adhoc

completed
2026-09-18T17:42:25.663313+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1800
duration
684.6 s
total steps
383
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 approaching the left bottle with the left arm, keeping the right arm parked.
agent noteThe left wrist camera shows the white left bottle just ahead and slightly right of the jaw column; I'm advancing the open left gripper a few cm toward it and lowering to body height to line up a grasp.
move_to
left_x0.3400left_y-0.0200left_z0.1200left_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]: [-0.0193, 0.7986, 0.6136, -0.3805, -0.0219, -0.0338, 0.9996, -0.0154, 0.7967, 0.6098, -0.384, -0.0128, -0.0261, 0.9998] state[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5675, -1.6342, 9.5932, 1.7656, -0.0317, 0.149, -0.0562, -0.7726, -1.2513, 9.8803, 1.8388, -0.1294, 0.0806, -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 approaching the left bottle with the left arm, keeping the right arm parked.
move_to({"targets": {"left_x": 0.34, "left_y": -0.02, "left_z": 0.12, "left_gripper": 1.0}, "note": "The left wrist camera shows the white left bottle just ahead and slightly right of the jaw column; I'm advancing the open left gripper a few cm toward it and lowering to body height to line up a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe bottle is now on the jaw column in the left wrist view but its base still shows clear table beneath it, so it is a few cm beyond the fingertips; advancing ~6 cm and lowering to mid-body height.
move_to
left_x0.4000left_y-0.0200left_z0.0900
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1287, 1.1049, 0.4706, 0.0238, -0.1101, -0.0982, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0238, 0.9998] state[eef_state]: left_x=0.3359 left_y=-0.0203 left_z=0.1103 left_yaw=-0.0005 left_pitch=-0.0409 left_roll=-0.0017 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0019 right_pitch=-0.0038 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.294, -4.0684, 6.7624, 2.0488, -0.105, 0.0024, -0.0562, -0.3897, -1.2786, 7.159, 1.746, -0.0317, -0.0757, -0.0122] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.02, "left_z": 0.09}, "note": "The bottle is now on the jaw column in the left wrist view but its base still shows clear table beneath it, so it is a few cm beyond the fingertips; advancing ~6 cm and lowering to mid-body height."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe bottle body now fills the space between the jaws in the left wrist view and the arm stopped slightly short (likely touching the bottle); closing the gripper 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]: [-0.0933, 1.467, 0.58, 0.2039, -0.1047, -0.102, 0.9996, -0.0154, 0.8024, 0.6079, -0.3855, -0.0124, -0.0265, 0.9998] state[eef_state]: left_x=0.3851 left_y=-0.0139 left_z=0.0676 left_yaw=0.0332 left_pitch=-0.1132 left_roll=0.0013 left_gripper=0.9996 right_x=0.2951 right_y=0.0012 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.5402, -6.1197, 8.6359, 1.9414, 0.1197, 0.232, -0.0122, -0.3487, -1.1556, 7.3094, 1.7411, -0.0611, -0.0269, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle body now fills the space between the jaws in the left wrist view and the arm stopped slightly short (likely touching the bottle); closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe close was empty (reading 0.01) — the bottle is still just beyond the fingertips and a bit to the right. Opening and advancing ~4 cm forward and 1.5 cm right before retrying.
move_to
left_gripper1.0000left_x0.4300left_y-0.0300left_z0.0800
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]: [-0.0933, 1.467, 0.5797, 0.1967, -0.1051, -0.1089, 0.0098, -0.0154, 0.8024, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.3838 left_y=-0.0137 left_z=0.0661 left_yaw=0.0374 left_pitch=-0.1207 left_roll=-0.0028 left_gripper=0.0098 right_x=0.2951 right_y=0.0012 right_z=0.1784 right_yaw=0.0001 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3214, -5.6821, 6.1197, 1.6874, -0.0513, 0.0806, 0.652, -0.2667, -1.0598, 7.0906, 1.7411, -0.0708, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": -0.03, "left_z": 0.08}, "note": "The close was empty (reading 0.01) \u2014 the bottle is still just beyond the fingertips and a bit to the right. Opening and advancing ~4 cm forward and 1.5 cm right before retrying."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe bottle now fills the left wrist view right between the jaw tips and the top view shows the gripper 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]: [-0.1261, 1.6123, 0.7528, 0.1055, -0.139, -0.1581, 0.9988, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4153 left_y=-0.0243 left_z=0.0618 left_yaw=0.0616 left_pitch=-0.1795 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.7726, -6.9812, 8.9915, 1.8095, -0.0562, 0.1832, -0.1392, -0.1983, -1.1829, 7.1316, 1.7656, -0.0366, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The bottle now fills the left wrist view right between the jaw tips and the top view shows the gripper on the bottle; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteEmpty close again; the bottle is offset to the right of the jaws and a bit ahead. Opening and lifting clear so I can reposition above the bottle without knocking it over.
move_to
left_gripper1.0000left_z0.2500
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]: [-0.1261, 1.6123, 0.7536, 0.0944, -0.1425, -0.1673, 0.0097, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4137 left_y=-0.0235 left_z=0.0602 left_yaw=0.0699 left_pitch=-0.1892 left_roll=-0.0103 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.335, -6.7487, 5.8735, 1.6777, -0.0366, 0.0708, 0.6569, -0.253, -1.2376, 7.1043, 1.7265, -0.0513, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.25}, "note": "Empty close again; the bottle is offset to the right of the jaws and a bit ahead. Opening and lifting clear so I can reposition above the bottle without knocking it over."})
tool
executing move_to over 13 steps (1.3s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteFrom above, the jug's body sits ahead and slightly right of the jaw column; the tool has also drifted to a backward pitch. Moving ~3 cm forward and 4.5 cm right while restoring pitch to vertical, staying above the jug.
move_to
left_x0.4400left_y-0.0650left_z0.2000left_pitch0.0000
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]: [-0.1234, 1.4643, 1.3613, -0.7158, -0.1505, -0.1921, 0.9988, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4096 left_y=-0.0205 left_z=0.2304 left_yaw=0.0955 left_pitch=-0.2414 left_roll=-0.0111 left_gripper=0.9988 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.5812, -7.5282, 9.1966, 1.6142, -0.0122, 0.2466, -0.1392, -0.3487, -1.1966, 7.0222, 1.7607, -0.0562, -0.0611, -0.0122] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.065, "left_z": 0.2, "left_pitch": 0.0}, "note": "From above, the jug's body sits ahead and slightly right of the jaw column; the tool has also drifted to a backward pitch. Moving ~3 cm forward and 4.5 cm right while restoring pitch to vertical, staying above the jug."})
tool
executing move_to over 9 steps (0.9s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe top view shows the left gripper directly over the jug and the wrist view has the body centred slightly left of the jaw column; descending partway to shoulder height to check jaw alignment before the final descent.
move_to
left_x0.4300left_y-0.0550left_z0.1400left_pitch0.0000
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]: [-0.2684, 1.4681, 1.0851, -0.2882, -0.2867, -0.2432, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4291 left_y=-0.0625 left_z=0.1899 left_yaw=0.0863 left_pitch=-0.0738 left_roll=-0.0025 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.4034, -6.0513, 7.1043, 1.8779, -0.2662, 0.0806, -0.0562, -0.3487, -1.1556, 7.0496, 1.7265, -0.0562, -0.0757, -0.0171] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.055, "left_z": 0.14, "left_pitch": 0.0}, "note": "The top view shows the left gripper directly over the jug and the wrist view has the body centred slightly left of the jaw column; descending partway to shoulder height to check jaw alignment before the final descent."})
tool
executing move_to over 4 steps (0.4s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe jug body fills the left wrist view, centred about 2 cm left of the jaw column with the right jaw clear; shifting 2 cm left to centre it and descending to mid-body height for the grasp.
move_to
left_x0.4300left_y-0.0350left_z0.0900left_pitch0.0000
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]: [-0.252, 1.4937, 0.8619, -0.0498, -0.2951, -0.231, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4191 left_y=-0.0511 left_z=0.1285 left_yaw=0.1033 left_pitch=-0.0817 left_roll=0.0159 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.1573, -6.4342, 7.0359, 2.0928, -0.0513, 0.149, -0.0171, -0.3624, -1.306, 7.0632, 1.7265, -0.0513, -0.0806, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.035, "left_z": 0.09, "left_pitch": 0.0}, "note": "The jug body fills the left wrist view, centred about 2 cm left of the jaw column with the right jaw clear; shifting 2 cm left to centre it and descending to mid-body height for the grasp."})
tool
executing move_to over 3 steps (0.3s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe jug body now sits squarely between both jaw tips in the left wrist view at mid-body height; closing the gripper 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]: [-0.205, 1.5776, 0.7334, 0.1997, -0.2806, -0.1993, 0.9983, -0.0151, 0.8051, 0.6079, -0.3855, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4231 left_y=-0.0344 left_z=0.0888 left_yaw=0.1204 left_pitch=-0.0503 left_roll=0.0207 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.3368, 6.4889, 2.0049, -0.0024, 0.1001, -0.0122, -0.294, -1.3744, 7.0632, 1.6923, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jug body now sits squarely between both jaw tips in the left wrist view at mid-body height; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThird empty close: the jug is still beyond the fingertips (the wrist camera looks past them). Opening and advancing another ~5 cm forward at mid-body height so the jaws straddle the jug.
move_to
left_gripper1.0000left_x0.4700left_z0.0900left_pitch0.0000
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]: [-0.2024, 1.6043, 0.7067, 0.1989, -0.2813, -0.2031, 0.0093, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4144 left_y=-0.0313 left_z=0.0676 left_yaw=0.1271 left_pitch=-0.1014 left_roll=0.0355 left_gripper=0.0093 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3214, -8.9641, 8.1162, 1.5946, -0.0659, -0.0122, 0.7009, -0.253, -1.3333, 7.0222, 1.7509, -0.0611, -0.0708, -0.0122] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.47, "left_z": 0.09, "left_pitch": 0.0}, "note": "Third empty close: the jug is still beyond the fingertips (the wrist camera looks past them). Opening and advancing another ~5 cm forward at mid-body height so the jaws straddle the jug."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe arm stopped short of its target with the jug pressed between the open jaws in the wrist view; closing to grasp the jug body now.
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]: [-0.1822, 1.7309, 0.8299, 0.2333, -0.2893, -0.189, 0.9929, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4517 left_y=-0.0283 left_z=0.0697 left_yaw=0.1455 left_pitch=-0.0709 left_roll=0.0416 left_gripper=0.9929 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [0.2667, -7.2, 9.0598, 2.1074, -0.0855, 0.2955, 0.2271, -0.335, -1.2923, 7.0359, 1.7118, -0.0611, -0.0806, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The arm stopped short of its target with the jug pressed between the open jaws in the wrist view; closing to grasp the jug body now."})
tool
executing move_to over 10 steps (1.0s)
step 99
top_cam
camera top_cam step 99
left_cam
camera left_cam step 99
right_cam
camera right_cam step 99
assistant
agent noteEmpty again and the jug is being tilted rather than straddled — its body is likely wider than the 9.5 cm jaw stroke. Opening and lifting above the jug so I can grasp it by the narrower neck instead.
move_to
left_gripper1.0000left_z0.2700left_pitch0.0000
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]: [-0.1799, 1.7359, 0.8349, 0.2256, -0.289, -0.1955, 0.0094, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0265, 0.9998] state[eef_state]: left_x=0.4519 left_y=-0.0274 left_z=0.0681 left_yaw=0.1512 left_pitch=-0.078 left_roll=0.0386 left_gripper=0.0094 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0003 right_pitch=-0.0126 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.3624, -8.5265, 5.6684, 1.7363, -0.0611, 0.0366, 0.7106, -0.3214, -1.3744, 7.0222, 1.7314, -0.0708, -0.0073, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 99): [image omitted: streamed camera frame] camera 'left_cam' (step 99): [image omitted: streamed camera frame] camera 'right_cam' (step 99): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.27, "left_pitch": 0.0}, "note": "Empty again and the jug is being tilted rather than straddled \u2014 its body is likely wider than the 9.5 cm jaw stroke. Opening and lifting above the jug so I can grasp it by the narrower neck instead."})
tool
executing move_to over 14 steps (1.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteThe jug is upright again and its neck opening sits on the jaw column a few cm ahead of the fingertips in the left wrist view; advancing ~5 cm and lowering slightly to bring the jaws around the neck.
move_to
left_x0.5000left_y-0.0230left_z0.2100left_pitch0.0000
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]: [-0.1799, 1.5311, 1.3193, -0.4419, -0.3145, -0.2104, 0.9972, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4539 left_y=-0.0233 left_z=0.2384 left_yaw=0.1797 left_pitch=-0.0518 left_roll=0.0341 left_gripper=0.9972 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998 state[joint_eff]: [-1.0051, -9.7299, 9.6752, 1.7509, -0.0855, 0.2955, -0.0562, -0.3214, -1.306, 7.0632, 1.6874, -0.0806, -0.0513, -0.0171] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.023, "left_z": 0.21, "left_pitch": 0.0}, "note": "The jug is upright again and its neck opening sits on the jaw column a few cm ahead of the fingertips in the left wrist view; advancing ~5 cm and lowering slightly to bring the jaws around the neck."})
tool
executing move_to over 4 steps (0.4s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThe arm is near its reach limit and the jug neck is still ahead of the fingertips; pitching the tool forward to extend reach and pushing another few cm toward the neck.
move_to
left_x0.5300left_y-0.0200left_z0.1900left_pitch0.4000left_yaw0.0000
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]: [-0.1581, 1.6775, 1.3216, -0.3279, -0.3149, -0.2062, 0.9981, -0.0151, 0.8089, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4865 left_y=-0.0185 left_z=0.1951 left_yaw=0.2002 left_pitch=-0.0801 left_roll=0.0483 left_gripper=0.9981 right_x=0.2955 right_y=0.0013 right_z=0.1765 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.1299, -9.6615, 7.0085, 2.0293, -0.1197, 0.1832, 0.0855, -0.1983, -1.5248, 7.0222, 1.7021, -0.0611, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.53, "left_y": -0.02, "left_z": 0.19, "left_pitch": 0.4, "left_yaw": 0.0}, "note": "The arm is near its reach limit and the jug neck is still ahead of the fingertips; pitching the tool forward to extend reach and pushing another few cm toward the neck."})
tool
executing move_to over 17 steps (1.7s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteThe extended reach dropped the arm and knocked the jug over — the top view now shows it lying on its side near the far-left edge. Retracting and raising the left arm to get a clear overhead look at where the jug landed.
move_to
left_x0.4000left_y-0.0300left_z0.2500left_pitch0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0837, 1.7939, 0.9543, 0.4156, -0.1509, -0.0307, 0.9982, -0.0147, 0.8127, 0.6079, -0.3859, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.5106 left_y=-0.0126 left_z=0.1267 left_yaw=0.044 left_pitch=0.1453 left_roll=0.0535 left_gripper=0.9982 right_x=0.2957 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.2256, -9.3197, 6.9538, 1.8535, 0.2613, 0.2564, -0.0073, -0.253, -1.6342, 7.0496, 1.7021, -0.0366, -0.0757, -0.0122] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.03, "left_z": 0.25, "left_pitch": 0.0, "left_yaw": 0.0}, "note": "The extended reach dropped the arm and knocked the jug over \u2014 the top view now shows it lying on its side near the far-left edge. Retracting and raising the left arm to get a clear overhead look at where the jug landed."})
tool
executing move_to over 9 steps (0.9s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteThe jug lies on its side with its spout pointing away from the arm and the handle facing up-left; moving closer and lower over its near end to judge whether the handle or neck can be gripped.
move_to
left_x0.4600left_y-0.0100left_z0.1400left_pitch0.0000left_yaw0.0000
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]: [-0.152, 1.3102, 1.0565, -0.2852, -0.1604, -0.0643, 0.9982, -0.0147, 0.8165, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.4142 left_y=-0.0313 left_z=0.2384 left_yaw=0.0004 left_pitch=0.0333 left_roll=0.044 left_gripper=0.9982 right_x=0.295 right_y=0.0014 right_z=0.1728 right_yaw=0.0009 right_pitch=-0.0305 right_roll=-0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1846, -6.8171, 10.1675, 1.8144, -0.1636, -0.0464, -0.0122, -0.2393, -1.6342, 7.0632, 1.7656, -0.0464, -0.0513, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.01, "left_z": 0.14, "left_pitch": 0.0, "left_yaw": 0.0}, "note": "The jug lies on its side with its spout pointing away from the arm and the handle facing up-left; moving closer and lower over its near end to judge whether the handle or neck can be gripped."})
tool
executing move_to over 7 steps (0.7s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe jug lies handle-up with its base end facing the arm; the lying body looks narrow enough across to grasp. Descending to mid-height of the lying body at its near end so the jaws close across it.
move_to
left_x0.4900left_y-0.0050left_z0.0600left_pitch0.0000left_yaw0.0000
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]: [-0.065, 1.5593, 0.9283, 0.0174, -0.102, -0.041, 0.9982, -0.0147, 0.8192, 0.6075, -0.3927, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4517 left_y=-0.0078 left_z=0.1385 left_yaw=0.0258 left_pitch=-0.0454 left_roll=0.0411 left_gripper=0.9982 right_x=0.2951 right_y=0.0014 right_z=0.172 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.1983, -7.3641, 5.7915, 1.8339, 0.105, 0.1148, -0.0122, -0.212, -1.6342, 7.0769, 1.7167, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.49, "left_y": -0.005, "left_z": 0.06, "left_pitch": 0.0, "left_yaw": 0.0}, "note": "The jug lies handle-up with its base end facing the arm; the lying body looks narrow enough across to grasp. Descending to mid-height of the lying body at its near end so the jaws close across it."})
tool
executing move_to over 6 steps (0.6s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteThe jug's base end is still a few cm beyond the jaw tips and the arm is near its reach limit; pitching the tool forward and pushing ~4 cm further so the jaws straddle the lying body.
move_to
left_x0.5200left_y0.0000left_z0.0500left_pitch0.3500left_yaw0.0000
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]: [-0.0433, 1.8523, 0.8848, 0.3363, -0.0765, -0.0284, 0.9982, -0.0147, 0.8211, 0.6075, -0.3927, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.4809 left_y=-0.0037 left_z=0.0528 left_yaw=0.0193 left_pitch=-0.0644 left_roll=0.0378 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.253, -9.3607, 5.053, 2.0098, 0.0855, 0.1441, -0.0122, -0.3624, -1.5521, 7.0632, 1.663, -0.0415, -0.0562, -0.0122] camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": 0.0, "left_z": 0.05, "left_pitch": 0.35, "left_yaw": 0.0}, "note": "The jug's base end is still a few cm beyond the jaw tips and the arm is near its reach limit; pitching the tool forward and pushing ~4 cm further so the jaws straddle the lying body."})
tool
executing move_to over 14 steps (1.4s)
step 170
top_cam
camera top_cam step 170
left_cam
camera left_cam step 170
right_cam
camera right_cam step 170
assistant
agent noteThe jug's base end now sits between the jaw tips in the wrist view; closing the gripper across the lying body.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0277, 2.1536, 0.8028, 1.066, -0.0658, -0.0135, 0.9982, -0.0147, 0.8211, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.5142 left_y=0.001 left_z=0.0374 left_yaw=0.0197 left_pitch=0.2809 left_roll=0.0275 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0009 right_pitch=-0.0351 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0342, -9.0462, 5.053, 2.0391, 0.1392, 0.1197, -0.0122, -0.3761, -1.4427, 7.0769, 1.7167, -0.0562, -0.0513, -0.0171] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The jug's base end now sits between the jaw tips in the wrist view; closing the gripper across the lying body."})
tool
executing move_to over 10 steps (1.0s)
step 180
top_cam
camera top_cam step 180
left_cam
camera left_cam step 180
right_cam
camera right_cam step 180
assistant
agent noteStill an empty close — the jug's end is just beyond the fingertips at the arm's reach limit. Opening, pitching the tool fully forward to gain reach and pushing another ~3.5 cm so the jaws finally straddle the body.
move_to
left_gripper1.0000left_x0.5500left_y0.0100left_z0.0300left_pitch0.6000left_yaw0.0000
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]: [-0.0284, 2.1674, 0.8028, 1.0626, -0.0677, -0.0135, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5129 left_y=0.001 left_z=0.0299 left_yaw=0.0203 left_pitch=0.2638 left_roll=0.0289 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.0615, -11.0974, 4.2462, 1.917, 0.0366, -0.0415, 0.6911, -0.2667, -1.4017, 7.0359, 1.746, -0.0464, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.55, "left_y": 0.01, "left_z": 0.03, "left_pitch": 0.6, "left_yaw": 0.0}, "note": "Still an empty close \u2014 the jug's end is just beyond the fingertips at the arm's reach limit. Opening, pitching the tool fully forward to gain reach and pushing another ~3.5 cm so the jaws finally straddle the body."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe gripper reached x≈0.55 and the top view shows the open jaws around the jug's base end; closing to grasp the lying jug.
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]: [0.0055, 2.4935, 0.9653, 1.5383, -0.0395, -0.0067, 0.9957, -0.0147, 0.8215, 0.6075, -0.3927, -0.012, -0.0269, 0.9998] state[eef_state]: left_x=0.5477 left_y=0.0136 left_z=0.0319 left_yaw=0.0289 left_pitch=0.5753 left_roll=0.0196 left_gripper=0.9957 right_x=0.2952 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0359 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [0.335, -9.5111, 4.547, 1.9023, 0.2125, 0.0708, 0.1343, -0.1436, -1.2786, 7.0906, 1.7363, -0.0317, -0.0317, -0.0122] 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_gripper": 0.0}, "note": "The gripper reached x\u22480.55 and the top view shows the open jaws around the jug's base end; closing to grasp the lying jug."})
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 noteThe lying jug got pushed further out of the left arm's reach, so I'm parking the left arm home. Meanwhile I raise the right arm above the right jug to plan a grasp of its narrow neck (the body is too wide for the jaws).
move_to
left_gripper1.0000left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_yaw0.0000right_x0.4000right_y-0.0200right_z0.2600right_pitch0.0000
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]: [0.0051, 2.5004, 0.9722, 1.5608, -0.0452, -0.0101, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998] state[eef_state]: left_x=0.5486 left_y=0.0144 left_z=0.036 left_yaw=0.0369 left_pitch=0.5979 left_roll=0.0146 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [-0.1709, -11.7402, 2.9197, 1.619, 0.0806, -0.0073, 0.6716, -0.335, -1.1692, 7.1453, 1.707, -0.0562, -0.0171, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). 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_gripper": 1.0, "left_x": 0.3, "left_y": 0.0, "left_z": 0.2, "left_pitch": 0.0, "left_yaw": 0.0, "right_x": 0.4, "right_y": -0.02, "right_z": 0.26, "right_pitch": 0.0}, "note": "The lying jug got pushed further out of the left arm's reach, so I'm parking the left arm home. Meanwhile I raise the right arm above the right jug to plan a grasp of its narrow neck (the body is too wide for the jaws)."})
tool
executing move_to over 20 steps (2.0s)
step 222
top_cam
camera top_cam step 222
left_cam
camera left_cam step 222
assistant
agent noteThe right wrist view shows the right jug ahead and to the arm's left with its cap at the upper-left; shifting the right gripper left and forward to hover above the jug's neck.
move_to
right_x0.4300right_y0.0400right_z0.2500right_pitch0.0000
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]: [-0.0345, 0.8474, 0.6453, -0.289, -0.0452, -0.0372, 0.9977, -0.0864, 1.2663, 1.1011, -0.453, -0.0734, -0.0727, 0.9998] state[eef_state]: left_x=0.3151 left_y=0.0007 left_z=0.2034 left_yaw=0.0063 left_pitch=0.0747 left_roll=0.0065 left_gripper=0.9977 right_x=0.3932 right_y=-0.0174 right_z=0.2402 right_yaw=0.0053 right_pitch=-0.0454 right_roll=-0.0021 right_gripper=0.9998 state[joint_eff]: [-0.6085, -1.9077, 9.265, 1.7118, -0.0757, 0.0708, -0.0024, -0.5812, -4.588, 10.1128, 1.7167, -0.1197, -0.0415, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.04, "right_z": 0.25, "right_pitch": 0.0}, "note": "The right wrist view shows the right jug ahead and to the arm's left with its cap at the upper-left; shifting the right gripper left and forward to hover above the jug's neck."})
tool
executing move_to over 5 steps (0.5s)
step 227
assistant
agent noteLooking straight down on the right jug: the open neck is ahead and ~3 cm left of the jaw column with the handle on the near side. Moving forward and left to centre the jaws over the neck.
move_to
right_x0.4600right_y0.0700right_z0.2200right_pitch0.0000
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]: [-0.038, 0.8528, 0.654, -0.3199, -0.0448, -0.0414, 0.9982, 0.1135, 1.3914, 1.1496, -0.4259, 0.0532, 0.0055, 0.9998] state[eef_state]: left_x=0.3128 left_y=-0.0004 left_z=0.1992 left_yaw=0.0048 left_pitch=0.0473 left_roll=0.0038 left_gripper=0.9982 right_x=0.4168 right_y=0.0417 right_z=0.2189 right_yaw=0.056 right_pitch=-0.0959 right_roll=-0.0146 right_gripper=0.9998 state[joint_eff]: [0.0615, -2.1265, 6.5983, 2.1221, -0.0513, -0.0024, 0.0366, 0.3077, -6.5026, 10.3179, 2.0635, 0.1685, 0.232, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.07, "right_z": 0.22, "right_pitch": 0.0}, "note": "Looking straight down on the right jug: the open neck is ahead and ~3 cm left of the jaw column with the handle on the near side. Moving forward and left to centre the jaws over the neck."})
tool
executing move_to over 4 steps (0.4s)
step 231
assistant
agent noteThe right arm barely moved — it seems to be resting on the top of the jug neck, which is taller than I estimated. Raising to 30 cm first before repositioning over the neck.
move_to
right_x0.4400right_y0.0600right_z0.3000right_pitch0.0000
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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0418, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0261, 0.9998] state[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0046 left_pitch=0.0446 left_roll=0.0034 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0295 right_pitch=-0.0696 right_roll=-0.0188 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.7026, 7.2, 1.7851, -0.0464, -0.0757, -0.0073, -0.5402, -6.4479, 9.935, 1.9463, 0.1099, 0.1587, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.06, "right_z": 0.3, "right_pitch": 0.0}, "note": "The right arm barely moved \u2014 it seems to be resting on the top of the jug neck, which is taller than I estimated. Raising to 30 cm first before repositioning over the neck."})
tool
executing move_to over 5 steps (0.5s)
step 236
assistant
agent noteThe right arm is not responding to the raise command — possibly an IK hold. Trying a retreat back toward the base with a modest height increase to free it.
move_to
right_x0.3800right_y0.0200right_z0.2600right_pitch0.0000right_yaw0.0000
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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0448, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0257, 0.9998] state[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0063 left_pitch=0.0447 left_roll=0.0008 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0297 right_pitch=-0.0696 right_roll=-0.0191 right_gripper=0.9998 state[joint_eff]: [-0.1709, -1.5248, 7.3231, 1.7705, -0.0562, -0.0171, -0.0073, -0.5538, -6.653, 9.8667, 1.9756, 0.1441, 0.1685, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.02, "right_z": 0.26, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The right arm is not responding to the raise command \u2014 possibly an IK hold. Trying a retreat back toward the base with a modest height increase to free it."})
tool
executing move_to over 4 steps (0.4s)
step 240
assistant
agent noteThe arm freed up; the jug seems shorter than I assumed (roughly 15 cm) and its neck is ahead-left of the jaws in the right wrist view. Lowering toward neck height while nudging left to refine alignment.
move_to
right_x0.4000right_y0.0500right_z0.1700right_pitch0.0000right_yaw0.0000
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]: [-0.038, 0.8566, 0.6525, -0.3225, -0.0448, -0.0448, 0.9982, 0.0868, 1.2438, 1.095, -0.4644, 0.0776, 0.0139, 0.9998] state[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1968 left_yaw=0.0066 left_pitch=0.0393 left_roll=0.0012 left_gripper=0.9982 right_x=0.3873 right_y=0.0235 right_z=0.2435 right_yaw=0.0045 right_pitch=-0.0404 right_roll=-0.0186 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.9897, 7.4325, 1.7607, -0.0611, -0.0464, -0.0122, -0.2803, -4.5607, 7.4325, 1.9707, -0.0122, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.05, "right_z": 0.17, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The arm freed up; the jug seems shorter than I assumed (roughly 15 cm) and its neck is ahead-left of the jaws in the right wrist view. Lowering toward neck height while nudging left to refine alignment."})
tool
executing move_to over 5 steps (0.5s)
step 245
assistant
agent noteThe right wrist camera is now so close that the jug body fills the frame, meaning the gripper is right beside the jug's upper part; advancing ~4 cm so the open jaws pass around the neck region.
move_to
right_x0.4300right_y0.0600right_z0.1500right_pitch0.0000right_yaw0.0000
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]: [-0.0383, 0.8577, 0.6525, -0.3271, -0.0444, -0.0448, 0.9982, 0.1825, 1.3148, 0.8318, -0.2024, 0.1352, 0.0456, 0.9998] state[eef_state]: left_x=0.3122 left_y=-0.0005 left_z=0.1955 left_yaw=0.0059 left_pitch=0.0336 left_roll=0.0012 left_gripper=0.9982 right_x=0.3851 right_y=0.0505 right_z=0.1518 right_yaw=0.034 right_pitch=-0.1075 right_roll=-0.0362 right_gripper=0.9998 state[joint_eff]: [-0.0342, -1.812, 7.0769, 1.8046, -0.0513, -0.0513, -0.0122, 0.294, -4.9436, 7.4462, 2.0147, 0.2027, 0.1636, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.06, "right_z": 0.15, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "The right wrist camera is now so close that the jug body fills the frame, meaning the gripper is right beside the jug's upper part; advancing ~4 cm so the open jaws pass around the neck region."})
tool
executing move_to over 4 steps (0.4s)
step 249
assistant
agent noteThe right arm stopped short with the jug's upper part between the open jaws in the wrist view; closing to test whether the neck/shoulder is graspable here.
move_to
right_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]: [-0.038, 0.8604, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2039, 1.4612, 0.8322, -0.0322, 0.1696, 0.0525, 0.9998] state[eef_state]: left_x=0.3124 left_y=-0.0004 left_z=0.1947 left_yaw=0.0066 left_pitch=0.0306 left_roll=0.0016 left_gripper=0.9982 right_x=0.414 right_y=0.0588 right_z=0.129 right_yaw=0.0231 right_pitch=-0.0801 right_roll=-0.048 right_gripper=0.9998 state[joint_eff]: [-0.0615, -1.9624, 7.0632, 1.7607, -0.0659, -0.0757, -0.0122, 0.4581, -6.3795, 9.306, 1.8388, 0.2564, 0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The right arm stopped short with the jug's upper part between the open jaws in the wrist view; closing to test whether the neck/shoulder is graspable here."})
tool
executing move_to over 10 steps (1.0s)
step 259
assistant
agent noteEmpty close: the jug is still ahead of the fingertips. The jug looks smaller than I first thought, so I'll try a body grasp: opening, backing off and lowering to mid-body height before sliding forward around it.
move_to
right_gripper1.0000right_x0.3700right_y0.0600right_z0.0600right_pitch0.0000right_yaw0.0000
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]: [-0.038, 0.8616, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2066, 1.4796, 0.8352, 0.0055, 0.1761, 0.057, 0.0104] state[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1943 left_yaw=0.0066 left_pitch=0.0294 left_roll=0.0016 left_gripper=0.9982 right_x=0.4205 right_y=0.0602 right_z=0.1304 right_yaw=0.0182 right_pitch=-0.0572 right_roll=-0.0441 right_gripper=0.0104 state[joint_eff]: [-0.0068, -1.812, 7.3094, 1.7558, -0.0757, -0.022, -0.0122, 0.0342, -6.8581, 9.1829, 1.9512, 0.2564, 0.0708, 0.8425] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.37, "right_y": 0.06, "right_z": 0.06, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "Empty close: the jug is still ahead of the fingertips. The jug looks smaller than I first thought, so I'll try a body grasp: opening, backing off and lowering to mid-body height before sliding forward around it."})
tool
executing move_to over 10 steps (1.0s)
step 269
assistant
agent noteAt mid-body height the jug's base sits on the jaw column about 8–10 cm ahead of the fingertips in the right wrist view; sliding forward ~10 cm so the open jaws straddle the body.
move_to
right_x0.4700right_y0.0600right_z0.0550right_pitch0.0000right_yaw0.0000
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]: [-0.038, 0.8623, 0.6525, -0.3275, -0.0448, -0.0448, 0.9983, 0.2611, 1.475, 0.4572, 0.3759, 0.2256, 0.083, 0.9947] state[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1941 left_yaw=0.0066 left_pitch=0.0287 left_roll=0.0017 left_gripper=0.9983 right_x=0.3654 right_y=0.0605 right_z=0.053 right_yaw=0.0173 right_pitch=-0.0531 right_roll=-0.0527 right_gripper=0.9947 state[joint_eff]: [-0.1162, -1.812, 7.0632, 1.7558, -0.0611, -0.0659, -0.0122, 0.3897, -4.7932, 5.7368, 1.9023, 0.2418, 0.0757, 0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 269): [image omitted: streamed camera frame] camera 'left_cam' (step 269): [image omitted: streamed camera frame] camera 'right_cam' (step 269): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.06, "right_z": 0.055, "right_pitch": 0.0, "right_yaw": 0.0}, "note": "At mid-body height the jug's base sits on the jaw column about 8\u201310 cm ahead of the fingertips in the right wrist view; sliding forward ~10 cm so the open jaws straddle the body."})
tool
executing move_to over 9 steps (0.9s)
step 278
assistant
agent noteThe jug body now fills the right wrist view between the jaw tips and the arm stopped short on contact; closing the gripper on the body.
move_to
right_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]: [-0.0383, 0.865, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.1967, 1.8282, 0.7807, 0.4229, 0.1825, 0.0406, 0.9962] state[eef_state]: left_x=0.3127 left_y=-0.0006 left_z=0.1933 left_yaw=0.0059 left_pitch=0.026 left_roll=0.0016 left_gripper=0.9982 right_x=0.4562 right_y=0.0618 right_z=0.0426 right_yaw=0.0118 right_pitch=-0.0431 right_roll=-0.0586 right_gripper=0.9962 state[joint_eff]: [-0.1846, -1.9624, 7.0632, 1.7509, -0.0562, -0.0806, -0.0171, -0.6496, -8.3624, 7.159, 1.8388, 0.1685, -0.0415, 0.1392] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The jug body now fills the right wrist view between the jaw tips and the arm stopped short on contact; closing the gripper on the body."})
tool
executing move_to over 10 steps (1.0s)
step 288
assistant
agent noteThe body is wider than the jaws and just got nudged again. Opening, backing off, and rotating the tool 90° so the jaws close along x — that lets me grasp the neck without hitting the handle on the jug's right side.
move_to
right_gripper1.0000right_x0.3900right_y0.0650right_z0.1400right_pitch0.0000right_yaw1.5000
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]: [-0.038, 0.865, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1947, 1.84, 0.7811, 0.4168, 0.1734, 0.0376, 0.0103] state[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1932 left_yaw=0.0066 left_pitch=0.0256 left_roll=0.0018 left_gripper=0.9982 right_x=0.4547 right_y=0.0623 right_z=0.0362 right_yaw=0.0191 right_pitch=-0.0614 right_roll=-0.0589 right_gripper=0.0103 state[joint_eff]: [-0.0479, -1.7709, 7.1863, 1.7314, -0.0611, -0.022, -0.0073, -0.0752, -9.4701, 5.2855, 1.8046, 0.2418, -0.0122, 0.8034] camera 'top_cam' (step 288): [image omitted: streamed camera frame] camera 'left_cam' (step 288): [image omitted: streamed camera frame] camera 'right_cam' (step 288): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.39, "right_y": 0.065, "right_z": 0.14, "right_pitch": 0.0, "right_yaw": 1.5}, "note": "The body is wider than the jaws and just got nudged again. Opening, backing off, and rotating the tool 90\u00b0 so the jaws close along x \u2014 that lets me grasp the neck without hitting the handle on the jug's right side."})
tool
executing move_to over 10 steps (1.0s)
step 298
assistant
agent noteThe yaw move swung the arm forward and toppled the right jug, which now lies with its neck pointing toward the table centre. Raising the arm above it to get a clear overhead look before attempting a neck grasp on the lying jug.
move_to
right_x0.4400right_y0.0800right_z0.2200right_pitch0.0000right_roll0.0000right_yaw1.5000
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]: [-0.038, 0.8696, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.2234, 2.0312, 1.5951, -0.7273, -0.9321, -1.4055, 0.9949] state[eef_state]: left_x=0.3131 left_y=-0.0004 left_z=0.1919 left_yaw=0.0062 left_pitch=0.021 left_roll=0.0018 left_gripper=0.9982 right_x=0.4751 right_y=0.0412 right_z=0.1385 right_yaw=1.2272 right_pitch=-0.03 right_roll=-0.2584 right_gripper=0.9949 state[joint_eff]: [-0.1573, -2.1265, 7.3231, 1.746, -0.0611, -0.0171, -0.0122, -0.4034, -11.7538, 5.7915, -0.0952, -0.8816, 0.0464, -0.1929] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.08, "right_z": 0.22, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 1.5}, "note": "The yaw move swung the arm forward and toppled the right jug, which now lies with its neck pointing toward the table centre. Raising the arm above it to get a clear overhead look before attempting a neck grasp on the lying jug."})
tool
executing move_to over 6 steps (0.6s)
step 304
assistant
agent noteCorrection: the right jug is still upright; its open neck shows at the lower right of the rotated wrist view, just forward and below the jaw tips. Moving forward and down so the x-aligned jaws come around the neck.
move_to
right_x0.4900right_y0.0650right_z0.1600right_pitch0.0000right_roll0.0000right_yaw1.5000
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]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1692, 2.2257, 2.1826, -1.4296, -0.9752, -1.6726, 0.9962] state[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4634 right_y=0.0728 right_z=0.2026 right_yaw=1.4444 right_pitch=-0.0307 right_roll=-0.1675 right_gripper=0.9962 state[joint_eff]: [-0.0479, -1.6752, 7.3094, 1.7607, -0.0611, -0.0415, -0.0122, -0.5538, -10.8786, 6.9675, 0.0464, -0.7106, -0.0562, 0.1148] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.065, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 1.5}, "note": "Correction: the right jug is still upright; its open neck shows at the lower right of the rotated wrist view, just forward and below the jaw tips. Moving forward and down so the x-aligned jaws come around the neck."})
tool
executing move_to over 3 steps (0.3s)
step 307
assistant
agent noteThe yawed configuration is stuck against joint limits and refuses to move forward. Rotating halfway back toward the start yaw while retreating slightly, to grasp the neck across y instead (the handle attaches lower, at the shoulder).
move_to
right_x0.4200right_y0.0600right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.7000
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]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6909, 0.9963] state[eef_state]: left_x=0.3133 left_y=-0.0008 left_z=0.191 left_yaw=0.0051 left_pitch=0.018 left_roll=0.0019 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4561 right_pitch=-0.0235 right_roll=-0.0745 right_gripper=0.9963 state[joint_eff]: [-0.1983, -1.6479, 7.241, 1.7167, -0.0513, -0.0513, -0.0122, -0.3761, -11.1248, 6.8855, -0.1148, -0.6569, -0.0269, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.06, "right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.7}, "note": "The yawed configuration is stuck against joint limits and refuses to move forward. Rotating halfway back toward the start yaw while retreating slightly, to grasp the neck across y instead (the handle attaches lower, at the shoulder)."})
tool
executing move_to over 5 steps (0.5s)
step 312
assistant
agent noteThe right arm is frozen in its yawed pose; per rig guidance I'm first raising z and pulling x back without changing yaw to unstick the IK.
move_to
right_x0.4000right_y0.0750right_z0.2400right_yaw1.4500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6905, 0.9963] state[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4559 right_pitch=-0.0235 right_roll=-0.0742 right_gripper=0.9963 state[joint_eff]: [-0.0615, -1.6068, 7.1453, 1.7265, -0.0904, -0.0317, -0.0073, -0.3624, -11.412, 6.9538, -0.149, -0.7253, -0.0415, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.075, "right_z": 0.24, "right_yaw": 1.45, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The right arm is frozen in its yawed pose; per rig guidance I'm first raising z and pulling x back without changing yaw to unstick the IK."})
tool
executing move_to over 4 steps (0.4s)
step 316
assistant
agent noteThe arm unstuck in x but cannot rise above ~20 cm in this yawed pose; rotating the tool halfway back toward the start yaw at a slightly lower height.
move_to
right_x0.4000right_y0.0800right_z0.1800right_yaw0.7000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0391, 0.8757, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.1692, 2.1063, 1.9919, -1.5368, -0.9779, -1.6825, 0.9964] state[eef_state]: left_x=0.3136 left_y=-0.0008 left_z=0.1902 left_yaw=0.0053 left_pitch=0.0153 left_roll=0.0017 left_gripper=0.9982 right_x=0.4109 right_y=0.0821 right_z=0.2026 right_yaw=1.4543 right_pitch=-0.0199 right_roll=0.0026 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.6752, 7.1726, 1.7656, -0.0513, -0.0708, -0.0122, 0.3897, -14.1607, 6.188, -0.0415, -0.6569, 0.1441, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.08, "right_z": 0.18, "right_yaw": 0.7, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The arm unstuck in x but cannot rise above ~20 cm in this yawed pose; rotating the tool halfway back toward the start yaw at a slightly lower height."})
tool
executing move_to over 5 steps (0.5s)
step 321
assistant
agent noteThe right arm is coming back toward the base while un-yawing; finishing the rotation to the start yaw and settling at neck height behind the jug.
move_to
right_x0.3600right_y0.0600right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8818, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.0834, 1.4731, 1.0637, -0.8024, -0.7414, -0.9142, 0.9965] state[eef_state]: left_x=0.3141 left_y=-0.0011 left_z=0.1884 left_yaw=0.0045 left_pitch=0.0092 left_roll=0.002 left_gripper=0.9982 right_x=0.3223 right_y=0.0964 right_z=0.1448 right_yaw=1.0294 right_pitch=-0.1969 right_roll=0.1232 right_gripper=0.9965 state[joint_eff]: [0.0205, -2.2632, 7.1043, 1.79, -0.0659, -0.0806, -0.0073, -0.0068, -5.1077, 7.9248, 1.8095, -0.3443, 0.3004, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.06, "right_z": 0.18, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The right arm is coming back toward the base while un-yawing; finishing the rotation to the start yaw and settling at neck height behind the jug."})
tool
executing move_to over 7 steps (0.7s)
step 328
assistant
agent noteBack at the start yaw; the right jug stands ~13 cm ahead and slightly right of the jaw column in the wrist view. Moving to just behind it at neck height (~13 cm) to line up a neck grasp across y.
move_to
right_x0.4400right_y0.0550right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8856, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.2321, 1.1465, 0.7441, -0.2554, 0.001, -0.0273, 0.9965] state[eef_state]: left_x=0.3143 left_y=-0.001 left_z=0.1872 left_yaw=0.0046 left_pitch=0.005 left_roll=0.0027 left_gripper=0.9982 right_x=0.3453 right_y=0.0851 right_z=0.1611 right_yaw=0.2367 right_pitch=-0.0871 right_roll=-0.008 right_gripper=0.9965 state[joint_eff]: [-0.1299, -2.1402, 7.0906, 1.7509, -0.0562, -0.0562, -0.0122, 0.1026, -3.3573, 7.8564, 1.8437, 0.1294, 0.1587, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.055, "right_z": 0.13, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Back at the start yaw; the right jug stands ~13 cm ahead and slightly right of the jaw column in the wrist view. Moving to just behind it at neck height (~13 cm) to line up a neck grasp across y."})
tool
executing move_to over 8 steps (0.8s)
step 336
assistant
agent noteThe right arm lagged and only moved 1 cm toward the jug; re-issuing a slightly shorter forward target to reach the position just behind the jug at neck height.
move_to
right_x0.4300right_y0.0550right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8894, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.2222, 1.1877, 0.728, -0.1963, 0.0208, -0.0128, 0.9965] state[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1862 left_yaw=0.0043 left_pitch=0.0016 left_roll=0.0027 left_gripper=0.9982 right_x=0.3542 right_y=0.0799 right_z=0.1516 right_yaw=0.2021 right_pitch=-0.085 right_roll=-0.0086 right_gripper=0.9965 state[joint_eff]: [-0.0479, -2.1949, 7.0906, 1.7607, -0.0415, -0.0562, -0.0122, -0.294, -4.2188, 7.0769, 1.8632, -0.0562, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 336): [image omitted: streamed camera frame] camera 'left_cam' (step 336): [image omitted: streamed camera frame] camera 'right_cam' (step 336): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.055, "right_z": 0.13, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The right arm lagged and only moved 1 cm toward the jug; re-issuing a slightly shorter forward target to reach the position just behind the jug at neck height."})
tool
executing move_to over 6 steps (0.6s)
step 342
assistant
agent noteThe jug is a quart-size bottle about as wide as the cups (~8–9 cm), centred slightly right of the jaw column and ~10 cm ahead. I'll grasp it low near its narrower base: descending to 3 cm and advancing so the jaw tips begin to straddle the body.
move_to
right_x0.4700right_y0.0600right_z0.0300right_yaw0.0000right_pitch0.2000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8925, 0.6525, -0.329, -0.0444, -0.0452, 0.9982, 0.1856, 1.47, 0.7845, 0.0074, 0.0978, 0.0372, 0.9965] state[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1849 left_yaw=0.0045 left_pitch=-0.003 left_roll=0.0025 left_gripper=0.9982 right_x=0.4081 right_y=0.0627 right_z=0.1119 right_yaw=0.0732 right_pitch=-0.1035 right_roll=-0.0184 right_gripper=0.9965 state[joint_eff]: [-0.294, -1.7573, 7.2684, 1.7851, -0.0464, -0.0562, -0.0122, -0.335, -9.2513, 8.1299, 1.5995, 0.1001, 0.1929, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.06, "right_z": 0.03, "right_yaw": 0.0, "right_pitch": 0.2, "right_roll": 0.0}, "note": "The jug is a quart-size bottle about as wide as the cups (~8\u20139 cm), centred slightly right of the jaw column and ~10 cm ahead. I'll grasp it low near its narrower base: descending to 3 cm and advancing so the jaw tips begin to straddle the body."})
tool
executing move_to over 11 steps (1.1s)
step 353
assistant
agent noteAt base height the bottle's bottom edge is still several cm ahead of the jaw tips and centred on the jaw column; advancing ~5 cm more with the tool pitched forward for reach so the jaws straddle the base.
move_to
right_x0.5100right_y0.0600right_z0.0250right_yaw0.0000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8955, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.1818, 1.9995, 0.6537, 0.8963, 0.1425, 0.0475, 0.9965] state[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1843 left_yaw=0.0045 left_pitch=-0.0049 left_roll=0.0026 left_gripper=0.9982 right_x=0.4599 right_y=0.0627 right_z=0.0204 right_yaw=0.0257 right_pitch=0.1261 right_roll=-0.0028 right_gripper=0.9965 state[joint_eff]: [-0.0889, -2.1812, 7.0769, 1.6923, -0.0317, -0.0611, -0.0122, -0.2256, -7.5282, 5.2718, 1.2967, 0.2906, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 353): [image omitted: streamed camera frame] camera 'left_cam' (step 353): [image omitted: streamed camera frame] camera 'right_cam' (step 353): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.06, "right_z": 0.025, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": 0.0}, "note": "At base height the bottle's bottom edge is still several cm ahead of the jaw tips and centred on the jaw column; advancing ~5 cm more with the tool pitched forward for reach so the jaws straddle the base."})
tool
executing move_to over 6 steps (0.6s)
step 359
assistant
agent noteThe bottle's base now sits between the jaw tips in the right wrist view but its near edge is still a couple of cm short of the fingertips; advancing 2–3 cm more before closing.
move_to
right_x0.5300right_y0.0700right_z0.0250right_yaw0.0000right_pitch0.3000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1722, 2.1887, 0.7841, 1.1007, 0.1463, 0.0364, 0.9965] state[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.5028 right_y=0.065 right_z=0.0224 right_yaw=0.0144 right_pitch=0.2703 right_roll=0.0085 right_gripper=0.9965 state[joint_eff]: [-0.1162, -1.935, 7.1179, 1.7314, -0.0415, -0.0415, -0.0122, -0.8547, -8.759, 4.8889, 1.8144, 0.0757, -0.1441, -0.0122] camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.53, "right_y": 0.07, "right_z": 0.025, "right_yaw": 0.0, "right_pitch": 0.3, "right_roll": 0.0}, "note": "The bottle's base now sits between the jaw tips in the right wrist view but its near edge is still a couple of cm short of the fingertips; advancing 2\u20133 cm more before closing."})
tool
executing move_to over 3 steps (0.3s)
step 362
assistant
Bottle base is now right at the jaw tips; closing.
agent noteThe bottle's base now reaches the jaw tips in the right wrist view with the body centred; closing the gripper to grasp it low on the body.
move_to
right_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]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1776, 2.2353, 0.87, 1.0889, 0.1493, 0.0292, 0.9965] state[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.523 right_y=0.0708 right_z=0.0257 right_yaw=0.0199 right_pitch=0.2976 right_roll=0.0049 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.9487, 7.1316, 1.6923, -0.0513, -0.0024, -0.0122, 0.1846, -9.4154, 5.6, 1.8095, 0.2125, -0.0269, -0.0171] camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
Bottle base is now right at the jaw tips; closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The bottle's base now reaches the jaw tips in the right wrist view with the body centred; closing the gripper to grasp it low on the body."})
tool
executing move_to over 10 steps (1.0s)
step 372
assistant
agent noteAnother empty close — the bottle body is wider than the jaw opening, so the tips keep pushing it away. Opening, rising to the neck height (~15 cm) and pulling back slightly to attempt a neck grasp with the tool pitched forward for reach.
move_to
right_gripper1.0000right_x0.4900right_y0.0700right_z0.1500right_yaw0.0000right_pitch0.4000right_roll0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0452, 0.9982, 0.181, 2.2452, 0.8745, 1.0851, 0.1448, 0.025, 0.0099] state[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0049 left_pitch=-0.0053 left_roll=0.0029 left_gripper=0.9982 right_x=0.5229 right_y=0.0734 right_z=0.0213 right_yaw=0.0302 right_pitch=0.2884 right_roll=0.0005 right_gripper=0.0099 state[joint_eff]: [-0.0479, -1.9761, 7.0769, 1.7851, -0.0757, -0.0611, -0.0122, -0.5265, -11.412, 4.0821, 1.8926, 0.105, 0.022, 0.823] camera 'top_cam' (step 372): [image omitted: streamed camera frame] camera 'left_cam' (step 372): [image omitted: streamed camera frame] camera 'right_cam' (step 372): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.49, "right_y": 0.07, "right_z": 0.15, "right_yaw": 0.0, "right_pitch": 0.4, "right_roll": 0.0}, "note": "Another empty close \u2014 the bottle body is wider than the jaw opening, so the tips keep pushing it away. Opening, rising to the neck height (~15 cm) and pulling back slightly to attempt a neck grasp with the tool pitched forward for reach."})
tool
executing move_to over 10 steps (1.0s)
step 382
assistant
agent noteBoth containers are half-gallon-style ammonia jugs whose bodies are wider than the 9.5 cm jaw stroke; every attempt to straddle the body (at mid-height and at the base, with both arms) resulted in the jaw tips pushing the jug away and an empty close. The narrow neck sits at ~20+ cm height and ~0.5 m forward, beyond the height the arm can reach at that extension, and the jugs have now been pushed to x ≈ 0.55–0.6 (left jug against the far fence), out of grasping reach. No feasible grasp remains, so pouring cannot be performed.
give_up
hindsight1) The 'containers' in this task are large jugs (~10–11 cm body width, ~20–25 cm tall with a handle) — wider than the 9.5 cm jaw stroke. Do not attempt a body grasp; every body close is empty and the jaw tips shove the jug forward/tilt it. The only graspable feature is the neck (~4 cm) just under the cap, or the handle. 2) Jugs start at about x ≈ 0.45–0.5, |y| ≈ 0.03–0.06 in each arm's own frame — near the reach limit; the vertical-tool z ceiling at x≈0.42 is only ~0.22 m and at x≈0.45 ~0.20, so a neck grasp from above is barely feasible; approach the neck horizontally from behind at neck height instead of from above, and do it before the jug gets pushed further. 3) Wrist-camera judgement of 'object between the jaws' is unreliable here: when an object's base appears at the jaw-tip row it is STILL ahead of the fingertips; a stalled x readback plus rising gripper effort while open means the tips are pressing the object, not straddling it. 4) Large yaw changes (±1.5) on this rig make the IK swing the arm forward 5–8 cm and can freeze it at joint limits (joint 5/6 near -1.0/-1.7); avoid yawing near objects and unstick by reducing x first. 5) Commanding pitch forward at long reach dropped z by ~6 cm and knocked the jug over — keep pitch changes small when close to objects. 6) The right arm often executes only part of a commanded move (lag), so re-issue a slightly different target rather than assuming a limit.
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]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.2035, 1.8259, 0.7578, 0.8707, 0.1802, 0.012, 0.9948] state[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0045 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9982 right_x=0.4921 right_y=0.0729 right_z=0.1341 right_yaw=0.0235 right_pitch=0.3766 right_roll=-0.0063 right_gripper=0.9948 state[joint_eff]: [-0.1162, -1.9624, 7.0496, 1.7118, -0.0659, -0.0611, -0.0073, 0.1846, -10.0855, 5.6137, 2.0928, 0.1197, 0.1001, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 382): [image omitted: streamed camera frame] camera 'left_cam' (step 382): [image omitted: streamed camera frame] camera 'right_cam' (step 382): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Both containers are half-gallon-style ammonia jugs whose bodies are wider than the 9.5 cm jaw stroke; every attempt to straddle the body (at mid-height and at the base, with both arms) resulted in the jaw tips pushing the jug away and an empty close. The narrow neck sits at ~20+ cm height and ~0.5 m forward, beyond the height the arm can reach at that extension, and the jugs have now been pushed to x \u2248 0.55\u20130.6 (left jug against the far fence), out of grasping reach. No feasible grasp remains, so pouring cannot be performed.", "hindsight": "1) The 'containers' in this task are large jugs (~10\u201311 cm body width, ~20\u201325 cm tall with a handle) \u2014 wider than the 9.5 cm jaw stroke. Do not attempt a body grasp; every body close is empty and the jaw tips shove the jug forward/tilt it. The only graspable feature is the neck (~4 cm) just under the cap, or the handle. 2) Jugs start at about x \u2248 0.45\u20130.5, |y| \u2248 0.03\u20130.06 in each arm's own frame \u2014 near the reach limit; the vertical-tool z ceiling at x\u22480.42 is only ~0.22 m and at x\u22480.45 ~0.20, so a neck grasp from above is barely feasible; approach the neck horizontally from behind at neck height instead of from above, and do it before the jug gets pushed further. 3) Wrist-camera judgement of 'object between the jaws' is unreliable here: when an object's base appears at the jaw-tip row it is STILL ahead of the fingertips; a stalled x readback plus rising gripper effort while open means the tips are pressing the object, not straddling it. 4) Large yaw changes (\u00b11.5) on this rig make the IK swing the arm forward 5\u20138 cm and can freeze it at joint limits (joint 5/6 near -1.0/-1.7); avoid yawing near objects and unstick by reducing x first. 5) Commanding pitch forward at long reach dropped z by ~6 cm and knocked the jug over \u2014 keep pitch changes small when close to objects. 6) The right arm often executes only part of a commanded move (lag), so re-issue a slightly different target rather than assuming a limit."})
tool
give_up: Both containers are half-gallon-style ammonia jugs whose bodies are wider than the 9.5 cm jaw stroke; every attempt to straddle the body (at mid-height and at the base, with both arms) resulted in the jaw tips pushing the jug away and an empty close. The narrow neck sits at ~20+ cm height and ~0.5 m forward, beyond the height the arm can reach at that extension, and the jugs have now been pushed to x ≈ 0.55–0.6 (left jug against the far fence), out of grasping reach. No feasible grasp remains, so pouring cannot be performed.
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 · 24.5 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, 0.6136, -0.3805, -0.0219, -0.0338, 0.9996, -0.0154, 0.7967, 0.6098, -0.384, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5932, 1.7656, -0.0317, 0.149, -0.0562, -0.7726, -1.2513, 9.8803, 1.8388, -0.1294, 0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d8157c85c7fcfe5abbf478aa7750c91e1d1f435038087d8775ec0c584416d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d56692fcab21a783dfc09b8ed45d15e4ff7d20223a9b1a8439c69ba90a772399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edc0a92d105197f1f56d69f5ff4abd6ee6b4a499568dad5260c0c1753732ad8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.432 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, 0.6136, -0.3805, -0.0219, -0.0338, 0.9996, -0.0154, 0.7967, 0.6098, -0.384, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5932, 1.7656, -0.0317, 0.149, -0.0562, -0.7726, -1.2513, 9.8803, 1.8388, -0.1294, 0.0806, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d8157c85c7fcfe5abbf478aa7750c91e1d1f435038087d8775ec0c584416d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d56692fcab21a783dfc09b8ed45d15e4ff7d20223a9b1a8439c69ba90a772399",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edc0a92d105197f1f56d69f5ff4abd6ee6b4a499568dad5260c0c1753732ad8d",
        "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 approaching the left bottle with the left arm, keeping the right arm parked.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QaAH9BVChNi7c9maT3kwkU",
      "input": {
        "note": "The left wrist camera shows the white left bottle just ahead and slightly right of the jaw column; I'm advancing the open left gripper a few cm toward it and lowering to body height to line up a grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.34,
          "left_y": -0.02,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QaAH9BVChNi7c9maT3kwkU",
      "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]: [-0.1287, 1.1049, 0.4706, 0.0238, -0.1101, -0.0982, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3359 left_y=-0.0203 left_z=0.1103 left_yaw=-0.0005 left_pitch=-0.0409 left_roll=-0.0017 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0019 right_pitch=-0.0038 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.0684, 6.7624, 2.0488, -0.105, 0.0024, -0.0562, -0.3897, -1.2786, 7.159, 1.746, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1011da0e0fa215d7ec922be64205802224f9e6704c863fb7acefb81864a8a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926ed220316f89ae9c5e55dbad94bec26ac7f4d8505b729bd2092d1d8b337c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30f8999daa72a40f29f83418423ebf8601444fe00655c2d00a848d33b6ecc761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 14.14 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, 0.6136, -0.3805, -0.0219, -0.0338, 0.9996, -0.0154, 0.7967, 0.6098, -0.384, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5932, 1.7656, -0.0317, 0.149, -0.0562, -0.7726, -1.2513, 9.8803, 1.8388, -0.1294, 0.0806, -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]: [-0.1287, 1.1049, 0.4706, 0.0238, -0.1101, -0.0982, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3359 left_y=-0.0203 left_z=0.1103 left_yaw=-0.0005 left_pitch=-0.0409 left_roll=-0.0017 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0019 right_pitch=-0.0038 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.0684, 6.7624, 2.0488, -0.105, 0.0024, -0.0562, -0.3897, -1.2786, 7.159, 1.746, -0.0317, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1011da0e0fa215d7ec922be64205802224f9e6704c863fb7acefb81864a8a85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926ed220316f89ae9c5e55dbad94bec26ac7f4d8505b729bd2092d1d8b337c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f8999daa72a40f29f83418423ebf8601444fe00655c2d00a848d33b6ecc761",
        "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/woKEAgRGAI4AUIIdGhpbmtpbmcSDMJD7dGDY6v3DnsX2xoM/2N+hX4DepoYuTXaIjBI7TS6w932ddFYMipKBunY3sKBYl4/GBjh/PU4ZtdalVNpDtK4EdMCa/5Ohxph8CAqnArO8YIZtMq3X76m0tXA14q6l66/HAugEOqr5n6O09umq9n6j4BfHadUoHLuo8aH6Ds6hbJR/CCzwg5lLi7yXLTTG5wAokt+7CjEyAHIYNcUFMYXBCrbV1YZ9/9OL+3RSKKaqNPAOlyOoQ5RW1FHJBmiEdv79G0ZYnCvH5Ny8deVQsqFrFmqm6HJWXEJMgreb/kOSCOrYQd9SKYA8qOuQgFr37ta7B4Cmwf7/BhXr5rZYsMmc5fqLJuauhNwWkmh+8Oi2btjCU7gavliSLRSHo9QkN8pF8sMSrSaT/9DZSOoBsRjNgn5qLN/fH2qDM5R8yMHHDzln9PzFtLZLn058YGv3ykAUFO2XTM6JMqLMWuPHe5Wa7hlj3JW8KaiHgC7eNydRmG2YnnzvUZfSRs9qIqYKKKpE3A6X0E6GqOviFpOU2OjRFInbnHcAMkgUb5DxdV/wlIcQ3DV++olNkczwT8y9fmE31zo7Fh1iTDlBUhq5k1WLajoBl7HOJYA8Tzr8TXxXfDBeN7uodDTEb4gafPhO79HefblS0VRzgJekrcq0Ox68qtiijIaRtWFZMPrjqZtHsBBd+9gRxEZVRaIGfhAyJMmfIphoSY7P5rTzpQqacf9zwSYQg/+u8rPKzanJ/geGEcIMFUi0j/zfE/Y0QtNO2ypMpFtotz3zLEzjKMIRH6THbz6DZQDzgzXow3VQS4l8gEfGdE0Y240Efcu1i9VtDz2vZi17MYWBSvckebXdDZgGwHZp36fg1jIzR+836OxA9Rv0ocKUijK4tmpKSbMUMRCzPFsYvtKlLOwjN+yfpUPX+mpr4pTlziWsU0+Y7LFu2ULmBdY4h9L+mzCUDUA9ZFN1yfZau3c2IZSPsj3olt7kTahw9nZeENpYeuOmhqxfBsgI3rTROhNwQZxiCiIt9GA1FM/qF52OGz8KW6s2opG+cR5e2JeesOuFZ4OvaMG3xAIaWXMfL2hIPAIGx7gSP4K5fM8E8v/8PERwax86YZ4tih1Z+kc7deDwK8jHSmpt0uuGtGVqpdiIfkz+3NuaRoIx7bQMKW+TiReadQQ5kfnikW5h0vvHIgB6AgfGhHMG/9lGJp6Ea4xFXQsTmMoG6Lp4NKF/BrZSYazmi/+nZhTIh3XcncTm3SxJ4dwj+2m65Ov3r2zYW9ql0oPRU2pkB0PtLW+1Q2sn6/OEUvhfvFYWupbs5ND2NCvjGBRVVOwPoZWfIqfd6Y8Vz1PczKR0LIejiO/9jFnbGBpIgCxK6ycv13mbHVIZjRLgc56gThItG1HDaiAq/7IEMCF4BwZSt4oMy6W24kFZnXOOutCHtZhpuTw65efMGvHh0UvF3di40AdYky+GMkYJPyQ0InnhHoIj0CdQNZaKRxWQApnf35oPbL8hZCCmFgiaO4kyYDfMErOtiyHIlHlxMccMAJq4QmCSuvP+WqPpLycyOhW9Rh7oNFwwb5vLHFk/slYuAVMXGThtcTtzy/QwoZjjqzd2cCXDsR092QheyyNFGbqwjcQwozpTLNQqPZ22Nfld7pVQUSuYtjnmjCjQ88qeIqId79+pX0TSddYl8rJs/Cx+rSwq12WwMPTyYkHxC+pdYMviSlfHxiM8v4VjXVUuHtd4rLNMxYaQ47/zMLFcx1/NQirvsih6MU+kR4e4TdyWXd9HRsyW1jAsNlafR74kT1uCQP4ZZSDGvBWmeoPiyikM6AknpjGCE1Z8ExAHShcBJcs9nEinRdx67T7/MgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NjEWRp2VGHGgAsakqi7m2R",
      "input": {
        "note": "The bottle is now on the jaw column in the left wrist view but its base still shows clear table beneath it, so it is a few cm beyond the fingertips; advancing ~6 cm and lowering to mid-body height.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.02,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NjEWRp2VGHGgAsakqi7m2R",
      "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]: [-0.0933, 1.467, 0.58, 0.2039, -0.1047, -0.102, 0.9996, -0.0154, 0.8024, 0.6079, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.0139 left_z=0.0676 left_yaw=0.0332 left_pitch=-0.1132 left_roll=0.0013 left_gripper=0.9996 right_x=0.2951 right_y=0.0012 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.1197, 8.6359, 1.9414, 0.1197, 0.232, -0.0122, -0.3487, -1.1556, 7.3094, 1.7411, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2717e6418c22e3e5f28c02347c1d1618771a3b23d1d6c410cfe6a19ff99c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee6dca66aa466a5c5c16b1de68b2ed71a8fc42ea916385961c085be22748036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4a6495e3f7625153db6a77cb2d20b14bb15e005185c10a7e789af4f8a7569c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 8.861 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, 0.6136, -0.3805, -0.0219, -0.0338, 0.9996, -0.0154, 0.7967, 0.6098, -0.384, -0.0128, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2962 left_y=0.0018 left_z=0.183 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2951 right_y=0.0013 right_z=0.1811 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.6342, 9.5932, 1.7656, -0.0317, 0.149, -0.0562, -0.7726, -1.2513, 9.8803, 1.8388, -0.1294, 0.0806, -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]: [-0.1287, 1.1049, 0.4706, 0.0238, -0.1101, -0.0982, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3359 left_y=-0.0203 left_z=0.1103 left_yaw=-0.0005 left_pitch=-0.0409 left_roll=-0.0017 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0019 right_pitch=-0.0038 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.0684, 6.7624, 2.0488, -0.105, 0.0024, -0.0562, -0.3897, -1.2786, 7.159, 1.746, -0.0317, -0.0757, -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]: [-0.0933, 1.467, 0.58, 0.2039, -0.1047, -0.102, 0.9996, -0.0154, 0.8024, 0.6079, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.0139 left_z=0.0676 left_yaw=0.0332 left_pitch=-0.1132 left_roll=0.0013 left_gripper=0.9996 right_x=0.2951 right_y=0.0012 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.1197, 8.6359, 1.9414, 0.1197, 0.232, -0.0122, -0.3487, -1.1556, 7.3094, 1.7411, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc2717e6418c22e3e5f28c02347c1d1618771a3b23d1d6c410cfe6a19ff99c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee6dca66aa466a5c5c16b1de68b2ed71a8fc42ea916385961c085be22748036",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a6495e3f7625153db6a77cb2d20b14bb15e005185c10a7e789af4f8a7569c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyggKEAgRGAI4AUIIdGhpbmtpbmcSDP2ERYaH9h/Qf0DIhhoMvUlYtEJDTKp6JhdCIjDzUM7xFy5oewfCx0BcU4pS+w5qzO3+6jjsN88bd82oopBs3rEjNeaEIsG5nzAcwGoq5weNEc+YM+sxumkJQD6vsWj0csZdrH0oGXh5QCwIujyISvtoHfXdSvufQ/vD3u8VtCHottwDrTFGgWXhqE+FGk3LeLSNjrVCAnZFQD7CLxC6UdhmzLIR9E2pqcdDFiKh+rK/r97RmhOrHLyv3K9pTbG6Z3dXIwH8zUN+15HUi3AG+51iz3Z8M5r9GXUmO1HQOoO0OyvAfl6Fpl+DcrrTYg+jXEWRcD3UDsz8GpN0lYOfJjbnlSqgmaD9zUWnX4vA6yuh4teBSOSqr0WY7hk2BQvabiYGqXQ95Wec0ceVDBsXbcipPdN5dx7qtGfpzRCItJqXKLRLDhkT9UTr4fwXtieckIlJUJTtAOG/anp9hxXD4uX3/Qwopr1y7qEP4gStzBNxL9wGdY+Z4LgE1fP3kBYN4YWvfX/PqztzdGnVlCc3mCWmbKSpwheLjcmFuboGMpVFWc++7mK22NxwffjbKZhUhNbLf+VKOEgxzFJH3X8WnkM+nZmC6dGuIRT5AqNhBqP6HsXVxQBZM2OnrTy4HhmV9DKuX/zOWJFiuJDLPRSfdRDjjLf9iTzApyII563PLkEwxIo+8BLP9ipppBOaCsKmMxSyM/L4aeG5kM85j5/d/JwGQ96gCApAiea4JOIl08d5z/Yyg1pcOKAUkdlEZb/o8rFlFte4sL1iMBdZP1PhdjESD+AlZ/YegsiMCQX0EljKgxe7XMB9wD2XO8h8VJS/4STWy7WBiGoN/HBJJBqSUN40W2rEvm3DtvDk9wLtJJPJo63V92nghMk+I6nPId4VSfHDx2hF8p1uekyT0JPkjOq8s/0swm8rHVgmWjeVDaHdNqu8Fxoq6GXSv8DQdZlZ+ZkmKRLJk6pep6pJPjm7BeT8Vl3hS7/0Oeg2RQprt/NBmPlFYQw24OsBBXeo+/Z4KiBfd/bwE4UrTPmat/9qIqgZ8ppbuskkgJN6/goscQDAEy+GRjx6Y1tLrzv+J/qma/pdc+Demd7Sa9NbCzLe1BhbGWFCjobSNXOu4tr/sOQiFrVLp4PpFv/AVufHH8u1TG8KA2ZSHYx+N8Fuw/k8v4Omwe3IkVo4NB6CFPQaVyYKJTpsWx031C5C8T6fMMQ3VfZ2ZY8z2eFW3GtGyyP6e7pYwDj8AxnO6ur44bQ6BUpqzRIIf7qLyXHBbuyMjBwqRSSf4wh9F8+nhzfJfXC0xD1jd4+RPen+IDLc63O8i/wCdQboo0YtIi0h0uR7MWJC7Nzfi+Cr40z7UKpS9PiN8hSwbgqsfMWr7eNsOC7FCiIR8pOKHu5n0kASMnamQiU+U3Mhv5zFUP8PMI3bxNKqZW9rhcl9IrUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EdYEbwryswaD7wUWSc7n2H",
      "input": {
        "note": "The bottle body now fills the space between the jaws in the left wrist view and the arm stopped slightly short (likely touching the bottle); closing the gripper 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_01EdYEbwryswaD7wUWSc7n2H",
      "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]: [-0.0933, 1.467, 0.5797, 0.1967, -0.1051, -0.1089, 0.0098, -0.0154, 0.8024, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=-0.0137 left_z=0.0661 left_yaw=0.0374 left_pitch=-0.1207 left_roll=-0.0028 left_gripper=0.0098 right_x=0.2951 right_y=0.0012 right_z=0.1784 right_yaw=0.0001 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.6821, 6.1197, 1.6874, -0.0513, 0.0806, 0.652, -0.2667, -1.0598, 7.0906, 1.7411, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e034d0b22537d712ff9108a96a4965fec98e343314d60684751ba9c794c0abe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e799861ca96178fc7166cd909dae1035f0efd6e93fe6ba4f4b6bac1491d9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:055f703b87bb5993715b20a67c061d1a758c77ba22d9629cc5e98cda197c4624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 5.599 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]: [-0.1287, 1.1049, 0.4706, 0.0238, -0.1101, -0.0982, 0.9996, -0.0154, 0.7986, 0.6086, -0.3847, -0.012, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3359 left_y=-0.0203 left_z=0.1103 left_yaw=-0.0005 left_pitch=-0.0409 left_roll=-0.0017 left_gripper=0.9996 right_x=0.295 right_y=0.0012 right_z=0.1798 right_yaw=-0.0019 right_pitch=-0.0038 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -4.0684, 6.7624, 2.0488, -0.105, 0.0024, -0.0562, -0.3897, -1.2786, 7.159, 1.746, -0.0317, -0.0757, -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]: [-0.0933, 1.467, 0.58, 0.2039, -0.1047, -0.102, 0.9996, -0.0154, 0.8024, 0.6079, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.0139 left_z=0.0676 left_yaw=0.0332 left_pitch=-0.1132 left_roll=0.0013 left_gripper=0.9996 right_x=0.2951 right_y=0.0012 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.1197, 8.6359, 1.9414, 0.1197, 0.232, -0.0122, -0.3487, -1.1556, 7.3094, 1.7411, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0933, 1.467, 0.5797, 0.1967, -0.1051, -0.1089, 0.0098, -0.0154, 0.8024, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=-0.0137 left_z=0.0661 left_yaw=0.0374 left_pitch=-0.1207 left_roll=-0.0028 left_gripper=0.0098 right_x=0.2951 right_y=0.0012 right_z=0.1784 right_yaw=0.0001 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.6821, 6.1197, 1.6874, -0.0513, 0.0806, 0.652, -0.2667, -1.0598, 7.0906, 1.7411, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e034d0b22537d712ff9108a96a4965fec98e343314d60684751ba9c794c0abe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1e799861ca96178fc7166cd909dae1035f0efd6e93fe6ba4f4b6bac1491d9b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:055f703b87bb5993715b20a67c061d1a758c77ba22d9629cc5e98cda197c4624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3goKEAgRGAI4AUIIdGhpbmtpbmcSDNOL+X6vDdYn9lV+ahoMN9DR5VZg1A7pqL08IjBH5EEr78gslofyRH34dTCs0kypoKczUIZhrmhNolCBlEaSs1vA52cn8Lu4dWyiIyUq+wktkyfU7CXeUS1qrs9Zrk6U4sUNQrACJWCxFzWfkBSm6SkIdi1/yEQ6hOrIlS9pkzjDmHaYjs8joGSC84FA4YwZytYgMLfg7eY3F1mehRDj84YZsCzpiThG3Uc6VBpaPUENzcBSQZo2JiyJN++A0VEtbSLP1BKSeOt2Ed+9hgU610ANa725YzgbJoZO6rMU4K0KSAGxOzbfYPJWeqOxfbqSV1SYBCa29ckDy3MJY+uExK+5d6W7AodrRvTCkyeaGvrY4OTbl7xYN6NZ7SPUlmSxmPi5z5xqYBYhB0FKKKr8qrP/a/j1JaxX6kNzTYH79E2x/NQQSrOwm/knlq3etO/ZuEc34jkSlswOTssKQ6zvCboI/dgq/j4biSKIOqPlv4zD4Kon+8s334d2FfsuuNzISBzwNzLm4B3oI4mYPrMhUfAoMQhqyaG9GyB6KPbcwL1CLxIr8vktcN3edWwFoHqw+03ItZ3nNsbE4Hz6rjC4ht6vkUrFwJMviWFLjOKyu1IcPFP4Y6O3DZWjla8CVCyg4RsaVr8Fjso1uJKJXycwCcDplkoIPnXs8+u6psgqJcgiCM8U/b5WkN0mA0UwLN5dTP436Z+/bol2HGc2gipGDv5NYSgen7idUL3xfGRj/rYG+fO8D9HUZxYBzR/pf+eoftzdhGg2sJtO4cFRhCrl3TPd7Ju4Wiv9PZ4CCeSU2NSSch3gc5uqEAQ5K9FN6V2xc3MwASH7GsTb1ErVkmiAOHhkIP0w5u9R+utwHdds1I1tMTiU+9I/hsgFrn0o+P/v2m3PYoZsfzRmk6bwsIbABEiHdD6oOGDMNh1O3OIy6LNCmbMEm2G9tP0d5wc5fxf/kC2N9475aQHeLJNSCmhiNT5UQs1Hi0cQtPFMnqA19ck5gt17gI1WAE3SXBk7JDnr6OCkSAGf+oz7xUc3TQMV45JZUG4sNd561Rg5sApPtspStqC8Z+s21/s+LIQax9DDPJCSuJifGgjNpp2IulVS3XZMWqlP8WvDWoNsber1mg6Cf39zckDU+codQ0CLE1aBOiwL2R3FGXhcPTcJ2JUi1e+NfMEdbxwC1tc+deQs8c/nwzP2uBuqny16tsmfsciZLjllTQUXWl5U+FBsJvEhnQSrqpxUx3QNkd8YdJ/+kvy2QeokkO7CmmsCBwubvNVRs7iZHy3Uaks1QH9bxjb5sOQylD8wNj2+xl0a4uesd5JLlrMD2AEci782zw39JVoywXJoPWYs5LQdhQw62107w3+TzUNR7qX8gby6VDojBqQKQ9ktWCzC9v9xZcviSMkuwGaW7F3c/tncYi+ollVIwCD9yU8uhh4WYGpOowzXv2Gf2elks3ADYtWBZbedNawT6ttiPuErjqQ/saU2fvQo+MCZDniGQcik7e59qxNqcGqXqTQtNuEG6dRyQOhCEkDDo/mWOvm7wklGHKFWsKp9SGCB/GMrjZVoZpHUZlRbPc5hqf/nnYPQS3NnBREzz5xulez6WtM0Ddzc8IWQhKDCswoob8Y72r42OPrdokIcdJUINVAcgr4wJq36yM4LRUG5iFSStu/KxN0VygG6KNOzmSJWZjYRfD7Bkxse/ycXDKSrrACEn5pdIZluRE02KNvjlcuGJ5TZfnEG3Fl5VFXMpv2TODbGlBMPvvOwnVCtCS6H4t12CMbcTV4tjB4YIjW0AXWsGJEjae2nqRcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A7aoUjagZYF23oJfmD6fbf",
      "input": {
        "note": "The close was empty (reading 0.01) — the bottle is still just beyond the fingertips and a bit to the right. Opening and advancing ~4 cm forward and 1.5 cm right before retrying.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.03,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A7aoUjagZYF23oJfmD6fbf",
      "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]: [-0.1261, 1.6123, 0.7528, 0.1055, -0.139, -0.1581, 0.9988, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0243 left_z=0.0618 left_yaw=0.0616 left_pitch=-0.1795 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.9812, 8.9915, 1.8095, -0.0562, 0.1832, -0.1392, -0.1983, -1.1829, 7.1316, 1.7656, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31cb020cddbf369c1769083b3df58d9cf7dddc518e1cd7294cecfb8786b90b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f07f0372a9686e0e3637bf9e980a78556377547ad244ef893753c9be9f1d9982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b3e3fda91863744f38b8891da0c16acc9bf2171b99de06e58c286dc5c688ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 14.32 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]: [-0.0933, 1.467, 0.58, 0.2039, -0.1047, -0.102, 0.9996, -0.0154, 0.8024, 0.6079, -0.3855, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3851 left_y=-0.0139 left_z=0.0676 left_yaw=0.0332 left_pitch=-0.1132 left_roll=0.0013 left_gripper=0.9996 right_x=0.2951 right_y=0.0012 right_z=0.1783 right_yaw=-0.0001 right_pitch=-0.0092 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -6.1197, 8.6359, 1.9414, 0.1197, 0.232, -0.0122, -0.3487, -1.1556, 7.3094, 1.7411, -0.0611, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0933, 1.467, 0.5797, 0.1967, -0.1051, -0.1089, 0.0098, -0.0154, 0.8024, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=-0.0137 left_z=0.0661 left_yaw=0.0374 left_pitch=-0.1207 left_roll=-0.0028 left_gripper=0.0098 right_x=0.2951 right_y=0.0012 right_z=0.1784 right_yaw=0.0001 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.6821, 6.1197, 1.6874, -0.0513, 0.0806, 0.652, -0.2667, -1.0598, 7.0906, 1.7411, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.1261, 1.6123, 0.7528, 0.1055, -0.139, -0.1581, 0.9988, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0243 left_z=0.0618 left_yaw=0.0616 left_pitch=-0.1795 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.9812, 8.9915, 1.8095, -0.0562, 0.1832, -0.1392, -0.1983, -1.1829, 7.1316, 1.7656, -0.0366, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c31cb020cddbf369c1769083b3df58d9cf7dddc518e1cd7294cecfb8786b90b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f07f0372a9686e0e3637bf9e980a78556377547ad244ef893753c9be9f1d9982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b3e3fda91863744f38b8891da0c16acc9bf2171b99de06e58c286dc5c688ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgRGAI4AUIIdGhpbmtpbmcSDB3USgv/RCiEDZVlwxoMJ6SQeRRy1o31aMguIjBaV8uju2pobEUXQe/0SPhrZb7Lar6zAiBpbjJLUJckKRdsPGJOFBU6er3istNRVqUq3gZnz+/jgAMQLd5YriLBG4Ry7ZSgDMfaLXRuOLFd93z1Eqj92/7CfThzHAHpuY45PaaU4JSNnI3qrBBAuYiZMmBe+UMUJPOl3zgUqxuGiGagzdK86hGVI83ydAxgJOt8fQkwr7spQVwrIe98lhaSwoKBtl5+rW1mgp5H8jf+fKuFNWkbZcbABAYbxBI4sQf1uGy0yLGrFlBvruNTy3wtlu55iiuwVxEw6kCe03ywjyQ4L5ExzsSeZSzDUWOOdqQzu1w2Oy7/NgbPneEnAZLU9DTX355Ab8J4W6huTFl5m1+DtlXyBMvKYIWcrtKHOPXYdce+BF6Hxo/9OpN7jw58+MFlh6ezIAxNkLKY88qCBYlPliXcPtCKAkMwrLTw0S/oH4NSkWoVi4Xtq1HwUn0QhXsDuLlHfflFNsAE+ain4mPjhBZ/JxVtLVOAWpaxY4/vqjlYa5fIw7u/30Z/phk7ki3QNRlMTUNNfIs07Vkn4qjFJCOmIjJJnVq1St4X3VpjlGbopBj26pjbNUYgTbo0uHBB1nP9sFxlp6mmOKuADSZ2ImbzRdYJ+m2UiBidTGHVSTL62qBAQFsH5VQXl1qCM/Dvv+w9GnaBhUwQdXnwFD6HtgdVZzHNMpE6VVomSMCqh+VrVX9BTFmiRgXBo22z8AEdlz/Kd0WQ1L3iFL5v5NlDSmUTUGmQMxs5g4UYpAeb3vFUCDCBoQAOScwqkgaFote3rxeCWcn59Efc6tlRKX3GjAf0HyWt6H4jkuUFj7z/zqRu4Oho6U7lAuk9GvV5DWNAZ/BEMxybOFv70vPiAGQwD/yGBmvr2l0hFsolYL1PhWm+IQQ9hDnPEAFEg8g8r6OHazWOhRMN4Ya/Cs2h9EoDEcTzqeqPPm1uMdI/xG0nzNyukpibkSHdi97ZH67YtYy1bpz3HNykHAw17/IenlR4JZdXKQfAzwBt594+w4G6c5pj0Lk67FATGU0wiOfHAW65FQN6w2ntR0Seh7aX8Z8FkFyfLj94nBmmMByYwdFgDrLZj32biD/ZhBe3XsRyKcNJ+VFK0YlWZNDCgxtrlqiipyhBtE4bmX2j8jydH7tWfZ/CaUK31R/bmExWRBV62dCkJto/JszkDiwkdgtVQUcwEU0gpu2750PfyHOVtfgaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LGhRj1PcbDMDsZygF6DXMs",
      "input": {
        "note": "The bottle now fills the left wrist view right between the jaw tips and the top view shows the gripper 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_01LGhRj1PcbDMDsZygF6DXMs",
      "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]: [-0.1261, 1.6123, 0.7536, 0.0944, -0.1425, -0.1673, 0.0097, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.0235 left_z=0.0602 left_yaw=0.0699 left_pitch=-0.1892 left_roll=-0.0103 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.7487, 5.8735, 1.6777, -0.0366, 0.0708, 0.6569, -0.253, -1.2376, 7.1043, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed38a3171762363c45ef96c30364a35f245e1ca622666ea24e2f6e4bc63e1416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d803097b58598374815ec52ebb429fcbc0f306ee9d1b63b908542600a35776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:866291782ce8069428ad546f54900ad054a355070e3c965fc882ae51abcf8d7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 11.77 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]: [-0.0933, 1.467, 0.5797, 0.1967, -0.1051, -0.1089, 0.0098, -0.0154, 0.8024, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.3838 left_y=-0.0137 left_z=0.0661 left_yaw=0.0374 left_pitch=-0.1207 left_roll=-0.0028 left_gripper=0.0098 right_x=0.2951 right_y=0.0012 right_z=0.1784 right_yaw=0.0001 right_pitch=-0.0088 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -5.6821, 6.1197, 1.6874, -0.0513, 0.0806, 0.652, -0.2667, -1.0598, 7.0906, 1.7411, -0.0708, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1261, 1.6123, 0.7528, 0.1055, -0.139, -0.1581, 0.9988, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0243 left_z=0.0618 left_yaw=0.0616 left_pitch=-0.1795 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.9812, 8.9915, 1.8095, -0.0562, 0.1832, -0.1392, -0.1983, -1.1829, 7.1316, 1.7656, -0.0366, -0.0611, -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]: [-0.1261, 1.6123, 0.7536, 0.0944, -0.1425, -0.1673, 0.0097, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.0235 left_z=0.0602 left_yaw=0.0699 left_pitch=-0.1892 left_roll=-0.0103 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.7487, 5.8735, 1.6777, -0.0366, 0.0708, 0.6569, -0.253, -1.2376, 7.1043, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed38a3171762363c45ef96c30364a35f245e1ca622666ea24e2f6e4bc63e1416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28d803097b58598374815ec52ebb429fcbc0f306ee9d1b63b908542600a35776",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:866291782ce8069428ad546f54900ad054a355070e3c965fc882ae51abcf8d7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BkqJBT8rowtr2cdu9K6kh3",
      "input": {
        "note": "Empty close again; the bottle is offset to the right of the jaws and a bit ahead. Opening and lifting clear so I can reposition above the bottle without knocking it over.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01BkqJBT8rowtr2cdu9K6kh3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1234, 1.4643, 1.3613, -0.7158, -0.1505, -0.1921, 0.9988, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.0205 left_z=0.2304 left_yaw=0.0955 left_pitch=-0.2414 left_roll=-0.0111 left_gripper=0.9988 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -7.5282, 9.1966, 1.6142, -0.0122, 0.2466, -0.1392, -0.3487, -1.1966, 7.0222, 1.7607, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0d226328e517d7b33efb38c9f9f60739e5dd15140b9fef85fce10323f11aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de70b5fc4873e26cf7a714816650dee887c7044b766b43f636a7a6fbb1e70e2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28f9400fc4efbed16a08c2e2ed44c3652ed2df416c6a623e3c193fa27b15327a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 13.87 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]: [-0.1261, 1.6123, 0.7528, 0.1055, -0.139, -0.1581, 0.9988, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0243 left_z=0.0618 left_yaw=0.0616 left_pitch=-0.1795 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.7726, -6.9812, 8.9915, 1.8095, -0.0562, 0.1832, -0.1392, -0.1983, -1.1829, 7.1316, 1.7656, -0.0366, -0.0611, -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]: [-0.1261, 1.6123, 0.7536, 0.0944, -0.1425, -0.1673, 0.0097, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.0235 left_z=0.0602 left_yaw=0.0699 left_pitch=-0.1892 left_roll=-0.0103 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.7487, 5.8735, 1.6777, -0.0366, 0.0708, 0.6569, -0.253, -1.2376, 7.1043, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1234, 1.4643, 1.3613, -0.7158, -0.1505, -0.1921, 0.9988, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.0205 left_z=0.2304 left_yaw=0.0955 left_pitch=-0.2414 left_roll=-0.0111 left_gripper=0.9988 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -7.5282, 9.1966, 1.6142, -0.0122, 0.2466, -0.1392, -0.3487, -1.1966, 7.0222, 1.7607, -0.0562, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a0d226328e517d7b33efb38c9f9f60739e5dd15140b9fef85fce10323f11aee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de70b5fc4873e26cf7a714816650dee887c7044b766b43f636a7a6fbb1e70e2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28f9400fc4efbed16a08c2e2ed44c3652ed2df416c6a623e3c193fa27b15327a",
        "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_01PN8yMLwRi7RB4PsLPpBEvy",
      "input": {
        "note": "From above, the jug's body sits ahead and slightly right of the jaw column; the tool has also drifted to a backward pitch. Moving ~3 cm forward and 4.5 cm right while restoring pitch to vertical, staying above the jug.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.44,
          "left_y": -0.065,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01PN8yMLwRi7RB4PsLPpBEvy",
      "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]: [-0.2684, 1.4681, 1.0851, -0.2882, -0.2867, -0.2432, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4291 left_y=-0.0625 left_z=0.1899 left_yaw=0.0863 left_pitch=-0.0738 left_roll=-0.0025 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.0513, 7.1043, 1.8779, -0.2662, 0.0806, -0.0562, -0.3487, -1.1556, 7.0496, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8e4df67d67799f3b600053353f87da69c82655f884748c0f5d8f269f4e2294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c941cabe4a2fed89e44d57516bf21097a5118cd17121678f3cb53c61c9ff872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:25e699e22b34c6b1b9b700d28005b10c5f7ebd5b9ebdc316f3f6f8c4c3d27af0",
        "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 · 9.485 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]: [-0.1261, 1.6123, 0.7536, 0.0944, -0.1425, -0.1673, 0.0097, -0.0151, 0.8032, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4137 left_y=-0.0235 left_z=0.0602 left_yaw=0.0699 left_pitch=-0.1892 left_roll=-0.0103 left_gripper=0.0097 right_x=0.2951 right_y=0.0013 right_z=0.1781 right_yaw=0.0005 right_pitch=-0.0099 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -6.7487, 5.8735, 1.6777, -0.0366, 0.0708, 0.6569, -0.253, -1.2376, 7.1043, 1.7265, -0.0513, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1234, 1.4643, 1.3613, -0.7158, -0.1505, -0.1921, 0.9988, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.0205 left_z=0.2304 left_yaw=0.0955 left_pitch=-0.2414 left_roll=-0.0111 left_gripper=0.9988 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -7.5282, 9.1966, 1.6142, -0.0122, 0.2466, -0.1392, -0.3487, -1.1966, 7.0222, 1.7607, -0.0562, -0.0611, -0.0122]",
      "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]: [-0.2684, 1.4681, 1.0851, -0.2882, -0.2867, -0.2432, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4291 left_y=-0.0625 left_z=0.1899 left_yaw=0.0863 left_pitch=-0.0738 left_roll=-0.0025 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.0513, 7.1043, 1.8779, -0.2662, 0.0806, -0.0562, -0.3487, -1.1556, 7.0496, 1.7265, -0.0562, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d8e4df67d67799f3b600053353f87da69c82655f884748c0f5d8f269f4e2294",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c941cabe4a2fed89e44d57516bf21097a5118cd17121678f3cb53c61c9ff872",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e699e22b34c6b1b9b700d28005b10c5f7ebd5b9ebdc316f3f6f8c4c3d27af0",
        "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_01SgexXr5JaQGEbq4RgLLuJR",
      "input": {
        "note": "The top view shows the left gripper directly over the jug and the wrist view has the body centred slightly left of the jaw column; descending partway to shoulder height to check jaw alignment before the final descent.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.055,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01SgexXr5JaQGEbq4RgLLuJR",
      "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]: [-0.252, 1.4937, 0.8619, -0.0498, -0.2951, -0.231, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0511 left_z=0.1285 left_yaw=0.1033 left_pitch=-0.0817 left_roll=0.0159 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4342, 7.0359, 2.0928, -0.0513, 0.149, -0.0171, -0.3624, -1.306, 7.0632, 1.7265, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afb42de7edba0d8c2bf7459b24bab2541f66620661a177ebed0f294918718b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74e1081e3d22ed94bf86720faf7ef0eeed0fe50c3e59b364cefdcbc11da062b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53d6373f8622e5ab3cc83c60759acfacccb1c9fb2da3501600ead8d564216128",
        "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 · 4.764 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]: [-0.1234, 1.4643, 1.3613, -0.7158, -0.1505, -0.1921, 0.9988, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4096 left_y=-0.0205 left_z=0.2304 left_yaw=0.0955 left_pitch=-0.2414 left_roll=-0.0111 left_gripper=0.9988 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.5812, -7.5282, 9.1966, 1.6142, -0.0122, 0.2466, -0.1392, -0.3487, -1.1966, 7.0222, 1.7607, -0.0562, -0.0611, -0.0122]",
      "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]: [-0.2684, 1.4681, 1.0851, -0.2882, -0.2867, -0.2432, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4291 left_y=-0.0625 left_z=0.1899 left_yaw=0.0863 left_pitch=-0.0738 left_roll=-0.0025 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.0513, 7.1043, 1.8779, -0.2662, 0.0806, -0.0562, -0.3487, -1.1556, 7.0496, 1.7265, -0.0562, -0.0757, -0.0171]",
      "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]: [-0.252, 1.4937, 0.8619, -0.0498, -0.2951, -0.231, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0511 left_z=0.1285 left_yaw=0.1033 left_pitch=-0.0817 left_roll=0.0159 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4342, 7.0359, 2.0928, -0.0513, 0.149, -0.0171, -0.3624, -1.306, 7.0632, 1.7265, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afb42de7edba0d8c2bf7459b24bab2541f66620661a177ebed0f294918718b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74e1081e3d22ed94bf86720faf7ef0eeed0fe50c3e59b364cefdcbc11da062b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53d6373f8622e5ab3cc83c60759acfacccb1c9fb2da3501600ead8d564216128",
        "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_01KeKfekGbFsUzSPCRaaEfx2",
      "input": {
        "note": "The jug body fills the left wrist view, centred about 2 cm left of the jaw column with the right jaw clear; shifting 2 cm left to centre it and descending to mid-body height for the grasp.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.43,
          "left_y": -0.035,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KeKfekGbFsUzSPCRaaEfx2",
      "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]: [-0.205, 1.5776, 0.7334, 0.1997, -0.2806, -0.1993, 0.9983, -0.0151, 0.8051, 0.6079, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0344 left_z=0.0888 left_yaw=0.1204 left_pitch=-0.0503 left_roll=0.0207 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.3368, 6.4889, 2.0049, -0.0024, 0.1001, -0.0122, -0.294, -1.3744, 7.0632, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fbcc806fe99cd6dc6a1c911c7cdcef444e507008bad696f8883d0cee84c672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c1a83588f7eb5f66a8834b4d45977b868305d1e15b535c26cb1f378213ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f26edd2b2a5cebd18afc01e3f9783a3fefbc498d1f8db1f9e83750cd1960d36e",
        "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 · 10.8 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]: [-0.2684, 1.4681, 1.0851, -0.2882, -0.2867, -0.2432, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4291 left_y=-0.0625 left_z=0.1899 left_yaw=0.0863 left_pitch=-0.0738 left_roll=-0.0025 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -6.0513, 7.1043, 1.8779, -0.2662, 0.0806, -0.0562, -0.3487, -1.1556, 7.0496, 1.7265, -0.0562, -0.0757, -0.0171]",
      "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]: [-0.252, 1.4937, 0.8619, -0.0498, -0.2951, -0.231, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0511 left_z=0.1285 left_yaw=0.1033 left_pitch=-0.0817 left_roll=0.0159 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4342, 7.0359, 2.0928, -0.0513, 0.149, -0.0171, -0.3624, -1.306, 7.0632, 1.7265, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.205, 1.5776, 0.7334, 0.1997, -0.2806, -0.1993, 0.9983, -0.0151, 0.8051, 0.6079, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0344 left_z=0.0888 left_yaw=0.1204 left_pitch=-0.0503 left_roll=0.0207 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.3368, 6.4889, 2.0049, -0.0024, 0.1001, -0.0122, -0.294, -1.3744, 7.0632, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76fbcc806fe99cd6dc6a1c911c7cdcef444e507008bad696f8883d0cee84c672",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac2c1a83588f7eb5f66a8834b4d45977b868305d1e15b535c26cb1f378213ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26edd2b2a5cebd18afc01e3f9783a3fefbc498d1f8db1f9e83750cd1960d36e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QYKEAgRGAI4AUIIdGhpbmtpbmcSDPur0uUho2lFXEZJhRoMThD8vvYUktb9phOAIjC+/uDYqpaG3qvEk/k847JAeeJwRseJ9jaJaevxDEDmHAZZW3M4sP8cKepE+YYDPU8q8gUJ+BlIp9bSQMesWUOR7psNfJuf+mdsjHaJcUtzYvTUMGpUWUzQIFFLTjz7yjMnyaAQ2XvrUE8S6zCDk3YcZQ1fp0pEYktSTcitQTz1UPe7oRXc2kn7Y81oiMVy2K5fwcsmee5m9c+Y5I0+F1oPM7PvyHyQmRvD6a4FtiAFPNrKNb5raYdUWodowis3jL5AUyuc7yqcznDJdsWdPX/4hGV9Ub0byrR0cWuenvI55+3qQq5GpfsQ80sIQC8cObQOXdHS8Qvb7AdkflQK9lyecSr52QiAYwHmTYYFLXNIl5BznrBuHqJqmPc4+huqjOx1klXMQcKvApnlsvkH8HvoCSrO1GXaK/3egndhhTV69Iqml5bFXOixHr0f7duij+nDAmmDZIqjW8U9zavAu9sCWCNXCpr20+GTZUjN3EP2zdH9VWBADK2xOLr0m5vzBjt5npv0tiBYeWFvsYMwgtLoreMozkhFcImY65zE/GjFt7AAsXHcdOxF5DUwRosU9sdOYrvMOKVlRSZCNo1FMBcBlpZlBgfPaJ0z7PWYH3FdfC3AWvkgb+7nurhHtVhlaMJt05/zGYWiFaOLU8d2ISyRG6SPvbxbf+2yfp2N6r5mj8/uOeVF8Su60teQAf++/Lj7sbn+BKYLQj1VaIj7ZYgr/KA0pWADWoxlN7nqXUvPZNwYIyH5LjAObDPTHRrvMD/OEf5VIoxzu+LLJ1IQ8iV87E9NC5G5YaevNsgxWV3JYCPT8+tZl7vk5U1rqZdns/2rVLCEcvZmq33y5zdMuJ84L+S0FIPO/4WYQFJrw2cDoLDS4LnDOxSZk3oSHcOnAClGUJFHEC9Ba03fKz1az3INM0xL6jQC7Kr22KhSfqf5HFP7kx3X4AMWlQF+O1E8kPBUWCq9lCOD+MgFIWg6UUMBapNqfrAI6c04P0IVenGylCYq10o2n0dTy8eBQjeF1qAgBpTLkNJHhHsodxTaRYxHU+wjojEtse1ivv4Hn4D7eOUlNvZdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AEx926Gfpa1aoLN1bCd28L",
      "input": {
        "note": "The jug body now sits squarely between both jaw tips in the left wrist view at mid-body height; closing the gripper 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_01AEx926Gfpa1aoLN1bCd28L",
      "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]: [-0.2024, 1.6043, 0.7067, 0.1989, -0.2813, -0.2031, 0.0093, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.0313 left_z=0.0676 left_yaw=0.1271 left_pitch=-0.1014 left_roll=0.0355 left_gripper=0.0093 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.9641, 8.1162, 1.5946, -0.0659, -0.0122, 0.7009, -0.253, -1.3333, 7.0222, 1.7509, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d65d0e7302051c3dd90749fa650e761aaa4acff368b79e7b82b3cea6391b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4e2bc665f16d620894f05894811798270f467d5aade58361558f57e79ed19ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:774217b1b1a52a09168a68530928d45b3831adced3f228306aea72ca61851b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 6.04 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]: [-0.252, 1.4937, 0.8619, -0.0498, -0.2951, -0.231, 0.9983, -0.0151, 0.8032, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4191 left_y=-0.0511 left_z=0.1285 left_yaw=0.1033 left_pitch=-0.0817 left_roll=0.0159 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1782 right_yaw=0.0005 right_pitch=-0.0095 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.1573, -6.4342, 7.0359, 2.0928, -0.0513, 0.149, -0.0171, -0.3624, -1.306, 7.0632, 1.7265, -0.0513, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.205, 1.5776, 0.7334, 0.1997, -0.2806, -0.1993, 0.9983, -0.0151, 0.8051, 0.6079, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0344 left_z=0.0888 left_yaw=0.1204 left_pitch=-0.0503 left_roll=0.0207 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.3368, 6.4889, 2.0049, -0.0024, 0.1001, -0.0122, -0.294, -1.3744, 7.0632, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2024, 1.6043, 0.7067, 0.1989, -0.2813, -0.2031, 0.0093, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.0313 left_z=0.0676 left_yaw=0.1271 left_pitch=-0.1014 left_roll=0.0355 left_gripper=0.0093 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.9641, 8.1162, 1.5946, -0.0659, -0.0122, 0.7009, -0.253, -1.3333, 7.0222, 1.7509, -0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d65d0e7302051c3dd90749fa650e761aaa4acff368b79e7b82b3cea6391b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4e2bc665f16d620894f05894811798270f467d5aade58361558f57e79ed19ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:774217b1b1a52a09168a68530928d45b3831adced3f228306aea72ca61851b6f",
        "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_017dYanFTPhPDDFDKZkBxAja",
      "input": {
        "note": "Third empty close: the jug is still beyond the fingertips (the wrist camera looks past them). Opening and advancing another ~5 cm forward at mid-body height so the jaws straddle the jug.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.47,
          "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_017dYanFTPhPDDFDKZkBxAja",
      "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]: [-0.1822, 1.7309, 0.8299, 0.2333, -0.2893, -0.189, 0.9929, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0283 left_z=0.0697 left_yaw=0.1455 left_pitch=-0.0709 left_roll=0.0416 left_gripper=0.9929 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.2, 9.0598, 2.1074, -0.0855, 0.2955, 0.2271, -0.335, -1.2923, 7.0359, 1.7118, -0.0611, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe4295d1f4e0daad7398f3ac547914f77f6d8910a3fa4ecf98ac019d91b70880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1c1b1cb35cfa90bd779542de96983cb4cb9607dcf245020db4a8da3c2f536b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f1ed77fb06f240e904d0e2cf9603fd9baea7519adadf7f94b53fc1a8edde78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 17.82 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]: [-0.205, 1.5776, 0.7334, 0.1997, -0.2806, -0.1993, 0.9983, -0.0151, 0.8051, 0.6079, -0.3855, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4231 left_y=-0.0344 left_z=0.0888 left_yaw=0.1204 left_pitch=-0.0503 left_roll=0.0207 left_gripper=0.9983 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0002 right_pitch=-0.0118 right_roll=-0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.3368, 6.4889, 2.0049, -0.0024, 0.1001, -0.0122, -0.294, -1.3744, 7.0632, 1.6923, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2024, 1.6043, 0.7067, 0.1989, -0.2813, -0.2031, 0.0093, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.0313 left_z=0.0676 left_yaw=0.1271 left_pitch=-0.1014 left_roll=0.0355 left_gripper=0.0093 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.9641, 8.1162, 1.5946, -0.0659, -0.0122, 0.7009, -0.253, -1.3333, 7.0222, 1.7509, -0.0611, -0.0708, -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]: [-0.1822, 1.7309, 0.8299, 0.2333, -0.2893, -0.189, 0.9929, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0283 left_z=0.0697 left_yaw=0.1455 left_pitch=-0.0709 left_roll=0.0416 left_gripper=0.9929 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.2, 9.0598, 2.1074, -0.0855, 0.2955, 0.2271, -0.335, -1.2923, 7.0359, 1.7118, -0.0611, -0.0806, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe4295d1f4e0daad7398f3ac547914f77f6d8910a3fa4ecf98ac019d91b70880",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b1c1b1cb35cfa90bd779542de96983cb4cb9607dcf245020db4a8da3c2f536b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f1ed77fb06f240e904d0e2cf9603fd9baea7519adadf7f94b53fc1a8edde78c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQgKEAgRGAI4AUIIdGhpbmtpbmcSDJnlON18Zx42p8vCDBoMX3OAibDhBQz8NUKLIjBqLl6JCTJj72xsHD1OfP+CEkXBTpXmHnGo6XmrkUH7yvSmWwhp8mBj/NgYMZY7nQ0q1ge28DoLr6Bo1aSS0buxucRakfdt1lbYVAAj0nC+NsfXrlxXIolnb5oVm+xV9hbGiTRDR5J1n261js49/m9F2r5eLEVUT60NAyH1IKybNPgwr8tiljkx0H5sRE3Ad5kKtY8cLYLNiseDH+esE7EN+1e4o6a90/BRAZdrzff8ayNQHOJu1eEGr0iJ9dS91w6LfcU644692uhkKuSgWR4PJDiaXt8KLYH/x94fz5sowruFXOgbAbQgFMEZl5HfS/PFEopriAMZLZszbapDXHQ9aadFRvA+w98TOorkqq2iOf2Dke7NHy2hdqs7uiPP0GOXUBaNFaQyVqhvkrXYFhHx5qFS8Hjf1o4U5uzAiJMdqrgp/RkIGjl5bJDzJO4RIdqsI5M0ipH3bZm5cGQtQBeq1RfeilqqWpB2y7BhTZJg0OBi+hW4Sx7hXW2U4/1v3mgjw4RixrfaWHaLKvTc1Gyi2cMpT0kud6iJfLgqqb41mp7vJDUhrOt4uf1oZXNG6yneWGRdRE0LvP55WRkxzzlWk0KUXlwh52sl5xXxmcT4YfksfG2Q7y1W53TVgIiSsluX7tYLpmNxkVOo8DFjISGU1Q9xznMXvDBnb/qfGF3OGyrrJenWeZfnFVuGsEiwn18kzP5ebv0KKf4QNb8u2iZNWlWmGbOPYRq/Mjo0qShmztyUNOVIFOK+3ZSyR98rM775K1KHbQdPahNbIjWWHwxhnWV2JvHsNi/qcVu5jSmQrxjv8rur1UGh3vG6MY2UMDl/i5yTnX/I/N6cyU2n7m0P24UJO2kSr3sAzxEv9b5U9pf4rHRrcVwDrz0X3PidGG/nZWsLRVosOUARqjkh3Kzf2uSxbSmJYjgZS9WjTOT8VJ4thm0IBzOtuEyxSpOtE+IfP8Z+bPeA2/TqHGGVrnBaPZVGzZnPitRC631R7EyfCPpCEqvSm+ubSmjBYNuQSODaVdwJSrxHuK6cZ9JE++UipdAxNFxh20zXH7xfM7hyCyOjQ81j7sbjd1+dNURtdYW2k/UK7jBVT52Gz6T74Rju1Vw2dyokV9A+OClhLjMzitc4G93UFUmTcJPfon9tcV1DmsxiCHsRBKD6iGzlOLVJ/tMEaXy5o7qLIlx5bijex2iN+UnVXPWxzWU9PVVPzF+2ZFW9OWagRH/WSYnz+97zI8OMi0x4cfxejZl9fijIgL5NWV3KwznzLQ9XlPxrZYq6dh6/9lAi6YdphyaQU6vDFNB0eqHSF7bRbt0KGW3kCEJcho+X3DNBJ3g+xwWLn5J3hTnWDB+jepn22myWzFNCbH4K4XeqDm4NGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SYMDj9rQD3RRDtNhQ2gaxu",
      "input": {
        "note": "The arm stopped short of its target with the jug pressed between the open jaws in the wrist view; closing to grasp the jug body now.",
        "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_01SYMDj9rQD3RRDtNhQ2gaxu",
      "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]: [-0.1799, 1.7359, 0.8349, 0.2256, -0.289, -0.1955, 0.0094, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4519 left_y=-0.0274 left_z=0.0681 left_yaw=0.1512 left_pitch=-0.078 left_roll=0.0386 left_gripper=0.0094 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0003 right_pitch=-0.0126 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.5265, 5.6684, 1.7363, -0.0611, 0.0366, 0.7106, -0.3214, -1.3744, 7.0222, 1.7314, -0.0708, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97467b4dee16c06ee2c7230bcfca21b6572b144199e06de5e51d2d80616d93c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5c4b8061784ce3c77a8b3ffaab49b4ed32239dc6bfacd1465cdddcbc2bfafa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:606b19aaf87d9a4be0855a8e89a3488f1b3a992a9a20a744054417bbd0d59c4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 11.5 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]: [-0.2024, 1.6043, 0.7067, 0.1989, -0.2813, -0.2031, 0.0093, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4144 left_y=-0.0313 left_z=0.0676 left_yaw=0.1271 left_pitch=-0.1014 left_roll=0.0355 left_gripper=0.0093 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -8.9641, 8.1162, 1.5946, -0.0659, -0.0122, 0.7009, -0.253, -1.3333, 7.0222, 1.7509, -0.0611, -0.0708, -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]: [-0.1822, 1.7309, 0.8299, 0.2333, -0.2893, -0.189, 0.9929, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0283 left_z=0.0697 left_yaw=0.1455 left_pitch=-0.0709 left_roll=0.0416 left_gripper=0.9929 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.2, 9.0598, 2.1074, -0.0855, 0.2955, 0.2271, -0.335, -1.2923, 7.0359, 1.7118, -0.0611, -0.0806, -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 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]: [-0.1799, 1.7359, 0.8349, 0.2256, -0.289, -0.1955, 0.0094, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4519 left_y=-0.0274 left_z=0.0681 left_yaw=0.1512 left_pitch=-0.078 left_roll=0.0386 left_gripper=0.0094 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0003 right_pitch=-0.0126 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.5265, 5.6684, 1.7363, -0.0611, 0.0366, 0.7106, -0.3214, -1.3744, 7.0222, 1.7314, -0.0708, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97467b4dee16c06ee2c7230bcfca21b6572b144199e06de5e51d2d80616d93c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5c4b8061784ce3c77a8b3ffaab49b4ed32239dc6bfacd1465cdddcbc2bfafa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 99):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606b19aaf87d9a4be0855a8e89a3488f1b3a992a9a20a744054417bbd0d59c4d",
        "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_01BGDYGeA2uZW5d8oCbM76Vm",
      "input": {
        "note": "Empty again and the jug is being tilted rather than straddled — its body is likely wider than the 9.5 cm jaw stroke. Opening and lifting above the jug so I can grasp it by the narrower neck instead.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01BGDYGeA2uZW5d8oCbM76Vm",
      "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]: [-0.1799, 1.5311, 1.3193, -0.4419, -0.3145, -0.2104, 0.9972, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.0233 left_z=0.2384 left_yaw=0.1797 left_pitch=-0.0518 left_roll=0.0341 left_gripper=0.9972 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -9.7299, 9.6752, 1.7509, -0.0855, 0.2955, -0.0562, -0.3214, -1.306, 7.0632, 1.6874, -0.0806, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e055483649319dfd7fb44d62c954c829253346ab1eefe82405ad99307de20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e65ff4b2d41b8286b2422ce97051374fb5ba6285f974d1190928b81069f6a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94fa6a36d4151942f37c170b9bce54df3dd18a44f052166ed8f953c10416465e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 8.742 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]: [-0.1822, 1.7309, 0.8299, 0.2333, -0.2893, -0.189, 0.9929, -0.0151, 0.8051, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0283 left_z=0.0697 left_yaw=0.1455 left_pitch=-0.0709 left_roll=0.0416 left_gripper=0.9929 right_x=0.2952 right_y=0.0013 right_z=0.1776 right_yaw=0.0005 right_pitch=-0.0118 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.2667, -7.2, 9.0598, 2.1074, -0.0855, 0.2955, 0.2271, -0.335, -1.2923, 7.0359, 1.7118, -0.0611, -0.0806, -0.0171]\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]: [-0.1799, 1.7359, 0.8349, 0.2256, -0.289, -0.1955, 0.0094, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4519 left_y=-0.0274 left_z=0.0681 left_yaw=0.1512 left_pitch=-0.078 left_roll=0.0386 left_gripper=0.0094 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0003 right_pitch=-0.0126 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.5265, 5.6684, 1.7363, -0.0611, 0.0366, 0.7106, -0.3214, -1.3744, 7.0222, 1.7314, -0.0708, -0.0073, -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 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]: [-0.1799, 1.5311, 1.3193, -0.4419, -0.3145, -0.2104, 0.9972, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.0233 left_z=0.2384 left_yaw=0.1797 left_pitch=-0.0518 left_roll=0.0341 left_gripper=0.9972 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -9.7299, 9.6752, 1.7509, -0.0855, 0.2955, -0.0562, -0.3214, -1.306, 7.0632, 1.6874, -0.0806, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e055483649319dfd7fb44d62c954c829253346ab1eefe82405ad99307de20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e65ff4b2d41b8286b2422ce97051374fb5ba6285f974d1190928b81069f6a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94fa6a36d4151942f37c170b9bce54df3dd18a44f052166ed8f953c10416465e",
        "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_01PfhMxk3CHxg9MpHsCcj5VH",
      "input": {
        "note": "The jug is upright again and its neck opening sits on the jaw column a few cm ahead of the fingertips in the left wrist view; advancing ~5 cm and lowering slightly to bring the jaws around the neck.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.5,
          "left_y": -0.023,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PfhMxk3CHxg9MpHsCcj5VH",
      "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]: [-0.1581, 1.6775, 1.3216, -0.3279, -0.3149, -0.2062, 0.9981, -0.0151, 0.8089, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.0185 left_z=0.1951 left_yaw=0.2002 left_pitch=-0.0801 left_roll=0.0483 left_gripper=0.9981 right_x=0.2955 right_y=0.0013 right_z=0.1765 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.6615, 7.0085, 2.0293, -0.1197, 0.1832, 0.0855, -0.1983, -1.5248, 7.0222, 1.7021, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd61eb3c1f3bacf78cbcf86050ba71e5e4e32ac7e3d301eeab8b4e5858e81cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47fe7a8a527619984c461c134a1f44b605d598a34b32e23e5e8327803b41ec63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89780912af3ece33685acb379d1bc28483c77736db5c6a386130cc25fe3003bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 12.38 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]: [-0.1799, 1.7359, 0.8349, 0.2256, -0.289, -0.1955, 0.0094, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4519 left_y=-0.0274 left_z=0.0681 left_yaw=0.1512 left_pitch=-0.078 left_roll=0.0386 left_gripper=0.0094 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0003 right_pitch=-0.0126 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -8.5265, 5.6684, 1.7363, -0.0611, 0.0366, 0.7106, -0.3214, -1.3744, 7.0222, 1.7314, -0.0708, -0.0073, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1799, 1.5311, 1.3193, -0.4419, -0.3145, -0.2104, 0.9972, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.0233 left_z=0.2384 left_yaw=0.1797 left_pitch=-0.0518 left_roll=0.0341 left_gripper=0.9972 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -9.7299, 9.6752, 1.7509, -0.0855, 0.2955, -0.0562, -0.3214, -1.306, 7.0632, 1.6874, -0.0806, -0.0513, -0.0171]",
      "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]: [-0.1581, 1.6775, 1.3216, -0.3279, -0.3149, -0.2062, 0.9981, -0.0151, 0.8089, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.0185 left_z=0.1951 left_yaw=0.2002 left_pitch=-0.0801 left_roll=0.0483 left_gripper=0.9981 right_x=0.2955 right_y=0.0013 right_z=0.1765 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.6615, 7.0085, 2.0293, -0.1197, 0.1832, 0.0855, -0.1983, -1.5248, 7.0222, 1.7021, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fd61eb3c1f3bacf78cbcf86050ba71e5e4e32ac7e3d301eeab8b4e5858e81cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47fe7a8a527619984c461c134a1f44b605d598a34b32e23e5e8327803b41ec63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89780912af3ece33685acb379d1bc28483c77736db5c6a386130cc25fe3003bf",
        "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/gkKEAgRGAI4AUIIdGhpbmtpbmcSDFol8/YyZa9UiM1VfhoMJeYJmPfIsJpbw6gWIjDqVoZVJNOjS5ltFaKMQniCoXiA8BSL4NJ9MCKWP9EEuf2jZsfbH0sKuePKPcRz+LMqmwm9OStuJk43e8ztWZsC66h4buL+cgdr2NjniF2kUqT/z/xuEp6HrLP0+yOTOEAhJw9dIHY76DW+DylAHyn2VYWddEeBE3Gu1n/a3HFI76wAk+sXrQXsN2KH0igNIkii7o3lG9KvYlT0D454U8JcbFZDA9ehBRCKsDIyRm399frIywNNftXRrpyd9sIy8/f9Xyx9AYuY01VvpLrHZ+vnjUJXJf5twF1Fs1IPubXCYzKfdI1NMrYOb5lS+FF6JnvBe4NTnNhinLlotY7zchpGSDBTUmDjjonqwO52GMgdEq+/sqAp0mNCla1uoqDGKYPW9jZzgPDwFjKr4j/JgimI6KUCWgA4geG/R5dVq+P4heiHwb064Sro7/EZLWHtz12gTSIGFLA5/31yCBZ4u5vgQFUJsSFZKBNpNG/GnNgqn5yOgpYUTOCZzLdtvQGfwolUvWcgtTmlEVFw8YesKjQwgbJ50vqk0F9PMGMUoYDuWE1qE1AjZPjP+CO12xLJqnilLBK7G/H6u+LequDuRaiHX0MNta511FNj5doAdtbjUO7f1lvAB4Vvoqj9qPsCiH4zsUCo1ahn1r6DINkNzyj7hnkQl9HIKtnIicyyYTDMTvuQYk68Kq3el4mRUVZD0o1ppcaxTav6vO/9zNKa65agOcSbv3CvXpvcq9fvQTFh3PWpNi4LRWGFC1XDSdY/GGvChbT2GiIJCEHOA2ctcmyDlQn4xaVEwl+sCU+6x6JcEZgqj67/ycoxQoYbsnqxuIKs3DyfMG9UaChvKZwFVOi++Kuqzcn0ZWA0JJRJijfe8UMN+NVsDlw33+AwvRBQ4gokawB0sqG6Pegna6kRSxKhmPb1eLHnytVgmzwppWBmhrKlZfms2spY+cn28Ve+zdAXMhRKkyo0ePdi8M25m5tlA6kVZcvLxYafiOVsL8H7BswtIAM7J8+n80HceYizZE7KjjgNb11oEy9cvZhpjtegJsNe3Hnl30XSvJpWiNYEdc/Fk+L1sLrevRFbfuwmJeQ9wCHNahcEvWoqE0Z815XoVtBNuOFyOBYB4iSwFU7dwg4sO7TgoLZLt658HOdPKOje8DlIjprmLCkejtQw85SJiZaDiyZukN5bFBMA1FqsTSiM0qlntZGWpGeIGSO6aH0/CSrLLnVKUjjJFm9D/XF2US3FyvxhlsVzQmOh8BJ16QyiK6/VDhwdd2sswkdqsaX5v5ATbD7RRjyek84tXlaL63i/brWe7XckxkmiYzNF1EsUT2/5FIGHGnoIop8/R6H0u8w8RMv5DUMTPjrEf5VtTRbm4pK+4smYzE2I+Z6I0SR5xRJbr2dKVeFTiMJWJsXLTjWL/f3AGAf/msDka69p4dfJphJiep7V5c5mpYPX2AlUt8sKzXmh1tdWP7o0cbjiKDEzhNVe33LOUq5i+b5cxg994YMmdVkshN51i/1OTRogKRqbD4uTIKxFNd6ADagYqR0mnApdXqosHXZWS3NQAX818IjZYsBrd+N5cjxs+uaq1FDmFsLkapyd3gcnDV65A1+a3clf9niMwK4fr5dttCd5FfFBK5PZN1QbPdQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WcF4giV2uKJXuP8rf2thGN",
      "input": {
        "note": "The arm is near its reach limit and the jug neck is still ahead of the fingertips; pitching the tool forward to extend reach and pushing another few cm toward the neck.",
        "targets": {
          "left_pitch": 0.4,
          "left_x": 0.53,
          "left_y": -0.02,
          "left_yaw": 0.0,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01WcF4giV2uKJXuP8rf2thGN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0837, 1.7939, 0.9543, 0.4156, -0.1509, -0.0307, 0.9982, -0.0147, 0.8127, 0.6079, -0.3859, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5106 left_y=-0.0126 left_z=0.1267 left_yaw=0.044 left_pitch=0.1453 left_roll=0.0535 left_gripper=0.9982 right_x=0.2957 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.3197, 6.9538, 1.8535, 0.2613, 0.2564, -0.0073, -0.253, -1.6342, 7.0496, 1.7021, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9fc58bf590f940a95140a86527bff1f9ee34226296a7d9452f260f67e48a44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca487b3948b5edc4b780609d9fa28a502c40d2689b018e4f23f12ca37d95832e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca329d8a4af3c246a125ea346af9da80ee8f1060be158cb91091eac45926d345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 22.72 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]: [-0.1799, 1.5311, 1.3193, -0.4419, -0.3145, -0.2104, 0.9972, -0.0151, 0.8062, 0.6079, -0.3851, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4539 left_y=-0.0233 left_z=0.2384 left_yaw=0.1797 left_pitch=-0.0518 left_roll=0.0341 left_gripper=0.9972 right_x=0.2954 right_y=0.0013 right_z=0.1773 right_yaw=0.0005 right_pitch=-0.0126 right_roll=-0.0007 right_gripper=0.9998\nstate[joint_eff]: [-1.0051, -9.7299, 9.6752, 1.7509, -0.0855, 0.2955, -0.0562, -0.3214, -1.306, 7.0632, 1.6874, -0.0806, -0.0513, -0.0171]",
      "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]: [-0.1581, 1.6775, 1.3216, -0.3279, -0.3149, -0.2062, 0.9981, -0.0151, 0.8089, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.0185 left_z=0.1951 left_yaw=0.2002 left_pitch=-0.0801 left_roll=0.0483 left_gripper=0.9981 right_x=0.2955 right_y=0.0013 right_z=0.1765 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.6615, 7.0085, 2.0293, -0.1197, 0.1832, 0.0855, -0.1983, -1.5248, 7.0222, 1.7021, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0837, 1.7939, 0.9543, 0.4156, -0.1509, -0.0307, 0.9982, -0.0147, 0.8127, 0.6079, -0.3859, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5106 left_y=-0.0126 left_z=0.1267 left_yaw=0.044 left_pitch=0.1453 left_roll=0.0535 left_gripper=0.9982 right_x=0.2957 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.3197, 6.9538, 1.8535, 0.2613, 0.2564, -0.0073, -0.253, -1.6342, 7.0496, 1.7021, -0.0366, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9fc58bf590f940a95140a86527bff1f9ee34226296a7d9452f260f67e48a44c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca487b3948b5edc4b780609d9fa28a502c40d2689b018e4f23f12ca37d95832e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca329d8a4af3c246a125ea346af9da80ee8f1060be158cb91091eac45926d345",
        "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_014EokdjE4EigwrERiKXEAVu",
      "input": {
        "note": "The extended reach dropped the arm and knocked the jug over — the top view now shows it lying on its side near the far-left edge. Retracting and raising the left arm to get a clear overhead look at where the jug landed.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.03,
          "left_yaw": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_014EokdjE4EigwrERiKXEAVu",
      "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]: [-0.152, 1.3102, 1.0565, -0.2852, -0.1604, -0.0643, 0.9982, -0.0147, 0.8165, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.0313 left_z=0.2384 left_yaw=0.0004 left_pitch=0.0333 left_roll=0.044 left_gripper=0.9982 right_x=0.295 right_y=0.0014 right_z=0.1728 right_yaw=0.0009 right_pitch=-0.0305 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.8171, 10.1675, 1.8144, -0.1636, -0.0464, -0.0122, -0.2393, -1.6342, 7.0632, 1.7656, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c302010912b009306734a4e687e2fdc043e95491a80b231774cb88a4b4a2239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2326625ce3fd20140c578cf77427e43707ba5b80fbe1cebbbdab198b670db8f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1d251f1be274b6e32b3ecd15998650fd2afd2087ddd3d055b5e2fc379c19b690",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 15.85 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]: [-0.1581, 1.6775, 1.3216, -0.3279, -0.3149, -0.2062, 0.9981, -0.0151, 0.8089, 0.6079, -0.3855, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4865 left_y=-0.0185 left_z=0.1951 left_yaw=0.2002 left_pitch=-0.0801 left_roll=0.0483 left_gripper=0.9981 right_x=0.2955 right_y=0.0013 right_z=0.1765 right_yaw=0.0005 right_pitch=-0.0156 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.1299, -9.6615, 7.0085, 2.0293, -0.1197, 0.1832, 0.0855, -0.1983, -1.5248, 7.0222, 1.7021, -0.0611, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0837, 1.7939, 0.9543, 0.4156, -0.1509, -0.0307, 0.9982, -0.0147, 0.8127, 0.6079, -0.3859, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5106 left_y=-0.0126 left_z=0.1267 left_yaw=0.044 left_pitch=0.1453 left_roll=0.0535 left_gripper=0.9982 right_x=0.2957 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.3197, 6.9538, 1.8535, 0.2613, 0.2564, -0.0073, -0.253, -1.6342, 7.0496, 1.7021, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.152, 1.3102, 1.0565, -0.2852, -0.1604, -0.0643, 0.9982, -0.0147, 0.8165, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.0313 left_z=0.2384 left_yaw=0.0004 left_pitch=0.0333 left_roll=0.044 left_gripper=0.9982 right_x=0.295 right_y=0.0014 right_z=0.1728 right_yaw=0.0009 right_pitch=-0.0305 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.8171, 10.1675, 1.8144, -0.1636, -0.0464, -0.0122, -0.2393, -1.6342, 7.0632, 1.7656, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c302010912b009306734a4e687e2fdc043e95491a80b231774cb88a4b4a2239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2326625ce3fd20140c578cf77427e43707ba5b80fbe1cebbbdab198b670db8f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d251f1be274b6e32b3ecd15998650fd2afd2087ddd3d055b5e2fc379c19b690",
        "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_013cTNPTRJNwNt9xHgtwhzTm",
      "input": {
        "note": "The jug lies on its side with its spout pointing away from the arm and the handle facing up-left; moving closer and lower over its near end to judge whether the handle or neck can be gripped.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.46,
          "left_y": -0.01,
          "left_yaw": 0.0,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013cTNPTRJNwNt9xHgtwhzTm",
      "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]: [-0.065, 1.5593, 0.9283, 0.0174, -0.102, -0.041, 0.9982, -0.0147, 0.8192, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0078 left_z=0.1385 left_yaw=0.0258 left_pitch=-0.0454 left_roll=0.0411 left_gripper=0.9982 right_x=0.2951 right_y=0.0014 right_z=0.172 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.3641, 5.7915, 1.8339, 0.105, 0.1148, -0.0122, -0.212, -1.6342, 7.0769, 1.7167, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfc2cee1308bba13d498d6e29f98164c29af83fea116bb48ab6b84d98be0099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67dbe1f8f63efe96ed8221c17bf1a0653e4dfb8c6a955f4e7949e8ad664d2978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3c291f82667414f01f7293f20d4f09762cc19679fe37a95259d6060ca8c9802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 8.696 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]: [-0.0837, 1.7939, 0.9543, 0.4156, -0.1509, -0.0307, 0.9982, -0.0147, 0.8127, 0.6079, -0.3859, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5106 left_y=-0.0126 left_z=0.1267 left_yaw=0.044 left_pitch=0.1453 left_roll=0.0535 left_gripper=0.9982 right_x=0.2957 right_y=0.0014 right_z=0.1754 right_yaw=0.0009 right_pitch=-0.0198 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -9.3197, 6.9538, 1.8535, 0.2613, 0.2564, -0.0073, -0.253, -1.6342, 7.0496, 1.7021, -0.0366, -0.0757, -0.0122]",
      "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]: [-0.152, 1.3102, 1.0565, -0.2852, -0.1604, -0.0643, 0.9982, -0.0147, 0.8165, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.0313 left_z=0.2384 left_yaw=0.0004 left_pitch=0.0333 left_roll=0.044 left_gripper=0.9982 right_x=0.295 right_y=0.0014 right_z=0.1728 right_yaw=0.0009 right_pitch=-0.0305 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.8171, 10.1675, 1.8144, -0.1636, -0.0464, -0.0122, -0.2393, -1.6342, 7.0632, 1.7656, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.065, 1.5593, 0.9283, 0.0174, -0.102, -0.041, 0.9982, -0.0147, 0.8192, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0078 left_z=0.1385 left_yaw=0.0258 left_pitch=-0.0454 left_roll=0.0411 left_gripper=0.9982 right_x=0.2951 right_y=0.0014 right_z=0.172 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.3641, 5.7915, 1.8339, 0.105, 0.1148, -0.0122, -0.212, -1.6342, 7.0769, 1.7167, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfc2cee1308bba13d498d6e29f98164c29af83fea116bb48ab6b84d98be0099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67dbe1f8f63efe96ed8221c17bf1a0653e4dfb8c6a955f4e7949e8ad664d2978",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3c291f82667414f01f7293f20d4f09762cc19679fe37a95259d6060ca8c9802",
        "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_01WLc3STJxGuaAo2dcyorMRp",
      "input": {
        "note": "The jug lies handle-up with its base end facing the arm; the lying body looks narrow enough across to grasp. Descending to mid-height of the lying body at its near end so the jaws close across it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.49,
          "left_y": -0.005,
          "left_yaw": 0.0,
          "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_01WLc3STJxGuaAo2dcyorMRp",
      "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]: [-0.0433, 1.8523, 0.8848, 0.3363, -0.0765, -0.0284, 0.9982, -0.0147, 0.8211, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4809 left_y=-0.0037 left_z=0.0528 left_yaw=0.0193 left_pitch=-0.0644 left_roll=0.0378 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.253, -9.3607, 5.053, 2.0098, 0.0855, 0.1441, -0.0122, -0.3624, -1.5521, 7.0632, 1.663, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcfec8ee6e0af4543cbc1230eb2949a594732aca5bf4a144314289f578e509a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99b1c5f7bbe95616f5ce97629da4fce2c0564824df1896039c466a1418f1835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d5f474b9545efccae9e1823c67f75f62d9bfc4e182bca471d0387d18f43706e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 16.39 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]: [-0.152, 1.3102, 1.0565, -0.2852, -0.1604, -0.0643, 0.9982, -0.0147, 0.8165, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4142 left_y=-0.0313 left_z=0.2384 left_yaw=0.0004 left_pitch=0.0333 left_roll=0.044 left_gripper=0.9982 right_x=0.295 right_y=0.0014 right_z=0.1728 right_yaw=0.0009 right_pitch=-0.0305 right_roll=-0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1846, -6.8171, 10.1675, 1.8144, -0.1636, -0.0464, -0.0122, -0.2393, -1.6342, 7.0632, 1.7656, -0.0464, -0.0513, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.065, 1.5593, 0.9283, 0.0174, -0.102, -0.041, 0.9982, -0.0147, 0.8192, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0078 left_z=0.1385 left_yaw=0.0258 left_pitch=-0.0454 left_roll=0.0411 left_gripper=0.9982 right_x=0.2951 right_y=0.0014 right_z=0.172 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.3641, 5.7915, 1.8339, 0.105, 0.1148, -0.0122, -0.212, -1.6342, 7.0769, 1.7167, -0.0415, -0.0317, -0.0171]",
      "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]: [-0.0433, 1.8523, 0.8848, 0.3363, -0.0765, -0.0284, 0.9982, -0.0147, 0.8211, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4809 left_y=-0.0037 left_z=0.0528 left_yaw=0.0193 left_pitch=-0.0644 left_roll=0.0378 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.253, -9.3607, 5.053, 2.0098, 0.0855, 0.1441, -0.0122, -0.3624, -1.5521, 7.0632, 1.663, -0.0415, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bcfec8ee6e0af4543cbc1230eb2949a594732aca5bf4a144314289f578e509a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f99b1c5f7bbe95616f5ce97629da4fce2c0564824df1896039c466a1418f1835",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d5f474b9545efccae9e1823c67f75f62d9bfc4e182bca471d0387d18f43706e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAoKEAgRGAI4AUIIdGhpbmtpbmcSDNP6QgMKAFtAXu/f2hoM6a4vxqWJagzxr1hPIjBqmTo7G6F+xaOsCxvSQOoqGyBkX3TRLLFgrYo7qB1edGCt8QsGJRzyuoQM5eTkCAwqwQmcPa3WyfKvaBqCHweLKMypHV/N5hjObRy/b7OhE0H0Kekf3kqnwFZC/oXr0GRxxbKxdkJ8cPLjh3C5eBon+pr5QvUf7hjZxe1A6LwaX7ZXqiIhqvYwvL1+EeqPXY5e0aRTWGjABQJ9P2dbRUCys6HlA6AIyF7s31zCqVWRjxguQyVrjwiJ7Oel1FzF8LJ8TANbB5gzb7t2WgEYYPAj44+G5leDc8h1jyNzy7U5Nll3zmf3A/Yag182g9IzKCWlE/P59Fj8HMsLBCGDu/4c/kErQqVx6yd0Y48NksO4/eEnYaOySIaQeLMbOp2glbQo0g1qLX+VN4vBF3nrUq+KHhY7blT/NwRtqAQbiJA034U5KC6B0rOV9xNzYu2hqAbd2sbyMomwmYMLVT70bCVEktkMfdsfyttiGf/tYtOjmuVUD4TOZKLApgjKINA7EWNa6H7TZDrZa7zqunS06iWGslPcL17I0R/295XIlUFVXFt/xSFQyTjLP6kb+2kuF+4cbMEuwTHKyxn0eumlOtvr6So+SKp9LON3caHX1TbXfAP7dgNaE+tC7d+zYZjhyHSt0hRWDchXhSzbm/AGRDUjXdQaawjM5h8q3C13H0kgVttzDpIqcBNDyPXFbwUVN142tW4EGLT1huEaNCKr0leR7lZ5vC9KzNgEs/Xsx5FCr9MyDQIpgmE7IeSnQZu5BUBtEKoyJ42B7z0Ha+UzOAf6ahet0sv7Ha7lElDDRopFkZHOVlWqjyMzVHirioTbF5B0urBqq12VkFokYdL/lxEbbvh+xIReMBASb6ClDses29/JNU4IVh0+swYxQGVqQcXOj6HXa+m/6e5CX1frVGG8fM1/Urqz+RfkVID8S9INdvMWPzbdFvUGi68LP1s3uNlV3yjuOfrQXIS1HVzlOfSeZC+pWzd0pi+8WX9647ug/tbj4JVlVQoq7AdlzDx/IZGxAVibFgbjuRKxMPr7ANrefRlG2eiE8h8pmCToAbtm8DYdxgk1shXf2XHpkY/w7guE/zWwTEc6P92rwki5GOhRHe25/LyUWicqe3BToLB5uWwPMzyqPc2pxhjXglb755ScJem11+3H/5BKHM9CR3l1k0Re0n9A/3OKhQLu53y+N7MYpST6O04av93pqA3mTfOIfvKqm3UeJsgHI87YLiM9t66tcF1HSL/Chk38j1hpxIYLV+DZMLsr/IW9c2TM/5Oqkcz7dE2lVoT2ePHL/YTHNn79yoQEFuJ2Q6xt6+aksMyfqWBoK821SNYeejsVlnwFoE8mQF8IoU7WCYkA/xbDH6QFoIMxlpcx1BwHfncsBkj3Pyt7lZIwsR8Udjlb3jdqpVplCXvYh1nRElV08R74QytNX77n0m60SEaD/BpDPjrbfXwpXn59WT33Mg8HWLjofoUq3+ZQ7/V9mP7suPh9WYTlE4Ccccot8i5BBnW3EsQjS2xp8Nllh2tBO04gFv4rjFDwpGxVTeAf1rUtf9+MF9p7M1jVXaXCldoib00mBeIyO8vjnBXNIzaMDfL6w10Vhqy4hByZt2jz8pOWJNTOo3NvtHaIQrHHZYpYUIvFMFLq65lmjLss/Z0jx8QlvlrARTBVoFSBsWXjvRAWB/XAh6kF3xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1pW3uQkbQBj8jqbPrGGXm",
      "input": {
        "note": "The jug's base end is still a few cm beyond the jaw tips and the arm is near its reach limit; pitching the tool forward and pushing ~4 cm further so the jaws straddle the lying body.",
        "targets": {
          "left_pitch": 0.35,
          "left_x": 0.52,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01C1pW3uQkbQBj8jqbPrGGXm",
      "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]: [-0.0277, 2.1536, 0.8028, 1.066, -0.0658, -0.0135, 0.9982, -0.0147, 0.8211, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5142 left_y=0.001 left_z=0.0374 left_yaw=0.0197 left_pitch=0.2809 left_roll=0.0275 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0009 right_pitch=-0.0351 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.0462, 5.053, 2.0391, 0.1392, 0.1197, -0.0122, -0.3761, -1.4427, 7.0769, 1.7167, -0.0562, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af85d7a567ed0a9064c2cf836b9e0d4dcfdcb88ecfb96661630f60600c978fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f37c7146b0c9b60f7277617aba5fa855d1b8756b83ca81fb956b1c53c6356c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:255c2730ac32271cacbdeb902e2928f8380c157ba686b00ebe5668d4f3ec2a33",
        "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 · 15.77 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]: [-0.065, 1.5593, 0.9283, 0.0174, -0.102, -0.041, 0.9982, -0.0147, 0.8192, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4517 left_y=-0.0078 left_z=0.1385 left_yaw=0.0258 left_pitch=-0.0454 left_roll=0.0411 left_gripper=0.9982 right_x=0.2951 right_y=0.0014 right_z=0.172 right_yaw=0.0005 right_pitch=-0.0336 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.1983, -7.3641, 5.7915, 1.8339, 0.105, 0.1148, -0.0122, -0.212, -1.6342, 7.0769, 1.7167, -0.0415, -0.0317, -0.0171]",
      "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]: [-0.0433, 1.8523, 0.8848, 0.3363, -0.0765, -0.0284, 0.9982, -0.0147, 0.8211, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4809 left_y=-0.0037 left_z=0.0528 left_yaw=0.0193 left_pitch=-0.0644 left_roll=0.0378 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.253, -9.3607, 5.053, 2.0098, 0.0855, 0.1441, -0.0122, -0.3624, -1.5521, 7.0632, 1.663, -0.0415, -0.0562, -0.0122]",
      "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]: [-0.0277, 2.1536, 0.8028, 1.066, -0.0658, -0.0135, 0.9982, -0.0147, 0.8211, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5142 left_y=0.001 left_z=0.0374 left_yaw=0.0197 left_pitch=0.2809 left_roll=0.0275 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0009 right_pitch=-0.0351 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.0462, 5.053, 2.0391, 0.1392, 0.1197, -0.0122, -0.3761, -1.4427, 7.0769, 1.7167, -0.0562, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af85d7a567ed0a9064c2cf836b9e0d4dcfdcb88ecfb96661630f60600c978fa0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f37c7146b0c9b60f7277617aba5fa855d1b8756b83ca81fb956b1c53c6356c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:255c2730ac32271cacbdeb902e2928f8380c157ba686b00ebe5668d4f3ec2a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgRGAI4AUIIdGhpbmtpbmcSDCr3n4pbGZ5TIMU/4xoMKmtFaf4FbEtM+e4aIjDksv1HtloOkq5u3Xo5VZYom7APtlOXvCOuenOBZeIx4uplRM5y/K9GKVmJQYb8wuwqrgdQaIl8SN7shaaT+fSLB5uSXC2bE5ZeD7rO0jc+6rXgBGX88Sg3P2bbQcmvi1TZsEx66JgIZOPXX+CXzXD6QDMeEwZCOBHn7UCvYsRbKx8uQRoLOLW/pPCVIN4cALYIleiq3EHp+EE9Hc5nFZms7mwnG8e4RF+oNrj8CD5lHAJS2LnSrKDgyCPyvmjcZo9H5OY/PJcMwc6KvVWC1wBWH+0plaSCWdxb4df+7VfMQp9f3LzJdUchErZmqbECraVo0kI/JkiDpvLWfpo5r5a8ZW18qj8BQmJ4sWF59OFi6W2xu05gQzMWqKBZoJiino0pEgrzjylWm2XogLXBdY11N2I3XlR+dxTTj2XyCjtePypFJ3JN7uKQBvL/cLSmZEZK5f5SZvb4rxG57Y/oYUjv6L1WjeerGj2LwtsxuYGisMgG7ekZXZuL3pr1Ifz7bAulgBNPgbIThnumtWJ9i58t0qHxBM8cgF0JDcbI1/5w0evbnyUIVX53WX+KZhn3CdTiej6mH0xRETt6LGHJegvi9TK2K5rVh3vla9PuhOfJ1LwJK+m2gU7OjFrU2OTKnyAroVB2usoizOPl2TIZ9oDyLnp43ePPtAjatLq+x0CfnB3drkgSVduyKUHYnZ8E5tgOUWyc+Vl3GpuIovevZjMWxTEJxTLxSqQr7reNT2zK9jGKaXfuPUEhY9qnZ+nVp5WItjZW/rfGMn3mGGu3PO1cIhEqGUCOO2l0X2z9z3FmAFOzlEjHj/utun/4Wcuas1hE628DdbMovU2H8mLuV06dM9xcYB8R4HCbrweeQqBHnjquEtD1smPTguMZJDDImk1fUNP6ht0SLiqfJlSnfDw3QFL2kOgXyXu6DqmxpaE7I2JhpsRFAPsCBT/JrrSTF2YyQMViFYcWZduwYgHrH0D9aun062fCU+9HUKcChskID2N/O9usFsI1q2xttwYFtN/kjdTczALjrl7iGEw/aczyYTRDnrMvlyKzmRDe4aM6y9f/GRe196WajRSqMpugZo8Z1Zl5SBhXJSPo2hd39TpJ2NtIglB0RI4cwB3HtbYxd4LLODJ/s5rbrsiKAXTamKABg8FdC+SpLQZPBNjl2OeuOxX4d9wiEPlm5pYBaEQUt/L/h4ZAqfEriib5AzJsDwQ4lPUaj17bpFeMSbH+E2ltWCaGaUbcEbTT6qMfCjGXWgr6D/uJbS9dhlgkEE6ETC6jdKD6icUFE/xR4XIKz7Wck8c/MriWK1wcKk5mvBHYDl8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7DurzKiAbMmXEdx2khbij",
      "input": {
        "note": "The jug's base end now sits between the jaw tips in the wrist view; closing the gripper across the lying body.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L7DurzKiAbMmXEdx2khbij",
      "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]: [-0.0284, 2.1674, 0.8028, 1.0626, -0.0677, -0.0135, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=0.001 left_z=0.0299 left_yaw=0.0203 left_pitch=0.2638 left_roll=0.0289 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.0974, 4.2462, 1.917, 0.0366, -0.0415, 0.6911, -0.2667, -1.4017, 7.0359, 1.746, -0.0464, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06783bd9c6562285667ed5e6c9ac08ac909accccebebd3d8831c258625a6f371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68ba9bd2d819f725758bbb88af8bfd4be411ccfda64cb0ad221d4d3145c37d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb9ae088c88aa80b70ab232473f15c8d51812bcc822c30905940804aed96c705",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.676 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]: [-0.0433, 1.8523, 0.8848, 0.3363, -0.0765, -0.0284, 0.9982, -0.0147, 0.8211, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.4809 left_y=-0.0037 left_z=0.0528 left_yaw=0.0193 left_pitch=-0.0644 left_roll=0.0378 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.253, -9.3607, 5.053, 2.0098, 0.0855, 0.1441, -0.0122, -0.3624, -1.5521, 7.0632, 1.663, -0.0415, -0.0562, -0.0122]",
      "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]: [-0.0277, 2.1536, 0.8028, 1.066, -0.0658, -0.0135, 0.9982, -0.0147, 0.8211, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5142 left_y=0.001 left_z=0.0374 left_yaw=0.0197 left_pitch=0.2809 left_roll=0.0275 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0009 right_pitch=-0.0351 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.0462, 5.053, 2.0391, 0.1392, 0.1197, -0.0122, -0.3761, -1.4427, 7.0769, 1.7167, -0.0562, -0.0513, -0.0171]",
      "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]: [-0.0284, 2.1674, 0.8028, 1.0626, -0.0677, -0.0135, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=0.001 left_z=0.0299 left_yaw=0.0203 left_pitch=0.2638 left_roll=0.0289 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.0974, 4.2462, 1.917, 0.0366, -0.0415, 0.6911, -0.2667, -1.4017, 7.0359, 1.746, -0.0464, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06783bd9c6562285667ed5e6c9ac08ac909accccebebd3d8831c258625a6f371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a68ba9bd2d819f725758bbb88af8bfd4be411ccfda64cb0ad221d4d3145c37d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb9ae088c88aa80b70ab232473f15c8d51812bcc822c30905940804aed96c705",
        "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_017JkBc7WNDCM1uvKpiwbH9L",
      "input": {
        "note": "Still an empty close — the jug's end is just beyond the fingertips at the arm's reach limit. Opening, pitching the tool fully forward to gain reach and pushing another ~3.5 cm so the jaws finally straddle the body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.6,
          "left_x": 0.55,
          "left_y": 0.01,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_017JkBc7WNDCM1uvKpiwbH9L",
      "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]: [0.0055, 2.4935, 0.9653, 1.5383, -0.0395, -0.0067, 0.9957, -0.0147, 0.8215, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=0.0136 left_z=0.0319 left_yaw=0.0289 left_pitch=0.5753 left_roll=0.0196 left_gripper=0.9957 right_x=0.2952 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0359 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.335, -9.5111, 4.547, 1.9023, 0.2125, 0.0708, 0.1343, -0.1436, -1.2786, 7.0906, 1.7363, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e393cb6579e0a68a238befda7934b7e15686acc6d70daf9af3cdf9c9d66a0bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a95da2a892357d4a5f28f93e220d8771e401578b7e21fcff85c4afdf6ed1590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24f2ac30b8afc6d9973d778ebe01ede9f3c6b73cb079c01bf6d6176d1b4734b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 15.79 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]: [-0.0277, 2.1536, 0.8028, 1.066, -0.0658, -0.0135, 0.9982, -0.0147, 0.8211, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5142 left_y=0.001 left_z=0.0374 left_yaw=0.0197 left_pitch=0.2809 left_roll=0.0275 left_gripper=0.9982 right_x=0.2952 right_y=0.0014 right_z=0.1716 right_yaw=0.0009 right_pitch=-0.0351 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -9.0462, 5.053, 2.0391, 0.1392, 0.1197, -0.0122, -0.3761, -1.4427, 7.0769, 1.7167, -0.0562, -0.0513, -0.0171]",
      "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]: [-0.0284, 2.1674, 0.8028, 1.0626, -0.0677, -0.0135, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=0.001 left_z=0.0299 left_yaw=0.0203 left_pitch=0.2638 left_roll=0.0289 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.0974, 4.2462, 1.917, 0.0366, -0.0415, 0.6911, -0.2667, -1.4017, 7.0359, 1.746, -0.0464, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.0055, 2.4935, 0.9653, 1.5383, -0.0395, -0.0067, 0.9957, -0.0147, 0.8215, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=0.0136 left_z=0.0319 left_yaw=0.0289 left_pitch=0.5753 left_roll=0.0196 left_gripper=0.9957 right_x=0.2952 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0359 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.335, -9.5111, 4.547, 1.9023, 0.2125, 0.0708, 0.1343, -0.1436, -1.2786, 7.0906, 1.7363, -0.0317, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e393cb6579e0a68a238befda7934b7e15686acc6d70daf9af3cdf9c9d66a0bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a95da2a892357d4a5f28f93e220d8771e401578b7e21fcff85c4afdf6ed1590",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24f2ac30b8afc6d9973d778ebe01ede9f3c6b73cb079c01bf6d6176d1b4734b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkgcKEAgRGAI4AUIIdGhpbmtpbmcSDJk5Zk2LvsAmgwBjoxoMODSvWBsoxM262wi1IjAgQ23RFvdns8SjtiRk+pA2E2BVjFsVuUr3u4m7b54V3P+N6cuGfaxphGHVfIbVhFIqrwaodlPNcobsYre0GzZwSA0lLKCHsX4Ryj3guDCEOqeot8E+5by8AUrhbLNlaSDiiCmmbx94CKRXyCuIvHcM+FPidNzGTONBAxW9ASe3sopBXo1uSfpgL3Gie7KjKVchlrIWouUGJ7CHH0lnebnVOGh1A7RgarSCzhDdzElzeA8+eWNxUuxoVRZrLHxijQpWmcSvq2b7aNbOVnCB8zLmu10bN1tsiWzGwqowykSoxM2MKgSSixphV0+E1ZDT7FV145TCsV3wHe+ssVOv7mHGpgeyuJudjDPSGd9t2wlF2rVWJHLukIpaxzG4f+RY6d/ijryQLZKlMWwDlkrJnrno0pcXgujdFUX1wk1K+ywd64tFZCObVEnrXQOHyfSHJR+IkgNv2nkGEEfIuzdthFIyBW1jhQHiTN9zb3rShBmrDDZHhaajSsRAWA97fFZUT6/o+MevVHKzcN6VpZmYH9d3JNRo4hcSZrPex6vwV1UirQOdLmtXScLAnh4cZD+TzvZ7frTwX7P11Y6ef3EbL87MB2Dwbs7xDU+u7oS2QJtHDE81U6Qb/jLjRk1LgoQXU8sec8R1UyV5pRzzZ0w5yJ2XE+66g5VhZ2lKs4kU6A8o55g8CrdHal+P3WFfVF/ayE65bXfVn+wv5mxVGo4MS8PB8oRT6BYgA/Allg7k7qRFG+EpOe69R1rJepzAf1forApW8Sf9CfIIzrU0eGK/Xh4zKDJtXpWYSZm99NyVbOnwjmDt5vkXcEiQ2ZwJ6lV8kORXvaeq0imYe5ibxD0Lzrp4rnv/NICtrBeuiNCSYwEP0jqfZV3XTrJqssxFehgxVABBqU7jH5Wge+z0qYK/YkKntzidX/8rQOcbce0BsdThEJFs22bI4E1EGbg1sGQHILpwjk8YG1a/nd9kqm0u0woohN0MliczbNFN1wdxYfy13Yr0xG3rtxWKJ1KNU5yZ8fm2eO6gkdbRz9aJzFrE7RSOHJ560/Iq1dRrcnEDDNggGKqmbPPM6NnaKhKJxseZQ6BujFo7w697Q9vUrd6bpCg3D7A0Mo17EEwVT7EDe77TH3af3417oDnVTfgBMQA0k1qf/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F6tJF64jMorHUfUPYc77Dt",
      "input": {
        "note": "The gripper reached x≈0.55 and the top view shows the open jaws around the jug's base end; closing to grasp the lying jug.",
        "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_01F6tJF64jMorHUfUPYc77Dt",
      "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]: [0.0051, 2.5004, 0.9722, 1.5608, -0.0452, -0.0101, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=0.0144 left_z=0.036 left_yaw=0.0369 left_pitch=0.5979 left_roll=0.0146 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.7402, 2.9197, 1.619, 0.0806, -0.0073, 0.6716, -0.335, -1.1692, 7.1453, 1.707, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40de5c0b9bed05de506753c1fb2190380f91d7eaa774d20b925c31e6d4f94f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8985054349efc95364f6fccf0fddb29f406e1a19a4fac30e8ae18590cfe7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aafc88ad451f68d2ed25fb835fd9b7bb91dc4582444cd53f68d82f3b8850e0f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 8.51 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]: [-0.0284, 2.1674, 0.8028, 1.0626, -0.0677, -0.0135, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5129 left_y=0.001 left_z=0.0299 left_yaw=0.0203 left_pitch=0.2638 left_roll=0.0289 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0005 right_pitch=-0.0355 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -11.0974, 4.2462, 1.917, 0.0366, -0.0415, 0.6911, -0.2667, -1.4017, 7.0359, 1.746, -0.0464, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0055, 2.4935, 0.9653, 1.5383, -0.0395, -0.0067, 0.9957, -0.0147, 0.8215, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=0.0136 left_z=0.0319 left_yaw=0.0289 left_pitch=0.5753 left_roll=0.0196 left_gripper=0.9957 right_x=0.2952 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0359 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.335, -9.5111, 4.547, 1.9023, 0.2125, 0.0708, 0.1343, -0.1436, -1.2786, 7.0906, 1.7363, -0.0317, -0.0317, -0.0122]",
      "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]: [0.0051, 2.5004, 0.9722, 1.5608, -0.0452, -0.0101, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=0.0144 left_z=0.036 left_yaw=0.0369 left_pitch=0.5979 left_roll=0.0146 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.7402, 2.9197, 1.619, 0.0806, -0.0073, 0.6716, -0.335, -1.1692, 7.1453, 1.707, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40de5c0b9bed05de506753c1fb2190380f91d7eaa774d20b925c31e6d4f94f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8985054349efc95364f6fccf0fddb29f406e1a19a4fac30e8ae18590cfe7eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aafc88ad451f68d2ed25fb835fd9b7bb91dc4582444cd53f68d82f3b8850e0f8",
        "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_01T19bwEsQaFvkYxpgVcay31",
      "input": {
        "note": "The lying jug got pushed further out of the left arm's reach, so I'm parking the left arm home. Meanwhile I raise the right arm above the right jug to plan a grasp of its narrow neck (the body is too wide for the jaws).",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.2,
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": -0.02,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01T19bwEsQaFvkYxpgVcay31",
      "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]: [-0.0345, 0.8474, 0.6453, -0.289, -0.0452, -0.0372, 0.9977, -0.0864, 1.2663, 1.1011, -0.453, -0.0734, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=0.0007 left_z=0.2034 left_yaw=0.0063 left_pitch=0.0747 left_roll=0.0065 left_gripper=0.9977 right_x=0.3932 right_y=-0.0174 right_z=0.2402 right_yaw=0.0053 right_pitch=-0.0454 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.9077, 9.265, 1.7118, -0.0757, 0.0708, -0.0024, -0.5812, -4.588, 10.1128, 1.7167, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca3165afba349d162f9d69609c4d6451e1502b46382a7d2180218101203df866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f2c35ccf1dce83894e2ddee99578e2784bab5523990250ab828b5c54c9a2f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30e9cc83a3345b5d98081bf669609152f6d0252eac42d53aa439a4d997a09c43",
        "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 · 8.856 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]: [0.0055, 2.4935, 0.9653, 1.5383, -0.0395, -0.0067, 0.9957, -0.0147, 0.8215, 0.6075, -0.3927, -0.012, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5477 left_y=0.0136 left_z=0.0319 left_yaw=0.0289 left_pitch=0.5753 left_roll=0.0196 left_gripper=0.9957 right_x=0.2952 right_y=0.0014 right_z=0.1714 right_yaw=0.0005 right_pitch=-0.0359 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.335, -9.5111, 4.547, 1.9023, 0.2125, 0.0708, 0.1343, -0.1436, -1.2786, 7.0906, 1.7363, -0.0317, -0.0317, -0.0122]",
      "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]: [0.0051, 2.5004, 0.9722, 1.5608, -0.0452, -0.0101, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=0.0144 left_z=0.036 left_yaw=0.0369 left_pitch=0.5979 left_roll=0.0146 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.7402, 2.9197, 1.619, 0.0806, -0.0073, 0.6716, -0.335, -1.1692, 7.1453, 1.707, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0345, 0.8474, 0.6453, -0.289, -0.0452, -0.0372, 0.9977, -0.0864, 1.2663, 1.1011, -0.453, -0.0734, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=0.0007 left_z=0.2034 left_yaw=0.0063 left_pitch=0.0747 left_roll=0.0065 left_gripper=0.9977 right_x=0.3932 right_y=-0.0174 right_z=0.2402 right_yaw=0.0053 right_pitch=-0.0454 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.9077, 9.265, 1.7118, -0.0757, 0.0708, -0.0024, -0.5812, -4.588, 10.1128, 1.7167, -0.1197, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca3165afba349d162f9d69609c4d6451e1502b46382a7d2180218101203df866",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f2c35ccf1dce83894e2ddee99578e2784bab5523990250ab828b5c54c9a2f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e9cc83a3345b5d98081bf669609152f6d0252eac42d53aa439a4d997a09c43",
        "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/QkKEAgRGAI4AUIIdGhpbmtpbmcSDLduVnRQ6fKrcPhBMRoM/UhBXAxlY59XbFpjIjAEq6Eij+WrG5dlLBijI677dInl5S2DS2vsAFUxK8xT8nFnSaIuKBQPsDaa4ZodXEQqmgmJSXokYWp8k2PbjETcs7wzGFvwUlaWeFsoGK4WZXzthWypSH8WwwoRcaOh64xECJ05P7QxrQRhZn/2YR4MBaiOL9GAU0iJdKBNteLF7hIKnL11BAIhl2I7SZAyB7StuaI/r6mIGesWwuE8dNweI16SL4n4m5be7fcDid1z+JCUUmRvpO8dPQNrUxkABLolgFqi6NAk917kKTcuh1lbtwl7X/S10Px8wkLEYwaIoXlp7zmd4v5903nQJQa/8SO98/ymaGe2vWWeUOwUrBFKoweTDsb9NizQUvFz9WIugDyxOnUutnU79xlNECi8/l8j0fss53aFPJggafxHitIU3iR27pj1FaCGpJVMtvUsjvQSuoDFrGLCP3VhiaHH93pX2iRkLPfknGdQxRqjw23oBk3OnWOhqH2SpCj/MmAaCV+wQp/SkF6wSHVIyE274DfdvcmIwt+8u8vFHsxAaqJKKilU0X2jeMJuMPdbUbaProoruof4E9e9mLEBtxKec1tOB4hPA5Moc63IIwSqJj6i4JKz25seEbcSTvRRZdunsfDL7WT0yPLWxCDswwMN2rgmfs15XLmWMtKuF3pYMPRzqNroJaeylZHag31s+9SCYdgVHZEssuant2RuKYeAM8CwV1tubRslBp7wLIYRHMJXK67D1ryajUtO3+yQ0wxZ9e+7zi0x5X2/PXJrwCs6dSzEQU1dmU4ZXl+1Fq697JX2q1CNJu1UH+/fin8ljlf3niS4qCV2dAhxsfoenDRG1hrONbbSHHHSTrbVce81qRAtqIfWJqhqD1Dl6dZuhhrq6rk7UJCGUBkz6Q9tMoOh2qs6u9H/jIQp1s/k0eVg3aTKEt176Hgu0Y7BfM7Z4AFSNoLelGajmrox+JgYx0tCR8W61dUNws9+RLedI5nrj5BVhiJpRT7OWVZtba7m5Y5j63/4vLw+FdSUsf8lPfuyelFGTXcdhuI5LfvpRGlxYSNsVWzZxpuPsYqayDPocmXpgamkoAawVrvGwOWkqJyla6Dd97ONXm9uIKG4bSOBA4fs5COvPQMa+0J7rhDDrdFFGt64xXA3dQMftIdI8wXewdIiVWQP+DPkroQOS6QvR/0EaQLhcm29IYOJqLLcUm/QKLMp7hVsLcJrQOzVt+U1x/JIxQ4oVUKpcphyg13SugWXaRUYzMcd6Ma82IOcE/86oX1zZGjCWB/5GFXjNfkWCI5IT57FsT+c6mNnxVcmFINY/C4BKUm82PEL7mV/ACKVJgfSZx4Juhw/Es8LTVzANk8G0mkFFJXt/YCQGFa7kvtiSrOyGPgs6J07IR8o5d3Jp/xRYylXmAE+TGFFgk03PWI6QdVYgZRWKZg0F95dIa5gm4qbEq81rQmGr1IZtlmq4VR/iI2xKF8sXR/U6ihj3oz0Wr0Pos4GDge4t2q/guPqeoquXMj3zr+64TVygr78U95flZFxqKJPRwqh438ajor/GHRwFSGc64EpkJj/PyauUQni936Id2GPGmBSyTcp5Rnk7enuNuZz/f0+7OnspLdzkZI0uaBdBjqQxi9RzCRcD8YQEYb/v9LqrWQiRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XtiSvdY1jRSZVRtg24Vvk9",
      "input": {
        "note": "The right wrist view shows the right jug ahead and to the arm's left with its cap at the upper-left; shifting the right gripper left and forward to hover above the jug's neck.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.04,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XtiSvdY1jRSZVRtg24Vvk9",
      "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]: [-0.038, 0.8528, 0.654, -0.3199, -0.0448, -0.0414, 0.9982, 0.1135, 1.3914, 1.1496, -0.4259, 0.0532, 0.0055, 0.9998]\nstate[eef_state]: left_x=0.3128 left_y=-0.0004 left_z=0.1992 left_yaw=0.0048 left_pitch=0.0473 left_roll=0.0038 left_gripper=0.9982 right_x=0.4168 right_y=0.0417 right_z=0.2189 right_yaw=0.056 right_pitch=-0.0959 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.1265, 6.5983, 2.1221, -0.0513, -0.0024, 0.0366, 0.3077, -6.5026, 10.3179, 2.0635, 0.1685, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54d953a6d12c7a192fb8ed5c172950db7395e3797dddc54ca4fa7bcfc68e2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe21bd00b523bd3fe7828ec629414022f9543f5724461038e2868051a6f6792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:943356f0e6cfc5f3038619ca8fcde90e7b1a12194742cbb0543d8ce0cee2db2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 7.988 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]: [0.0051, 2.5004, 0.9722, 1.5608, -0.0452, -0.0101, 0.0095, -0.0147, 0.8215, 0.6075, -0.3923, -0.0124, -0.0269, 0.9998]\nstate[eef_state]: left_x=0.5486 left_y=0.0144 left_z=0.036 left_yaw=0.0369 left_pitch=0.5979 left_roll=0.0146 left_gripper=0.0095 right_x=0.2953 right_y=0.0014 right_z=0.1715 right_yaw=0.0009 right_pitch=-0.0355 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -11.7402, 2.9197, 1.619, 0.0806, -0.0073, 0.6716, -0.335, -1.1692, 7.1453, 1.707, -0.0562, -0.0171, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0345, 0.8474, 0.6453, -0.289, -0.0452, -0.0372, 0.9977, -0.0864, 1.2663, 1.1011, -0.453, -0.0734, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=0.0007 left_z=0.2034 left_yaw=0.0063 left_pitch=0.0747 left_roll=0.0065 left_gripper=0.9977 right_x=0.3932 right_y=-0.0174 right_z=0.2402 right_yaw=0.0053 right_pitch=-0.0454 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.9077, 9.265, 1.7118, -0.0757, 0.0708, -0.0024, -0.5812, -4.588, 10.1128, 1.7167, -0.1197, -0.0415, -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]: [-0.038, 0.8528, 0.654, -0.3199, -0.0448, -0.0414, 0.9982, 0.1135, 1.3914, 1.1496, -0.4259, 0.0532, 0.0055, 0.9998]\nstate[eef_state]: left_x=0.3128 left_y=-0.0004 left_z=0.1992 left_yaw=0.0048 left_pitch=0.0473 left_roll=0.0038 left_gripper=0.9982 right_x=0.4168 right_y=0.0417 right_z=0.2189 right_yaw=0.056 right_pitch=-0.0959 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.1265, 6.5983, 2.1221, -0.0513, -0.0024, 0.0366, 0.3077, -6.5026, 10.3179, 2.0635, 0.1685, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54d953a6d12c7a192fb8ed5c172950db7395e3797dddc54ca4fa7bcfc68e2aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe21bd00b523bd3fe7828ec629414022f9543f5724461038e2868051a6f6792",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943356f0e6cfc5f3038619ca8fcde90e7b1a12194742cbb0543d8ce0cee2db2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AoKEAgRGAI4AUIIdGhpbmtpbmcSDHe1NgHrGA60yyLVzxoMWwdgMN1QEOqF3ozxIjBK/GPBGxSJZBXlYeesvniAonbya9p2NLpx9DX1EvlZY1uth9kvTFz89WSIAMaE+Yoq9QlBF9qv6RcTZpGR/ITiMskP261D7QyMtFguOu5QL/OXCsH8GRtoFMs/L+JaUPfguSuM44m79i4KgAnFupiOnl+WvZh7ZRhvGtBUFcalc73E08VapdvuNf45HItaSNOnO2gJ/7iwVAqovDIzzhYwZIVVZaWowu7PSeXTbKD4RgBFyW22zsvhMRw3PKssj/aNQAMjK0RectcNf9fHhr5Sgs6tB3i0Qmb2UD69i6uQGe1BKZU4t7PGn5csEMsehypP8s/9Ky7pTV9qHjbozvdQ1/5/4MUfqawW9w/uDc1EhhOdwf4K27No5FwicO40LDHizMr85mB2l+OHEcnU4KL/0PtPVndz3sFh3Deaf/insdxSGMpS54AxDFjNW0UsodPn+Mv2PCyH8KMfsLl6GQ7KytdNlYS6asV4BVGs69XTOb8v2DREye/cHtLfTR010BKq6B8FoQRUidj24Q/H81CS4pL4X9tsbwvPqCt/VCvFNI0q1vHT1IILdPkXJMvoF2gL8Qx1ZvSnZ1sk75XUfYjIIWc7scPqISzc7keATx0gpXP/XmbnatVd9KWz9Cfm2eE8NWkBS4gEJuwNcw7KsWSlsqEX+4nVNAeCWF4etrhEstJj+R+G3FEGKwbHNssmN5S3RkELRvW5LM4sLD0wZnXqOGXt+NTHgjlbJfyIOjZz6aZgXGKVPanHXiTh6uTGrfhKJBQwRpzf6KSkfsHmjqZmy5F+CXJpRPCw+E61itnMQ85+KxCJ/cWrTPNopJjpKrDjM3feVzNCf7DXj+jE3FcKKEciEoZgGGr6NNvmUa+Nt/WM4frGoM3cZmrBm4kG9UrqyQ3nJvywPFigFZjHZJ7ddTuyiQRlxUoNY/UJTQuIuV7C5DjR9Z06LYus8RK5+h0QlTnG7otdFBAmYXghBAi8HsvYGQpuWVF6wBGiFvp19fT7ei8+7eAB3j/4W4pJx60K//+bjxlrhNnOEVVdAROhV1H77F4eR4CVLQOwbJ3MV61Jyv93pEB8fj7YOWPsE0CA20owJVCT+FwLcCXGsur6PP3Tzi/5UovfEne6x1thZBzOmzCtkzdsTiWEWRBnKVhupYA3BOBBW4KYh0MRQoyAipgfpIIV3ZlOrTxP8iocDhHMgT1g3Zp/vDdPiYN2Z+/XkkszVK6R6wrIEa8Ulxps8Hf8p00M+9dpsIq9LQcHV+n9BNuxYkuOX+QYpA0z+D9g2jgppy0VAm7AcK1POk3dYhQQe/lrOAlFcJsoBA3QYj0Ut6FviX2zg/4MBfv5hd/sMIzWmVgHY+lxFgna0Ojqdhn56ZiBnwEd9Nfe5N9ADCHBXwvyh5cI4n3kbHmMb4VG5EoQB+FPHA2DnsUL0gyybbaPa4/C18Xu4KqzZ19wRWZ186/3qXBJc2Pae9lzeMaPVX83F4tQS3liVHnPi3t0/b6ggzfH/MTbxnf9DaNpTPJ0wG4MyF/Cgv7YtkOJ//k9QKd5tt4LW01oY5/kl7j4UD9IB886Kb6MCiBPrMgKDFSNynCEMZ+WMG0Qq+/rMi3Dn0OSz67QqE7EJFAAnZoJ3pxaIHAFHlBzWvIgDdQGIzTTFsyJziFu5czN1aXSoz3S9lFAhOQycBNvdqczjLQpV3hyCmPIJHqVshO8XkfZMbOZUms77RzqzX9sSsgDnGJseNVcXqDY7ffnXKGUXkyMWo1vO0CFo2IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZWcTNLL3TmiB6uTv1Ehf1",
      "input": {
        "note": "Looking straight down on the right jug: the open neck is ahead and ~3 cm left of the jaw column with the handle on the near side. Moving forward and left to centre the jaws over the neck.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.07,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TZWcTNLL3TmiB6uTv1Ehf1",
      "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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0418, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0261, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0046 left_pitch=0.0446 left_roll=0.0034 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0295 right_pitch=-0.0696 right_roll=-0.0188 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.7026, 7.2, 1.7851, -0.0464, -0.0757, -0.0073, -0.5402, -6.4479, 9.935, 1.9463, 0.1099, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef754d489ffb194ec6b8cdf50e87ab635ae6af95bb5093e452b3aa1917863b35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c04ac30d9f2aa0001ee2509823c2200161cb00a3981478408bb37fd00b12948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db2b5bcb2d2ef6756bd104c46a9788ce7952fcfd9550187a16d1b783d166b828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 6.481 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]: [-0.0345, 0.8474, 0.6453, -0.289, -0.0452, -0.0372, 0.9977, -0.0864, 1.2663, 1.1011, -0.453, -0.0734, -0.0727, 0.9998]\nstate[eef_state]: left_x=0.3151 left_y=0.0007 left_z=0.2034 left_yaw=0.0063 left_pitch=0.0747 left_roll=0.0065 left_gripper=0.9977 right_x=0.3932 right_y=-0.0174 right_z=0.2402 right_yaw=0.0053 right_pitch=-0.0454 right_roll=-0.0021 right_gripper=0.9998\nstate[joint_eff]: [-0.6085, -1.9077, 9.265, 1.7118, -0.0757, 0.0708, -0.0024, -0.5812, -4.588, 10.1128, 1.7167, -0.1197, -0.0415, -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]: [-0.038, 0.8528, 0.654, -0.3199, -0.0448, -0.0414, 0.9982, 0.1135, 1.3914, 1.1496, -0.4259, 0.0532, 0.0055, 0.9998]\nstate[eef_state]: left_x=0.3128 left_y=-0.0004 left_z=0.1992 left_yaw=0.0048 left_pitch=0.0473 left_roll=0.0038 left_gripper=0.9982 right_x=0.4168 right_y=0.0417 right_z=0.2189 right_yaw=0.056 right_pitch=-0.0959 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.1265, 6.5983, 2.1221, -0.0513, -0.0024, 0.0366, 0.3077, -6.5026, 10.3179, 2.0635, 0.1685, 0.232, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0418, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0261, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0046 left_pitch=0.0446 left_roll=0.0034 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0295 right_pitch=-0.0696 right_roll=-0.0188 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.7026, 7.2, 1.7851, -0.0464, -0.0757, -0.0073, -0.5402, -6.4479, 9.935, 1.9463, 0.1099, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef754d489ffb194ec6b8cdf50e87ab635ae6af95bb5093e452b3aa1917863b35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c04ac30d9f2aa0001ee2509823c2200161cb00a3981478408bb37fd00b12948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2b5bcb2d2ef6756bd104c46a9788ce7952fcfd9550187a16d1b783d166b828",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQoKEAgRGAI4AUIIdGhpbmtpbmcSDJPQf7kLRAoBoSRZQRoMXQoGDX+sI2zvjg+UIjCFvQJBNEaNCGT3XdPfBpPpDJFN+PToX8dQV02GJobz35O1cHvqEm/LCQEXL7bxnk4qqgnIoH06O7AjqFsdH6H9eaghYjfrzItgKWZa4ZdmEG6ODx1FX3XDoj1+fle4qTWY4vj1d7A9QzXX+HGjVpiAa5ry4ivW8yyETLeQelXfNuQ//XyYPYmIJr4B0rYOSSCvFWz/Yb2qBt9d/M4WrhvEk+4Lbz5idiGUrPXr9wAJ7DWEkjmaoavfm82soSGmRfMgk9fCOauhPYL6QNxOBJko0Y/CA13CHL/6Dg0nmqRciAk8dAmG2VOvT+QnuBOGy98DClrwwakXB6UePS/qoxzzAwYN1wXCea8c93Gq9K0kZKDnYoLZpNMiYRR/BoI8xm56MV9OeqPTllfuvT/SuISADwQKLi5Wwp2ejFRSUkx7P2AmIjyhPV1L/KqhmsgvnC/pCUp235roQHN9qEqSr2eNcrfcfJEUgUme9ZvqapOpR4lLJK2DSPklXzlhEsFpnKMCpQem6x1/uBcgZmbFlsvCtUKBXcQS+q44epius8Ar0XI0pZcvvZge9xML2cgR/VYMB2cOJGUKfF1NrzB2dlvTqubSLwNmq/MVbgQ49+MdQ3Elmkf43CpLGh6XnmZxCuhWiNVKTqvPCJhkTR2toassueY2nuhDXfxezOeYrUEpuAgJlInqoHi9Mf7EDbxrH/MnYlUaWMNKnCB5pm59lqTrGP08dLMhoijXG+gEdoC9BnbuIxWV2oyPqrRNQUfkmavx3qd7U08GsEKp6oLJlNsRYp4BFb3jPUkyYaWzeEqb7o1I8cESQRojjnXY1H+CO696tzu5RyWI/apnVgXk197uCAQEMW+TskeR7z7DANFChWuXuj3rZ45SUcUYvmpEa0n1YzyQbbojt3dsGtDn9341mL75tnUVDUNk/V0AVIfJBDxWq4U50PoJ8FzK2Pr/yMxCtDUVQYd3IL4fojWrfOejCu/13vUApVYhJlmMrOVZVpwKTaiLa410iKtyaSPFODMv7dIzgPjjEvRzVEj+38EL/G74lmgTUqsa9qEcJ9ZGQoWVJ3vYVoibf4sVh0HX34svT5M2A2JGxjKVawdgguyT5Sh1LQdJ3XvoROGTAg8pQ2aBia9t+I6C7XYKsQ6YRETlERJfrRrxOMWCgKXXRuRWPTP8FQs6Ex3k1TOvrOYzFV0ZA9OJbAuxIos2yMvAFAbyHzKgHpLJNaEFuHbqDlRHBTRmocm3iZ/+kz/yWnol5OMqyEp6oh8b4nve1Oqu4ZJ21Fu2OuMEaTQNPI5EEnDX9MqeiUjw/MxjYWhqJB3Fchfk0ykgmm0utVezNu65ypYUo7GKkWIwtbYPwnIleTUgfBo4FoF28IvvXkB5Fz04BCutu/vM8p3r/5oUxSircmksNh6HNwZMcC8WkINg7FyXfV4Vs8SMw+l+hShFfRY9uMFWT662jv+5Lc7T9T0zR+C977yi0A9mIZwkcjCHfRZ5LscaJxb3zMHQFnrQGxmNKl29vZhy4xYeh7fC/dbpzTcGRiCK0nQiNvDvdavFYAUlw9qjduQ1OWtBGuKWxFW7hM5si3c4BQxd0z9bfmdEChBEW5F+elQ2AR8C/spU3EbUUqanpgj7hynfbX2PFiptICojZZM/aqpl+dFzrgoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KZxkXDomAc16LmcDsEBw9o",
      "input": {
        "note": "The right arm barely moved — it seems to be resting on the top of the jug neck, which is taller than I estimated. Raising to 30 cm first before repositioning over the neck.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.06,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01KZxkXDomAc16LmcDsEBw9o",
      "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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0448, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0257, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0063 left_pitch=0.0447 left_roll=0.0008 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0297 right_pitch=-0.0696 right_roll=-0.0191 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5248, 7.3231, 1.7705, -0.0562, -0.0171, -0.0073, -0.5538, -6.653, 9.8667, 1.9756, 0.1441, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff68f9efb4c06394f7f385baa4631136b53d05a24be9f8e6a0267bee88947cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e6008bbd4ab64f2ab1a046e67792c45c0fa67224ed6f9e3c97a127a382fba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69abf3444b2ef0a6d4efed2fe30b5975b057550cf107ecb3a1b6c2bfc76c742a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 29.59 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]: [-0.038, 0.8528, 0.654, -0.3199, -0.0448, -0.0414, 0.9982, 0.1135, 1.3914, 1.1496, -0.4259, 0.0532, 0.0055, 0.9998]\nstate[eef_state]: left_x=0.3128 left_y=-0.0004 left_z=0.1992 left_yaw=0.0048 left_pitch=0.0473 left_roll=0.0038 left_gripper=0.9982 right_x=0.4168 right_y=0.0417 right_z=0.2189 right_yaw=0.056 right_pitch=-0.0959 right_roll=-0.0146 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -2.1265, 6.5983, 2.1221, -0.0513, -0.0024, 0.0366, 0.3077, -6.5026, 10.3179, 2.0635, 0.1685, 0.232, -0.0171]\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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0418, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0261, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0046 left_pitch=0.0446 left_roll=0.0034 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0295 right_pitch=-0.0696 right_roll=-0.0188 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.7026, 7.2, 1.7851, -0.0464, -0.0757, -0.0073, -0.5402, -6.4479, 9.935, 1.9463, 0.1099, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0448, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0257, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0063 left_pitch=0.0447 left_roll=0.0008 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0297 right_pitch=-0.0696 right_roll=-0.0191 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5248, 7.3231, 1.7705, -0.0562, -0.0171, -0.0073, -0.5538, -6.653, 9.8667, 1.9756, 0.1441, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff68f9efb4c06394f7f385baa4631136b53d05a24be9f8e6a0267bee88947cdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9e6008bbd4ab64f2ab1a046e67792c45c0fa67224ed6f9e3c97a127a382fba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69abf3444b2ef0a6d4efed2fe30b5975b057550cf107ecb3a1b6c2bfc76c742a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSjwgKEAgRGAI4AUIIdGhpbmtpbmcSDFauoeIyZ1wsKJMrkhoMG7APOosL/v9xO25EIjDFhq/Kz17Oj85iD1YwfScA0ZvFL0Mi2dv6+vvhVttsLdD9iTCI98WSd9PL7J+pHdcqrAefqOmyx/ZpDwmEhzmAI8FYJdkogc/IvsQmT4VjlM97BFAoEBtdV+AK6/KHKKwcY6ML13/NCW23aoWGm6bUvIV1O7G6Q7BR8Id0TZTiIBYmORxz/EpY7m5ponIYA3Ekq0E1K8ZDW4ahk+0oiq1eKK/aqiuDXRQqBJHBmhj1yZ8w8digrFyVrIqPKN+SLB53c7105jJfGpLR1IIeGWjCAxFGoL1pvIqrWrFXpo1BIFosn2LtYR27Jjnqty7xkx60w9VgF3HvV46Z6xihssk9ede7t5kRbzBkgN9/gI1MC6ckJgqwGQXXgMse3ePm0Q7feITCCj/2HblJhxs0jpu434GPaBUECL6wg/Bmt/p53k+kWH8HsNJWDqTc1hIpx9MJTEmVIdYA5AN62MDxMm9nkNIcCjlLCmMy1vslBLIGbfsimISnZWNYqcoGssF84euJNcxr5jhdbrmCvII3u+0aegw0+2OezlW+1EB1O4prEaR6ahOAo7WtX9hA+TpGK5isY7IfFS0kNrWjAZ/xL/VJWshZGECANX8nMgshZVb/KUWsIIY+DkvlotaT32RISSLnjSR4S76Op68XwNu0oXto8JF8XlSafUY1IWezirmM0fWvENihxw6yPlCf+9VtFGwhAfpMfcomg7/D6/GJh60dQ/kizHPUfuKQp0e6wugXcW6ZGXNAxMoBzO0HWxn8tYhIUAeDmfClSTwKGF7w7hE5ewgQrFmwFt2t34a5LKJUGX5GO0I4YEEaYrjwtfI826zvPrwUFB99ERvJbhpFMnR6/tPAKYnldQbhCWZ+zRZU773jMR2A+PYLBYSIiC6I6cZIAV2tMR4LhkbJ+zmdfcipA/mv9hXKmL3HWkIQbdT67Xi4+9PeHjXIJvEGIIe03MiIEQDZTk7Beb3IvzZqakEAFTuHxZmCvdbMUf/9MzPC2VO1etHQTeI7PqlPH9+TnKLo9DV4Y1+wME0rXawTwl5aTgihMr9HXq5rUTBDE9VoLdh6O+GFqd6zcVaKcK564m7x+qei0lui0q8MFNRK5Gep06XjGC7o8WjVdYF8Nzp8pu2Je7kVx/z0qTLVCe3whSJ7hSQ4VwzOgG7bYTi/VLLz42ndZ7NfKbLZB6PSdALPzm+OrtWmp+5O3RJLqRS6YIxZRcu89wMvYzrcTmWcgGbt2Kl3fcJ+1+OSOfBwiF5DOIVVpaOPDP43Xuz8nFaB99f2Y+FvU5n2ASaeOCD6S0s5LiBZStKPYPUwvnOSYBKtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0183HkcEVNcjEVDHLX8W675x",
      "input": {
        "note": "The right arm is not responding to the raise command — possibly an IK hold. Trying a retreat back toward the base with a modest height increase to free it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.02,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_0183HkcEVNcjEVDHLX8W675x",
      "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]: [-0.038, 0.8566, 0.6525, -0.3225, -0.0448, -0.0448, 0.9982, 0.0868, 1.2438, 1.095, -0.4644, 0.0776, 0.0139, 0.9998]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1968 left_yaw=0.0066 left_pitch=0.0393 left_roll=0.0012 left_gripper=0.9982 right_x=0.3873 right_y=0.0235 right_z=0.2435 right_yaw=0.0045 right_pitch=-0.0404 right_roll=-0.0186 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9897, 7.4325, 1.7607, -0.0611, -0.0464, -0.0122, -0.2803, -4.5607, 7.4325, 1.9707, -0.0122, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31d7ceb2df3916cf2096781796815b00b6d396059acf3ccd56b1cf57faf2980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09ff7468085786e49c3aaff2b6a86c50c772a114982d40ab216c29745bbf42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc82235bf8f4531dec766c981da66e7b6fd7dc3e162511b6cfdc73423bde542f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 16.26 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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0418, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0261, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0046 left_pitch=0.0446 left_roll=0.0034 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0295 right_pitch=-0.0696 right_roll=-0.0188 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.7026, 7.2, 1.7851, -0.0464, -0.0757, -0.0073, -0.5402, -6.4479, 9.935, 1.9463, 0.1099, 0.1587, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0448, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0257, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0063 left_pitch=0.0447 left_roll=0.0008 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0297 right_pitch=-0.0696 right_roll=-0.0191 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5248, 7.3231, 1.7705, -0.0562, -0.0171, -0.0073, -0.5538, -6.653, 9.8667, 1.9756, 0.1441, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.038, 0.8566, 0.6525, -0.3225, -0.0448, -0.0448, 0.9982, 0.0868, 1.2438, 1.095, -0.4644, 0.0776, 0.0139, 0.9998]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1968 left_yaw=0.0066 left_pitch=0.0393 left_roll=0.0012 left_gripper=0.9982 right_x=0.3873 right_y=0.0235 right_z=0.2435 right_yaw=0.0045 right_pitch=-0.0404 right_roll=-0.0186 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9897, 7.4325, 1.7607, -0.0611, -0.0464, -0.0122, -0.2803, -4.5607, 7.4325, 1.9707, -0.0122, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31d7ceb2df3916cf2096781796815b00b6d396059acf3ccd56b1cf57faf2980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f09ff7468085786e49c3aaff2b6a86c50c772a114982d40ab216c29745bbf42a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc82235bf8f4531dec766c981da66e7b6fd7dc3e162511b6cfdc73423bde542f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiyUKEAgRGAI4AUIIdGhpbmtpbmcSDBqwt/rU4nryUoB6iBoMjGZCNDdjS9a3R1W4IjCqql6m78wl49S2FYrYpJaqTM6t2tLAQESae//Arq3zXAg17i0fegsrttT9/JwsRX4qqCQStXuunfmZPlMJ09YlXygnL60l0/N8aQ5ylfy/TxT8nEjOWP23rr0Tbkss0ITVG9D+zWgFOJTWSnwPx6d7cedkR5Zdk0ZWnsrMrgmwJ0jz42DPbNfkbp4yvhdcKxETV8Iei3XMsx+vjUWYvuT6VySfoVhFl/iy7GfsJ6jSSMrMdJbbULWFBYaOYb7zqnDPpd9Ty57EUXPef7FuUrwuXbmGGew54lKTZBUqUiUAGz0FHvdUdDQJReLLMKEJCHP3QgXaEoaJ/lC9ftIlOXCeyL3oFNsOTr0nLgdDNYuqFEl4UrPeCmSwrukK2v9BU1gt8uTbpPq6/uqM1CTlJHiwiF/OPSnKg6fyAtZqFDblZQnU1zXQWl06h0AcG3BvysZaYLZ+MKOKDSX/D755vm3AyT7+wLsvX9mXbIIYORhrnbY9PBYAHGKSr2SJPJklX9tQJoVjHsH2NokAtbPcQKjjD0N9F+qPelq4KSUyNEOux5lIr76SyUm1gXY/VXrwFuWykh9SHbGJ2NEX747cZ5ikfH0R5KYhmAzVXgAfuhpKcyC9WoN8RQaVnabyf7RrXTiIaMDAc0HRGqwoXhUQadO7MbKC/alQx7C1dbIYytQ+mU//0yz7ku4AUa2Fh4x6so9B4zPvqat8c9PI/81/lQNrb7omdmnUcj1XsVxR2LjfeOGsbw4gVfKzh+JjTaKej5u7KcdKtgTsNBVRNaQyqXEYOC9wWvXoA4F9l40l2BZwsc3xG2cpNs7mCcVm8OHua3JLcBObYrg0pMDP0q2qj0/hjOJXtfyxegjdt8gzELMsAn5rwLCg3+z4Ad77M0x/KfvAN0tnyTByVJ15EXy9St/eZOBA6jrz5ITPn6VwUw7Gri8ef8jZDcEktABCkAbuF6hm5MNx8xwib+ipVZ4nIGzIAo/eBweot5RnRDVUr48Bgi4WBPEKwczIh++DI8x82L7UW5O7FrQn+4496r1wHjb4a07sYjXzaS8sqff+IMctWEOc463iX6X5VbEJWZKn4lgOQOhfqurJJoZj3E5JPbL9R2WuyPPS375CIo1nLc/3dRmW644bK6tDA0M2ZbsIpW7oxIh+/GfhG9urg7uJZWpMdnBJ9fa5tVqjeviRepZ04XAsWtvzuWl9NZB51WebkkgHsJQaEPzbwUcWMB/isUw8ibQfB66BotC6gbYgG2Qf4CSxqE5KIFkZzfvWJQjoYbhDCkN9TjfZBThic7SWTOmSq0PJkRQG5FuuFP1b72s2xacR6xqLZ9yx2lF5Jc2g1ygVCA4P9my0EUH1jTV2U3DH5kKLzJL430qeV4fwqkF2lMIJEdV1KW3I8yI3RiigQIw/5rVR2X68uHrZBPVYeuKTyTnMkwc9ca0LbXU0eAcA3Az7KYYi23BX9VUZz0zj6kNWAfExY3n/vdm+ma2dLFvRgi6Xs9vXxkT8lsqd45S8A4+0zbhVQWelUh6dMWvWbTkn+yk8by3b8TGZlNGDZeqGvmii1iIYQ+GgJHiawFdghpceNsJu/cwPIjutDCxGFuVFy6fwHoDjCM1Sq/kkjOnkiQfIrjr0UmVV3QAFPsJbMySI2BnwOsbhSTHIi0R2E/7fB4rC5UB9KZco6d4zGqisvjcBi/3PmRcqHhvTM8rE/4JNcNhZTDj6f003hsXfNgFrGNK2XAnL34+q5GTudqU/xOBSwiaoaHEu+Ja9FuRs4qDF2TkpHEaBCXWkOLlCIqpbRf9WnWRtZy0RuOy5pRzCCCdX/uCoYEoT9iO8Yv3ckv6tvZ8dG1VY6rql2uQPnDLHK3N/uTNe+O1RnuWYXmONz1q7nv1lqkEL+7HLrF3UPaykw0A8HpgF+hItRCd2PvXMuORCyWtAEMOoG7cUGSFnCl8mkkeXMdfQrVQlH/aPyR4JAC76EOxNt/SsaMS7PpWcFO52Y3hqqRTcaUNUggZXCESjV1HVaTAyZHdsFimzMyYBPvfDBfCQzzYs8NhfVkXffUROY04ceYuGdiVrSDr4DN2Leub8rb8DS4AA05lKJFZE66qXlU8kBQ9+tO85XVbBBhg2Lr7DU8Mb4JyNAY0QrKGziAEjkYnWSvkX6W+xNMacFW79mha1RuD03w31ifYG2P0YWCaiWuevnHf0IJH+QzLlDHzpdC9TPmHEO3NNG1Z6VC0yLjhzad23tZLl1Sqt19Z+VAYhD662x1zqHrGmMsNGrAnzbb3fnIWY/DHy8dhvMdC/U2qOP1teofL0+fGIzixAFUUeRQpEkm7i10zzH7qUQ51UxB++72rYPyETUunxRagyA+tAl2K/PQmN8Eld8/do6VfkKdxOofIxGIEPeSUGM+B4/JeXcFInc+R6yTPwHrMmCDxWq58B0OE8y6mdp7DO1NvKvnuhY3RpmI8qClwBSL0/QaFzGGcruiuo9nGORdM4SNkt/4H3PHkQsMYIueEgM6BZgyZqAMcSuy06EqTTJoNVO3Yb/5mqMqTRaSWnjwiB5kqYbycdilTaF7mwqidmAut0OlGS0PAE3dau1iPo8Wyw6XP2HPfbGgdm/TkxuSSsfFv2aEt5dDlEuP5SyRdr0270KfQtq6KiyDRMy4yuNKPRPxodELFM866JTvsYL/Q4oVjZkUj63pDuAdOArL9pUbNBvp9qS7e1DrGNEsBaC7jeBIzo7DLSGVCNneIzk4oLkAzwZQCr1jwa4lIMlAZBICnvdWDyjsJCmaCTAFC6lZMC08QoDayC1ir0Bb1xPpYjJOUXZ1FVSqKHNTIkFuqizqFZxzoagTmKhLH1rG4pFKp/V7yi8PorNAzOEluMj4kamgvqEBpQMUJJ0WjjfdfbiYHhiKfLzLp+KpD7dAKjdGtGezxxtfErTAgOjC+a3Iki4dYRmLRUjlgHyedNyrT3Nwh8kNHanK0bY13UcPQQ+gHbDbKlHetOFj3RtpyCTvGF/YwfNPP3rbGreL/fgmhemmhqetQT7qebXuQ+bYIJ+CK1TCmge8Awr4HBBfq7CSqwCoC+iKALHP7ESHI4GKorBtLuesvf81Dlcvdt7WYJgNrjBricDocygbGPZol0eXpu6kB1lW1SszyLY6a/AXd+Tky1bsCqGqvqN/dCuJW7C7VU+6l6jUZXB72V4DWxNBwQfDhuzO/9VTcQWdk3+HAJwRG6NebSsd+CW6w77J5hUfWRCugejb9ggOWBs/QmN4mvbpU+M2cRM3dY/nzGafS9v9D2HRxYaK9IMNwPIvozVS9LrlVzPCgD7C8bjkcrk9MUiMxKlicACgAMJA5jk4C+06l9BVfCVU6Zq1LWRbWP4iiZMwc8aV+UcFAfjIPp3Mg4t/CFYdJ5ruWxbP3x6MOn3yfkRhWjSL3Zm9O4lILm5idpwtwzRFP1/KqlhCKamcsgoxPkjwdPDOBQUYsOC565aPxBMaLLJ+xfmQk3LjqJDYC/IvV5F4jltS5d3ADjkZ1QiJK3gSrru5TGyGzqhdEu3HLEBP1CQWGQ6c5B5fyZzIUBG8lXSP+WE9WOmltjL0Mnb9OqHKXgIG6VTv4TTSgNANey1/BkqYowIYTVSz6HoSV/XwIUHWuq8Q1HOYCgnYgytVhPAU52U5wZ8dbUt6SvUg4Nf8ppU2S8OBYk0LhWpnyom3lfOLW1PwV+9AX0rZiAJd72sle5q3/RzOcFwQtDtyH5GC95PAXCQfK7SqWHgvgH0LuoqvZAWD7yZOX7QDiAS1+FFub0nIcUmrwZ8jeY37zYd1Sj7yFCgFYV5+tMMBgsDoXQTZt4a2mgvclez+dKPxnrEVFUXCSmvQauv8/U0pjJBnel7TkuOqw7+lWX6HLqqG/UONfTO05KDEOrPLwg6q515Rh3LCReW1TtXzNaqci8ITR4+Gcyw0cLBu/PNuaEQL2StlOhQLxygJhxydVf528x2rhiih/ZL7YlIzvUPbtVjmsGzEOGqwO31T+rGaZgQ5Dg8ILmPNj/bFBwFVcrLfrVoPIlkFGDqB3Srw5Y1XDnmB2TY2Rgy6cDcHXJ9lrSHolrCorgxYrmQ977rw2f5otYeVUB62nolseJd9DCCvv32/lRrgy2XtmooLePBfsmVJL3UdyrtDD1TsAPFdG+jMVH6HMYuqXZ//WUdfoK+GubS8BOu2paEfEBiRBXPUGGVpMANYIj1ssCb/zSHPNTtawZQdxKAg6ZZ91K5iCGgID+y+PuzRPzfed8K+NqFE4iu9jc3MvhAiIn9Okz5d8J7Li4zwoZHbatSoXSvW+o1KRrk1a1gEBA55eEXhAghHkrfSVV8l3uam6559Z4BZeCD0mv0szOugz2vOrVH4NVtl6e8h5LzQVoS3zUZVm825L+NXRllEvD/00gvB2wQDS4KzAx1hO8gctU8fBJz2XU7dydwe9QSb69ey7GK75Qd+IFu8/2ImI6MMKFj/JO7EJTeJccI3hdSPOVHCyxlvA4rYCsJL+/54P4CA9CEwOrUJKlNV9JQxik2+5XVSLNA4mUI/hIPipw8dtYt1dksk43+jgTgrdY2i13iCNW6zcOe3vnMBJpgF9EV+RsQsNxj1uaew041QmGPuGF5Rpy+gJhr7eYNe3eFOsOobwNVGsHgV/mqVKw1p8Lh3Jn5FzavatnP87mBjAjV8bv4vMEX06HozkweSv0A0kFh7mlDb6IZn5Eqs4VgQ/UiKHulmzX2rW+3BmetUBbzbIkcX4RiPWtlS3PTeOC5zNLpSWYmsRs3htD+K6nSBuBQhOtpN3DcTEkumlg8SU6KdNmuYjIyZOxn6lmoOemYMtBOG8kKl1nxuAXn+T7z9+t4xrFXIqh/ZzfaAW2j4L08FHQoZi2n0i5759SPvyqLJ7u82uSieM+AOZAJE0xJ1Uh2uK4VBPqalzixRYkgllqbhNRAziRyIQd6yL8e+9nC83sMsuyMKRgQcFABmbOkfqpNscBiRcvctAh7kduygwW1FLQQ+EaN/ROaLJT9zKDUOfMQ5TgahhE103/d176air3f+Ky+iP1/eQNb6pqewQeXjXhdhQiPmHoAUqqLD2nl0xJdjXfQFi8V+kgKTPNUYlYd/XlBhEJATf2V7oMp4cJcpJz0vGkMOQoV56Mkz6/kf0OqjT27jfLHbS5VFWjg17jS50NhfWmDzBHCq4IhX5VaD2QbGMC/Ax3tj9QOSb+d2vLqDhidtAiItRMy61ao2Xw6xT9BkBq7tUsdq3s/GFjvcykFE8SEccwO1eCG2bh7yIPx9MTEE/WxOB4raRNbyCZqTjfH9nmK6i8Pln8tVEzbTohrzIJLCCws3OzkBHkwNclkdSBc6MSS/CvSRV8ilyJtR0JHOVZ1Md+ZMm5CCaoWAXGCnKGt5qDb5YA3YLPJDnpVKzPqG9h1LFZiUpzXT3jonPZLSYgRmH9JOet16CGOXsD1c0KBG7PrmwN8UDVyrAS6vpUulc+TjN6QbDZyrc0ZqZ2yFbyz3N0HJtHuMWHcChmcROPzxAdwmT/7GUKmNhYuBTq57A+xy93IUG9N15dvKK4emvjXA55ZuQGQyNanF95nYrO+y9EqUdL8Ux67/GxTsppShG4tKYF8mb2K5nHBpoI4Cxj1b3z5ip4KBhgjxBz/ecHixgn+yCXzGyNk4mJ6x7IY2d0ZAegj+hQ2xlXqZTBkbSyw8OPNrUBrhW59ueGdQPoDiRsOZrWNib8y0mZyOvBwcTm/XNrEsOff57HRdb7Nhc9veWp0zqLsl/f1qWoOpu9LH/Lz1jPi2gJeyHxrscpN7vcSrBTtmdw32OV8TJ1CUsyzcdH5gzdOTm/PGWAc+8s2O/HNYh11TLwqAt7S3iV9uC68lsYKDA047fBK/8/TbmbXzsgli0CdmM5CR/6mxIP7Im8Uq1A1RXrGMOP+FomiUtxQMid0v/Iq8O6okJodkcjJLdyvIhC6dX9r//UZNIoTrhtEWl9eVRDDdkheksxhmg5+JPJj/xdb+pkux+5AmjGOPpPL2hE7JeDTTsv9jn+PhUHa8PsOGFQ2jzOBhTWRhL3LQ/BT92c8rPxdNkM2qSVp+G8epIW0C3ZGhe+q1TReL1DREhLwocSD6Y/T/LB3ujHt04ipMKJH/yapbdniZVh08McuuGk5xZhFKwL7N/fXSiMeOprDWB0ZUahWTgDZqRkCYOzMWiuXM/vt+bGfnT+fO3Wb9ePQkiolts5fab3ITo0+eDFoA6MnBAoRykHTiKAq0HtWrzHI7rWUX3XeoxopIPfhNal/LZPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D72AowF134ufMBTFQ8rfeB",
      "input": {
        "note": "The arm freed up; the jug seems shorter than I assumed (roughly 15 cm) and its neck is ahead-left of the jaws in the right wrist view. Lowering toward neck height while nudging left to refine alignment.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01D72AowF134ufMBTFQ8rfeB",
      "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]: [-0.0383, 0.8577, 0.6525, -0.3271, -0.0444, -0.0448, 0.9982, 0.1825, 1.3148, 0.8318, -0.2024, 0.1352, 0.0456, 0.9998]\nstate[eef_state]: left_x=0.3122 left_y=-0.0005 left_z=0.1955 left_yaw=0.0059 left_pitch=0.0336 left_roll=0.0012 left_gripper=0.9982 right_x=0.3851 right_y=0.0505 right_z=0.1518 right_yaw=0.034 right_pitch=-0.1075 right_roll=-0.0362 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.812, 7.0769, 1.8046, -0.0513, -0.0513, -0.0122, 0.294, -4.9436, 7.4462, 2.0147, 0.2027, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0402b43d9d194667652183abf0db55b79110827e7a240889e6c40995d9771917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e4627f89ebbd9d9a52938236d0b8b75c7d93e3c6986e9ab64f8d7cf748edaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6825dbb4f4ba642a86ac915b67219e079e99beeea34577c77843dfd1c170c49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 8.571 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]: [-0.038, 0.8528, 0.6525, -0.321, -0.0444, -0.0448, 0.9982, 0.1291, 1.3991, 1.1625, -0.4068, 0.0902, 0.0257, 0.9998]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1983 left_yaw=0.0063 left_pitch=0.0447 left_roll=0.0008 left_gripper=0.9982 right_x=0.4221 right_y=0.0424 right_z=0.2256 right_yaw=0.0297 right_pitch=-0.0696 right_roll=-0.0191 right_gripper=0.9998\nstate[joint_eff]: [-0.1709, -1.5248, 7.3231, 1.7705, -0.0562, -0.0171, -0.0073, -0.5538, -6.653, 9.8667, 1.9756, 0.1441, 0.1685, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8566, 0.6525, -0.3225, -0.0448, -0.0448, 0.9982, 0.0868, 1.2438, 1.095, -0.4644, 0.0776, 0.0139, 0.9998]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1968 left_yaw=0.0066 left_pitch=0.0393 left_roll=0.0012 left_gripper=0.9982 right_x=0.3873 right_y=0.0235 right_z=0.2435 right_yaw=0.0045 right_pitch=-0.0404 right_roll=-0.0186 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9897, 7.4325, 1.7607, -0.0611, -0.0464, -0.0122, -0.2803, -4.5607, 7.4325, 1.9707, -0.0122, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0383, 0.8577, 0.6525, -0.3271, -0.0444, -0.0448, 0.9982, 0.1825, 1.3148, 0.8318, -0.2024, 0.1352, 0.0456, 0.9998]\nstate[eef_state]: left_x=0.3122 left_y=-0.0005 left_z=0.1955 left_yaw=0.0059 left_pitch=0.0336 left_roll=0.0012 left_gripper=0.9982 right_x=0.3851 right_y=0.0505 right_z=0.1518 right_yaw=0.034 right_pitch=-0.1075 right_roll=-0.0362 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.812, 7.0769, 1.8046, -0.0513, -0.0513, -0.0122, 0.294, -4.9436, 7.4462, 2.0147, 0.2027, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0402b43d9d194667652183abf0db55b79110827e7a240889e6c40995d9771917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e4627f89ebbd9d9a52938236d0b8b75c7d93e3c6986e9ab64f8d7cf748edaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6825dbb4f4ba642a86ac915b67219e079e99beeea34577c77843dfd1c170c49a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WLfPSNNSymHnpq16eShD7r",
      "input": {
        "note": "The right wrist camera is now so close that the jug body fills the frame, meaning the gripper is right beside the jug's upper part; advancing ~4 cm so the open jaws pass around the neck region.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WLfPSNNSymHnpq16eShD7r",
      "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]: [-0.038, 0.8604, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2039, 1.4612, 0.8322, -0.0322, 0.1696, 0.0525, 0.9998]\nstate[eef_state]: left_x=0.3124 left_y=-0.0004 left_z=0.1947 left_yaw=0.0066 left_pitch=0.0306 left_roll=0.0016 left_gripper=0.9982 right_x=0.414 right_y=0.0588 right_z=0.129 right_yaw=0.0231 right_pitch=-0.0801 right_roll=-0.048 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9624, 7.0632, 1.7607, -0.0659, -0.0757, -0.0122, 0.4581, -6.3795, 9.306, 1.8388, 0.2564, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b16ee52c47b5040c7cb6b9cdeec98e0511d38f86dd084825f9118d31cac4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fceb9c12874b3f923cd2b5647fa8e02f77ec89e5ef497585b9233977a4713b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77ef08672c25be21e5a9a8bf980583d65abcfb6f0ebaed566626f70cacb47746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 30.36 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]: [-0.038, 0.8566, 0.6525, -0.3225, -0.0448, -0.0448, 0.9982, 0.0868, 1.2438, 1.095, -0.4644, 0.0776, 0.0139, 0.9998]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1968 left_yaw=0.0066 left_pitch=0.0393 left_roll=0.0012 left_gripper=0.9982 right_x=0.3873 right_y=0.0235 right_z=0.2435 right_yaw=0.0045 right_pitch=-0.0404 right_roll=-0.0186 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9897, 7.4325, 1.7607, -0.0611, -0.0464, -0.0122, -0.2803, -4.5607, 7.4325, 1.9707, -0.0122, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0383, 0.8577, 0.6525, -0.3271, -0.0444, -0.0448, 0.9982, 0.1825, 1.3148, 0.8318, -0.2024, 0.1352, 0.0456, 0.9998]\nstate[eef_state]: left_x=0.3122 left_y=-0.0005 left_z=0.1955 left_yaw=0.0059 left_pitch=0.0336 left_roll=0.0012 left_gripper=0.9982 right_x=0.3851 right_y=0.0505 right_z=0.1518 right_yaw=0.034 right_pitch=-0.1075 right_roll=-0.0362 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.812, 7.0769, 1.8046, -0.0513, -0.0513, -0.0122, 0.294, -4.9436, 7.4462, 2.0147, 0.2027, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.038, 0.8604, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2039, 1.4612, 0.8322, -0.0322, 0.1696, 0.0525, 0.9998]\nstate[eef_state]: left_x=0.3124 left_y=-0.0004 left_z=0.1947 left_yaw=0.0066 left_pitch=0.0306 left_roll=0.0016 left_gripper=0.9982 right_x=0.414 right_y=0.0588 right_z=0.129 right_yaw=0.0231 right_pitch=-0.0801 right_roll=-0.048 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9624, 7.0632, 1.7607, -0.0659, -0.0757, -0.0122, 0.4581, -6.3795, 9.306, 1.8388, 0.2564, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b16ee52c47b5040c7cb6b9cdeec98e0511d38f86dd084825f9118d31cac4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2fceb9c12874b3f923cd2b5647fa8e02f77ec89e5ef497585b9233977a4713b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77ef08672c25be21e5a9a8bf980583d65abcfb6f0ebaed566626f70cacb47746",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygoKEAgRGAI4AUIIdGhpbmtpbmcSDGpt6EzI4AMNv453CRoMZ49Zsz4FQKUK7oS0IjBvg0ZEzdGrG55YDTLr98+E60nE9ZIt4fwnUtglUdCqpO6GZl/SZeKmbavMYxa5rpoq5wnjgqLsSfojnSiXrMkUbvN02pH4KYIikMV9o/THREjdY2/RNB4jLgUHO5UiYhWmSHvXDPD1tHc56sXOQU18ILHtj2jF8czonRGYTedzVr1o1dFAHOgRTAhvf6tt/HcnG23BB1bSwWckUiY4xM7kx1DeWm7EqAoRTNfFKMt7XS2nIB05vnHO5i3yv+GJIb+9oUjJeKc5m4bgyMr7slMPmO2YyKkIjf5QHUwzw5bKhXPCUat4OSdW86Z5d3uHIwwIlu1qjCdX6/lZJtqaKbsPwonBZXWjBcL0tUGlsbZtEuVjh8/yyNuceFuESdf8b9SKcH5dslRMusnUAjoEFY8UV0ajsVXMOtZibER7t1AVIOZefjoXPr5otAkAM2hZKU+gpdzYgPZKRItKcSlP8yffh296He6rPiP1t75VoL08kyZUhesg6Zwciu7vOhGNONgtcNYWpAAKYFfxRfjSA5QxZCYa8Ez4uB3W9vlkd4BGGuL/I9SOb0019W3TBFKcfoUc4A+GHvaRRzrQJ7TvRMTmrw6e8lFaBqe9TjV6KZVPrxbyAANpRQrHf0LciPxKHPESp67/6SfSr1iDo5Es7T+zkQo9dTRyXumTqM2bJUacVyDhvVGoxi2nqZXibNr7L4IGMhV5Ng9+fU7lSPWtphHewXmXrgPGuf7a0Cv4ac6rNdysVb2L2Chg5MG+62xMhVgDUi3dNIKFM4NnCw34DGSZnGsSeHoEKShbiNDbQuj4KaKTZvHs22PTstvgV40G0gmL/T9ZMjswM1IecXHDLw/BocRmS37z9onRDPlALGGug1VxE1eQI8xfaJ6F59Li7SDNXIq5S665eF1KL/YB9Wy9JN31ppaC+iQKTEMIbiKb79nIWasVaqLP5laQn5ztxLxHhB/dmaQ+x8ut7j6PHtwobs60nC0pVqi+X3AvQsk6Mypk92Jaw2IKvudGUi+H22//ZJPKboIkX0arhW7hbeaoDOpsJ+JH0ZRPLygsOVJPk89d6kjgFyKQ/BviaXBDvlyzmSYnrQaYFqCQ+lQi8iwh61oLRPsn9D3zf4qwatN3gDWmGZCk8rAHS4LiXcvcxtSokWhtNXOi4+0AqgoCKtEirN9CsqVtBW3GTlPI0rjnq8+Jj8BuF/kfSjatdMQZNaUCE/Ug8LODfFjaugBkevFDn2Bv84Q46SNhQ1U0jViXfdMcTZf8S8k0bPAoZL8svMZENQcxtINn8STg8k8aXwlqVpWMT2TJX1ZHY1wKSwZl9lusUCyKxkHfsyu3YOLQ03+kduRnMFkdzA12713Cl2foTQWnuiFdkqyWoeMLy8+QRxNDwYfpqAjcwgTjDsdy3iIaxL8YMHrpyBnGKeVoAA02hRNL7HzsmakfFD7hE1R74ReAZAtRSC7QdpL+OCqBn1wsP4JklWle069ErfTyHDSDKxLX1OLBPVtcDxNuKaQOMF9NmlZobIHt5kiffGZKn0tuXwxx6A2n1SBPno0CXqqLjoXuXHO32dcpcLBe5JSxyrSSCpPiiZWa15YjE0KUl9r8I4KrzqmrDHZ27mK3OJd5hcckQvec1uXTF8j7fWG8P3BwXVQMEZ+x8ua6dIYrIm98Fv5idWEe6bLa+V/cl8ziV2be9KJawwAAgJh12mqft6nCLt6PRrU4aXIpmy0/2jNrKKfrMGjg8uITGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012MJb9vHKeCypDuW9R1UQ2e",
      "input": {
        "note": "The right arm stopped short with the jug's upper part between the open jaws in the wrist view; closing to test whether the neck/shoulder is graspable here.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012MJb9vHKeCypDuW9R1UQ2e",
      "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]: [-0.038, 0.8616, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2066, 1.4796, 0.8352, 0.0055, 0.1761, 0.057, 0.0104]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1943 left_yaw=0.0066 left_pitch=0.0294 left_roll=0.0016 left_gripper=0.9982 right_x=0.4205 right_y=0.0602 right_z=0.1304 right_yaw=0.0182 right_pitch=-0.0572 right_roll=-0.0441 right_gripper=0.0104\nstate[joint_eff]: [-0.0068, -1.812, 7.3094, 1.7558, -0.0757, -0.022, -0.0122, 0.0342, -6.8581, 9.1829, 1.9512, 0.2564, 0.0708, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6690cc4ed3c78da8d59b2fbfc10b30b6603ef4dee41a5f0ed8e3207aae04053b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479852f56782968cd2c384c4a8b76cd346703c3cae375291c02fefb69e4defeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ebee33dc757c2b689fa4db4c4c5dd3c88388d757f3301fd56f3b176e208a793",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 9.343 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]: [-0.0383, 0.8577, 0.6525, -0.3271, -0.0444, -0.0448, 0.9982, 0.1825, 1.3148, 0.8318, -0.2024, 0.1352, 0.0456, 0.9998]\nstate[eef_state]: left_x=0.3122 left_y=-0.0005 left_z=0.1955 left_yaw=0.0059 left_pitch=0.0336 left_roll=0.0012 left_gripper=0.9982 right_x=0.3851 right_y=0.0505 right_z=0.1518 right_yaw=0.034 right_pitch=-0.1075 right_roll=-0.0362 right_gripper=0.9998\nstate[joint_eff]: [-0.0342, -1.812, 7.0769, 1.8046, -0.0513, -0.0513, -0.0122, 0.294, -4.9436, 7.4462, 2.0147, 0.2027, 0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.038, 0.8604, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2039, 1.4612, 0.8322, -0.0322, 0.1696, 0.0525, 0.9998]\nstate[eef_state]: left_x=0.3124 left_y=-0.0004 left_z=0.1947 left_yaw=0.0066 left_pitch=0.0306 left_roll=0.0016 left_gripper=0.9982 right_x=0.414 right_y=0.0588 right_z=0.129 right_yaw=0.0231 right_pitch=-0.0801 right_roll=-0.048 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9624, 7.0632, 1.7607, -0.0659, -0.0757, -0.0122, 0.4581, -6.3795, 9.306, 1.8388, 0.2564, 0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.038, 0.8616, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2066, 1.4796, 0.8352, 0.0055, 0.1761, 0.057, 0.0104]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1943 left_yaw=0.0066 left_pitch=0.0294 left_roll=0.0016 left_gripper=0.9982 right_x=0.4205 right_y=0.0602 right_z=0.1304 right_yaw=0.0182 right_pitch=-0.0572 right_roll=-0.0441 right_gripper=0.0104\nstate[joint_eff]: [-0.0068, -1.812, 7.3094, 1.7558, -0.0757, -0.022, -0.0122, 0.0342, -6.8581, 9.1829, 1.9512, 0.2564, 0.0708, 0.8425]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6690cc4ed3c78da8d59b2fbfc10b30b6603ef4dee41a5f0ed8e3207aae04053b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479852f56782968cd2c384c4a8b76cd346703c3cae375291c02fefb69e4defeb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ebee33dc757c2b689fa4db4c4c5dd3c88388d757f3301fd56f3b176e208a793",
        "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_01RPwK2EyRs39sjKhv9j7x3p",
      "input": {
        "note": "Empty close: the jug is still ahead of the fingertips. The jug looks smaller than I first thought, so I'll try a body grasp: opening, backing off and lowering to mid-body height before sliding forward around it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.37,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RPwK2EyRs39sjKhv9j7x3p",
      "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]: [-0.038, 0.8623, 0.6525, -0.3275, -0.0448, -0.0448, 0.9983, 0.2611, 1.475, 0.4572, 0.3759, 0.2256, 0.083, 0.9947]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1941 left_yaw=0.0066 left_pitch=0.0287 left_roll=0.0017 left_gripper=0.9983 right_x=0.3654 right_y=0.0605 right_z=0.053 right_yaw=0.0173 right_pitch=-0.0531 right_roll=-0.0527 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.812, 7.0632, 1.7558, -0.0611, -0.0659, -0.0122, 0.3897, -4.7932, 5.7368, 1.9023, 0.2418, 0.0757, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4d679a5162cd6e587588899cf3dd0ff81a83bd6899f474583a0c9a14c4b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf601ae47768267202ad1ad3f1aa0d73b995283683de0e84d337d5554085045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bd3101ec83cef1cd1c41351044c0c13032936ee34e7f5e40904f4fa753c839f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 8.295 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]: [-0.038, 0.8604, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2039, 1.4612, 0.8322, -0.0322, 0.1696, 0.0525, 0.9998]\nstate[eef_state]: left_x=0.3124 left_y=-0.0004 left_z=0.1947 left_yaw=0.0066 left_pitch=0.0306 left_roll=0.0016 left_gripper=0.9982 right_x=0.414 right_y=0.0588 right_z=0.129 right_yaw=0.0231 right_pitch=-0.0801 right_roll=-0.048 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -1.9624, 7.0632, 1.7607, -0.0659, -0.0757, -0.0122, 0.4581, -6.3795, 9.306, 1.8388, 0.2564, 0.0952, -0.0171]\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]: [-0.038, 0.8616, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2066, 1.4796, 0.8352, 0.0055, 0.1761, 0.057, 0.0104]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1943 left_yaw=0.0066 left_pitch=0.0294 left_roll=0.0016 left_gripper=0.9982 right_x=0.4205 right_y=0.0602 right_z=0.1304 right_yaw=0.0182 right_pitch=-0.0572 right_roll=-0.0441 right_gripper=0.0104\nstate[joint_eff]: [-0.0068, -1.812, 7.3094, 1.7558, -0.0757, -0.022, -0.0122, 0.0342, -6.8581, 9.1829, 1.9512, 0.2564, 0.0708, 0.8425]\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]: [-0.038, 0.8623, 0.6525, -0.3275, -0.0448, -0.0448, 0.9983, 0.2611, 1.475, 0.4572, 0.3759, 0.2256, 0.083, 0.9947]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1941 left_yaw=0.0066 left_pitch=0.0287 left_roll=0.0017 left_gripper=0.9983 right_x=0.3654 right_y=0.0605 right_z=0.053 right_yaw=0.0173 right_pitch=-0.0531 right_roll=-0.0527 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.812, 7.0632, 1.7558, -0.0611, -0.0659, -0.0122, 0.3897, -4.7932, 5.7368, 1.9023, 0.2418, 0.0757, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4d679a5162cd6e587588899cf3dd0ff81a83bd6899f474583a0c9a14c4b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf601ae47768267202ad1ad3f1aa0d73b995283683de0e84d337d5554085045",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 269):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd3101ec83cef1cd1c41351044c0c13032936ee34e7f5e40904f4fa753c839f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwAoKEAgRGAI4AUIIdGhpbmtpbmcSDGPZMf46DnCtZWf62hoMKhFlWI2WwgkxNiPCIjBTqVI2TX3mzCjS9x5SYdNdP55NUOlDFcJsBKyua4hROTSb2sxeraOxE/a/9VoB5xcq3QnA9kDmBycd8kWsWayiLCDruNebsSZ7P8hYbftvvMTW+MnzA7yU+/0kl/5XbgeveEN0Xc2LdBeTaWqK/rM/pWXHZa+c/yFYyjpibyszZNhLBadzLhOQ79mRK0BvoRohZLFt+j5XNpqaiFf1ylIOqSKzIgaYo3zGefDQy+dNyNHM4fFohFyWiNXNinyL56bufPZlS/tz75qB8bMHv69NsPTxcNfCAefk2jtz1/WI4ctySt3l7sG0gENMo0UQiX1HXq4QsBU2VgGQaSHma8qZYAs+KkqJJJXy13mPZWsCbbBOI/mzDbcv4bmiNSFbtGYJdlxci0T9VzGsQa+8OBfT+BtXepXlnLFFzFPhQj71vz4I26jAYsxY1y+aF0mxMyqGCu72dL+X9STwxNSWIXbJaGQ93KwmWYmHjMwuWwjuyKBEVW624dLO2GtXd8mQHl1zQjIoE2rU/QU5/fAW4KmqUST/klkdEJKlzCzFEiOV1z6udaY0SFn6NDlju98Xxyl/U0otcEu7dNwONGxXKaXUKSCyR4ebYPxvVsfP+1+7+8zzVYoS+q7sIlLkBdlXTt06NFw9zYOdmlCD9FjQK+dkDjWTF3YcWj5RaYLUicQ79iujMoReUiSEl7377xzTc0ZHQuD1bprsEcVvxOmaD1/+tO2AWkXh6kLInloEKu6b3wYp2rjkJ+QvwAZtOvGt/H/IE5KuekORmD29ZmHb3bfAyeILeY+LcU7uicM/Yyg54B85ip46JAnq+zUezNoej+4UwB4seWDq01u3S4UZXpaqmhkSSZre34Net3piL+2TFlCvcdw5eIwkLrUDJXrkg6Pt7JsVL8FhUKZ6Gk5mD/R/RjLolxQ/gqSE5zleHvKaGeoghtBwTWEYiCcHeLs5Z13a/SC/7XsGppc+oII07oWxlKhns2tqMD1voJDmyL0cXgt/Qxb8sl8Nz+6L+LbtAVm58Kv/f7KNXhLFhmiF9afL45WY2Pph7e4sbH8k3ByDB1yijxzUS16TnxPF7+Eelv9TNgyxUAKX8CuSknepAiStvkis1pVpPksfSyNKpuwE1qjiSib3Z6wIXf139hz+KnHwr33vcE/pOzP/J7u0Bnilx99P/Q3jnt72B3cO2GBM7PBNMHMKCJSsCaVs+omVXPmA8/45PL6UM2No+bagZ5T7bIUxDle9klMJIehTJHgWMwfVQjUQoNhUKKkfi4xbc4CrUO354zz4k2x9KgutqRuUOVnvdVjSMsUnQUTYwHN+XdaHKJmgnOvpXHaVvBvlgHbY1SueB9bD8xgLitaQ/NJqNCYhfTOgzmdbKP8Q7mMjqohAFGAIDHgmWxyXEKjz0Fqderu6tRHCe0iWPPm/uspsxpJC53KVUdWj6fAE+9f0ureB40E4Vwb7mcSZLbVo8cNDukD2dTwsRvfTNmz/btDRk+V097Z7bmeZxts4x141HPrxscv1SI6Y/xZTFDCvyvM9NxSfZLjhPOuFr3q0w1Sps9gKwyqnBnSoMlYJlZKDJGTCkyCgocuTK8YWc6DgRHX8lItnZ4uGU541MhHqMfts0tGDnuIRLx3ZqAlJN0QFsvcK25krJbghfqKbIJw6HUUGcMroNUbCJ+zXomETki8pT3Ll/Vfns3MT9GJNCqjK0NkExh74GYYh/03QgAsMQp4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HfGUGnR8Fd7cwsJfQ1r5We",
      "input": {
        "note": "At mid-body height the jug's base sits on the jaw column about 8–10 cm ahead of the fingertips in the right wrist view; sliding forward ~10 cm so the open jaws straddle the body.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.47,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HfGUGnR8Fd7cwsJfQ1r5We",
      "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]: [-0.0383, 0.865, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.1967, 1.8282, 0.7807, 0.4229, 0.1825, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.3127 left_y=-0.0006 left_z=0.1933 left_yaw=0.0059 left_pitch=0.026 left_roll=0.0016 left_gripper=0.9982 right_x=0.4562 right_y=0.0618 right_z=0.0426 right_yaw=0.0118 right_pitch=-0.0431 right_roll=-0.0586 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.9624, 7.0632, 1.7509, -0.0562, -0.0806, -0.0171, -0.6496, -8.3624, 7.159, 1.8388, 0.1685, -0.0415, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba7b081d74c88239d047dc86e131f7f9cbaeac84a7b2fa9c6d52f1c674d251de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513e1ac1e8c449cd102b7dc8f8e8cad561e1992d164249c8010e90ef44bd981e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:084731bbdc4bed22ecc8e0707339f68e75068306a8df578592302ea14e03176d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 23.36 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]: [-0.038, 0.8616, 0.6525, -0.3275, -0.0448, -0.0448, 0.9982, 0.2066, 1.4796, 0.8352, 0.0055, 0.1761, 0.057, 0.0104]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1943 left_yaw=0.0066 left_pitch=0.0294 left_roll=0.0016 left_gripper=0.9982 right_x=0.4205 right_y=0.0602 right_z=0.1304 right_yaw=0.0182 right_pitch=-0.0572 right_roll=-0.0441 right_gripper=0.0104\nstate[joint_eff]: [-0.0068, -1.812, 7.3094, 1.7558, -0.0757, -0.022, -0.0122, 0.0342, -6.8581, 9.1829, 1.9512, 0.2564, 0.0708, 0.8425]\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]: [-0.038, 0.8623, 0.6525, -0.3275, -0.0448, -0.0448, 0.9983, 0.2611, 1.475, 0.4572, 0.3759, 0.2256, 0.083, 0.9947]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1941 left_yaw=0.0066 left_pitch=0.0287 left_roll=0.0017 left_gripper=0.9983 right_x=0.3654 right_y=0.0605 right_z=0.053 right_yaw=0.0173 right_pitch=-0.0531 right_roll=-0.0527 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.812, 7.0632, 1.7558, -0.0611, -0.0659, -0.0122, 0.3897, -4.7932, 5.7368, 1.9023, 0.2418, 0.0757, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0383, 0.865, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.1967, 1.8282, 0.7807, 0.4229, 0.1825, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.3127 left_y=-0.0006 left_z=0.1933 left_yaw=0.0059 left_pitch=0.026 left_roll=0.0016 left_gripper=0.9982 right_x=0.4562 right_y=0.0618 right_z=0.0426 right_yaw=0.0118 right_pitch=-0.0431 right_roll=-0.0586 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.9624, 7.0632, 1.7509, -0.0562, -0.0806, -0.0171, -0.6496, -8.3624, 7.159, 1.8388, 0.1685, -0.0415, 0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba7b081d74c88239d047dc86e131f7f9cbaeac84a7b2fa9c6d52f1c674d251de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:513e1ac1e8c449cd102b7dc8f8e8cad561e1992d164249c8010e90ef44bd981e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:084731bbdc4bed22ecc8e0707339f68e75068306a8df578592302ea14e03176d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AcKEAgRGAI4AUIIdGhpbmtpbmcSDONT+B8P56+Im4CRcBoMIZFjknesd7g2k6MjIjCr0IipU7+YugybLkpy/xLZOsQQrqRW0NWQ9ueIvSLJOB4VntYlqltTuwvxQ3yq85kq/QZtfxp7D+MClvV5r+cWZXuE+o6z65xnjm0CdSsasj0iPNGDcTAaU8Ak8+EKUleSsVuk1/FSdqZjwyoFmiGhkxOqb5bCR/6/WMvjo6EDuBZQei3AS+lb5a7qkfTu/N1FcgfdDlNdaQTg2uBnbkiE2VGanJJ74nfSMy2LZl1wD8VPHbgejkaus4xHUciNQ5Y07yei2fuQHpE5R/nUkyU/RXDvx5BRH5pUtIjr0Xqodn0D7X2UT6nJioEWcEPNeZ5MFOOUogmq6EJWwX1NBBWb5n+FI4bABKfXjLiJDLvXCa6pB7ixTgJMxI801SW88FSpw1AftPZaGTdLmgHxgTHfLZXpgSpalqJipfa5yUDWWAq60EuSOh9NoD3b0qGWHP5o7B4jP0n3+OPG1eqswmgHjsn38pY1tt/4FRYpoUMuY6fAJsJ3b5KGjkKFQGreM1LfSjZS4GJpVYSiR60kFQwMAkuJ2k3i9+EWVsVtF+lj85Mc9CTAzDAgAYTlZoObWT/7Ur0uLWT/K7teDkP4l5JCG/d5/xTMKx2BTGuFD522TklfyYYUP1Y+E9T00MhZ6f5K/X0nOUAE8AyH926j3aFDT8nIcgFveZYOVIRTDybYsv2XJijByz1MVXkrErndwcuHPM690CNcfc83BgYhQJPlF4gVwXDD9W7fSg7ZFHDSdwWi/WILwL3jU/nqegZ2GMX5GlraYWvZa1udhxj9rNmuh7USJYv+VBSEAlw6W1/6ceWVFBlHaHpBVquOoh4os0uo1SCLC7mKpCGwBp1m7r/v2eGa4p64ValIgNqrHdmSwqZikmZp+40ibvtJ2ctkmScI50qgeRiCzouOaCNsBnfI+3aES1gQMb8dmhxLOiLSukFZE5U2uzjnXhNnAu1pUvKX27MJYZZfj24gO1QAX3p83JZj9JpY9xrrp1+9NnOGbeMdc/y8AabSuJ2o4aT7x6KTNaCPj2Lw+VNHO8/FIQmFKbTtN/dX+rjOrq2X1bNMR3nSx1CauuH/yg+NYXYCVav0GgYwK7vG8AyTM0tvCc1hf1OsvT2PSCSY4uF9BKq0QUALivBdrQvxjT2xIA7e5j37sZbfawoyi1ttulisWaE2+vfzVW8t5qqqCv6lLTMCn3XT5T2xqGkT4tI3TsQsWFE0AuY/P+rEkkKQ4OUvT9gVbfipTFyk8GpkAbUr3XoKWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FeDFRFWXNj2a9tuVTaVDFc",
      "input": {
        "note": "The jug body now fills the right wrist view between the jaw tips and the arm stopped short on contact; closing the gripper on the body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FeDFRFWXNj2a9tuVTaVDFc",
      "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]: [-0.038, 0.865, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1947, 1.84, 0.7811, 0.4168, 0.1734, 0.0376, 0.0103]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1932 left_yaw=0.0066 left_pitch=0.0256 left_roll=0.0018 left_gripper=0.9982 right_x=0.4547 right_y=0.0623 right_z=0.0362 right_yaw=0.0191 right_pitch=-0.0614 right_roll=-0.0589 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -1.7709, 7.1863, 1.7314, -0.0611, -0.022, -0.0073, -0.0752, -9.4701, 5.2855, 1.8046, 0.2418, -0.0122, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649ba4d3246d8593b73626252671f575b3468f27618ef65cd2207d9db524a0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4b8a24eba8096fecbc594a2e68b30ff875bb2a06005a02e06b82062db87949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78d9c0c23b3bc2c25d99db8c64cd9c8c2c1ec8d54fa2553ab7a431f315017e83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 15.98 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8623, 0.6525, -0.3275, -0.0448, -0.0448, 0.9983, 0.2611, 1.475, 0.4572, 0.3759, 0.2256, 0.083, 0.9947]\nstate[eef_state]: left_x=0.3125 left_y=-0.0004 left_z=0.1941 left_yaw=0.0066 left_pitch=0.0287 left_roll=0.0017 left_gripper=0.9983 right_x=0.3654 right_y=0.0605 right_z=0.053 right_yaw=0.0173 right_pitch=-0.0531 right_roll=-0.0527 right_gripper=0.9947\nstate[joint_eff]: [-0.1162, -1.812, 7.0632, 1.7558, -0.0611, -0.0659, -0.0122, 0.3897, -4.7932, 5.7368, 1.9023, 0.2418, 0.0757, 0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0383, 0.865, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.1967, 1.8282, 0.7807, 0.4229, 0.1825, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.3127 left_y=-0.0006 left_z=0.1933 left_yaw=0.0059 left_pitch=0.026 left_roll=0.0016 left_gripper=0.9982 right_x=0.4562 right_y=0.0618 right_z=0.0426 right_yaw=0.0118 right_pitch=-0.0431 right_roll=-0.0586 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.9624, 7.0632, 1.7509, -0.0562, -0.0806, -0.0171, -0.6496, -8.3624, 7.159, 1.8388, 0.1685, -0.0415, 0.1392]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.865, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1947, 1.84, 0.7811, 0.4168, 0.1734, 0.0376, 0.0103]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1932 left_yaw=0.0066 left_pitch=0.0256 left_roll=0.0018 left_gripper=0.9982 right_x=0.4547 right_y=0.0623 right_z=0.0362 right_yaw=0.0191 right_pitch=-0.0614 right_roll=-0.0589 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -1.7709, 7.1863, 1.7314, -0.0611, -0.022, -0.0073, -0.0752, -9.4701, 5.2855, 1.8046, 0.2418, -0.0122, 0.8034]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:649ba4d3246d8593b73626252671f575b3468f27618ef65cd2207d9db524a0d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4b8a24eba8096fecbc594a2e68b30ff875bb2a06005a02e06b82062db87949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 288):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d9c0c23b3bc2c25d99db8c64cd9c8c2c1ec8d54fa2553ab7a431f315017e83",
        "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_012SH3avsrfpACxU116s3UK1",
      "input": {
        "note": "The body is wider than the jaws and just got nudged again. Opening, backing off, and rotating the tool 90° so the jaws close along x — that lets me grasp the neck without hitting the handle on the jug's right side.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.39,
          "right_y": 0.065,
          "right_yaw": 1.5,
          "right_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_012SH3avsrfpACxU116s3UK1",
      "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]: [-0.038, 0.8696, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.2234, 2.0312, 1.5951, -0.7273, -0.9321, -1.4055, 0.9949]\nstate[eef_state]: left_x=0.3131 left_y=-0.0004 left_z=0.1919 left_yaw=0.0062 left_pitch=0.021 left_roll=0.0018 left_gripper=0.9982 right_x=0.4751 right_y=0.0412 right_z=0.1385 right_yaw=1.2272 right_pitch=-0.03 right_roll=-0.2584 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.1265, 7.3231, 1.746, -0.0611, -0.0171, -0.0122, -0.4034, -11.7538, 5.7915, -0.0952, -0.8816, 0.0464, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44431ced6b724ffed46b381178eb8dc0457c1bfb0adbbc666196955971f43d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1d433f87901f7e49c4b0fa67f730a821a5646b7d81184800f664d0e5538824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75587384c91ca65ffa2c5286dfbc3a30ff9f5d1e5116771622d48c7fd20fbe0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 17.23 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0383, 0.865, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.1967, 1.8282, 0.7807, 0.4229, 0.1825, 0.0406, 0.9962]\nstate[eef_state]: left_x=0.3127 left_y=-0.0006 left_z=0.1933 left_yaw=0.0059 left_pitch=0.026 left_roll=0.0016 left_gripper=0.9982 right_x=0.4562 right_y=0.0618 right_z=0.0426 right_yaw=0.0118 right_pitch=-0.0431 right_roll=-0.0586 right_gripper=0.9962\nstate[joint_eff]: [-0.1846, -1.9624, 7.0632, 1.7509, -0.0562, -0.0806, -0.0171, -0.6496, -8.3624, 7.159, 1.8388, 0.1685, -0.0415, 0.1392]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.865, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1947, 1.84, 0.7811, 0.4168, 0.1734, 0.0376, 0.0103]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1932 left_yaw=0.0066 left_pitch=0.0256 left_roll=0.0018 left_gripper=0.9982 right_x=0.4547 right_y=0.0623 right_z=0.0362 right_yaw=0.0191 right_pitch=-0.0614 right_roll=-0.0589 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -1.7709, 7.1863, 1.7314, -0.0611, -0.022, -0.0073, -0.0752, -9.4701, 5.2855, 1.8046, 0.2418, -0.0122, 0.8034]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8696, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.2234, 2.0312, 1.5951, -0.7273, -0.9321, -1.4055, 0.9949]\nstate[eef_state]: left_x=0.3131 left_y=-0.0004 left_z=0.1919 left_yaw=0.0062 left_pitch=0.021 left_roll=0.0018 left_gripper=0.9982 right_x=0.4751 right_y=0.0412 right_z=0.1385 right_yaw=1.2272 right_pitch=-0.03 right_roll=-0.2584 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.1265, 7.3231, 1.746, -0.0611, -0.0171, -0.0122, -0.4034, -11.7538, 5.7915, -0.0952, -0.8816, 0.0464, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44431ced6b724ffed46b381178eb8dc0457c1bfb0adbbc666196955971f43d64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac1d433f87901f7e49c4b0fa67f730a821a5646b7d81184800f664d0e5538824",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75587384c91ca65ffa2c5286dfbc3a30ff9f5d1e5116771622d48c7fd20fbe0f",
        "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_01AXDG794gTgLeGQHFFzF5Cb",
      "input": {
        "note": "The yaw move swung the arm forward and toppled the right jug, which now lies with its neck pointing toward the table centre. Raising the arm above it to get a clear overhead look before attempting a neck grasp on the lying jug.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.08,
          "right_yaw": 1.5,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AXDG794gTgLeGQHFFzF5Cb",
      "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]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1692, 2.2257, 2.1826, -1.4296, -0.9752, -1.6726, 0.9962]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4634 right_y=0.0728 right_z=0.2026 right_yaw=1.4444 right_pitch=-0.0307 right_roll=-0.1675 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.6752, 7.3094, 1.7607, -0.0611, -0.0415, -0.0122, -0.5538, -10.8786, 6.9675, 0.0464, -0.7106, -0.0562, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6867e180bba51eab6d1e4dfbbaf93ba754d21ee71443636c8d79e8439400e5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c144e038e97b3ee2b8e5bb8f6b3e0664d60ffd4333518cb25763f25e4436c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7d4643ff11ad830540a6b1f0aee87875ba5c2c6088a5d44c276ae2d0b467b94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 11.44 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.865, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1947, 1.84, 0.7811, 0.4168, 0.1734, 0.0376, 0.0103]\nstate[eef_state]: left_x=0.3127 left_y=-0.0004 left_z=0.1932 left_yaw=0.0066 left_pitch=0.0256 left_roll=0.0018 left_gripper=0.9982 right_x=0.4547 right_y=0.0623 right_z=0.0362 right_yaw=0.0191 right_pitch=-0.0614 right_roll=-0.0589 right_gripper=0.0103\nstate[joint_eff]: [-0.0479, -1.7709, 7.1863, 1.7314, -0.0611, -0.022, -0.0073, -0.0752, -9.4701, 5.2855, 1.8046, 0.2418, -0.0122, 0.8034]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8696, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.2234, 2.0312, 1.5951, -0.7273, -0.9321, -1.4055, 0.9949]\nstate[eef_state]: left_x=0.3131 left_y=-0.0004 left_z=0.1919 left_yaw=0.0062 left_pitch=0.021 left_roll=0.0018 left_gripper=0.9982 right_x=0.4751 right_y=0.0412 right_z=0.1385 right_yaw=1.2272 right_pitch=-0.03 right_roll=-0.2584 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.1265, 7.3231, 1.746, -0.0611, -0.0171, -0.0122, -0.4034, -11.7538, 5.7915, -0.0952, -0.8816, 0.0464, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1692, 2.2257, 2.1826, -1.4296, -0.9752, -1.6726, 0.9962]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4634 right_y=0.0728 right_z=0.2026 right_yaw=1.4444 right_pitch=-0.0307 right_roll=-0.1675 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.6752, 7.3094, 1.7607, -0.0611, -0.0415, -0.0122, -0.5538, -10.8786, 6.9675, 0.0464, -0.7106, -0.0562, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6867e180bba51eab6d1e4dfbbaf93ba754d21ee71443636c8d79e8439400e5af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c144e038e97b3ee2b8e5bb8f6b3e0664d60ffd4333518cb25763f25e4436c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d4643ff11ad830540a6b1f0aee87875ba5c2c6088a5d44c276ae2d0b467b94",
        "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_01WKpDX4W8LkmzK4NzYu5yLn",
      "input": {
        "note": "Correction: the right jug is still upright; its open neck shows at the lower right of the rotated wrist view, just forward and below the jaw tips. Moving forward and down so the x-aligned jaws come around the neck.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.49,
          "right_y": 0.065,
          "right_yaw": 1.5,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WKpDX4W8LkmzK4NzYu5yLn",
      "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]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6909, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0008 left_z=0.191 left_yaw=0.0051 left_pitch=0.018 left_roll=0.0019 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4561 right_pitch=-0.0235 right_roll=-0.0745 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6479, 7.241, 1.7167, -0.0513, -0.0513, -0.0122, -0.3761, -11.1248, 6.8855, -0.1148, -0.6569, -0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a39c22aa2a4866d0a1b526c188a9738d31d3c568daa177db6d34391ffcf7908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:363c6182a987c278963aa748b74e74df096dba3d68d8d68cf4e680f11a8db3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0dee359a51a5851379762f1c0bf429680519142cb3c8a80bc6bd5f5af8d7cfe5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 8.172 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 0.8696, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.2234, 2.0312, 1.5951, -0.7273, -0.9321, -1.4055, 0.9949]\nstate[eef_state]: left_x=0.3131 left_y=-0.0004 left_z=0.1919 left_yaw=0.0062 left_pitch=0.021 left_roll=0.0018 left_gripper=0.9982 right_x=0.4751 right_y=0.0412 right_z=0.1385 right_yaw=1.2272 right_pitch=-0.03 right_roll=-0.2584 right_gripper=0.9949\nstate[joint_eff]: [-0.1573, -2.1265, 7.3231, 1.746, -0.0611, -0.0171, -0.0122, -0.4034, -11.7538, 5.7915, -0.0952, -0.8816, 0.0464, -0.1929]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1692, 2.2257, 2.1826, -1.4296, -0.9752, -1.6726, 0.9962]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4634 right_y=0.0728 right_z=0.2026 right_yaw=1.4444 right_pitch=-0.0307 right_roll=-0.1675 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.6752, 7.3094, 1.7607, -0.0611, -0.0415, -0.0122, -0.5538, -10.8786, 6.9675, 0.0464, -0.7106, -0.0562, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6909, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0008 left_z=0.191 left_yaw=0.0051 left_pitch=0.018 left_roll=0.0019 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4561 right_pitch=-0.0235 right_roll=-0.0745 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6479, 7.241, 1.7167, -0.0513, -0.0513, -0.0122, -0.3761, -11.1248, 6.8855, -0.1148, -0.6569, -0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a39c22aa2a4866d0a1b526c188a9738d31d3c568daa177db6d34391ffcf7908",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:363c6182a987c278963aa748b74e74df096dba3d68d8d68cf4e680f11a8db3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dee359a51a5851379762f1c0bf429680519142cb3c8a80bc6bd5f5af8d7cfe5",
        "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_01S4LWTCCqCkirEp6iTMhH6m",
      "input": {
        "note": "The yawed configuration is stuck against joint limits and refuses to move forward. Rotating halfway back toward the start yaw while retreating slightly, to grasp the neck across y instead (the handle attaches lower, at the shoulder).",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.42,
          "right_y": 0.06,
          "right_yaw": 0.7,
          "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_01S4LWTCCqCkirEp6iTMhH6m",
      "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]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6905, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4559 right_pitch=-0.0235 right_roll=-0.0742 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.6068, 7.1453, 1.7265, -0.0904, -0.0317, -0.0073, -0.3624, -11.412, 6.9538, -0.149, -0.7253, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d07c16e2f547dfc20fdf33eaa9940780d14d881881443ad3a0629fb0c251a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213178dafd1b8743c1916cce3991f9bb0396f3c6aeae35232636a9f2e26b21d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23919fae202b939b26b638155f35f4096d0725249e494b63c339a8cd83bab059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 6.716 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1692, 2.2257, 2.1826, -1.4296, -0.9752, -1.6726, 0.9962]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4634 right_y=0.0728 right_z=0.2026 right_yaw=1.4444 right_pitch=-0.0307 right_roll=-0.1675 right_gripper=0.9962\nstate[joint_eff]: [-0.0479, -1.6752, 7.3094, 1.7607, -0.0611, -0.0415, -0.0122, -0.5538, -10.8786, 6.9675, 0.0464, -0.7106, -0.0562, 0.1148]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6909, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0008 left_z=0.191 left_yaw=0.0051 left_pitch=0.018 left_roll=0.0019 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4561 right_pitch=-0.0235 right_roll=-0.0745 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6479, 7.241, 1.7167, -0.0513, -0.0513, -0.0122, -0.3761, -11.1248, 6.8855, -0.1148, -0.6569, -0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6905, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4559 right_pitch=-0.0235 right_roll=-0.0742 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.6068, 7.1453, 1.7265, -0.0904, -0.0317, -0.0073, -0.3624, -11.412, 6.9538, -0.149, -0.7253, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d07c16e2f547dfc20fdf33eaa9940780d14d881881443ad3a0629fb0c251a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:213178dafd1b8743c1916cce3991f9bb0396f3c6aeae35232636a9f2e26b21d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23919fae202b939b26b638155f35f4096d0725249e494b63c339a8cd83bab059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxAcKEAgRGAI4AUIIdGhpbmtpbmcSDD6/9Erxfiw9Nrp+mxoMZ4NZ3jTB5kRnFISBIjCdwZXyiBVMtXx5vs06cZizzAK7u0gjGeOmdi/OI9aAP3NypdVPTZh99zDVPjW9cgoq4QY1mepO+kzC7tLXJLx2O91FFoIvgpXdW38zho6whM4LC8v0NtmC1ULhow0G+rcmQELnedhj0L6Qy8hqDa/8FHb6fJiyal9gbD6q346o/gvYoDMjiMAdNVD2qQ5QWbsxEyn4Hv31Eou0aggvkWZcdj12BKv6uNRsmSsRmT+nOOZ1Q+9OzZRgAwc3YWxF3NJ7/Xu85fL5eIbq1j/BZhNNJmLUPfBqLlq9e8fU5Qw0DE3SPihcG9wjP2ipSzWfah/le7GWN3vULBJs/rD0L7PTKebdoa0usmAHY3t8xxTm0L6U2IzjAkeXcmbw2cT3kNd5ab+cAl+KUQ6Y8QI80bmCcm8gcq/aljqi5+FBNTiU8+PBBN7TqspnQzKwmP7ubXDVImsL4N9BtPVJeiZZUgRKrtz05TECw6SlC7rd4sh0Ue7FQDdC1gUuVlx975qt80PCRM8G5w3uwX+d67hPiIXGpJOPqeE29uDOLXSsoTyb8WOhzm8xFCSTlXaHi/RoxXCPNrfYVrV2ZjE3YOLC7WSi6h5iV+BRl+f7S2In0FOxf7HycV7i+3MRzrnKm5bAsqzpq22pnm6Ii80UVm+qRgvLqSXRGAsY8mii/F9WyJCIQlF6hTEDWTqNF99Nn+zG9//222VnZC1Uoe+/CWaXbJeLwOVLHqYwCAm+oQy1IyFV6wRJlNGtQAZ5rkchDdac5Y2mPWUrualOXmrHGGQ1mbqPVk7nvAXTI6+VbaJ1G2ATX1Bzo0iPcPdjHTkVl2xE12cwg+WrQLV5cQBn5fVOSde+/00K3lwt5vVINV4l+cmAsDmBothae4PN+p36cGR5C/JGRxU12/NXJygp6LiXAe/p9FF40DGkvPE/JQFmAh7cdzhSHPJl7AWweuq3dgKdxw1ZD/7Bbp8gE5De0R1C8rVl2i+RHCvHalHADzVDKvD2ZNjta0zZ8P06MBMGFE5Zc+SiWeDOBMktUx4XGPiqsLHpcCy1Hq4U6Q3IZknMr3ZH+Cu9/8qwzKoU6mTBilTu1x6L2BZ77JnUx1J/y3umJWz5gvv9qaDGSfXsTxdXeYt0j1wa94hpqoP58MXRyT2IlUhW0goveO5ZllO+c8304+t+4ZrjuHW9v/uDqFwptnd2zp37nN7NFf4Wj4wKQYBIEJ5a1yWEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NhWKNNsi5Aicwd1VFfmwE7",
      "input": {
        "note": "The right arm is frozen in its yawed pose; per rig guidance I'm first raising z and pulling x back without changing yaw to unstick the IK.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.075,
          "right_yaw": 1.45,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NhWKNNsi5Aicwd1VFfmwE7",
      "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]: [-0.0391, 0.8757, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.1692, 2.1063, 1.9919, -1.5368, -0.9779, -1.6825, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0008 left_z=0.1902 left_yaw=0.0053 left_pitch=0.0153 left_roll=0.0017 left_gripper=0.9982 right_x=0.4109 right_y=0.0821 right_z=0.2026 right_yaw=1.4543 right_pitch=-0.0199 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.6752, 7.1726, 1.7656, -0.0513, -0.0708, -0.0122, 0.3897, -14.1607, 6.188, -0.0415, -0.6569, 0.1441, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f831639a747c2b25f2bdeb7c6c2e51f32f9ba096ac4c3720e4eca90d052687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a550b80d9aef6b5d3acc1d807e33476e51c1d9eaaf914acdf5c2199eaab856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdb06113f0464df8a2ebaa67d6b7b8fcd081652a4554db10da33dc21929db13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 6.278 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0444, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6909, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0008 left_z=0.191 left_yaw=0.0051 left_pitch=0.018 left_roll=0.0019 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4561 right_pitch=-0.0235 right_roll=-0.0745 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6479, 7.241, 1.7167, -0.0513, -0.0513, -0.0122, -0.3761, -11.1248, 6.8855, -0.1148, -0.6569, -0.0269, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6905, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4559 right_pitch=-0.0235 right_roll=-0.0742 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.6068, 7.1453, 1.7265, -0.0904, -0.0317, -0.0073, -0.3624, -11.412, 6.9538, -0.149, -0.7253, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8757, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.1692, 2.1063, 1.9919, -1.5368, -0.9779, -1.6825, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0008 left_z=0.1902 left_yaw=0.0053 left_pitch=0.0153 left_roll=0.0017 left_gripper=0.9982 right_x=0.4109 right_y=0.0821 right_z=0.2026 right_yaw=1.4543 right_pitch=-0.0199 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.6752, 7.1726, 1.7656, -0.0513, -0.0708, -0.0122, 0.3897, -14.1607, 6.188, -0.0415, -0.6569, 0.1441, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9f831639a747c2b25f2bdeb7c6c2e51f32f9ba096ac4c3720e4eca90d052687",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19a550b80d9aef6b5d3acc1d807e33476e51c1d9eaaf914acdf5c2199eaab856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb06113f0464df8a2ebaa67d6b7b8fcd081652a4554db10da33dc21929db13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5gcKEAgRGAI4AUIIdGhpbmtpbmcSDL/DeDACZoM6GAAZaRoMJquoWcP7zCV92zQVIjBOrNHvc+7kFGgD8KB6IJtcCv8r/GVdy9Zbbcn/oIOWedRqXz49wyWIyIH7tF5dHtkqgwcRRVLghpQnY022lYBPGvWP+8jGBPVZTtbPuzjzVvwxZbRrDdPTjWEczKsMI6n2CUeAvVd23zm0r64obkcQk3lvBlefv5T7fmQ5cJkjOrLAImNkpjjjoNlZV0KQhs9hXU2EVUm0lZaIg1GmOeu97fpWk7LFuY0lNAzSzmwyUtqM6Rn3zTaDR5HYYnCq3aOWxc9zVcoGwtjNs5GsH4bqSvetCuBoMMiE5KKYLKkqrwk8jO1hCAf45nBKHoNM/gV3SSj8uBaZ0McD0/ip/IiV5Ge9/WDefxo8g6wBNkGRVgaRR1Yer38wJdXz96+Fl3NSYNxcCqwivj1tKtPLeopVlzvNDudk+e4fvIqrv6zJ1ilOTkiC+P9TsTFIAUhiBWG3ssv5rCdGGr9f6aw5ETmFUom+jdp/DennkAyaXlA9d0gJhreq46f19NVuARxq5THA+SABLc00afW/hPkXhaWoPjNVsb9aRVsd11fFrL/mYUO/q2OglMGmQZ+wGrYMeiNBoxezpJ/gV9ivJ86FLnZKkhZZ3J7y7Etk3kMwPDPphK9n7qbJPZ/eFnLCkx/ODQ1nZhitv+IL2l8w5xSeIuo4pTss7K1IQAs8H8N/HN9xage4Hb6nGiugfz0kkOc2SJkNcRd5DQsYgGNBrBwA7V0350JAlL8DOzhLCW3j9o8a9nC548zHfGWj2tFI2sQUSBOR3PsEMtMZidKUrMkzFwHJVvB5O6FtKIEiAiYIglP0/LYu9O+tsQ2TmS7/Eh/4Qpb1wywSNNF7Kz208xZF9wAiG4LXgaZuczu9+KKRsNs/A1Dyij6NXUOutjrWWjhwUqd+JhdeaqItcwkIs743DVjMxQ7hGkioKP1n+IJFRANvJii2Dx91hMg2Ovb1rTQmuCdEsjHUdVnfxmwKB/1Lbf2EkflP/sfipxClKScTLNajSVbiiNF1FLemZusQef0IJ1X2t3utm5fSEAiq1w/VAP7bRvpmaGUCszACMGQs4evBV0LP8E5e8hVTbmb8mvWvs/HxXKSlIFBUtbYZ2ev7Se7vQNgoY19FWLn8EINisLOKW7FOG3X5u5TqnAgS6S4wFLfKEUOmt//RrUvAOwpU3hzxOIYi6zVLdprqC+/hHyCaGDr089TIs8I4IIMiIQbXozM0zBdajb/gnBzPjpgYIVtl+WlAm0dsdeDF+XlVod3hicRJ3oN7qxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WNbp5mQvjS3ESGUWhDrjKV",
      "input": {
        "note": "The arm unstuck in x but cannot rise above ~20 cm in this yawed pose; rotating the tool halfway back toward the start yaw at a slightly lower height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.08,
          "right_yaw": 0.7,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WNbp5mQvjS3ESGUWhDrjKV",
      "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]: [-0.0399, 0.8818, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.0834, 1.4731, 1.0637, -0.8024, -0.7414, -0.9142, 0.9965]\nstate[eef_state]: left_x=0.3141 left_y=-0.0011 left_z=0.1884 left_yaw=0.0045 left_pitch=0.0092 left_roll=0.002 left_gripper=0.9982 right_x=0.3223 right_y=0.0964 right_z=0.1448 right_yaw=1.0294 right_pitch=-0.1969 right_roll=0.1232 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.2632, 7.1043, 1.79, -0.0659, -0.0806, -0.0073, -0.0068, -5.1077, 7.9248, 1.8095, -0.3443, 0.3004, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f15244b06e78a6bfbf994eebd4429f60d244510aaca6dce50a06068858de215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c93c0533a083470a4eabda1b29a7721d92cef5bc309d588b77d03979f325b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c66541fef0aedc8f041536d7d7d66786696653c691d23159f66b556b46bff4b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 40 attempt 0 · /messages · status 200 · 23.14 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 112 changed as sent

message 115 changed as sent

message 118 changed as sent

message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8726, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, -0.1703, 2.233, 2.1853, -1.5333, -0.9783, -1.6905, 0.9963]\nstate[eef_state]: left_x=0.3133 left_y=-0.0007 left_z=0.191 left_yaw=0.0054 left_pitch=0.018 left_roll=0.0021 left_gripper=0.9982 right_x=0.4472 right_y=0.0754 right_z=0.1999 right_yaw=1.4559 right_pitch=-0.0235 right_roll=-0.0742 right_gripper=0.9963\nstate[joint_eff]: [-0.0615, -1.6068, 7.1453, 1.7265, -0.0904, -0.0317, -0.0073, -0.3624, -11.412, 6.9538, -0.149, -0.7253, -0.0415, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8757, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.1692, 2.1063, 1.9919, -1.5368, -0.9779, -1.6825, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0008 left_z=0.1902 left_yaw=0.0053 left_pitch=0.0153 left_roll=0.0017 left_gripper=0.9982 right_x=0.4109 right_y=0.0821 right_z=0.2026 right_yaw=1.4543 right_pitch=-0.0199 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.6752, 7.1726, 1.7656, -0.0513, -0.0708, -0.0122, 0.3897, -14.1607, 6.188, -0.0415, -0.6569, 0.1441, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8818, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.0834, 1.4731, 1.0637, -0.8024, -0.7414, -0.9142, 0.9965]\nstate[eef_state]: left_x=0.3141 left_y=-0.0011 left_z=0.1884 left_yaw=0.0045 left_pitch=0.0092 left_roll=0.002 left_gripper=0.9982 right_x=0.3223 right_y=0.0964 right_z=0.1448 right_yaw=1.0294 right_pitch=-0.1969 right_roll=0.1232 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.2632, 7.1043, 1.79, -0.0659, -0.0806, -0.0073, -0.0068, -5.1077, 7.9248, 1.8095, -0.3443, 0.3004, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f15244b06e78a6bfbf994eebd4429f60d244510aaca6dce50a06068858de215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c93c0533a083470a4eabda1b29a7721d92cef5bc309d588b77d03979f325b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c66541fef0aedc8f041536d7d7d66786696653c691d23159f66b556b46bff4b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS8gYKEAgRGAI4AUIIdGhpbmtpbmcSDEiOw1lVRbC2V95xJRoMDTBEyR7FpwQSciX/IjD6FIDTvf1jNcHfLfAUs71FCq9wtdoqA+y2uWIGSqJp55KYwohjYMROCEhYMkP3uZ8qjwY0ql8CZcvZs6Yp+yCDzuRObRU5uJPuDLUK4tBvJ6m2ceSeqTIuQ86gbY5wGjbpqBn3ZyT4o5E3+XNFRyeyqWfnCf4g2jVQg9tx2KaVAyFc3D4QXM/yF6gZF9JKGChgC/s3OVBsQ8SPJuaP3Zb9aUDJDMytcKE3MSIcuNnaR4vJrWLWore/FGX3aAIY66haYdSS4dcb9PsHci1h3FYMF8nNgA3eEM34fcSmMnfOew5N4pfymGQr4yh5b73R2VeNopWxRaUIFbWeg/zdQLEo+WyKGCCJgyV6E7W0VFZ9U4XGznTt9i62XlI/c18Bb4uHWqZF8ya9jsoUjeUEH2Do8LkLJhStUoIUmlH7DG8NoTckg3DNhCdu5Wb8E+Gl/ZQeYBbTl/ByLWw6374SpF82fC8ET3x61gnp3y79b6Hz/6nkdzO8Pg+H6qiJqTYBlYo+lnWx86HeJiPb99IAVWCG7e/BhC+ZMJMpmLSAgY+Wc7AqHjl44DrtfD2Bp6Cb0w9lTZZgiK+Idc6y5cukTz8EMnlEAd69CtyuNZti/Jln4iQEQnLgSnY7xwP49dzAZ//cfDb5VWeL6euCkrz06vG0948JglUkdLeI3NADWfl2hngjZu2cYYRoq+myEKoqpfXyErbv0B312z/n9/uQsl0cTRnNemAgWMw5WLvKrGM2Wfz5QoMgTcy7rh8xtTU+59DNOWr6L0ltmcf0yTeXbAt8D1goTZAnZJ4RXmUtM/uqXsjilu2y4joJSsTBXbR4Andh7b5SNZY01pnrKqO7dPjIeMi3fKRqk7BE7W4NKBjDz9NQuY7dhYohl0y2N81RmCoX0T95aPJ7wlmC3jzeXYoJddSl08QdoNMvcJSKzBK+DuwsblaI7qpp0OrQ7/s82LwXbemxzMdmcKui+9YxiGTPFeJChG506yIu5OghD1vqtoK23dNg7s/Gm9Ir+6iKQALrlNebewW6b6lpk83svbYGZrNVDhkphcYqzKrYnm81GslVgj6gcs+xodh+YnRK3Sh6Jo+WixQs+FtbEJf0gxB9vkgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ss8HMMgAjetqacfPd7zGcE",
      "input": {
        "note": "The right arm is coming back toward the base while un-yawing; finishing the rotation to the start yaw and settling at neck height behind the jug.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Ss8HMMgAjetqacfPd7zGcE",
      "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]: [-0.0399, 0.8856, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.2321, 1.1465, 0.7441, -0.2554, 0.001, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3143 left_y=-0.001 left_z=0.1872 left_yaw=0.0046 left_pitch=0.005 left_roll=0.0027 left_gripper=0.9982 right_x=0.3453 right_y=0.0851 right_z=0.1611 right_yaw=0.2367 right_pitch=-0.0871 right_roll=-0.008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -2.1402, 7.0906, 1.7509, -0.0562, -0.0562, -0.0122, 0.1026, -3.3573, 7.8564, 1.8437, 0.1294, 0.1587, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b173036a6063867885e5ee1a2152a90ff0c9acd8a93ca6f54181a7434f24df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef3a07c659b8dd4f7c926151884a7d9a5bcc190a539a250901665f7e78ec21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:48524ff81f3dba76a983e2e2814acb168d4f72c8f21827f6a59666399b437db5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 41 attempt 0 · /messages · status 200 · 7.915 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 115 changed as sent

message 118 changed as sent

message 121 changed as sent

message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0391, 0.8757, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.1692, 2.1063, 1.9919, -1.5368, -0.9779, -1.6825, 0.9964]\nstate[eef_state]: left_x=0.3136 left_y=-0.0008 left_z=0.1902 left_yaw=0.0053 left_pitch=0.0153 left_roll=0.0017 left_gripper=0.9982 right_x=0.4109 right_y=0.0821 right_z=0.2026 right_yaw=1.4543 right_pitch=-0.0199 right_roll=0.0026 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.6752, 7.1726, 1.7656, -0.0513, -0.0708, -0.0122, 0.3897, -14.1607, 6.188, -0.0415, -0.6569, 0.1441, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8818, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.0834, 1.4731, 1.0637, -0.8024, -0.7414, -0.9142, 0.9965]\nstate[eef_state]: left_x=0.3141 left_y=-0.0011 left_z=0.1884 left_yaw=0.0045 left_pitch=0.0092 left_roll=0.002 left_gripper=0.9982 right_x=0.3223 right_y=0.0964 right_z=0.1448 right_yaw=1.0294 right_pitch=-0.1969 right_roll=0.1232 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.2632, 7.1043, 1.79, -0.0659, -0.0806, -0.0073, -0.0068, -5.1077, 7.9248, 1.8095, -0.3443, 0.3004, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8856, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.2321, 1.1465, 0.7441, -0.2554, 0.001, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3143 left_y=-0.001 left_z=0.1872 left_yaw=0.0046 left_pitch=0.005 left_roll=0.0027 left_gripper=0.9982 right_x=0.3453 right_y=0.0851 right_z=0.1611 right_yaw=0.2367 right_pitch=-0.0871 right_roll=-0.008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -2.1402, 7.0906, 1.7509, -0.0562, -0.0562, -0.0122, 0.1026, -3.3573, 7.8564, 1.8437, 0.1294, 0.1587, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21b173036a6063867885e5ee1a2152a90ff0c9acd8a93ca6f54181a7434f24df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef3a07c659b8dd4f7c926151884a7d9a5bcc190a539a250901665f7e78ec21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48524ff81f3dba76a983e2e2814acb168d4f72c8f21827f6a59666399b437db5",
        "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_01WcSFszhZ9z6MBqvrAirih3",
      "input": {
        "note": "Back at the start yaw; the right jug stands ~13 cm ahead and slightly right of the jaw column in the wrist view. Moving to just behind it at neck height (~13 cm) to line up a neck grasp across y.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.44,
          "right_y": 0.055,
          "right_yaw": 0.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WcSFszhZ9z6MBqvrAirih3",
      "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]: [-0.0399, 0.8894, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.2222, 1.1877, 0.728, -0.1963, 0.0208, -0.0128, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1862 left_yaw=0.0043 left_pitch=0.0016 left_roll=0.0027 left_gripper=0.9982 right_x=0.3542 right_y=0.0799 right_z=0.1516 right_yaw=0.2021 right_pitch=-0.085 right_roll=-0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -2.1949, 7.0906, 1.7607, -0.0415, -0.0562, -0.0122, -0.294, -4.2188, 7.0769, 1.8632, -0.0562, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c01b32c9ddf263f8747df3e41709cad110d1b3efecec1015874ec2810fe7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d6cd07479361dedec011950eac0878b211d481c7599b5fa4ee9c09c9406bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:694d083b16de390b90365c4a173c59ec84a038fe79e9964a67a86602057c511d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 42 attempt 0 · /messages · status 200 · 19.83 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 118 changed as sent

message 121 changed as sent

message 124 changed as sent

message 118 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8818, 0.6525, -0.3275, -0.0444, -0.0452, 0.9982, -0.0834, 1.4731, 1.0637, -0.8024, -0.7414, -0.9142, 0.9965]\nstate[eef_state]: left_x=0.3141 left_y=-0.0011 left_z=0.1884 left_yaw=0.0045 left_pitch=0.0092 left_roll=0.002 left_gripper=0.9982 right_x=0.3223 right_y=0.0964 right_z=0.1448 right_yaw=1.0294 right_pitch=-0.1969 right_roll=0.1232 right_gripper=0.9965\nstate[joint_eff]: [0.0205, -2.2632, 7.1043, 1.79, -0.0659, -0.0806, -0.0073, -0.0068, -5.1077, 7.9248, 1.8095, -0.3443, 0.3004, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8856, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.2321, 1.1465, 0.7441, -0.2554, 0.001, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3143 left_y=-0.001 left_z=0.1872 left_yaw=0.0046 left_pitch=0.005 left_roll=0.0027 left_gripper=0.9982 right_x=0.3453 right_y=0.0851 right_z=0.1611 right_yaw=0.2367 right_pitch=-0.0871 right_roll=-0.008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -2.1402, 7.0906, 1.7509, -0.0562, -0.0562, -0.0122, 0.1026, -3.3573, 7.8564, 1.8437, 0.1294, 0.1587, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8894, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.2222, 1.1877, 0.728, -0.1963, 0.0208, -0.0128, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1862 left_yaw=0.0043 left_pitch=0.0016 left_roll=0.0027 left_gripper=0.9982 right_x=0.3542 right_y=0.0799 right_z=0.1516 right_yaw=0.2021 right_pitch=-0.085 right_roll=-0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -2.1949, 7.0906, 1.7607, -0.0415, -0.0562, -0.0122, -0.294, -4.2188, 7.0769, 1.8632, -0.0562, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43c01b32c9ddf263f8747df3e41709cad110d1b3efecec1015874ec2810fe7b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d6cd07479361dedec011950eac0878b211d481c7599b5fa4ee9c09c9406bc31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 336):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:694d083b16de390b90365c4a173c59ec84a038fe79e9964a67a86602057c511d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuAkKEAgRGAI4AUIIdGhpbmtpbmcSDBTlMZjOSsGYRov0TRoM6mTUh2U+gPUgmZoQIjDUR0QYKW1ggnhR+xyRcBVxWH3uak37Mwq23RVz9ZKQXKLVqPFpqw1KPCrifHbO8kgq1QhQxBNtc2kppUkTIGM6H6Vi2311jlNlGqCMj2JsUSfXvoDSzNH2/Pa/Umj3yWZn/oJ3jOl2G9HlpNEY8x92mAMHfptUOGIhowIxS02WiDsaRVKOU16Bb6ub4VcXbL7XnE4BvCivaFRR0hdITm6uzorhRHjA088GbIKdMHn/lbkaI2x74YfVp7/M65jr3bvB/8+EBk4JRzfrQk0/QZ3Ibad1/qs60n1oqk4oaGIUVMuY/KoQM+6YnsAArcRUK0977Wz7bwSlvkLPYSbAQZjo7JSsPGv+NnqY4k463L2szMaYEWrkVesr67s9YeVh//IV+yqsYnQXCt725HZ9gLvCLz36IQyCt8WkzaxKf2pXMCNC6KEuAqx91g/sPEiRJblbmHMoPkYCdriC+g//iWOxqJ9XaEwMqaTYrMfLCOssWz2BjqmgBomBTSVWlriImqBhjKRao+XDsh0idNOJRAiTpDeRd+PURbWqwu026RXE7w8jNf2P1EmSNzFd2S7Wh4OsLI1VtzrpNY8IlOu+FkUZGIEGkPD7KAVe/pRDvk/sSxn6edHMqBoyn0oYpd1Va8ZDVD9GGaTnmgT5rp2y5QJL2icSygXwtuHOI8y992v8jR3nG2wvzD8AnkrAwdNMOzlt4nX5/nflHRaTDke8MdYrDi9stxpX14ncy8vV00awSD/qpEJgPQUdK4VavRfEbYauBitdD3rKOZxSFso94ngV90AwAnCrIItdgWJ9dNRfkFsxUG9DzqvNsXPSpzEqSpR9qDAGaHINTBufq3ndI8j2Ls6deqRp8edjFXogj3Rf4k8Rbhm6cmx4qEp/CWDjp69LBEJElgBh7LPATz8HRQ5HIiTVPqxqBi+By3hDN8JEqBo2rc6zwhp3jdKHfOWpOmGt1XnCQ1FM/7Up5lbhEvWgrc1pjwAcX4I7mS32FP85Hbr8lWLMUIGb4ZwZpcGlQpOffiNoTlARDAFJ/1R90IaqcGIP1fU/L/LJCWpHiRi1JGrUsL0NP9v/qjrwkebvFk6uJ+QZfCq6WIpK/LfwQhhEWfM7AzO6Q0Vzd+upzgw0Ggqi4/VWE1L07ADaqDjGuCj1Wf1XVJo7m+qOZegoxtNtvTeOeWpVRCX8a4GHz+Pv27rbADpJmU/GGrNRHbh3SRoFuA4GbSeR8oR8B3cOo5BhGFWEY9SnLqdDxWjk/III1jj1BN7Gylyl2Wy7VZGVbdrGsswvkCM0sj9aEHH5nzo3VeWuI6SnBKuA7qQzfSn0jE4W++76fgR84RR8uXbVd/A0DCnCzYSaSbYjy7LxYtkLZGHn5epOhNYDKLeiq6Zc7Ig+QElsGq7rDA2hbTxd6413KwwCv8sndgdvHPczJL/JxZ9aEHng1XyJ3UcvlhdwCrWYOSK7K9vq6WuDCnNe3/HbXRAR6HpR4z7U11woL2tM+E7Ck7WOorD6A21N+ZNAZgbI5DOCcDo0pb83nOBIPW/HyaJ1eMeh6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uis2iZVUtA5qcybhHBJr7J",
      "input": {
        "note": "The right arm lagged and only moved 1 cm toward the jug; re-issuing a slightly shorter forward target to reach the position just behind the jug at neck height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.43,
          "right_y": 0.055,
          "right_yaw": 0.0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Uis2iZVUtA5qcybhHBJr7J",
      "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]: [-0.0399, 0.8925, 0.6525, -0.329, -0.0444, -0.0452, 0.9982, 0.1856, 1.47, 0.7845, 0.0074, 0.0978, 0.0372, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1849 left_yaw=0.0045 left_pitch=-0.003 left_roll=0.0025 left_gripper=0.9982 right_x=0.4081 right_y=0.0627 right_z=0.1119 right_yaw=0.0732 right_pitch=-0.1035 right_roll=-0.0184 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.7573, 7.2684, 1.7851, -0.0464, -0.0562, -0.0122, -0.335, -9.2513, 8.1299, 1.5995, 0.1001, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e63c017fcf5393dfd0cac22203ca13d477a36d095286671583c8f4ffaeece7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa6a3a2ea8e8542636adf43ae8691aa7ed79b7eee0a75ea3a02734401edf01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f4a62ac5a8c77f58a28edc2014e925b82382641c89ea7c39f23a92ac4d942b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 43 attempt 0 · /messages · status 200 · 7.684 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 121 changed as sent

message 124 changed as sent

message 127 changed as sent

message 121 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8856, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.2321, 1.1465, 0.7441, -0.2554, 0.001, -0.0273, 0.9965]\nstate[eef_state]: left_x=0.3143 left_y=-0.001 left_z=0.1872 left_yaw=0.0046 left_pitch=0.005 left_roll=0.0027 left_gripper=0.9982 right_x=0.3453 right_y=0.0851 right_z=0.1611 right_yaw=0.2367 right_pitch=-0.0871 right_roll=-0.008 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -2.1402, 7.0906, 1.7509, -0.0562, -0.0562, -0.0122, 0.1026, -3.3573, 7.8564, 1.8437, 0.1294, 0.1587, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8894, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.2222, 1.1877, 0.728, -0.1963, 0.0208, -0.0128, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1862 left_yaw=0.0043 left_pitch=0.0016 left_roll=0.0027 left_gripper=0.9982 right_x=0.3542 right_y=0.0799 right_z=0.1516 right_yaw=0.2021 right_pitch=-0.085 right_roll=-0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -2.1949, 7.0906, 1.7607, -0.0415, -0.0562, -0.0122, -0.294, -4.2188, 7.0769, 1.8632, -0.0562, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8925, 0.6525, -0.329, -0.0444, -0.0452, 0.9982, 0.1856, 1.47, 0.7845, 0.0074, 0.0978, 0.0372, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1849 left_yaw=0.0045 left_pitch=-0.003 left_roll=0.0025 left_gripper=0.9982 right_x=0.4081 right_y=0.0627 right_z=0.1119 right_yaw=0.0732 right_pitch=-0.1035 right_roll=-0.0184 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.7573, 7.2684, 1.7851, -0.0464, -0.0562, -0.0122, -0.335, -9.2513, 8.1299, 1.5995, 0.1001, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08e63c017fcf5393dfd0cac22203ca13d477a36d095286671583c8f4ffaeece7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6aa6a3a2ea8e8542636adf43ae8691aa7ed79b7eee0a75ea3a02734401edf01b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 342):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f4a62ac5a8c77f58a28edc2014e925b82382641c89ea7c39f23a92ac4d942b1",
        "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_01GGcxX6waA3zR5rAEiPg8Uh",
      "input": {
        "note": "The jug is a quart-size bottle about as wide as the cups (~8–9 cm), centred slightly right of the jaw column and ~10 cm ahead. I'll grasp it low near its narrower base: descending to 3 cm and advancing so the jaw tips begin to straddle the body.",
        "targets": {
          "right_pitch": 0.2,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01GGcxX6waA3zR5rAEiPg8Uh",
      "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]: [-0.0399, 0.8955, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.1818, 1.9995, 0.6537, 0.8963, 0.1425, 0.0475, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1843 left_yaw=0.0045 left_pitch=-0.0049 left_roll=0.0026 left_gripper=0.9982 right_x=0.4599 right_y=0.0627 right_z=0.0204 right_yaw=0.0257 right_pitch=0.1261 right_roll=-0.0028 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.1812, 7.0769, 1.6923, -0.0317, -0.0611, -0.0122, -0.2256, -7.5282, 5.2718, 1.2967, 0.2906, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73463c31a436646941809eaaf554bdbd3b0fddb26ca56ce1df682894c93702be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7834a68251cddc3ffbe0cd872c82b4a5087cd902a29b7da6c4b6c05ea572be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdaeebda466c2a614d9c8e598ab49b9b08bed257f0e74ced861664f1f191304a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 44 attempt 0 · /messages · status 200 · 7.298 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 124 changed as sent

message 127 changed as sent

message 130 changed as sent

message 124 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8894, 0.6525, -0.3275, -0.0444, -0.0448, 0.9982, 0.2222, 1.1877, 0.728, -0.1963, 0.0208, -0.0128, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1862 left_yaw=0.0043 left_pitch=0.0016 left_roll=0.0027 left_gripper=0.9982 right_x=0.3542 right_y=0.0799 right_z=0.1516 right_yaw=0.2021 right_pitch=-0.085 right_roll=-0.0086 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -2.1949, 7.0906, 1.7607, -0.0415, -0.0562, -0.0122, -0.294, -4.2188, 7.0769, 1.8632, -0.0562, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8925, 0.6525, -0.329, -0.0444, -0.0452, 0.9982, 0.1856, 1.47, 0.7845, 0.0074, 0.0978, 0.0372, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1849 left_yaw=0.0045 left_pitch=-0.003 left_roll=0.0025 left_gripper=0.9982 right_x=0.4081 right_y=0.0627 right_z=0.1119 right_yaw=0.0732 right_pitch=-0.1035 right_roll=-0.0184 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.7573, 7.2684, 1.7851, -0.0464, -0.0562, -0.0122, -0.335, -9.2513, 8.1299, 1.5995, 0.1001, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8955, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.1818, 1.9995, 0.6537, 0.8963, 0.1425, 0.0475, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1843 left_yaw=0.0045 left_pitch=-0.0049 left_roll=0.0026 left_gripper=0.9982 right_x=0.4599 right_y=0.0627 right_z=0.0204 right_yaw=0.0257 right_pitch=0.1261 right_roll=-0.0028 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.1812, 7.0769, 1.6923, -0.0317, -0.0611, -0.0122, -0.2256, -7.5282, 5.2718, 1.2967, 0.2906, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73463c31a436646941809eaaf554bdbd3b0fddb26ca56ce1df682894c93702be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7834a68251cddc3ffbe0cd872c82b4a5087cd902a29b7da6c4b6c05ea572be98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 353):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdaeebda466c2a614d9c8e598ab49b9b08bed257f0e74ced861664f1f191304a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wgKEAgRGAI4AUIIdGhpbmtpbmcSDHotSm+UqNUIPSiH4RoMB++oqIYKK0jC+pttIjBRB9Ji6BcmUYnugEOBnQfJM0ll44Zv9um6EluCu/B9mMWUpoBVmz8xZxZrGYZdNEAq+AcvDmc3jEUgDKksdzi+BWzjakpz3/qIaM83z1uMOcNOlDbDWJmmWDCw/7mWg/IEt3u5Bh98hCuUsVDQL/SFnGdQKm6lKfnKYpd1XSfSLdSO2Z4TuEOH9wFPJ8vYQdtOSQ2N9y18eO3neFzdd5omm1ek/xhp9AuY5+9wdcS3RiNjn4gd2GGzxrCmCF1kVUDenVE9BoKY2hV3kPb8tos0rhMKtId7cGqtahS2abFMjNO9UNwwxJWVokEUvx9l2wyMZGdeYgSWc7Hqp27rtMhzPX/XXzG236oVW2eHVT5MqosdJqOa8bWe29uN5qH3lrWRS0JUkamL1P49t5eo9wIpDWzn+znUoIWci3RxkX35JIMDgztYKcevWYZXiQK0YRoTzlHRqUDUlsbMSTWIl78qCqtowxaIvsD4obAUUAahRWB0pTn4QHLtI8TuI7K4vfHzr+LJyJTpsuhSjXQKYubcr2maMr4Un5/aoqrxJywQJwsMXIlwKWadlgcvZGU7b4aSh8jHfIkz003ickIKFU9b2reAgmVKRJfncV5AtH0GPPNNbBPQl+1cXO1Mq19fdho0RJVDilE+BvaOKWtc5fEpg0soNwvMke3OEXHu3eN7p0nb+2z9DUfVygN1uTzZwog0voRAGKWUHBjX3f0GALcHjdrHe85EsUNfz7S6mzf+PEWEyBmOMRVT16iVoBobQOQEFFn37neQCAq1WMRhtxSAvp4MAsA+/nxGAdUM8bdi4WC6JJenNFIO1RSGsiJtxySp7XZA0XwJ3jDgmd+ezztCXBwDKx26Gjtuy7z3YfCrgxr4mQI23LxZ9ZSPyqSCC8mQ24IQx8ExZRa+b60NQUk3ukjrO2a/3tn6nVm8uusl38nVcZ8OZsZiab+kHUGz/q6DpBCzpF05ububCVJEWygWJtz/G1csEcsaYAtnahFnMEZYt94tc4DPtHMMD08ncMY4uOaGq5VsXo/pU8ICnfgm6Q34o6hN+pnvcA168YjCV/KCjFJ741uEcqSIxwuu292D5gGLzh3wt7kQFl7vrxR94xWxDFNl8vEZV68e1ZNV+MVsyGeOUfZ7NLOBIbnGYmfRHzkcO2T50vRHQLE0vp0icubuQ0rbscPFpuAiXouEz4fvSUMfAKwR8Shk+3wcl2UmoAraM9jVDB3dLUdo3BkhWy8cxQbfXRKUuUjC8EHca+WPFvcAz8cMGKMocwrun0jakjP67MqiwSFCA+Zol8y44BAJjPDRgk1i8ZjbFgEE1FwgPOMZt79laJtntcfPKbD1aCRdwWTYkJq1KlutGm6hN8wmW8L+OCvtSxE922etuP4f5nSY5cna4b0PBZN9HAJJztVmjfpuyRONwxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014tGfizcosptezzMtiU5fkq",
      "input": {
        "note": "At base height the bottle's bottom edge is still several cm ahead of the jaw tips and centred on the jaw column; advancing ~5 cm more with the tool pitched forward for reach so the jaws straddle the base.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.51,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014tGfizcosptezzMtiU5fkq",
      "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]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1722, 2.1887, 0.7841, 1.1007, 0.1463, 0.0364, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.5028 right_y=0.065 right_z=0.0224 right_yaw=0.0144 right_pitch=0.2703 right_roll=0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.935, 7.1179, 1.7314, -0.0415, -0.0415, -0.0122, -0.8547, -8.759, 4.8889, 1.8144, 0.0757, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d008e03e456af5e67ae5a1769a48e64084393ec8e50ff175ac59de068333dc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7e36f2d82691c286aeb36d6eef8d150d26b83bd247b77b20b026546e5f494c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0183d8d7c93f804d3f2c37c0cf2f0fada0e140f482f1a7b0e6d747930f7f09ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 45 attempt 0 · /messages · status 200 · 4.634 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 127 changed as sent

message 130 changed as sent

message 133 changed as sent

message 127 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8925, 0.6525, -0.329, -0.0444, -0.0452, 0.9982, 0.1856, 1.47, 0.7845, 0.0074, 0.0978, 0.0372, 0.9965]\nstate[eef_state]: left_x=0.3146 left_y=-0.0011 left_z=0.1849 left_yaw=0.0045 left_pitch=-0.003 left_roll=0.0025 left_gripper=0.9982 right_x=0.4081 right_y=0.0627 right_z=0.1119 right_yaw=0.0732 right_pitch=-0.1035 right_roll=-0.0184 right_gripper=0.9965\nstate[joint_eff]: [-0.294, -1.7573, 7.2684, 1.7851, -0.0464, -0.0562, -0.0122, -0.335, -9.2513, 8.1299, 1.5995, 0.1001, 0.1929, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8955, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.1818, 1.9995, 0.6537, 0.8963, 0.1425, 0.0475, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1843 left_yaw=0.0045 left_pitch=-0.0049 left_roll=0.0026 left_gripper=0.9982 right_x=0.4599 right_y=0.0627 right_z=0.0204 right_yaw=0.0257 right_pitch=0.1261 right_roll=-0.0028 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.1812, 7.0769, 1.6923, -0.0317, -0.0611, -0.0122, -0.2256, -7.5282, 5.2718, 1.2967, 0.2906, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1722, 2.1887, 0.7841, 1.1007, 0.1463, 0.0364, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.5028 right_y=0.065 right_z=0.0224 right_yaw=0.0144 right_pitch=0.2703 right_roll=0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.935, 7.1179, 1.7314, -0.0415, -0.0415, -0.0122, -0.8547, -8.759, 4.8889, 1.8144, 0.0757, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d008e03e456af5e67ae5a1769a48e64084393ec8e50ff175ac59de068333dc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7e36f2d82691c286aeb36d6eef8d150d26b83bd247b77b20b026546e5f494c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0183d8d7c93f804d3f2c37c0cf2f0fada0e140f482f1a7b0e6d747930f7f09ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AgKEAgRGAI4AUIIdGhpbmtpbmcSDDJL6wS5fj8g6VdsvBoMxbCIDdBwFriJbsUVIjCRhK01xCLKvu/SkjkYsXnfOKhwzevmTRu/lxjj3ukaM8NNzRIl13eXmzJsrjnqtrMq7Qd1o1PjKwWMLJJvp3Sjh9C7XLOT3Jjaa8IQWr6htRLrBjNgxZDTPILPid54D0nE/TGH3OsbS7LeX17wRp6Hc6jn0Q2B/EvN5e79HGPkChDUcofDke/J9RG49irz9ryFhTL5U1gGdGkDykTg4RrA+oXdYF3P8/rVirUZuAVYW1grsGzr/SgdtQz8H8grAFuxyiC+fyESKTWA/av9BNphsfciPXl9N4xMNrRfEH6ifu6Sl47cYSqM3u5hEtw3byvOz8gRJAB+HevsV6ojMmcN8xJFIQtLDWLnR4o2/0pzhVMuWYvl1zb4caMVkGoBvaWFY/aqmQkGkxtp3U7BDG0Pt+mjsgtoHuAAnVzvfjXxCOdP1f+Kn9XB8vRJyKYW3cJO/1QTEAU6UyxchzHFnL3jLmQzVNFH0nKowUH9+zFQTHeEvs+BZWR8AjfWLin28Qda9r2MdzwjEjP+cPAjj06aUAPxhBrZReNl+5wobk3fRds83CiXfKwWJIauCmPb+cD2dKesHwE5gvT6RaTNYMBjoqw3zNnLN03vn640nqVnK3AmurjzxyQ4VYaJMykU65K57muLNvEhHbOuqBat+DmTGHZkDedVPGhP1FxVZX0oTFK2KQY1w+YNLVu/Elc+Lszpsf7c8e6tH3/jU6tbSCdw32dMYlhclL9Tw0s1qQccG/uU14j6yMmPO33UO8+v6OwIzqIRptgfhPjaPzIvk64KWLJ3X2gv1MRQhcTLEvl+GjiyicY/BmSMi4yPAUvgN/yeJvOpkzrA91FujO8GmrMlvw2D0CbBn0LldmG6fQJ6fMiQMIAbd8RLyCDgUbgP4anCuBvIZgGPtgMRemc92ErYTJ4Qf0cdo84TycaKUJ7thh+XaFR4zCIfqjDwo6PFY6K1ZqHrFlk8ccGSPcCy8Asard52TpBUibTuUZG7evgRfCguVrNZQRlmcj4qu9eUotu8KccessV+I2nEXEl+viFPXIOKee2A7EXEdxh9ZKd8GBfIt4chyyt1Hbm7bMOd1JQ5e57Ouf7Hdh2Ql3lckAH1kyHZvklF68p2qk/VG+n9ztUZWNdjT91mZ8KY5/8iOSGBWJg8p2cmDyX/S99NWl4WNNLXXxfqegbvYAW2KBQebYcaSZErzzbiuqWg0MtSc+gytT2I4dU7570wWWcT9Vf0UlhmqBrRl1kBGJij0IF5yrlT+zTpzBzF6gveIQ7cnwfxnJ1VgT2Go+1fp4+ZLHvrinTfsg5dGoVXSwej2WgDnG7vxb3E2UQHl1bgbH3zXsuO3v3IAwX2UMBKM8wisejEJuJEQ1cIjT3fHcxM9SekhCDKJTgO+ToLlzHYREZ92rIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011aRWa8v8GnFkZ4Z6tw417E",
      "input": {
        "note": "The bottle's base now sits between the jaw tips in the right wrist view but its near edge is still a couple of cm short of the fingertips; advancing 2–3 cm more before closing.",
        "targets": {
          "right_pitch": 0.3,
          "right_roll": 0.0,
          "right_x": 0.53,
          "right_y": 0.07,
          "right_yaw": 0.0,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011aRWa8v8GnFkZ4Z6tw417E",
      "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]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1776, 2.2353, 0.87, 1.0889, 0.1493, 0.0292, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.523 right_y=0.0708 right_z=0.0257 right_yaw=0.0199 right_pitch=0.2976 right_roll=0.0049 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.9487, 7.1316, 1.6923, -0.0513, -0.0024, -0.0122, 0.1846, -9.4154, 5.6, 1.8095, 0.2125, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fd96f70487b6aa0357694a345d01f43b6c0fdf7e566bc89bd82338a5f25cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1728de80b4b53d2f05eccc246bb2bfe416908dc35e4ae32343d3cd1609faf45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:128f7cf9c25a3dbb596ccd9a703448c3188e9a99fdd320ab5aa53951b027f225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 46 attempt 0 · /messages · status 200 · 16.73 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 130 changed as sent

message 133 changed as sent

message 136 changed as sent

message 130 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8955, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.1818, 1.9995, 0.6537, 0.8963, 0.1425, 0.0475, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1843 left_yaw=0.0045 left_pitch=-0.0049 left_roll=0.0026 left_gripper=0.9982 right_x=0.4599 right_y=0.0627 right_z=0.0204 right_yaw=0.0257 right_pitch=0.1261 right_roll=-0.0028 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -2.1812, 7.0769, 1.6923, -0.0317, -0.0611, -0.0122, -0.2256, -7.5282, 5.2718, 1.2967, 0.2906, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1722, 2.1887, 0.7841, 1.1007, 0.1463, 0.0364, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.5028 right_y=0.065 right_z=0.0224 right_yaw=0.0144 right_pitch=0.2703 right_roll=0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.935, 7.1179, 1.7314, -0.0415, -0.0415, -0.0122, -0.8547, -8.759, 4.8889, 1.8144, 0.0757, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1776, 2.2353, 0.87, 1.0889, 0.1493, 0.0292, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.523 right_y=0.0708 right_z=0.0257 right_yaw=0.0199 right_pitch=0.2976 right_roll=0.0049 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.9487, 7.1316, 1.6923, -0.0513, -0.0024, -0.0122, 0.1846, -9.4154, 5.6, 1.8095, 0.2125, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85fd96f70487b6aa0357694a345d01f43b6c0fdf7e566bc89bd82338a5f25cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1728de80b4b53d2f05eccc246bb2bfe416908dc35e4ae32343d3cd1609faf45b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128f7cf9c25a3dbb596ccd9a703448c3188e9a99fdd320ab5aa53951b027f225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bottle base is now right at the jaw tips; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Sh5rvZfbX8X3FyNck9BFju",
      "input": {
        "note": "The bottle's base now reaches the jaw tips in the right wrist view with the body centred; closing the gripper to grasp it low on the body.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Sh5rvZfbX8X3FyNck9BFju",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0452, 0.9982, 0.181, 2.2452, 0.8745, 1.0851, 0.1448, 0.025, 0.0099]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0049 left_pitch=-0.0053 left_roll=0.0029 left_gripper=0.9982 right_x=0.5229 right_y=0.0734 right_z=0.0213 right_yaw=0.0302 right_pitch=0.2884 right_roll=0.0005 right_gripper=0.0099\nstate[joint_eff]: [-0.0479, -1.9761, 7.0769, 1.7851, -0.0757, -0.0611, -0.0122, -0.5265, -11.412, 4.0821, 1.8926, 0.105, 0.022, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8e7bcc535d526649ef931caddb6f995ca62c8d24f85d3b98a8dcb9e85140bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4d804e221a7413f28c15025b609c863caadf0b748eb65448499fc1be3674c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b005e160bfaa02bf61b99e728dc6440d7eaa5ec835f44727607dea66e9eeb9a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 47 attempt 0 · /messages · status 200 · 24.87 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 133 changed as sent

message 136 changed as sent

message 139 changed as sent

message 133 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1722, 2.1887, 0.7841, 1.1007, 0.1463, 0.0364, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.5028 right_y=0.065 right_z=0.0224 right_yaw=0.0144 right_pitch=0.2703 right_roll=0.0085 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.935, 7.1179, 1.7314, -0.0415, -0.0415, -0.0122, -0.8547, -8.759, 4.8889, 1.8144, 0.0757, -0.1441, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 136 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0448, 0.9982, 0.1776, 2.2353, 0.87, 1.0889, 0.1493, 0.0292, 0.9965]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0046 left_pitch=-0.0053 left_roll=0.0032 left_gripper=0.9982 right_x=0.523 right_y=0.0708 right_z=0.0257 right_yaw=0.0199 right_pitch=0.2976 right_roll=0.0049 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.9487, 7.1316, 1.6923, -0.0513, -0.0024, -0.0122, 0.1846, -9.4154, 5.6, 1.8095, 0.2125, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 139 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0448, -0.0452, 0.9982, 0.181, 2.2452, 0.8745, 1.0851, 0.1448, 0.025, 0.0099]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0049 left_pitch=-0.0053 left_roll=0.0029 left_gripper=0.9982 right_x=0.5229 right_y=0.0734 right_z=0.0213 right_yaw=0.0302 right_pitch=0.2884 right_roll=0.0005 right_gripper=0.0099\nstate[joint_eff]: [-0.0479, -1.9761, 7.0769, 1.7851, -0.0757, -0.0611, -0.0122, -0.5265, -11.412, 4.0821, 1.8926, 0.105, 0.022, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa8e7bcc535d526649ef931caddb6f995ca62c8d24f85d3b98a8dcb9e85140bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f4d804e221a7413f28c15025b609c863caadf0b748eb65448499fc1be3674c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 372):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b005e160bfaa02bf61b99e728dc6440d7eaa5ec835f44727607dea66e9eeb9a7",
        "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_01VaEpVRFbuZ87c6sc6koCz5",
      "input": {
        "note": "Another empty close — the bottle body is wider than the jaw opening, so the tips keep pushing it away. Opening, rising to the neck height (~15 cm) and pulling back slightly to attempt a neck grasp with the tool pitched forward for reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_roll": 0.0,
          "right_x": 0.49,
          "right_y": 0.07,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VaEpVRFbuZ87c6sc6koCz5",
      "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]: [-0.0399, 0.8959, 0.6525, -0.3279, -0.0444, -0.0452, 0.9982, 0.2035, 1.8259, 0.7578, 0.8707, 0.1802, 0.012, 0.9948]\nstate[eef_state]: left_x=0.315 left_y=-0.0011 left_z=0.1842 left_yaw=0.0045 left_pitch=-0.0053 left_roll=0.0026 left_gripper=0.9982 right_x=0.4921 right_y=0.0729 right_z=0.1341 right_yaw=0.0235 right_pitch=0.3766 right_roll=-0.0063 right_gripper=0.9948\nstate[joint_eff]: [-0.1162, -1.9624, 7.0496, 1.7118, -0.0659, -0.0611, -0.0073, 0.1846, -10.0855, 5.6137, 2.0928, 0.1197, 0.1001, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e12eea96d4fff065af387775e2a4df6cc2acba394c60893e45875f7da069485",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 382):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4bac0d88510b0b1cfff36a8a60cedd1662ee205a9100f9f925d0e90e5f309b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 382):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d31c9105d26367df77abb302164d27527b6fe91f7c83755fe115721d57921d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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