i9Vumahva/o5hajDddG91Um3H/dibQhRfbVMjGqj7pA/mpd+KNUWcnWFJbgd5q+B9PoWJQ4CuawW8k6A0hIZoU99iINVIlS42OpjCBJWjkZ0cqc3FjZK0IU+REV9X8IzhBNJQXtjaUUDK4eK7VUiL3e5EaRtlq0rZHPKkDrtfiXJzF5g6onDmrZAOxTnMlVF1QVb/XC8k3OBbMvYgvaC+bR6Hr1VSLAawoDnxqaJK7bDnjWoDU6eIttDxt5bsYifJRgdT+9x/vaqm2xT6yX/qc6MNjBvgdd63v+a43bWvYV1sikCpFs8R2XJNaymmstHTduXLyBc4HNdBRjAzGZ1+0k7285jTWZcRleKShcNEbveWjIjX41gP/qjCdN9nRky+e6Vr4bWF3LXdeOR+9mj9M1rwenMl76/NFbn19ZSA6Oxl7wZN/O5zAfGCSA8saaL8dE8Y6McoCE62HoJa3IrqriFdKFUMuQ7CU6INghYmkyuIiZv9+bAdkotr+JqW8u3sw5hLY+kFUfLHwuHkq1BpOLfGjYDlaJAgU4+SenPAdWwOYPkCIbo63eU7QK3l7KG1CKQzelq02h3xDNwa0Il4QtEdIyCc6ZUIuPC+T9UNTwHCQRJZqv8kUzyxIQz5zSxzp0OQe+LOVmbVydeKWaoqevMsncQ4+b5E5aPDZiA+HDcaTxitS+q2xhTueXO72zWATxvAkYzQdopG/g50GPvNUVVbjpL1BKtSi+cZpBweJrYmVyQ4YXei9MOuKTz5pUn7pjGZ9oVxBEl66NKeVjnY6yVH2Nfr5AGw2EfL53NNbpYmWaF7rVVOYY1REZbV9A2M/MCOux3TPHRFTG1V4RQITRAPLap/bZsGdpPR69irZrgHKCXQ+UHqh1PUqzdpbhKzDBZkX8dqY7aSXyR3zJVozaDbaps9jZJlP0WBRg1TmWxFDbO+i9BmwC1zQWtCSGfPvVTVcxAHKCNSt3vz6/kbIXIIBQYlQsWLSXoBYvs6+lBcraVGm+LubjJA3LC+Uyk/CRi97+PiGIoWjeyA/+luLew6CEELXaqVPxO4OL+3Eqj/a2iuXuSyGAEtRL82h/0wZ1UwSGDYFJ1yk/XtoH38f/g+0keoNUEBGO1lJ9ghsw/CZgMmnw0t5ZiOET8DnllHqorH2BwRfvxvfe682hVgynYVF/NmJLU7TZ934utbDH+Fgx1wJziqpOCB07ugGh4IlPjujejNINfjc9hO7DAPu7VKM4++ETaOjhJNDqFs5/9bLswEPVhEUsuNkhd0kfaEtGk6t58N5eMO9TV2T8Sm8Nl5uj1RGEVhTkpBkq477oy0DETwwtNvFodUKqZBNPNl7HOMR2m8kdHIq/pCNUIkpe6ydYBYrQCMpRJtMUlcNKFYJqou6PP8IO9AD1Im5e2ni+l4Ye/lhgzglljuVm7bmWM72ZFAdn1UJu5owOuFCMJpQin+mLY4pHLdjAh2972JCKXuSyA3tM71WHVO37Tqt9Ybn+dcEQbSZq6PWW/uuj9sO+7Wi3LgYNPoiz5kTvgkKjRGjJkHoLP/2UmdS6zG9w4okeRcqYClH+nQwXQnAqg02ldmIYKl81n2g3LSbPbWveSkJcnF3+WWqztek1Pw0YUItAGvQgsagBDI63uNqr0eiWwuyCJlgbLbOk4xOR39/fqgvK9fREvYfSJ1mxneMhZE1XaKqNnKmlLwcWeShH5OWQW4idxceLzOTFq5kWuw8u/0Kz8fjnNfOyPkZ/iWEMTsdXTqbURCVJl9cAu8TqFkRKXTptpTA7nyyrAehldgaYT1DrjIds+XRj8umaQb3HzXpFl+BNuiH7GABBAe3yvc4MPFZU1UQNIDuBmVmS2BFq3YV6smQ4xPq9DOczsBiy3EeloW0zf4lDLJakFs/Qmi9pYBSLL50Od2E5Jrj4bAcZcA5fu6yAc3hUGhwk1XvKn/cxZhAiQ5amlgH3XJAzq9jG/zgEuHZoJ29L04rIa1ag99a9WBqEfHeE25ga5J2bVVGAoD6HKb4nH9ONUu/+etfasBREANmpN7t7vIcsXlKL2J/F606oof4H9fKVRDlK4hs4oevFfI0pjrB1sqDTU5aOynqYHOOz5ZsY3uj+SE4IU7vggD+9pqY9cNhSiOyzO3ApaaB0tNShhFTwdyFKFE1UNUZFO1rS/AUEPOLaOQ2qhbeSS4FG1BM5104tORGo/UcS532L1fZeJyhs2zvA8bH1koGKtAdHCx5ogA0L0rUw4HMwqNQhM6vuqMCKIf/IXlBVWQZbTzCoo0YQ9f9xvV5JU4OtFsEPep743QDpZLPMRoGTAuGs38Wau1fbMFfjOd1WggYJV+MW3dhAujp0MR1swjlCDQKg/3rWvRGtJPeeiIfYMBRybdt66Ql16U3A9H0tpFbHTVGoiyZpDdrAxXUxvlwG+pNoC+ky0OB45ag3uF08kFWgOOGTbKY35MHaXPhiDNSrHFnG9tLZ4kbaE6Y7dQaxKqdNZHbRf2aGzgGHGI+457yAKbUTPsj9moXw700wEA+2mX7uxTLR7MuhS+aEj/ibPFby2dXaWKE/oP9pUATp6z7u9YBQ0QchU+MMrZYqHQVnHDa+TsHHaDGGLi7fjZ5bttmTgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WuZo4ZPXQUp4eDdhRHGmYT",
      "input": {
        "note": "Left wrist view shows the canister has been knocked over and lies on its side in the foreground, lid toward the base, slightly left of the jaw column. Moving over its body and descending to try a grasp across it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.2,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WuZo4ZPXQUp4eDdhRHGmYT",
      "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]: [-0.733, 1.9312, 1.0561, -0.0044, -0.8043, -0.5594, 0.9988, -0.0235, 0.831, 0.6395, -0.3836, -0.0002, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.4138 left_y=-0.1965 left_z=0.0612 left_yaw=0.195 left_pitch=-0.0112 left_roll=0.1367 left_gripper=0.9988 right_x=0.3012 right_y=-0.0034 right_z=0.1852 right_yaw=0.0411 right_pitch=-0.022 right_roll=-0.1002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.306, 5.5726, 1.3455, -0.3736, 0.0513, -0.1392, -0.0615, -1.6615, 6.7761, 1.9023, 0.105, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d8056c1119f3677fb2f800ff6edea7ed769ac2c2504a2a773f1ad5ca07d7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7513a1c94db49815b4db39de65eaa5590ff69e2dba04f3400452f277843bd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4470c53c81ed2e423488d06abe681da2ed2799cb119a3df2866eedfa8329fab7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 23.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.281, 0.9108, 0.7212, -0.4023, -0.4702, -0.1768, 0.9983, 0.9463, 2.2581, 1.2739, 0.7692, 0.9012, 0.0673, 0.9998]\nstate[eef_state]: left_x=0.3105 left_y=-0.0026 left_z=0.2065 left_yaw=0.1962 left_pitch=0.0345 left_roll=0.1078 left_gripper=0.9983 right_x=0.4304 right_y=0.3664 right_z=0.1071 right_yaw=0.0835 right_pitch=0.4214 right_roll=-0.0914 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -1.9624, 7.1043, 1.6825, -0.1978, -0.022, -0.0171, 0.841, -13.1214, 6.1197, 2.1856, 0.3053, 0.022, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8253, 1.7702, 1.5898, -0.7258, -0.8612, -0.6544, 0.9988, -0.0212, 0.8291, 0.6365, -0.3641, 0.0116, -0.1226, 0.9998]\nstate[eef_state]: left_x=0.3984 left_y=-0.2287 left_z=0.2402 left_yaw=0.1882 left_pitch=0.0168 left_roll=0.1031 left_gripper=0.9988 right_x=0.3032 right_y=-0.0049 right_z=0.1884 right_yaw=0.0251 right_pitch=-0.0033 right_roll=-0.0944 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.0325, 8.7453, 0.9841, -0.6618, 0.0073, -0.1392, -0.1709, -1.9487, 9.853, 1.707, -0.1832, -0.0708, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.733, 1.9312, 1.0561, -0.0044, -0.8043, -0.5594, 0.9988, -0.0235, 0.831, 0.6395, -0.3836, -0.0002, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.4138 left_y=-0.1965 left_z=0.0612 left_yaw=0.195 left_pitch=-0.0112 left_roll=0.1367 left_gripper=0.9988 right_x=0.3012 right_y=-0.0034 right_z=0.1852 right_yaw=0.0411 right_pitch=-0.022 right_roll=-0.1002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.306, 5.5726, 1.3455, -0.3736, 0.0513, -0.1392, -0.0615, -1.6615, 6.7761, 1.9023, 0.105, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7d8056c1119f3677fb2f800ff6edea7ed769ac2c2504a2a773f1ad5ca07d7e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7513a1c94db49815b4db39de65eaa5590ff69e2dba04f3400452f277843bd1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4470c53c81ed2e423488d06abe681da2ed2799cb119a3df2866eedfa8329fab7",
        "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_019yaJQAvFwrHWNZt5yWft3Q",
      "input": {
        "note": "The lying canister's body occupies the left half of the wrist view with its centre off-screen left, and the top view shows it forward-left of the gripper. Shifting left and forward to centre the jaws across its body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.46,
          "left_y": -0.14,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019yaJQAvFwrHWNZt5yWft3Q",
      "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]: [-0.5438, 1.9526, 1.0382, 0.123, -0.6956, -0.4103, 0.9988, -0.0235, 0.8314, 0.6395, -0.3847, -0.0017, -0.139, 0.9997]\nstate[eef_state]: left_x=0.4541 left_y=-0.1381 left_z=0.0534 left_yaw=0.2306 left_pitch=-0.0257 left_roll=0.1423 left_gripper=0.9988 right_x=0.301 right_y=-0.0032 right_z=0.1849 right_yaw=0.0428 right_pitch=-0.0235 right_roll=-0.0999 right_gripper=0.9997\nstate[joint_eff]: [0.212, -10.5504, 5.7231, 1.663, -0.2027, 0.1441, -0.1392, -0.0205, -1.347, 7.0359, 1.746, -0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c91f8204565cc0f3c1b9d6a60ad3fa47591edf855b2bacd90c085ab30e211d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a0b683ea3e68788f271ab2e76b2982edb169c061bbb161856d86a26630a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:011e3f457168744fbda487a770420e226036b88fb7704af996d3c802a3276949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 30.02 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8253, 1.7702, 1.5898, -0.7258, -0.8612, -0.6544, 0.9988, -0.0212, 0.8291, 0.6365, -0.3641, 0.0116, -0.1226, 0.9998]\nstate[eef_state]: left_x=0.3984 left_y=-0.2287 left_z=0.2402 left_yaw=0.1882 left_pitch=0.0168 left_roll=0.1031 left_gripper=0.9988 right_x=0.3032 right_y=-0.0049 right_z=0.1884 right_yaw=0.0251 right_pitch=-0.0033 right_roll=-0.0944 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -9.0325, 8.7453, 0.9841, -0.6618, 0.0073, -0.1392, -0.1709, -1.9487, 9.853, 1.707, -0.1832, -0.0708, -0.0366]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.733, 1.9312, 1.0561, -0.0044, -0.8043, -0.5594, 0.9988, -0.0235, 0.831, 0.6395, -0.3836, -0.0002, -0.1383, 0.9997]\nstate[eef_state]: left_x=0.4138 left_y=-0.1965 left_z=0.0612 left_yaw=0.195 left_pitch=-0.0112 left_roll=0.1367 left_gripper=0.9988 right_x=0.3012 right_y=-0.0034 right_z=0.1852 right_yaw=0.0411 right_pitch=-0.022 right_roll=-0.1002 right_gripper=0.9997\nstate[joint_eff]: [0.5675, -9.306, 5.5726, 1.3455, -0.3736, 0.0513, -0.1392, -0.0615, -1.6615, 6.7761, 1.9023, 0.105, 0.1245, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5438, 1.9526, 1.0382, 0.123, -0.6956, -0.4103, 0.9988, -0.0235, 0.8314, 0.6395, -0.3847, -0.0017, -0.139, 0.9997]\nstate[eef_state]: left_x=0.4541 left_y=-0.1381 left_z=0.0534 left_yaw=0.2306 left_pitch=-0.0257 left_roll=0.1423 left_gripper=0.9988 right_x=0.301 right_y=-0.0032 right_z=0.1849 right_yaw=0.0428 right_pitch=-0.0235 right_roll=-0.0999 right_gripper=0.9997\nstate[joint_eff]: [0.212, -10.5504, 5.7231, 1.663, -0.2027, 0.1441, -0.1392, -0.0205, -1.347, 7.0359, 1.746, -0.0024, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c91f8204565cc0f3c1b9d6a60ad3fa47591edf855b2bacd90c085ab30e211d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66a0b683ea3e68788f271ab2e76b2982edb169c061bbb161856d86a26630a621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 324):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:011e3f457168744fbda487a770420e226036b88fb7704af996d3c802a3276949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvA4KEAgRGAI4AUIIdGhpbmtpbmcSDCUUNwQ0Z/MsQPLPZBoMiBZmb8hOWYc6a8THIjBYIH/2gISvSsJFf3cAoWzJIPZdR3RPjzh/ls2yZv3Gk21BCHpDLK0XMrgrcpcLdj0q2Q0Y0zTlHKOZdGibdzdouloMfmJqD/a+5a7wRpIpr7+Vz/HV5uDG4rxp5fsXaODgU58LfeyuOwxJ5NxUOcDsmYgTVRzxcvD2tLaAZjxHi9sALbimLhV4NU7n2QUEYS1XysxowbpFL9gY9uZ/OOu6S0fauRPQhdeedCwPLwDptKyHu3niU/ZVcWOzwUEVNJ/DU8qYEuNE2S+a9ZItMrq44mfUJmhzpRD2aIx4XZDqnpADs7TG/ZfIFrM3Ul4DvetE6xi8H7ABRSzXf591r8gZcSTpaa1fbKbGMlCsWh3UVXeGZEnEC/jdciazyv6Twy8PAM9IbHhpDhOXvSOxa/CsGALJ6C7guXGAq1GaQk5VlMV4gbGcDYIpTw3XtHqsGk0uEVd8i1t49vVK9a+RtXSKFLNpu7pkHGVxWggKItBD7XkO+mm+WAs2rTRgX9hbeXA64suKlQib47PkoV5AkU6ataKbcxNwWY4W/+myK5PnNObYq5O/pwe189+2QGCBdX+cLgLrKYzEJ3iFdHgh31eDwiYBro6wB95vFBUBZ2cDPR9Lm0NlznDHRIACN+qOrOZ4DSAfstWV8MTdnzeT1Z6f3j3v36e/5r0p1N4sgTxg+E/Doi1TrOuJch60yTe4ppAoqmFtZ2LlZ4imzW12p8cnfI2sk6plm8II6rt9z5MWJXfwlhWqsrhMjmh95PFrdXOqXErZcT040LVtQm8YNoJBqULuoiCXabAdmcUYYatuggRESC/p6Gm2bBHxO02F0ylHVt3VurnAk07tWHlhCzmMhtGK+9H5WactPkGnAyNjlyjMeIly2hjUhwBIvmjoRaOYvxwwoGiGm9aoGEBCStG6T38HT7eCpF6dM4VCcQFmvp95mPJLYF4qbi2UTFFkXUP1KdF/4MpLlYVzjtdxFntif9Di6HLzrG/gfCk4/cohik0c37mFxQYrHX9wI7RedErloQofbQ5BvF+dgQUmMf00HrGNgjCiUQ6IpcpSBkCaTozpYhtImcpwbPIDNKKDmc04nP3xMomK3s1myj1393ECwrurtz5dTWZOQea2IeAZ6PYHpQThtyJJgPGWOcR0rp0pnypif42p12z/HkfUOB0vTNMyVfjlZlcHPeuIltOngLKYbsKV1msoIVxNGhulHeG7zQanU07xv7QZbzyesV+Ebh/nb4GY5qfEMhUahQr/+JLboa/H+yOHn7iTl661iA6MEmOvHQXSWrPxYBNf5ye36UIYCD8MMYKIga0hPaK4EvBhgHFE1kdQxqrzPWZ23eMMDlTmg8RykvQfehrl4OWQ188u+WQE58pIQlxfXPZyTrSq5tC1mlop4b36FYbwRn3EPjey2R3O74mPSLLwq1dmTz5tXnSMshZk2yzZuuC8FVnqYNZe11YURpiimSxFpErrqiaG+f2HZuYnI5OBbM1xlU5ZIF8gZi3mrSgXWauthZqodm1wztTobUztybkwKNoZvL+TYMcwcbnb7F6ig1SAOM8e50+7q2i2rUMSCJ3oLRrhIQS/G3x4D+sQR2qe6BZgtZdDl8GczxdZwwKfaieC4/VScpcPtV6b2o4Qg6R8URl4b2feZ+8kZiIr89iD5Y+tuzwoUVRpNVo2MLrdL8KUUTFNui0tFtR1HgsU9xtV0WX+42flfDO0CA7jE013xcJBVa5CNRzzXSxTmfD9+ZZ126WkLJ2/kd1HdFuoO3QhmHYywzh/s4Peqz0+9ynsPB9jpyoj9vXE77x+prj8NsCrMoB0KHkSG2h9KeDoQw3KutyPaC1+NjMI5U2didrPQ0OIC4hU/5Tqlf+OGfhiy63/5ZgdKEKjpkNmcShSWs9KD7ag9x94oJbTCqxKUgQeDZUT3W4gavBzLqq7uYMk0QyQel/jaWQ2tmLzq5+Y3OIvziAgb1VZZy5fivg3lKoF8uFryHX80Ik90OUVbphrc3lsaPUFXmbN+0LMKv3PAE+f2mZaA8Ihvh+AC8L8NUwvawfIlWlCYcMnqPVaw+cpk2KUVBs2x6Trq6iEn+rC5bDYmi9QAoNa2h6TiKIBvanPC3v25y+ErFCIWQeyWrkaONgsO4LvJA9fGGzZ5MIxDGuoqv6dyFEPI94VaM3pE53NzEWhPc4NOirevqUKwXj3G+EDFj/0lrVxztYVo8drAxWvWtAdljC5nmkUAI6IoYGbnSlYdF6UlJT9MsN4HopCkE17IPdEgDzo4HK+5bq/6SbLiz0JfVCCPweYSATP4qm5rVzxbtUW8IvOGBj6UpmB+Q67BYWCMHZKshFP4kO9T3cyy0S8LBZuPWbZKxWFL6QkcHmrhtQlLKtRXn1OkHJm7FCFi437uFA37W34+liKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014CCwbCr1C5ahAJCW2qesRj",
      "input": {
        "note": "The canister label now fills the wrist view between the jaw tips. Closing to test whether the lying canister fits between the jaws.",
        "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_014CCwbCr1C5ahAJCW2qesRj",
      "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]: [-0.5446, 1.9526, 1.0374, 0.1207, -0.6804, -0.416, 0.0096, -0.0235, 0.8314, 0.6395, -0.3847, -0.0013, -0.1394, 0.9997]\nstate[eef_state]: left_x=0.4535 left_y=-0.1405 left_z=0.0515 left_yaw=0.222 left_pitch=-0.035 left_roll=0.1319 left_gripper=0.0096 right_x=0.301 right_y=-0.0032 right_z=0.1849 right_yaw=0.0427 right_pitch=-0.0236 right_roll=-0.1004 right_gripper=0.9997\nstate[joint_eff]: [0.0615, -9.8393, 5.8325, 1.4676, -0.4615, 0.0269, 0.7448, -0.0615, -1.4154, 7.2547, 1.746, -0.0024, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:582feb08ffebceed5d1c5b32fcf7c19232a2cce9375ae8d727f28ccefd783ee8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78625f7e863f061fd310b024388143cbcd47c7a40c282bd555e4ff7149287662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c46d5610530b5a7b07a7bc6db790a09da6853a83115433a6dd8c9ec5dec014e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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