adhoc

completed
2026-09-18T19:44:55.856712+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1800
duration
469.5 s
total steps
287
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

overheat

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start with the left arm: fly above the left (gray) bottle, which from the overhead view sits roughly 22 cm to the right of the left base and ~0.42 m forward.
agent noteTwo bottles stand in the table centre with the red cup ahead of the left one. Moving the left arm to hover high above the gray left bottle with the gripper open.
move_to
left_x0.4200left_y-0.2200left_z0.3000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0238, 0.7986, 0.6174, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0185, -0.0128, 0.9996] state[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0023 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.1299, -1.6479, 9.2513, 1.7802, -0.0269, -0.0073, -0.0562, -0.7043, -1.3607, 9.7846, 1.7314, -0.0513, -0.0659, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start with the left arm: fly above the left (gray) bottle, which from the overhead view sits roughly 22 cm to the right of the left base and ~0.42 m forward.
move_to({"targets": {"left_x": 0.42, "left_y": -0.22, "left_z": 0.3, "left_gripper": 1.0}, "note": "Two bottles stand in the table centre with the red cup ahead of the left one. Moving the left arm to hover high above the gray left bottle with the gripper open."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteLeft wrist cam shows the gray bottle just left of the jaw column at the bottom of the frame, with the red and blue cups ahead. Shifting 4 cm left and descending to re-check alignment before grasping.
move_to
left_x0.4200left_y-0.1800left_z0.2000left_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]: [-0.6926, 1.6833, 1.6661, -0.7143, -0.5621, -0.4309, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0189, -0.0128, 0.9996] state[eef_state]: left_x=0.4157 left_y=-0.2179 left_z=0.2836 left_yaw=-0.0009 left_pitch=-0.0419 left_roll=0.0142 left_gripper=0.9996 right_x=0.2959 right_y=0.0026 right_z=0.1812 right_yaw=0.0011 right_pitch=-0.008 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [-0.4855, -8.2667, 9.2786, 1.6679, -0.3834, 0.105, -0.0562, -0.1709, -1.4017, 7.4051, 1.746, -0.0464, -0.0806, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.18, "left_z": 0.2, "left_gripper": 1.0}, "note": "Left wrist cam shows the gray bottle just left of the jaw column at the bottom of the frame, with the red and blue cups ahead. Shifting 4 cm left and descending to re-check alignment before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe white bottle fills the left wrist view with its open spout slightly ahead-left of the jaw column. Nudging forward 2 cm and descending so the open jaws straddle the bottle's upper body.
move_to
left_x0.4400left_y-0.1700left_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]: [-0.5941, 1.6127, 1.2251, -0.3569, -0.4934, -0.3668, 0.9996, -0.0147, 0.7994, 0.6086, -0.3843, -0.0189, -0.0128, 0.9996] state[eef_state]: left_x=0.4189 left_y=-0.1777 left_z=0.186 left_yaw=0.0109 left_pitch=-0.081 left_roll=0.0374 left_gripper=0.9996 right_x=0.2951 right_y=0.0026 right_z=0.1797 right_yaw=0.0011 right_pitch=-0.0149 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.0068, -9.853, 6.6803, 1.5751, -0.2027, 0.0708, -0.0562, -0.1299, -1.3607, 7.1179, 1.8291, -0.0269, -0.0855, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.12, "left_gripper": 1.0}, "note": "The white bottle fills the left wrist view with its open spout slightly ahead-left of the jaw column. Nudging forward 2 cm and descending so the open jaws straddle the bottle's upper body."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteThe bottle body sits between the jaw wedges in the left wrist view and the descent has stopped near the bottle's shoulder. Closing the gripper to grasp the bottle here.
move_to
left_x0.4400left_y-0.1700left_z0.1200left_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]: [-0.548, 1.7058, 1.1027, -0.102, -0.4675, -0.3435, 0.9996, -0.0147, 0.7994, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.4402 left_y=-0.1712 left_z=0.1366 left_yaw=0.0227 left_pitch=-0.0583 left_roll=0.0201 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0156 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.6222, -6.5709, 5.1761, 1.2234, -0.1001, 0.1245, -0.0562, -0.0479, -1.1419, 7.0769, 1.707, -0.0611, -0.0269, -0.0122] camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.12, "left_gripper": 0.0}, "note": "The bottle body sits between the jaw wedges in the left wrist view and the descent has stopped near the bottle's shoulder. Closing the gripper to grasp the bottle here."})
tool
executing move_to over 10 steps (1.0s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteGripper settled at 0.24 (~2.3 cm), suggesting it holds part of the bottle. Lifting 8 cm to verify the bottle comes with it in the overhead view.
move_to
left_x0.4400left_y-0.1700left_z0.2200left_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]: [-0.5453, 1.713, 1.0821, -0.0036, -0.4751, -0.3397, 0.2396, -0.0147, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.4488 left_y=-0.1736 left_z=0.1427 left_yaw=0.0284 left_pitch=0.0036 left_roll=-0.011 left_gripper=0.2396 right_x=0.295 right_y=0.0026 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.1846, -7.4598, 4.6154, 1.37, -0.1343, -0.0073, 1.0281, -0.2667, -1.1556, 7.1726, 1.746, -0.0757, -0.0317, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.22, "left_gripper": 0.0}, "note": "Gripper settled at 0.24 (~2.3 cm), suggesting it holds part of the bottle. Lifting 8 cm to verify the bottle comes with it in the overhead view."})
tool
executing move_to over 5 steps (0.5s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe bottle rose with the gripper (wrist view unchanged, bottle lifted in the overhead). Carrying it forward and to the left so it ends up beside the red cup, ready to roll and pour toward the right.
move_to
left_x0.5000left_y-0.0600left_z0.2500left_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]: [-0.5465, 1.6398, 1.253, -0.3153, -0.4709, -0.3408, 0.2374, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.4378 left_y=-0.1683 left_z=0.1917 left_yaw=0.0254 left_pitch=-0.0545 left_roll=0.0225 left_gripper=0.2374 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.6085, -10.7145, 9.5658, 1.5849, -0.2808, -0.0757, 1.0281, -0.0889, -1.265, 7.0496, 1.7314, -0.0513, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.06, "left_z": 0.25, "left_gripper": 0.0}, "note": "The bottle rose with the gripper (wrist view unchanged, bottle lifted in the overhead). Carrying it forward and to the left so it ends up beside the red cup, ready to roll and pour toward the right."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteOverhead shows the held bottle left of and somewhat behind the red cup; the cup shows at the right edge of the left wrist view. Advancing 7 cm so the bottle is level with the cup before rolling to pour.
move_to
left_x0.5600left_y-0.0500left_z0.2500left_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]: [-0.2047, 1.6897, 1.4818, -0.466, -0.2272, -0.157, 0.2373, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.4913 left_y=-0.0577 left_z=0.2313 left_yaw=0.0691 left_pitch=-0.0948 left_roll=0.0181 left_gripper=0.2373 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.1573, -8.1162, 10.2632, 1.7411, 0.0366, 0.1978, 1.033, -0.0752, -1.2513, 7.1179, 1.7411, -0.0562, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.56, "left_y": -0.05, "left_z": 0.25, "left_gripper": 0.0}, "note": "Overhead shows the held bottle left of and somewhat behind the red cup; the cup shows at the right edge of the left wrist view. Advancing 7 cm so the bottle is level with the cup before rolling to pour."})
tool
executing move_to over 6 steps (0.6s)
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 bottle is now beside the red cup on its left in the overhead, and the cup shows close at the lower right of the wrist view. Starting the pour by rolling the wrist 0.8 rad so the spout tips toward the cup.
move_to
left_x0.5500left_y-0.0500left_z0.2000left_roll0.8000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.157, 1.961, 1.8385, -0.617, -0.2008, -0.149, 0.236, -0.0143, 0.8032, 0.6086, -0.3855, -0.0185, -0.0124, 0.9996] state[eef_state]: left_x=0.55 left_y=-0.0477 left_z=0.222 left_yaw=0.0926 left_pitch=-0.1627 left_roll=0.0249 left_gripper=0.236 right_x=0.2952 right_y=0.0026 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0198 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.212, -11.6581, 9.388, 1.6435, -0.0073, 0.2369, 1.0281, -0.0342, -1.5521, 7.241, 1.7118, -0.0269, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.55, "left_y": -0.05, "left_z": 0.2, "left_roll": 0.8, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The bottle is now beside the red cup on its left in the overhead, and the cup shows close at the lower right of the wrist view. Starting the pour by rolling the wrist 0.8 rad so the spout tips toward the cup."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteBottle is tilting toward the red cup in the overhead view. Rolling further to 1.4 rad and raising slightly so the spout comes over the cup rim to pour.
move_to
left_x0.5500left_y-0.0500left_z0.2200left_roll1.4000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3149, 1.9694, 1.5127, -0.1894, -0.6861, 0.3962, 0.2359, -0.0147, 0.8043, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.5435 left_y=-0.0556 left_z=0.1768 left_yaw=0.073 left_pitch=-0.0842 left_roll=0.7253 left_gripper=0.2359 right_x=0.2953 right_y=0.0026 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [-0.212, -11.5897, 7.1726, 1.8339, -0.3883, 0.0904, 1.033, -0.2803, -1.3744, 7.1179, 1.7167, -0.0562, -0.0464, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.05, "left_z": 0.22, "left_roll": 1.4, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Bottle is tilting toward the red cup in the overhead view. Rolling further to 1.4 rad and raising slightly so the spout comes over the cup rim to pour."})
tool
executing move_to over 9 steps (0.9s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteThe bottle is nearly horizontal with its spout end adjacent to the red cup in the overhead view. Completing the roll to 1.57 rad to fully pour.
move_to
left_x0.5500left_y-0.0500left_z0.2200left_roll1.5700left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3599, 2.019, 1.3674, 0.3355, -0.9569, 1.1336, 0.2357, -0.0147, 0.8051, 0.6086, -0.3851, -0.0185, -0.0124, 0.9996] state[eef_state]: left_x=0.5474 left_y=-0.0479 left_z=0.1959 left_yaw=0.0697 left_pitch=-0.063 left_roll=1.3286 left_gripper=0.2357 right_x=0.2954 right_y=0.0025 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.8137, -10.9333, 6.8855, 1.9463, -0.2271, 0.0757, 1.0281, -0.1983, -1.2786, 7.0906, 1.7363, -0.0366, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.55, "left_y": -0.05, "left_z": 0.22, "left_roll": 1.57, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The bottle is nearly horizontal with its spout end adjacent to the red cup in the overhead view. Completing the roll to 1.57 rad to fully pour."})
tool
executing move_to over 4 steps (0.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe bottle has been held horizontal with its spout over the red cup, so the first pour is done. Rolling back upright and moving away from the cup to return the bottle to its spot.
move_to
left_x0.5000left_y-0.1000left_z0.2500left_roll0.0000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3653, 2.059, 1.3144, 0.6228, -0.9882, 1.4544, 0.2323, -0.0147, 0.8051, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.5499 left_y=-0.0485 left_z=0.2032 left_yaw=0.0666 left_pitch=-0.0517 left_roll=1.5247 left_gripper=0.2323 right_x=0.2954 right_y=0.0026 right_z=0.178 right_yaw=0.0009 right_pitch=-0.0214 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [-0.4308, -11.0427, 6.5299, 2.0733, -0.1343, 0.1245, 1.033, -0.3761, -1.265, 7.0769, 1.7021, -0.0317, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.1, "left_z": 0.25, "left_roll": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The bottle has been held horizontal with its spout over the red cup, so the first pour is done. Rolling back upright and moving away from the cup to return the bottle to its spot."})
tool
executing move_to over 20 steps (2.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
Now returning the bottle to its original spot and setting it down.
agent noteBottle is back upright (roll still settling) beside the cups. Carrying it back to its original spot and lowering it toward the table.
move_to
left_x0.4400left_y-0.1700left_z0.1600left_roll0.0000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3187, 1.7676, 1.5143, -0.382, -0.3756, 0.0265, 0.2309, -0.0147, 0.8062, 0.6086, -0.3851, -0.0185, -0.0128, 0.9996] state[eef_state]: left_x=0.5082 left_y=-0.0957 left_z=0.2286 left_yaw=-0.0185 left_pitch=-0.0452 left_roll=0.2431 left_gripper=0.2309 right_x=0.2955 right_y=0.0025 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9996 state[joint_eff]: [0.4581, -13.5726, 7.241, 1.5409, -0.0611, -0.1197, 1.0281, -0.0752, -0.9504, 7.0632, 1.7216, -0.0122, -0.0513, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
Now returning the bottle to its original spot and setting it down.
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.16, "left_roll": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "Bottle is back upright (roll still settling) beside the cups. Carrying it back to its original spot and lowering it toward the table."})
tool
executing move_to over 7 steps (0.7s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteBottle is back at its original grasp height, presumably resting on the table. Opening the gripper to release it.
move_to
left_x0.4400left_y-0.1700left_z0.1400left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5194, 1.673, 1.1, -0.1101, -0.4202, -0.2447, 0.2308, -0.0147, 0.8097, 0.6086, -0.3847, -0.0189, -0.0128, 0.9996] state[eef_state]: left_x=0.4411 left_y=-0.1651 left_z=0.1463 left_yaw=-0.0396 left_pitch=-0.0566 left_roll=0.0635 left_gripper=0.2308 right_x=0.2957 right_y=0.0026 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0256 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [-0.1846, -10.4274, 6.8034, 1.3309, 0.022, -0.0366, 1.033, -0.212, -1.6479, 7.2137, 1.7118, -0.0806, -0.0659, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.17, "left_z": 0.14, "left_gripper": 1.0}, "note": "Bottle is back at its original grasp height, presumably resting on the table. Opening the gripper to release it."})
tool
executing move_to over 8 steps (0.8s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
Released. Now lifting the left arm clear and parking it home, so it doesn't block the view for the right arm.
agent noteGripper is open and the white bottle stands released on the table. Retracting the left arm up and back to its home pose to clear the workspace for the right arm.
move_to
left_x0.3000left_y0.0000left_z0.2500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.5285, 1.6756, 1.0824, -0.0879, -0.4198, -0.2592, 0.7951, -0.0147, 0.8101, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.439 left_y=-0.1688 left_z=0.1418 left_yaw=-0.0414 left_pitch=-0.0546 left_roll=0.0506 left_gripper=0.7951 right_x=0.2957 right_y=0.0026 right_z=0.1766 right_yaw=0.0009 right_pitch=-0.0263 right_roll=0.0009 right_gripper=0.9996 state[joint_eff]: [-0.6359, -7.241, 7.4188, 1.6044, -0.3248, 0.0073, -0.1197, -0.1436, -0.9504, 7.0769, 1.7705, -0.0464, -0.0464, -0.0073] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
Released. Now lifting the left arm clear and parking it home, so it doesn't block the view for the right arm.
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.25, "left_gripper": 1.0}, "note": "Gripper is open and the white bottle stands released on the table. Retracting the left arm up and back to its home pose to clear the workspace for the right arm."})
tool
executing move_to over 16 steps (1.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteLeft arm is parked and the first bottle stands back in place. Now flying the right arm above the right (white) bottle, which sits just right of the table centre line about 0.43 m forward.
move_to
right_x0.4200right_y0.2900right_z0.2800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0399, 0.9226, 0.9169, -0.6033, -0.0597, 0.0154, 0.9988, -0.0143, 0.8127, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996] state[eef_state]: left_x=0.3085 left_y=0.0018 left_z=0.2402 left_yaw=-0.0 left_pitch=-0.0497 left_roll=0.0484 left_gripper=0.9988 right_x=0.2959 right_y=0.0027 right_z=0.1759 right_yaw=0.0013 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [0.1026, -2.4957, 9.8667, 1.619, 0.0366, 0.0659, -0.0952, -0.0889, -1.4017, 7.0359, 1.7314, -0.0464, -0.0415, -0.0073] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.29, "right_z": 0.28, "right_gripper": 1.0}, "note": "Left arm is parked and the first bottle stands back in place. Now flying the right arm above the right (white) bottle, which sits just right of the table centre line about 0.43 m forward."})
tool
executing move_to over 24 steps (2.4s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteRight wrist cam shows the white round jug almost centred just below the jaw column with its open neck facing up. Descending toward the neck, nudging 1 cm forward and right, to grasp the narrow neck rather than the wide body.
move_to
right_x0.4300right_y0.2800right_z0.1700right_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]: [-0.0414, 0.9283, 0.9211, -0.6128, -0.0486, 0.0223, 0.9983, 0.7952, 1.8709, 1.8412, -0.7418, 0.6022, 0.485, 0.9996] state[eef_state]: left_x=0.3082 left_y=-0.0006 left_z=0.2385 left_yaw=-0.0146 left_pitch=-0.0612 left_roll=0.048 left_gripper=0.9983 right_x=0.4185 right_y=0.289 right_z=0.2667 right_yaw=0.0336 right_pitch=-0.052 right_roll=-0.0145 right_gripper=0.9996 state[joint_eff]: [0.0205, -2.441, 6.4752, 1.7705, -0.1636, -0.1343, -0.0562, 0.4034, -10.3179, 8.8, 1.199, 0.5348, 0.2466, -0.0562] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.28, "right_z": 0.17, "right_gripper": 1.0}, "note": "Right wrist cam shows the white round jug almost centred just below the jaw column with its open neck facing up. Descending toward the neck, nudging 1 cm forward and right, to grasp the narrow neck rather than the wide body."})
tool
executing move_to over 7 steps (0.7s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteThe jug fills the right wrist view with its neck opening at the upper right, so the neck is a few cm forward and right of the fingertips. Shifting 3 cm forward and 3 cm right to centre the neck between the jaws.
move_to
right_x0.4600right_y0.2500right_z0.1700right_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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.7662, 1.869, 1.4715, -0.4049, 0.5888, 0.4519, 0.9996] state[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4241 right_y=0.2769 right_z=0.1689 right_yaw=0.0308 right_pitch=-0.0815 right_roll=-0.0556 right_gripper=0.9996 state[joint_eff]: [-0.3487, -2.0034, 6.8308, 1.6777, -0.022, -0.0415, -0.0171, -0.6632, -10.2359, 5.9692, 1.4237, -0.1929, 0.1343, -0.0562] camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.25, "right_z": 0.17, "right_gripper": 1.0}, "note": "The jug fills the right wrist view with its neck opening at the upper right, so the neck is a few cm forward and right of the fingertips. Shifting 3 cm forward and 3 cm right to centre the neck between the jaws."})
tool
executing move_to over 3 steps (0.3s)
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 lateral move fell short and the neck still shows at the upper right of the right wrist view, so the fingers may be resting on the jug's shoulder. Raising 6 cm and moving further forward-right to get directly above the neck.
move_to
right_x0.4700right_y0.2400right_z0.2300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.688, 1.8751, 1.4738, -0.3492, 0.5358, 0.3862, 0.9996] state[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4494 right_y=0.2573 right_z=0.1721 right_yaw=0.03 right_pitch=-0.067 right_roll=-0.0466 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.8667, 6.8034, 1.663, -0.022, -0.0708, -0.0122, -0.5812, -8.294, 9.0872, 1.3846, 0.1832, 0.0024, -0.0513] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.24, "right_z": 0.23, "right_gripper": 1.0}, "note": "The lateral move fell short and the neck still shows at the upper right of the right wrist view, so the fingers may be resting on the jug's shoulder. Raising 6 cm and moving further forward-right to get directly above the neck."})
tool
executing move_to over 4 steps (0.4s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteThe right arm did not rise as commanded (z still 0.167) and the jug looms close in its wrist view. Trying a smaller pure lift to free the gripper from the jug before repositioning.
move_to
right_x0.4600right_y0.2500right_z0.2100right_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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5041, 0.3588, 0.9996] state[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2473 right_z=0.1666 right_yaw=0.034 right_pitch=-0.0867 right_roll=-0.0559 right_gripper=0.9996 state[joint_eff]: [-0.2667, -1.935, 6.8171, 1.6581, -0.0659, -0.0611, -0.0122, 0.1983, -9.2103, 8.8821, 1.3553, 0.1978, 0.0122, -0.0513] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.25, "right_z": 0.21, "right_gripper": 1.0}, "note": "The right arm did not rise as commanded (z still 0.167) and the jug looms close in its wrist view. Trying a smaller pure lift to free the gripper from the jug before repositioning."})
tool
executing move_to over 3 steps (0.3s)
step 177
top_cam
camera top_cam step 177
left_cam
camera left_cam step 177
right_cam
camera right_cam step 177
assistant
agent noteThe right arm is stalled with joints unchanged despite lift commands. Pulling the target back toward the base while raising, as the rig notes suggest for a stalled pose.
move_to
right_x0.4000right_y0.2700right_z0.2200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5037, 0.3584, 0.9996] state[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2474 right_z=0.1665 right_yaw=0.0345 right_pitch=-0.0868 right_roll=-0.056 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.9487, 6.7897, 1.7167, -0.0562, -0.0659, -0.0122, 0.0889, -9.5385, 8.9231, 1.3602, 0.1832, -0.0366, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.27, "right_z": 0.22, "right_gripper": 1.0}, "note": "The right arm is stalled with joints unchanged despite lift commands. Pulling the target back toward the base while raising, as the rig notes suggest for a stalled pose."})
tool
executing move_to over 5 steps (0.5s)
step 182
top_cam
camera top_cam step 182
left_cam
camera left_cam step 182
right_cam
camera right_cam step 182
assistant
agent noteThe right arm is straining (shoulder effort -16) and its wrist cam is pressed against the jug, so the gripper is likely wedged against or hooked on the jug. Sliding sideways away from the jug to free it.
move_to
right_x0.4300right_y0.2000right_z0.2000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9298, 0.9207, -0.6128, -0.0513, 0.0227, 0.9983, 0.7059, 1.8668, 1.5009, -0.4461, 0.5484, 0.4065, 0.9996] state[eef_state]: left_x=0.3084 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4374 right_y=0.2565 right_z=0.1728 right_yaw=0.0242 right_pitch=-0.1091 right_roll=-0.0757 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.6479, 6.8991, 1.7265, -0.0562, -0.0317, -0.0122, 3.8769, -16.1573, 11.453, 1.5507, 0.4078, 0.1294, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 182): [image omitted: streamed camera frame] camera 'left_cam' (step 182): [image omitted: streamed camera frame] camera 'right_cam' (step 182): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.2, "right_z": 0.2, "right_gripper": 1.0}, "note": "The right arm is straining (shoulder effort -16) and its wrist cam is pressed against the jug, so the gripper is likely wedged against or hooked on the jug. Sliding sideways away from the jug to free it."})
tool
executing move_to over 5 steps (0.5s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteThe jug moved sideways with the arm and sits right in front of the wrist camera, so its handle is probably hooked inside the open jaws. Closing the gripper to grasp the handle.
move_to
right_x0.4300right_y0.2000right_z0.2000right_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]: [-0.0418, 0.9348, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6014, 1.7615, 1.3937, -0.4759, 0.4881, 0.3431, 0.9996] state[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2364 left_yaw=-0.0131 left_pitch=-0.0684 left_roll=0.0504 left_gripper=0.9983 right_x=0.4329 right_y=0.2009 right_z=0.1704 right_yaw=-0.0034 right_pitch=-0.1638 right_roll=-0.1081 right_gripper=0.9996 state[joint_eff]: [-0.3624, -2.4, 6.8308, 1.6679, -0.0415, -0.0366, -0.0122, -0.5265, -13.0393, 7.3094, 1.5556, 0.2759, -0.0366, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.2, "right_z": 0.2, "right_gripper": 0.0}, "note": "The jug moved sideways with the arm and sits right in front of the wrist camera, so its handle is probably hooked inside the open jaws. Closing the gripper to grasp the handle."})
tool
executing move_to over 10 steps (1.0s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteThe close was empty (0.013) and the jug leans against the right gripper body. Lifting the closed gripper well clear so the jug can settle, then I will re-approach from directly above the neck.
move_to
right_x0.4300right_y0.2000right_z0.3000right_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]: [-0.0418, 0.9352, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6006, 1.7164, 1.3895, -0.4736, 0.4614, 0.313, 0.0128] state[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2363 left_yaw=-0.0131 left_pitch=-0.0688 left_roll=0.0504 left_gripper=0.9983 right_x=0.429 right_y=0.2029 right_z=0.1877 right_yaw=0.0363 right_pitch=-0.1401 right_roll=-0.0906 right_gripper=0.0128 state[joint_eff]: [-0.2667, -2.0308, 6.8581, 1.663, -0.0708, -0.0317, -0.0122, -0.5538, -10.5641, 6.9949, 1.5897, 0.2955, 0.0708, 1.1453] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.2, "right_z": 0.3, "right_gripper": 0.0}, "note": "The close was empty (0.013) and the jug leans against the right gripper body. Lifting the closed gripper well clear so the jug can settle, then I will re-approach from directly above the neck."})
tool
executing move_to over 8 steps (0.8s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe jug is upright again and its narrow neck shows left of and ahead of the jaw column in the right wrist view. Moving forward-left to hover directly over the neck with the gripper open.
move_to
right_x0.4700right_y0.2300right_z0.2500right_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]: [-0.0418, 0.936, 0.9207, -0.6136, -0.0513, 0.0231, 0.9983, 0.5999, 1.7672, 1.8584, -0.8658, 0.4503, 0.3019, 0.012] state[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.236 left_yaw=-0.0131 left_pitch=-0.0699 left_roll=0.0504 left_gripper=0.9983 right_x=0.4325 right_y=0.207 right_z=0.2929 right_yaw=0.0519 right_pitch=-0.1226 right_roll=-0.0787 right_gripper=0.012 state[joint_eff]: [-0.2256, -2.0718, 6.8171, 1.663, -0.0659, -0.0269, -0.0122, -0.6085, -8.2667, 8.8547, 1.1209, 0.1783, 0.0317, 1.0281] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.23, "right_z": 0.25, "right_gripper": 1.0}, "note": "The jug is upright again and its narrow neck shows left of and ahead of the jaw column in the right wrist view. Moving forward-left to hover directly over the neck with the gripper open."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
assistant
agent noteThe jug's neck opening now sits on the jaw column but ahead of the fingertips in the right wrist view. Advancing 3 cm and descending to just above the neck height to check alignment before grasping.
move_to
right_x0.5000right_y0.2300right_z0.1900right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9371, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.5999, 1.895, 1.8481, -0.7605, 0.4362, 0.2882, 0.9947] state[eef_state]: left_x=0.3092 left_y=-0.0003 left_z=0.2357 left_yaw=-0.0131 left_pitch=-0.0707 left_roll=0.0505 left_gripper=0.9983 right_x=0.4618 right_y=0.2297 right_z=0.2445 right_yaw=0.0681 right_pitch=-0.1565 right_roll=-0.0976 right_gripper=0.9947 state[joint_eff]: [-0.335, -2.0991, 6.8034, 1.7118, -0.0562, -0.0024, -0.0122, -0.6496, -9.7983, 7.3641, 1.7607, 0.2808, 0.1099, -0.022] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.23, "right_z": 0.19, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The jug's neck opening now sits on the jaw column but ahead of the fingertips in the right wrist view. Advancing 3 cm and descending to just above the neck height to check alignment before grasping."})
tool
executing move_to over 6 steps (0.6s)
step 221
assistant
agent noteThe neck rim fills the upper part of the right wrist view, centred between the jaws but still ahead of the fingertips. Advancing another 3 cm and lowering so the jaws come down around the neck.
move_to
right_x0.5200right_y0.2300right_z0.1600right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9398, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5793, 1.9079, 1.5665, -0.3565, 0.445, 0.2192, 0.9989] state[eef_state]: left_x=0.3096 left_y=-0.0003 left_z=0.235 left_yaw=-0.013 left_pitch=-0.073 left_roll=0.0505 left_gripper=0.9983 right_x=0.4868 right_y=0.2318 right_z=0.1883 right_yaw=0.0832 right_pitch=-0.0615 right_roll=-0.1032 right_gripper=0.9989 state[joint_eff]: [-0.253, -2.1812, 6.8171, 1.7411, -0.0708, -0.0611, -0.0122, -1.1009, -8.9368, 6.7761, 1.4188, 0.2662, -0.1441, -0.1148] camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.23, "right_z": 0.16, "right_pitch": 0.0, "right_gripper": 1.0}, "note": "The neck rim fills the upper part of the right wrist view, centred between the jaws but still ahead of the fingertips. Advancing another 3 cm and lowering so the jaws come down around the neck."})
tool
executing move_to over 3 steps (0.3s)
step 224
assistant
agent noteThe jug's handle now sits between the jaw wedges at the bottom of the right wrist view while the descent is blocked by the jug shoulder. Closing the gripper to grasp the handle.
move_to
right_x0.5100right_y0.2350right_z0.1700right_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]: [-0.0418, 0.9409, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.5579, 1.956, 1.549, -0.1741, 0.4374, 0.1844, 0.9989] state[eef_state]: left_x=0.3097 left_y=-0.0003 left_z=0.2346 left_yaw=-0.0128 left_pitch=-0.0745 left_roll=0.0503 left_gripper=0.9983 right_x=0.5131 right_y=0.2363 right_z=0.1886 right_yaw=0.087 right_pitch=0.0384 right_roll=-0.0742 right_gripper=0.9989 state[joint_eff]: [-0.2393, -1.7026, 6.8034, 1.663, -0.0415, -0.0366, -0.0122, -1.1419, -7.9111, 6.0923, 0.8034, 0.0855, -0.1538, -0.1245] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.235, "right_z": 0.17, "right_gripper": 0.0}, "note": "The jug's handle now sits between the jaw wedges at the bottom of the right wrist view while the descent is blocked by the jug shoulder. Closing the gripper to grasp the handle."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteGripper settled at 0.15 with the jug handle visibly pinched between the jaws. Lifting the jug 8 cm to confirm it comes along.
move_to
right_x0.5100right_y0.2350right_z0.2700right_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]: [-0.0418, 0.9417, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5472, 1.9808, 1.549, -0.0929, 0.429, 0.1726, 0.1526] state[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2345 left_yaw=-0.013 left_pitch=-0.0749 left_roll=0.0506 left_gripper=0.9983 right_x=0.5254 right_y=0.2383 right_z=0.1907 right_yaw=0.088 right_pitch=0.0865 right_roll=-0.0553 right_gripper=0.1526 state[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.7021, -0.0464, -0.0269, -0.0122, -0.5812, -9.388, 5.8872, 1.116, 0.1148, -0.0904, 1.0183] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.235, "right_z": 0.27, "right_gripper": 0.0}, "note": "Gripper settled at 0.15 with the jug handle visibly pinched between the jaws. Lifting the jug 8 cm to confirm it comes along."})
tool
executing move_to over 6 steps (0.6s)
step 240
assistant
agent noteThe jug lifted with the right gripper (heavy: shoulder effort -15, height sagging). The red cup lies beyond the right arm's y-limit, so I'm carrying the jug toward the table centre where the left arm can take it by the handle.
move_to
right_x0.5000right_y0.3800right_z0.2300right_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]: [-0.0418, 0.9417, 0.9207, -0.6132, -0.0509, 0.0231, 0.9983, 0.5533, 1.9648, 1.7035, -0.3546, 0.4248, 0.1719, 0.1526] state[eef_state]: left_x=0.3098 left_y=-0.0004 left_z=0.2344 left_yaw=-0.0134 left_pitch=-0.0753 left_roll=0.0504 left_gripper=0.9983 right_x=0.5147 right_y=0.2366 right_z=0.2171 right_yaw=0.0997 right_pitch=0.0036 right_roll=-0.0941 right_gripper=0.1526 state[joint_eff]: [-0.1846, -2.0855, 6.8308, 1.7216, -0.0415, -0.0366, -0.0122, 0.3624, -15.3641, 10.9197, 1.8388, 0.2418, 0.0366, 1.033] 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": 0.5, "right_y": 0.38, "right_z": 0.23, "right_gripper": 0.0}, "note": "The jug lifted with the right gripper (heavy: shoulder effort -15, height sagging). The red cup lies beyond the right arm's y-limit, so I'm carrying the jug toward the table centre where the left arm can take it by the handle."})
tool
executing move_to over 12 steps (1.2s)
step 252
assistant
agent noteThe jug now hangs just right of and behind the red cup at the right arm's y-limit. Trying to pour from here: rolling the wrist negative so the jug's neck tips left toward the cup.
move_to
right_x0.5000right_y0.4000right_z0.2500right_roll-0.8000right_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]: [-0.0418, 0.9428, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.7979, 2.413, 2.4557, -0.7673, 0.5911, 0.3183, 0.1524] state[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2341 left_yaw=-0.013 left_pitch=-0.0764 left_roll=0.0506 left_gripper=0.9983 right_x=0.5019 right_y=0.3787 right_z=0.2147 right_yaw=0.1343 right_pitch=-0.0263 right_roll=-0.116 right_gripper=0.1524 state[joint_eff]: [-0.0615, -2.0308, 6.8171, 1.6484, -0.0317, -0.0708, -0.0122, 0.3897, -14.4615, 9.2923, 1.4383, 0.4322, 0.1538, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.4, "right_z": 0.25, "right_roll": -0.8, "right_gripper": 0.0}, "note": "The jug now hangs just right of and behind the red cup at the right arm's y-limit. Trying to pour from here: rolling the wrist negative so the jug's neck tips left toward the cup."})
tool
executing move_to over 9 steps (0.9s)
step 261
assistant
agent noteRoll only reached -0.5 and the jug's neck sits just short of the red cup in the overhead. Pushing the roll further toward -1.4 while lifting slightly to bring the neck over the cup.
move_to
right_x0.4900right_y0.4000right_z0.2600right_roll-1.4000right_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]: [-0.0418, 0.9463, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.8581, 2.7171, 2.999, -1.1374, 0.8043, 0.0879, 0.1523] state[eef_state]: left_x=0.3104 left_y=-0.0003 left_z=0.2331 left_yaw=-0.013 left_pitch=-0.0798 left_roll=0.0507 left_gripper=0.9983 right_x=0.4895 right_y=0.3773 right_z=0.2013 right_yaw=0.1519 right_pitch=-0.0678 right_roll=-0.5062 right_gripper=0.1523 state[joint_eff]: [-0.335, -2.2085, 6.8034, 1.6728, -0.0513, -0.0513, -0.0122, 0.0889, -14.5299, 8.212, 1.0867, 0.5836, -0.0659, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.4, "right_z": 0.26, "right_roll": -1.4, "right_gripper": 0.0}, "note": "Roll only reached -0.5 and the jug's neck sits just short of the red cup in the overhead. Pushing the roll further toward -1.4 while lifting slightly to bring the neck over the cup."})
tool
executing move_to over 12 steps (1.2s)
step 273
assistant
agent noteThe jug is nearly horizontal with its mouth beside the red cup rim in the overhead view. Finishing the roll to -1.57 rad so it pours into the cup.
move_to
right_x0.4800right_y0.4000right_z0.2500right_roll-1.5700right_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]: [-0.0418, 0.9474, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.9489, 2.7758, 2.9765, -0.8848, 1.2137, -0.6754, 0.1519] state[eef_state]: left_x=0.3106 left_y=-0.0003 left_z=0.2328 left_yaw=-0.013 left_pitch=-0.0806 left_roll=0.0508 left_gripper=0.9983 right_x=0.4794 right_y=0.3909 right_z=0.2309 right_yaw=0.2003 right_pitch=-0.056 right_roll=-1.2476 right_gripper=0.1519 state[joint_eff]: [-0.1846, -2.1128, 6.8171, 1.7216, -0.0611, -0.0562, -0.0122, -0.4581, -14.2564, 8.1983, 1.199, 0.8132, -0.0855, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.4, "right_z": 0.25, "right_roll": -1.57, "right_gripper": 0.0}, "note": "The jug is nearly horizontal with its mouth beside the red cup rim in the overhead view. Finishing the roll to -1.57 rad so it pours into the cup."})
tool
executing move_to over 5 steps (0.5s)
step 278
assistant
agent noteThe jug has poured with its mouth at the red cup. Rolling it back upright and moving away from the cup to set it back down.
move_to
right_x0.4700right_y0.3200right_z0.2700right_roll0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0418, 0.9482, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.9585, 2.8902, 3.1252, -0.5892, 1.2987, -1.1896, 0.1518] state[eef_state]: left_x=0.3106 left_y=-0.0003 left_z=0.2325 left_yaw=-0.0128 left_pitch=-0.0817 left_roll=0.0505 left_gripper=0.9983 right_x=0.4872 right_y=0.4038 right_z=0.2525 right_yaw=0.2037 right_pitch=-0.0514 right_roll=-1.4872 right_gripper=0.1518 state[joint_eff]: [-0.0615, -1.9761, 6.9265, 1.6581, -0.0415, -0.0659, -0.0073, 0.9915, -12.7795, 7.6923, 1.2527, 0.3346, -0.2369, 1.0281] approver: 1 step(s) modified (delta_clamped). 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_x": 0.47, "right_y": 0.32, "right_z": 0.27, "right_roll": 0.0, "right_gripper": 0.0}, "note": "The jug has poured with its mouth at the red cup. Rolling it back upright and moving away from the cup to set it back down."})
tool
executing move_to over 19 steps (1.9s)
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 · 38.99 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]: [-0.0238, 0.7986, 0.6174, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0023 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 9.2513, 1.7802, -0.0269, -0.0073, -0.0562, -0.7043, -1.3607, 9.7846, 1.7314, -0.0513, -0.0659, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fd8b07a54362a749c8ccc685f34da9de39d5cb0da9a5109d2369a7faa43511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb625f9a0d4a2df329c49bb26c8fd92aeeff3e3f14ac28e90c21c282b0c3fb4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14b54a1fef7308b2cf9d11c7cfa62d42934610c7560a26087f4e41dbf61e4608",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 9.595 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]: [-0.0238, 0.7986, 0.6174, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0023 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 9.2513, 1.7802, -0.0269, -0.0073, -0.0562, -0.7043, -1.3607, 9.7846, 1.7314, -0.0513, -0.0659, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6fd8b07a54362a749c8ccc685f34da9de39d5cb0da9a5109d2369a7faa43511",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb625f9a0d4a2df329c49bb26c8fd92aeeff3e3f14ac28e90c21c282b0c3fb4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b54a1fef7308b2cf9d11c7cfa62d42934610c7560a26087f4e41dbf61e4608",
        "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"
    },
    {
      "text": "I'll start with the left arm: fly above the left (gray) bottle, which from the overhead view sits roughly 22 cm to the right of the left base and ~0.42 m forward.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FwxwJg8azMZQcucFGYqpsQ",
      "input": {
        "note": "Two bottles stand in the table centre with the red cup ahead of the left one. Moving the left arm to hover high above the gray left bottle with the gripper open.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.22,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01FwxwJg8azMZQcucFGYqpsQ",
      "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]: [-0.6926, 1.6833, 1.6661, -0.7143, -0.5621, -0.4309, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.2179 left_z=0.2836 left_yaw=-0.0009 left_pitch=-0.0419 left_roll=0.0142 left_gripper=0.9996 right_x=0.2959 right_y=0.0026 right_z=0.1812 right_yaw=0.0011 right_pitch=-0.008 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 9.2786, 1.6679, -0.3834, 0.105, -0.0562, -0.1709, -1.4017, 7.4051, 1.746, -0.0464, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0ee9deedcce4c366c555131522aa0d0ffe19e95857229f0eb374fef7bdf731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73977d4cd531386ca565c83171c2e8e73911041560e7be347d756fc9c216c8c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af51ce6e3721fb4b42575c86cb88859123c7c753f5729cd0c03b60a8717bba2b",
        "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 · 16.66 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 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]: [-0.0238, 0.7986, 0.6174, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0023 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 9.2513, 1.7802, -0.0269, -0.0073, -0.0562, -0.7043, -1.3607, 9.7846, 1.7314, -0.0513, -0.0659, -0.0513]",
      "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]: [-0.6926, 1.6833, 1.6661, -0.7143, -0.5621, -0.4309, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.2179 left_z=0.2836 left_yaw=-0.0009 left_pitch=-0.0419 left_roll=0.0142 left_gripper=0.9996 right_x=0.2959 right_y=0.0026 right_z=0.1812 right_yaw=0.0011 right_pitch=-0.008 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 9.2786, 1.6679, -0.3834, 0.105, -0.0562, -0.1709, -1.4017, 7.4051, 1.746, -0.0464, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba0ee9deedcce4c366c555131522aa0d0ffe19e95857229f0eb374fef7bdf731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73977d4cd531386ca565c83171c2e8e73911041560e7be347d756fc9c216c8c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af51ce6e3721fb4b42575c86cb88859123c7c753f5729cd0c03b60a8717bba2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQsKEAgRGAI4AUIIdGhpbmtpbmcSDDFVzuxAwXMAAnAZ/xoMyzJXt5Lv9bq/8ygmIjDFCHuk8kfkrI5PA9oMp2Vj3WgoCWysawd0xqtjSuP3uxJJZ7pQ6UucXh/p7t1qNN8q4gr6ll0Md6KCjZevJ7mvrEwJnI9VRJgGoC7Yy3hSDlYDiKdJdZ7tME4+6Eq3PRg2FVaspozNOQtNwjDMRHoi0UlQza+loxMOMOonqHJl9PyW7zBAa+oCPZn7AEoplR+7HJpS5vV9co1/DvZMHF6Rq6MvkUtkanJLjkBT8kCzdQN+WdOPwTkTAlzR6Ojq4L/Rg0HD1ixp6/xQp/iO8PQS0f7zsi1katC8RV40YM/u+4D9b9uSvyWz5TEzRe28m9sNcjwfxieDQm0aIgUXGzrM6qUB1D7W2lPN80bEqAjsgGufQF6x4spuuh50yUCYd02V2qAXFNthbBRlYyE9HpoQ9lCvTpm0lZq1cXe/roasK1akU4i+U7mQJ2FT4dHVy3TQXllOkkdz5ph6L1TlSCSUQuGO63jKqNjygJcH50Xj2rSZiix5oa13NmXHgbDjLRgqNmhXB1Tgdv2OHO3JR/Hci4qzUXZLJUNI5FBFG8pv4GzIrcHuG18fQ5IrQNNnkrT/hh6Dx8HBYNk3clNJfZU7whEwqN+uIjlgYpk8BWp+iHzzOpkjmZk83yEh3VCQdwd4C50zEUHlxNC5cbLALXqr33FmZzw5ExQe6MW7Ryu4rzpFDWSPCYVjl1Pci/I2R2tdk7wFzAjaRv26bIygA5IPiuln4w1se2gYh1g4ufuB12FkMud2cxGWWqUrbCO+KGjyD1/c9iNoLvnmQzv6WZBezhc/riCjCe/mBwm7kSsKgrmhytcMxSQAP3y1pGdBvSoQ/eOf5Gr6Rv1ToQwfi6/1fgytkxb0QDaRQs1jXVsN+OEqWq7NMsDnvyUDqxV0J9nevk7Ep6WXX5y3KaDoL0qwjPSytHQhJmZEqn4t6NNVugI1j7d38rkAOqrGrpyPMfzbt0lcnr9vaqUCyx42DNa5bqGOj/1wqu3EwMYjUTygqAQk0rgh1bo90eqpmDWb83DrCLo2w5F0mzb3NkLefquvveZXGMSa5trQ5IVxZkgYmOwUNymmCo6JcEw0w6Sk/FDqWDc0qoUYohCX3bwOGEA2kUSgsxVcnrDYUl3ASstNO+iaHiVJS0T+26fzAKC2fCWGx3UtB7tNd0wfm7mnWZc5l/GJolw9fp/0W8eUgmWuPFhLW29lr1sy5l8oPsIoLd9+rT8dHjEmyHYRSvoaXhJCwK83doINUYvjRhB8wPwxr81O83pBHm2jhnzTkHqRyDpivz1XxEv6jQg5ylv9s0201m21HwU6HdCY0CAH2mwcOpYeHpoG0MvY4qr4laX/VkMEsF+dkZWD9wy1W1w1aYm9tTokw73Yo/2JofsnUXB0JZm6HUE8PD8OFSQ4OOGGElWL3Xx/6ZBg49SG+LtUtfmnAptOpl2Cho/cQgFNSm9PnXOXsDe0a+F9pYYBrQyB2Ittbc888DT+Q2MhxuTmato+X8b3YnYkbHlqeS7pJVhFlRwJzCvF/rWARuyuCfC6ztscyoHhSo8mkZ2JlKEYLbSrJp5kX8XuRSpyj6y1WlKPS3GNFgorZRfd4LUj1QVYMWktAWtqz6ElwrDqMk4kQ0Ho8SjkEuBKfmLM9iyRgyhbLCjUfntR9Ue8Eazr61bAGvuuHHHXUIAuXfW4zyEe0eAXJE43odGj5ASWQi2hz75OTZmgrq2g1/rbmAsg0QzB5SP0qU4SiDTgHv5FeyULs40/CK6nNcmzwVDHitRosqMAT3QjspPzK5gPlyY4a3LMLVWSJOxWG65t6xk/0/b8dE9EP2FnIfHZgJWoMJQVvcJdiLCmuMZEEjVMwNOiDSkHp+0arg665EjPt2SmcojVQtyBjc6O5xI77Hf4hGfxwGxXNEUCS98oGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JC8JsBHbPFh2MEAniFSdY",
      "input": {
        "note": "Left wrist cam shows the gray bottle just left of the jaw column at the bottom of the frame, with the red and blue cups ahead. Shifting 4 cm left and descending to re-check alignment before grasping.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.42,
          "left_y": -0.18,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019JC8JsBHbPFh2MEAniFSdY",
      "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]: [-0.5941, 1.6127, 1.2251, -0.3569, -0.4934, -0.3668, 0.9996, -0.0147, 0.7994, 0.6086, -0.3843, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4189 left_y=-0.1777 left_z=0.186 left_yaw=0.0109 left_pitch=-0.081 left_roll=0.0374 left_gripper=0.9996 right_x=0.2951 right_y=0.0026 right_z=0.1797 right_yaw=0.0011 right_pitch=-0.0149 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.853, 6.6803, 1.5751, -0.2027, 0.0708, -0.0562, -0.1299, -1.3607, 7.1179, 1.8291, -0.0269, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ce0d9da426b5f7f6535b6ecee11161327fe8b27614b7ab0dfd8a25beb99b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c8e1f13a01e0c9c27d8786ad1c0d70a53415922e94f8367998cd4383d6fb26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12fa01162af04e3a5c9976d667586fdd610fa0857882a405754692091ccca89b",
        "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 · 9.72 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]: [-0.0238, 0.7986, 0.6174, -0.3779, -0.0216, -0.0154, 0.9996, -0.0154, 0.7967, 0.6106, -0.374, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.297 left_y=0.0003 left_z=0.1853 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2965 right_y=0.0023 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 9.2513, 1.7802, -0.0269, -0.0073, -0.0562, -0.7043, -1.3607, 9.7846, 1.7314, -0.0513, -0.0659, -0.0513]",
      "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]: [-0.6926, 1.6833, 1.6661, -0.7143, -0.5621, -0.4309, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.2179 left_z=0.2836 left_yaw=-0.0009 left_pitch=-0.0419 left_roll=0.0142 left_gripper=0.9996 right_x=0.2959 right_y=0.0026 right_z=0.1812 right_yaw=0.0011 right_pitch=-0.008 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 9.2786, 1.6679, -0.3834, 0.105, -0.0562, -0.1709, -1.4017, 7.4051, 1.746, -0.0464, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5941, 1.6127, 1.2251, -0.3569, -0.4934, -0.3668, 0.9996, -0.0147, 0.7994, 0.6086, -0.3843, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4189 left_y=-0.1777 left_z=0.186 left_yaw=0.0109 left_pitch=-0.081 left_roll=0.0374 left_gripper=0.9996 right_x=0.2951 right_y=0.0026 right_z=0.1797 right_yaw=0.0011 right_pitch=-0.0149 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.853, 6.6803, 1.5751, -0.2027, 0.0708, -0.0562, -0.1299, -1.3607, 7.1179, 1.8291, -0.0269, -0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3ce0d9da426b5f7f6535b6ecee11161327fe8b27614b7ab0dfd8a25beb99b2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44c8e1f13a01e0c9c27d8786ad1c0d70a53415922e94f8367998cd4383d6fb26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12fa01162af04e3a5c9976d667586fdd610fa0857882a405754692091ccca89b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnxUKEAgRGAI4AUIIdGhpbmtpbmcSDANHqEVGzEw8o+uWWxoMFbrBOWO/sjc/JoU/IjAb3VfiEOhojJg7j1x/TQG2ruPdeKph/jy0ogbUp0Y6IP7IlP8TJjbB+qnV5izKWukqvBSQsi9221XT/t4+Vg2ugFWerNmuaMQ4+X7PSXruadhcLrUP9Av/nm/nROQm7EAKcJVCHG9hVADDezx/v8IG3R6/PAO6dNSXPT0QibpmAqUY1+4jNIegw6uMuo64R1eta6Q11oViT8DzZWphQpPspwbqPCfyj8xZxq1YixPFOOBswNr0rg3/vQ05Ye20ZPMgF631fyQJL4Y399EKOQXS4f+smqT79rtopgxadrzpL7eHth1IkfIV+A7efnHYet4J3qEQ8j1Ds9Gdb/i7on8DcYcsXUty3tAwua9L5dNl1OY/hwksKYRBqm0J/k5xIcE7in6sQ4iKOLE6so91Z2JTdmi9TqTi6S2i7WQM+XI7S1h5Ez66wFSJoWdoYuEghFtnOvnEmrfASgLNZ5SlXQq/g0QwamOW7ne6x1qoOqSnpwRrGLB3TqqiZ+FUI0tNSR8KUVYLR3WTLPZiwVFtX8UHjY3zBSUO6X4h+PUULQQGTyztxURyZFv9IP7XZIM03c35G0ZoeEbmin6a8JGhkQGKB4NdIf4pjriEGV/P9v0mPjYZIyCyXG5wVQbDt6D6xbFDIaS9VOdyYdxemX4gkiA+LtgVC6u6YKnA3GS2QNq4m0RoYIXV2nKO4xjDeZzW7QxMb5EpEAntL1ITRZeOkujsnAWzUmCanGrwKqxpclp3j/YGtRa5A3OgwdsIQm8oNiyZzGb0E7Sj8gHFCN9dpIk6kShmk+gXYk6EOBZBR6QxwcrnQb3OOZJhlEFNNe3npVlGlb9HKM5JolVP5Bl7MpLoMTvVIZl8JHOd00xKUe2uEnuTgkORypTd7tDHabp5C10FFrvON6N/dThXZiKL07AtJToVhgJjgLUByKz2LF4tqeCCn5eoB8CbNJvIA50AzhvymbOiR23MHzt9Bo3DM//97CNKl98Avfekin9Xx8tUdHVXqdmGDNi06pQ54BEBWhQPRcUcKk4UvYff6LFLqT5EjD+F4churD1qna2udf5/73mPbrQSqOhgv2SsOCzEfIiNAler9fqlxx5RdzpeSNdIz4YfVNMBUaPyQibWdqZ3ju1zyCakkFftWB0UDtptsDsHw3y9MJ0bl7o7lxS8DYBGrUwHz6W1ZwXJhdwFrieTaLRmljy/ZOvk2FPbcNFW6LHyIhLmfvKhP75V6Xc8ZLfGai3uVk8vbfP1QHjiLGlXDIlTbpSWiPAX8Tv6ke6cNpcbkdQevfCb6PP6zZ+8bTJUHa/BzWFdhIVhzt0SKLQSFYv6CwwNeB7cLcEZI0hmJ23NNSQVZwhxw8Ss/w/J5DzIqqoTMW2yOcHoVK08F+5RkBUQdEoQRt43PAdRf0acUpRzgMxBJnCTXPSOFDiJkL1dfyqyQmj6gca+f9NaqrGkfXG6OSUJ4AweKekosqf2D9bXnJN5PDdD+Q3dSiDdxo2o9LVUvDfZNcav0TMqoruO3mWFeex+hSTaqyLf9l4Ag98V3dndXze5eFiKSUEA5TS4mJwTXy99VE0dWKInw1xC28Nv9Ay7w2e6xoFpuNjUhYo6ntg6ES4xJkMQEOmBb6WVCpds8K91OztMKpwM3DCZ97dm9opN5X7F0TEqyafkUQf4yvQOaFp036sSrUtZisCIhGm9enfnBdCPywowlAsxfMAxtBxLFNxzfWWOmwcyQG/ZcGdUq1n3I5KpoRty4OwnR0qGYWOwhiPQY5rL664fChwByCDLKdr9EjQU0RFoNJmv4wbWRnZixRzOK78aYk1yJEx/lS9Q8vpobuiijR2tEgGnhZb+fzJItufDCBdXkp4nxBtJ/R27a1FIZ+M5ZhdNscGkDLT/b2b2YojfP7/AIFOP4gVecYgEQ7Z/hvEWYz2yIXYJ4Db7nJT+GLEo9XiG1GQvsnY+Cop+cdHkc+rRERRKd9+QkzgEQaoy90DMOVBkq5rFcSteTuuS4mAgj1NN6FArwtuaLTcrDq62hmc1NFdq8SSn6fbooDsYWW3y04IaTfZynyofmM9N6AXXW3xd+TrGVIBWdpijbMULGES/rHOlvhOwQJ/NcRn6DNUP6kxM8cdcgkz6mZei6/UTwQTL+rfyBCFM9MbxqqSiFm8MYURMGJMNpawQaAhTw72RPy1sTzOOCdZMQ2XyWTA7cGmvQraSaABA9jXSWE0F+Rfmxz8SONj4tqNX8xNr0ZYnHDzDGm7F53Lg7nykee5zaQK8N9iHY07gKv5Ge93Vr/awGqY1w17ev/N8YF0EjXjn5wz+ovIolSLo0eMJZEwJmBGT0PUB/OEo0Hbg3uf5bkItPfzbwhjSJttNjPngwehB+kRCeB2dTQdsSL6ezY/UqFOpmccitY1SLJfBSy/GJ3fm4xG5M3WMwPKzlUQoJS+OAfAKzjIQ4RUXoWJBIUeNpCTGfB5yRFCTXKJqopRH5pl5ZtZcwRqGHVkgMqv8d6qDru0odmHZ81+0OGkTc+CAcZ8+hdidsi9H53K29RCnJLPLovxEZNCopFsgjPNZlJyBvfLBIuLuUmwMjqUVCoJiq8D70v88mLvPu5pbMllhc1pmCEOrBZOsZDosuRa4NjjaQW53wLm8uN4UyPmIWdwGIIfMkW8RcIE6mJkq+0oIbCP42mhDZOtmwpjrYj0Zw0mQGmOTjVH4etYtNxNMG3ldF+9HmoClLIevqpYUAkx1g1MO60R3vfNVFNE5pgQ6jQO/uwmfqmMwh0W03e2d2ksZEIYwVlC7M2sV/h2ZG5JqnHQ6oWTvCwLWbA//I7x/mlAPsVQ8TBupm9bD3BqYb5/TZ4uzh4Ar7YZNSN2VRPmVjxQ2pIwWiRZ2S0YsUsWFglhDP8v9jyNf8R49LRYKm+kRZTMPf7Jldg7EVtQB76Q2ymwZmiCjdOT7ei/W9Tm5QbhFmfcrZhDCqGTn4amWtS4Ct/P/Uj68p83KapCXoA82EnIAUBiIKKrn67XOSxf54VKSx+wNGE9XTZ57871MrKJZl2gtMT8O7w91VCtSctIz5gdTw/BfWd/FXn9p6GDv/AFsmditK7YMztYR2z8+LpyoWPTn0326wjlrrKHyxEyUlV/vp66hWyabk/oragsyMY+u0QMvbrK04gTm3oIJM3tqOeAgOKHWJcp1tgTPs3phl5vkz4+MgGedp5SlXq/rgXF8bgbHC556H4UWTdzwafuT0c4chSkOw+Yu7J2KDrjbvxFplt9eQ2EzlMc0bYxVPfeSvFAUES40quXdv1CWowCHEr4aruUUSmTCZYlq6H8nWyyVWEmRIjWls7haASs1Iu3F2Ai15DXFZqpGq6dqXS8YWOaDK3cyJBxNyTG0g2rJE5Y945a/mH3uunnUWyKZq2x7fXE/DGOujhVDeb/d66hdopxOy6eKLO57/cxgzAIaWTLsAY+m/0tCT1st6vnK/fVN1Tz611Tu8DodV4bh/i2WfyJUOCEdvSgo+l4YHvn9vWWxfH1ByXNCBA3miRNPK03OPh2PHO1DzIBCLWmGq+qmrG+f7Itnk5XpaOdY4wILU6FRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHHY8BQHDqNLYEs9Pfva25",
      "input": {
        "note": "The white bottle fills the left wrist view with its open spout slightly ahead-left of the jaw column. Nudging forward 2 cm and descending so the open jaws straddle the bottle's upper body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.17,
          "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_01LHHY8BQHDqNLYEs9Pfva25",
      "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]: [-0.548, 1.7058, 1.1027, -0.102, -0.4675, -0.3435, 0.9996, -0.0147, 0.7994, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1712 left_z=0.1366 left_yaw=0.0227 left_pitch=-0.0583 left_roll=0.0201 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0156 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -6.5709, 5.1761, 1.2234, -0.1001, 0.1245, -0.0562, -0.0479, -1.1419, 7.0769, 1.707, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea7f75078d2f6fc5f8a085a9d9ea6741f0b3420bcfa4ba7b41ff4fcfe868ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e30cf57a8a962f9ae161e0b6cb1922b960c6621d7f6a9b19229ebe4a764743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6497a1db89890bd0ef724b7dd1b865d38a22ec070e2b3eedcaa69843e096ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.554 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]: [-0.6926, 1.6833, 1.6661, -0.7143, -0.5621, -0.4309, 0.9996, -0.0147, 0.7986, 0.6086, -0.3782, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4157 left_y=-0.2179 left_z=0.2836 left_yaw=-0.0009 left_pitch=-0.0419 left_roll=0.0142 left_gripper=0.9996 right_x=0.2959 right_y=0.0026 right_z=0.1812 right_yaw=0.0011 right_pitch=-0.008 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [-0.4855, -8.2667, 9.2786, 1.6679, -0.3834, 0.105, -0.0562, -0.1709, -1.4017, 7.4051, 1.746, -0.0464, -0.0806, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5941, 1.6127, 1.2251, -0.3569, -0.4934, -0.3668, 0.9996, -0.0147, 0.7994, 0.6086, -0.3843, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4189 left_y=-0.1777 left_z=0.186 left_yaw=0.0109 left_pitch=-0.081 left_roll=0.0374 left_gripper=0.9996 right_x=0.2951 right_y=0.0026 right_z=0.1797 right_yaw=0.0011 right_pitch=-0.0149 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.853, 6.6803, 1.5751, -0.2027, 0.0708, -0.0562, -0.1299, -1.3607, 7.1179, 1.8291, -0.0269, -0.0855, -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]: [-0.548, 1.7058, 1.1027, -0.102, -0.4675, -0.3435, 0.9996, -0.0147, 0.7994, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1712 left_z=0.1366 left_yaw=0.0227 left_pitch=-0.0583 left_roll=0.0201 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0156 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -6.5709, 5.1761, 1.2234, -0.1001, 0.1245, -0.0562, -0.0479, -1.1419, 7.0769, 1.707, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea7f75078d2f6fc5f8a085a9d9ea6741f0b3420bcfa4ba7b41ff4fcfe868ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98e30cf57a8a962f9ae161e0b6cb1922b960c6621d7f6a9b19229ebe4a764743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6497a1db89890bd0ef724b7dd1b865d38a22ec070e2b3eedcaa69843e096ef4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAsKEAgRGAI4AUIIdGhpbmtpbmcSDAn7xxp9utTC6ghp5BoMszRMPL4/e1wpJkDkIjBMuvwzgFtNwnzU9dMcaW63E3wL/dZI5OcYZCZAt4f2WPrMPzHWWfr896mmShHqtRwqyQrXBQdrAFzwtEbjsMlKoDHexhGyCxrk+tayg5AQvQSwmoRCBKHPlPE4hdrxoZdYmtUbrvurf8Ojqc7LPXXrW2Q9fBQi8I6wqHapWuavvisHdp7K/C8ue/YCI+/O9EWKHadLgk7mO//5nBIlUNlY/InG+AWKG1fFaxHZyTqG3/ttHAUgQqLTXCuNZdVVh/sQx2BV2k3m9dwl7diyzmyoimTs7CT0/rrYZcUlV7slK8pc91nbGsd7SaPt/67qbqWBRkHrk5WlLIg+qn/aSPAZf8ChmpfHas/6Ax7Q6W8PUEZaFSYrwq5U9ktzhvv6WZdE9RbyCZGeIs1hvfVt4UPpcHo1h4qrpYuUEUhr6Lq5mJrpE62qMRzAH4U76anVFrYQWLd0Ne5vEt8AENnVbxMx9Yz/ekCpQk4UNz2KkvMXpZz9ERW4NXOOqUOJoN2rQW2PTowrlmbA/XEoDSAXzqCfbMP3I8OrfMTzUrk5dXpt3jUHIiB+a2Pa8aWDYFt6be+dbAV/jOAnP9rdZz/vMyF4OH2WWpua+O0zklxKPv21D996RIby4rD1wNExxwjGKLkeiNY/HdTcqCz/0sf2F5MwciipbiBfN5YfIu/1TJwUspAbAdycTPzGGWjblfMT3xucmRe0Ll6XtFyAd81sqoP5QaDqEOZDHbs9zc+wJcj5Wur2Mgh9GokBxYLVtweWcA352uJXxsql2kaldIMAurAI0Z9RmMioZrnFPm1VODzYwWrLHVEPFx5ZO1sCkJptaFSVU+V854t8f4yd92AAnRQR54lD7OcXYDOB10FCjpJ43eAWTvh744pNSnC+U0xhnl0PQBYIFUYh/lYDsQFFys8bfRPZdJyPHkgUYWzHNPpiPF5BlavgblB8buHBV4Up0AH4Dcvo61BI4q2vOijdVHPE87uqLlgTnH6D6+MEqu1FzjdWaSwK9J1627jIAaufNP1CtFJ//Yr77XPxGqqMch7gior7x10/MeZdY0/o/ICUBXoVcS4FoU1tGHVAA3WF+e6FbTUjE74ME1pHr8DWa0pYKOwzgH51rAeYsqRtDe0bttBBBuxbB7xh3IUrNlSKqQw0HWcZmOdYURqdJuowMI6L6ezsWG58rUTVid0mgD3ZZxoON7W1TSARmvgEUm7s2Ar1SeT8TjoqY4tDlHWgU2nEdN4+ajO65g7mTddt0wRd0S+9tnCS7ZHRKtQfWYATZBEwFkBlOSoA09jmFiZc87DOPRTqSSouiPRPU/iy1qqdEyF4WFV85IYTWanKU55wYzzh+rDndA6EGqX8Jqb2fqYKxIbp41pDNyfuPIt6X48KpWt1Qc5didI1DTSjecTDOxf0x+xv5mPRgWeB2XbMzSByQGBfiRL0Ib3AOUKdPvQynMncy2Et9oAqsxe36zrS0DBARuS7T68nlGMQqg8wHVVivEaXwMHTOC7OfvStEwQS97YRu1D8T4fmV92Yb5BG0h7ndRM9UWkBC1I18IKX6ToCoxBvc8zzYHAtkxFYwO/X0RtcfG1XNcCrAg0989k9mEZFbm/jbpMz///+YA8pghtDB/eoGPNKfsS3yqUb9jcRZkMIScgPh/bY2wXtOhoAgxUQmcsB6zpH7bWtYAZnpO+w+wZ+vQ/MIO6/sg6HI+Xirtc6n1pwIeX1OJVse7ZN41vRNXGiV6KyaJ8vfE0Tdu805IB/YQN5rDKiVIpcAoyEySnoRW8rWn4K1ckK59PZm8xmaxh19jdkQy7P0uda+bzHDDm0uQKvxjBsMSPaV6E1gw/6HSjemIsq3mRs5IF3+dxtGEFgupw8tjyMNDQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RcZDvfiUkasdUASNc2uqeo",
      "input": {
        "note": "The bottle body sits between the jaw wedges in the left wrist view and the descent has stopped near the bottle's shoulder. Closing the gripper to grasp the bottle here.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RcZDvfiUkasdUASNc2uqeo",
      "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]: [-0.5453, 1.713, 1.0821, -0.0036, -0.4751, -0.3397, 0.2396, -0.0147, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.1736 left_z=0.1427 left_yaw=0.0284 left_pitch=0.0036 left_roll=-0.011 left_gripper=0.2396 right_x=0.295 right_y=0.0026 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -7.4598, 4.6154, 1.37, -0.1343, -0.0073, 1.0281, -0.2667, -1.1556, 7.1726, 1.746, -0.0757, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100734671f0044104f6ca8a62a23a53cc3b89b58ff022317789918b0cce06e0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cd09382adb06cf693bbaf41d19907abb495e8a63c8527b04e1265d3a777cb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdfb95f0ea80e84dab413c3d08446d953b7482b8bd491c9470aceb455e22ad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 17.23 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]: [-0.5941, 1.6127, 1.2251, -0.3569, -0.4934, -0.3668, 0.9996, -0.0147, 0.7994, 0.6086, -0.3843, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4189 left_y=-0.1777 left_z=0.186 left_yaw=0.0109 left_pitch=-0.081 left_roll=0.0374 left_gripper=0.9996 right_x=0.2951 right_y=0.0026 right_z=0.1797 right_yaw=0.0011 right_pitch=-0.0149 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -9.853, 6.6803, 1.5751, -0.2027, 0.0708, -0.0562, -0.1299, -1.3607, 7.1179, 1.8291, -0.0269, -0.0855, -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]: [-0.548, 1.7058, 1.1027, -0.102, -0.4675, -0.3435, 0.9996, -0.0147, 0.7994, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1712 left_z=0.1366 left_yaw=0.0227 left_pitch=-0.0583 left_roll=0.0201 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0156 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -6.5709, 5.1761, 1.2234, -0.1001, 0.1245, -0.0562, -0.0479, -1.1419, 7.0769, 1.707, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5453, 1.713, 1.0821, -0.0036, -0.4751, -0.3397, 0.2396, -0.0147, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.1736 left_z=0.1427 left_yaw=0.0284 left_pitch=0.0036 left_roll=-0.011 left_gripper=0.2396 right_x=0.295 right_y=0.0026 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -7.4598, 4.6154, 1.37, -0.1343, -0.0073, 1.0281, -0.2667, -1.1556, 7.1726, 1.746, -0.0757, -0.0317, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:100734671f0044104f6ca8a62a23a53cc3b89b58ff022317789918b0cce06e0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cd09382adb06cf693bbaf41d19907abb495e8a63c8527b04e1265d3a777cb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdfb95f0ea80e84dab413c3d08446d953b7482b8bd491c9470aceb455e22ad64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQcKEAgRGAI4AUIIdGhpbmtpbmcSDHyl8RPahEYiJ2C3YxoMDbooM4hqYU4+J28PIjAgOzgHu4LknZGEL4EqXNJb3LTA/xPpv/iKqrR9j6RdorAKGgyPuVTQQW4HlJ0B0usqvgZPbePsEXgKVVVOVPaEPpd5tQMJn4PNfKM9nReAQrr+AaB5FVmmb+kH3DfzPba7DyCZ50BFwtJdlXoPB+ZiMX1uUoj+hB6Cq7fY64Cd3pUDvRLRfKlE6c7x5OSehPtuRqhTwSufEAv1B1D2bICfvYL/inrK+UM/3Kp0e7DhkuxGzzBtikyoR1zN0hj7cTvisOn4fDar80s8sE0SJP6AonfAf0L6ltWqbhXU79PaBEVnQx+bmC0bu2V23mgWbNogcWJBT5okIu2UYiQpZ9DO/w4UiS9KuFxY7jD+/6pwABVXh2WNcSSyxxpgrEKNsIOLzMZni5iNqer0Cn/ywQi2usKrr4h+7l5W+d0rpU5m0bL+VbqB0YEI72+6Vo4BpPlbVmHMJVLA71Df0xxVgeSAbzlrw+CTmSULY81QttpQHitnIHtvpMduOKM5w4nfEAahM0JMQ50f6L/Y2zmvI4JX5y89uzBAPWb0nt9u9/TY10bBcBpQH46b0Rjz2Qy/v4yC2bJxO4QWU2Bk1Wag7yfdxhdZPdK3n3wwjAvGV4Z+cRi1VOsFbKSyw/z1JmmqlySyS29BwqyXZpY9qb6aIMwuPYbZvAr41pOIQMv35EKp47Mz/JlTsivMUk71Mkl3i16sO++OyXZ1XVLaaWD7PAzy9ltYoWTw8yRiPwUfGV+/d+U1zQMqjwXRKbQth4SDf78pl09UoO/WRFMuRINTQaTrNBfffPxic7jYSq9lB6mVYG64QWny3M7eROxEHbemfUBtNadjPc0rxoYY8HnT2PNxaM7KIROKFChXCuKclMioela8FGaMcHUKrmgFokpel9aYgeVWH+5/Zh3qOEPa53/BYGH5ONTmA7uppEJbw4zKYAQc4mDc27YjPib4ZgEfURfKJodSeInBRBe2wR992DZ5GXbRFyMNf8pfCTw94oAJBjxAuOyhkNUCarb6PvENilKnvIww4Ht5cjyNd5qE+NiwK1wSjjV5Zhl1IjQVXkHD/mMVFaUOuMnsncgQw+BJ9d0y0WRwxp58DpkToU/P0eiaqd3ZFlUJkn1XUFITFUhNQ9AaFrwLkK5r4jHZPFM2FbpcgpM4gCxMqYChFQVJ+FZqNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0141EpQbeWWPBzKWGTvx2Sht",
      "input": {
        "note": "Gripper settled at 0.24 (~2.3 cm), suggesting it holds part of the bottle. Lifting 8 cm to verify the bottle comes with it in the overhead view.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0141EpQbeWWPBzKWGTvx2Sht",
      "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]: [-0.5465, 1.6398, 1.253, -0.3153, -0.4709, -0.3408, 0.2374, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1683 left_z=0.1917 left_yaw=0.0254 left_pitch=-0.0545 left_roll=0.0225 left_gripper=0.2374 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.7145, 9.5658, 1.5849, -0.2808, -0.0757, 1.0281, -0.0889, -1.265, 7.0496, 1.7314, -0.0513, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cb3475c03f8cea3aa45aea4e670e46be2d9711f6e1fff4481e5c141fb814090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b689dd912ef96af2dd9daaf4d93e8256664e436bf8b73b4ba1891358838171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1efffdfcc7b61e80ff02e7e92ba247cbb74392138dd7eeaa74ea99b76080e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 14.34 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]: [-0.548, 1.7058, 1.1027, -0.102, -0.4675, -0.3435, 0.9996, -0.0147, 0.7994, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4402 left_y=-0.1712 left_z=0.1366 left_yaw=0.0227 left_pitch=-0.0583 left_roll=0.0201 left_gripper=0.9996 right_x=0.295 right_y=0.0026 right_z=0.1796 right_yaw=0.0009 right_pitch=-0.0156 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -6.5709, 5.1761, 1.2234, -0.1001, 0.1245, -0.0562, -0.0479, -1.1419, 7.0769, 1.707, -0.0611, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5453, 1.713, 1.0821, -0.0036, -0.4751, -0.3397, 0.2396, -0.0147, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.1736 left_z=0.1427 left_yaw=0.0284 left_pitch=0.0036 left_roll=-0.011 left_gripper=0.2396 right_x=0.295 right_y=0.0026 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -7.4598, 4.6154, 1.37, -0.1343, -0.0073, 1.0281, -0.2667, -1.1556, 7.1726, 1.746, -0.0757, -0.0317, -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 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]: [-0.5465, 1.6398, 1.253, -0.3153, -0.4709, -0.3408, 0.2374, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1683 left_z=0.1917 left_yaw=0.0254 left_pitch=-0.0545 left_roll=0.0225 left_gripper=0.2374 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.7145, 9.5658, 1.5849, -0.2808, -0.0757, 1.0281, -0.0889, -1.265, 7.0496, 1.7314, -0.0513, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cb3475c03f8cea3aa45aea4e670e46be2d9711f6e1fff4481e5c141fb814090",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8b689dd912ef96af2dd9daaf4d93e8256664e436bf8b73b4ba1891358838171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1efffdfcc7b61e80ff02e7e92ba247cbb74392138dd7eeaa74ea99b76080e13",
        "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_015v4s4iLWRfyCnUMX2GMZQj",
      "input": {
        "note": "The bottle rose with the gripper (wrist view unchanged, bottle lifted in the overhead). Carrying it forward and to the left so it ends up beside the red cup, ready to roll and pour toward the right.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.5,
          "left_y": -0.06,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015v4s4iLWRfyCnUMX2GMZQj",
      "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]: [-0.2047, 1.6897, 1.4818, -0.466, -0.2272, -0.157, 0.2373, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.0577 left_z=0.2313 left_yaw=0.0691 left_pitch=-0.0948 left_roll=0.0181 left_gripper=0.2373 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -8.1162, 10.2632, 1.7411, 0.0366, 0.1978, 1.033, -0.0752, -1.2513, 7.1179, 1.7411, -0.0562, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7f7819ead538b7c7eb2f55744eb593928128e1f849c5692150696cd8f7b579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd8f23ed72ef320824217b5f954fbf643ea09ee70fec8cf84af6683689df73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a49300c94c677bdbd9ea90d8abf34c5f5b48b649aeed20619eeb31149bb98b04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 9.947 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]: [-0.5453, 1.713, 1.0821, -0.0036, -0.4751, -0.3397, 0.2396, -0.0147, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4488 left_y=-0.1736 left_z=0.1427 left_yaw=0.0284 left_pitch=0.0036 left_roll=-0.011 left_gripper=0.2396 right_x=0.295 right_y=0.0026 right_z=0.1795 right_yaw=0.0009 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -7.4598, 4.6154, 1.37, -0.1343, -0.0073, 1.0281, -0.2667, -1.1556, 7.1726, 1.746, -0.0757, -0.0317, -0.0171]\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]: [-0.5465, 1.6398, 1.253, -0.3153, -0.4709, -0.3408, 0.2374, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1683 left_z=0.1917 left_yaw=0.0254 left_pitch=-0.0545 left_roll=0.0225 left_gripper=0.2374 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.7145, 9.5658, 1.5849, -0.2808, -0.0757, 1.0281, -0.0889, -1.265, 7.0496, 1.7314, -0.0513, -0.0073, -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 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]: [-0.2047, 1.6897, 1.4818, -0.466, -0.2272, -0.157, 0.2373, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.0577 left_z=0.2313 left_yaw=0.0691 left_pitch=-0.0948 left_roll=0.0181 left_gripper=0.2373 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -8.1162, 10.2632, 1.7411, 0.0366, 0.1978, 1.033, -0.0752, -1.2513, 7.1179, 1.7411, -0.0562, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b7f7819ead538b7c7eb2f55744eb593928128e1f849c5692150696cd8f7b579",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bd8f23ed72ef320824217b5f954fbf643ea09ee70fec8cf84af6683689df73a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a49300c94c677bdbd9ea90d8abf34c5f5b48b649aeed20619eeb31149bb98b04",
        "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_01PB2SzZfphJcRGtoX6UFTiZ",
      "input": {
        "note": "Overhead shows the held bottle left of and somewhat behind the red cup; the cup shows at the right edge of the left wrist view. Advancing 7 cm so the bottle is level with the cup before rolling to pour.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.56,
          "left_y": -0.05,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PB2SzZfphJcRGtoX6UFTiZ",
      "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]: [-0.157, 1.961, 1.8385, -0.617, -0.2008, -0.149, 0.236, -0.0143, 0.8032, 0.6086, -0.3855, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.55 left_y=-0.0477 left_z=0.222 left_yaw=0.0926 left_pitch=-0.1627 left_roll=0.0249 left_gripper=0.236 right_x=0.2952 right_y=0.0026 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0198 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -11.6581, 9.388, 1.6435, -0.0073, 0.2369, 1.0281, -0.0342, -1.5521, 7.241, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dde929fa1356e1d442fa2541cf0ddd56cf23f5dab62ace8ac5c2e517b64db47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f6310ef55bff3f90ba71d9b5523aba0c1d611b81bb4769d7bb74190e770363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4650e9e9b2d3970eb67ebc47c394867632e9d8abd082db8765f537f3376d696",
        "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 · 8.461 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]: [-0.5465, 1.6398, 1.253, -0.3153, -0.4709, -0.3408, 0.2374, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4378 left_y=-0.1683 left_z=0.1917 left_yaw=0.0254 left_pitch=-0.0545 left_roll=0.0225 left_gripper=0.2374 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.7145, 9.5658, 1.5849, -0.2808, -0.0757, 1.0281, -0.0889, -1.265, 7.0496, 1.7314, -0.0513, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2047, 1.6897, 1.4818, -0.466, -0.2272, -0.157, 0.2373, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.0577 left_z=0.2313 left_yaw=0.0691 left_pitch=-0.0948 left_roll=0.0181 left_gripper=0.2373 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -8.1162, 10.2632, 1.7411, 0.0366, 0.1978, 1.033, -0.0752, -1.2513, 7.1179, 1.7411, -0.0562, -0.0122, -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 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]: [-0.157, 1.961, 1.8385, -0.617, -0.2008, -0.149, 0.236, -0.0143, 0.8032, 0.6086, -0.3855, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.55 left_y=-0.0477 left_z=0.222 left_yaw=0.0926 left_pitch=-0.1627 left_roll=0.0249 left_gripper=0.236 right_x=0.2952 right_y=0.0026 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0198 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -11.6581, 9.388, 1.6435, -0.0073, 0.2369, 1.0281, -0.0342, -1.5521, 7.241, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dde929fa1356e1d442fa2541cf0ddd56cf23f5dab62ace8ac5c2e517b64db47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f6310ef55bff3f90ba71d9b5523aba0c1d611b81bb4769d7bb74190e770363",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4650e9e9b2d3970eb67ebc47c394867632e9d8abd082db8765f537f3376d696",
        "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_01PLBKUYMVuroZNZFcCcWvCp",
      "input": {
        "note": "The bottle is now beside the red cup on its left in the overhead, and the cup shows close at the lower right of the wrist view. Starting the pour by rolling the wrist 0.8 rad so the spout tips toward the cup.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.8,
          "left_x": 0.55,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PLBKUYMVuroZNZFcCcWvCp",
      "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]: [-0.3149, 1.9694, 1.5127, -0.1894, -0.6861, 0.3962, 0.2359, -0.0147, 0.8043, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5435 left_y=-0.0556 left_z=0.1768 left_yaw=0.073 left_pitch=-0.0842 left_roll=0.7253 left_gripper=0.2359 right_x=0.2953 right_y=0.0026 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5897, 7.1726, 1.8339, -0.3883, 0.0904, 1.033, -0.2803, -1.3744, 7.1179, 1.7167, -0.0562, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0179dce7ba2335d9976fe4220de068844950307b008d93cfc61447a252ec9eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606fbf7e962ad4cbbb3f65463b1b92082b4e30698b04e0d8325a4f497c9cf08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8af841f7cd091869b088f9c09e5634d717751c9e9d8dfdeab825d762d3b6c327",
        "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 · 8.135 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]: [-0.2047, 1.6897, 1.4818, -0.466, -0.2272, -0.157, 0.2373, -0.0143, 0.7998, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.4913 left_y=-0.0577 left_z=0.2313 left_yaw=0.0691 left_pitch=-0.0948 left_roll=0.0181 left_gripper=0.2373 right_x=0.295 right_y=0.0027 right_z=0.1795 right_yaw=0.0013 right_pitch=-0.016 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -8.1162, 10.2632, 1.7411, 0.0366, 0.1978, 1.033, -0.0752, -1.2513, 7.1179, 1.7411, -0.0562, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.157, 1.961, 1.8385, -0.617, -0.2008, -0.149, 0.236, -0.0143, 0.8032, 0.6086, -0.3855, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.55 left_y=-0.0477 left_z=0.222 left_yaw=0.0926 left_pitch=-0.1627 left_roll=0.0249 left_gripper=0.236 right_x=0.2952 right_y=0.0026 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0198 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -11.6581, 9.388, 1.6435, -0.0073, 0.2369, 1.0281, -0.0342, -1.5521, 7.241, 1.7118, -0.0269, -0.0513, -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 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]: [-0.3149, 1.9694, 1.5127, -0.1894, -0.6861, 0.3962, 0.2359, -0.0147, 0.8043, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5435 left_y=-0.0556 left_z=0.1768 left_yaw=0.073 left_pitch=-0.0842 left_roll=0.7253 left_gripper=0.2359 right_x=0.2953 right_y=0.0026 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5897, 7.1726, 1.8339, -0.3883, 0.0904, 1.033, -0.2803, -1.3744, 7.1179, 1.7167, -0.0562, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0179dce7ba2335d9976fe4220de068844950307b008d93cfc61447a252ec9eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d606fbf7e962ad4cbbb3f65463b1b92082b4e30698b04e0d8325a4f497c9cf08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af841f7cd091869b088f9c09e5634d717751c9e9d8dfdeab825d762d3b6c327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQgKEAgRGAI4AUIIdGhpbmtpbmcSDO+CIMproCXQot32/hoMla168Tdy3KZ7SsOCIjBLRAYp8W9CkMWHv4aJHDO58aMl0+mW3CdI4Sb7FTEAmiXD02LNRycgaVDGREYFUpMq3gcRbjHnsYBewWFQj7IJyyu/drcOKN6xbi2n6ac12W0Fw6zYIJmBlmdQKOuDOeabm7Ylx8MeO0ydKaE4RUy8JOsUANhWEOOQ3Uvz6LtB/4sjlcLf9pnfzPTP9UgqXTp+BVHYrq9G2T/H3egXO1P/pSuQrdkzpzOAYvbIDhB22257wImJ3At6FZ7FSiYJKreIJYOmekN6WJJdcjSrcyPjh+0X4X8iO+FTCLPOsbCPj9lYA9kcX8scbwcTGhIIpO3AUsDiww8nQ6oXZS4lRadZXIYIbTluF7Jsl9Cx3PTmby/IYhk90UKwYWUqbsDxZ64co1kySRbnwxQUOmr3jLNI+IOqmRRDJJJ/iVBpb0NRjri5Vl5Ney9PKhppDDpbXC3VFN/l2snPWe3ARBLRCju4MophdjdpiQvytewLZUvSGMcz5SX1mkdTV8hRAyUaE/+bElpByyI7Z6hGm9j+fVARffKiwmSyknk2BsYJrksjxqr1CVkddYel5Ug0HMws1yc3x4tTxwXEu0LHoUDNMbPyAmJ5Q44hpl830u2vST00kXQucgkhskj57nb/sq6HwPML7ZWjpw1T/cyijU//zJ0SBJ3/8WB4gjyHNRVVVbK9tlJhHB9okkbc7JYJTlsO/8EI5Ins6Tnx6H2c4Yn3cffFzdG10FpyPnR9+gaGVnUj0ePx+24I7V+EarlgugWSFTbp4Xv58rKplNDYmTBZMIYJwvEK3bbqZ2qox0zMEyVvUTeB4/7I8yQ+zYZGKG+C+B0TU/Rl/YpIf5xgTcDRVdiKXz/jPG4aBrlfYd7om/WR+VySBeIrqhAvh14a0zpDbEWp468fR5e/+7Jn7IQV9Yx6Ixig6sPedLCJXNUuLUuDPhuZ8NdEEysBsjanYWJZa1+OS9fUovE5/ilQp/dLIskfqiLqeemALfr0jfqbdIcryqZyZMuWl0idJHsTR5w9L6BwRG8zxe8bQSvIWWt3fbgMxBnrPxnf09eE6j6sb2jLtTgWX7GmudJPwhmEVVvMXtoiO4E5x8dDM/k4KfPamWfvefcRc1guTII4Xa3xJd/s9KrYKhWVBbjKWuywdL/grvoMvQlCjxdZiERpqxlyiF1d2YB63FtU2uYYVsf5/XVxfj9YONjkEp7KpjOogn4cZjWV8FH6NsTQXxbNDHCoN5hxdUuiFZ8ff5IVKQ0EO4zTkgFpH6mTYO+91xNFoL2wbz8P02Dwukho+01Su11aJCmtulHRSG6zstdUcyH2vfgHDzal3c1297zRVC05CeSaSt26L971cs/iWo/AUVbYqan+U4+fxzPWEP3H9A6G1GAGX1sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AEoTndnv5T9iMdpEuxnY2N",
      "input": {
        "note": "Bottle is tilting toward the red cup in the overhead view. Rolling further to 1.4 rad and raising slightly so the spout comes over the cup rim to pour.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 1.4,
          "left_x": 0.55,
          "left_y": -0.05,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AEoTndnv5T9iMdpEuxnY2N",
      "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]: [-0.3599, 2.019, 1.3674, 0.3355, -0.9569, 1.1336, 0.2357, -0.0147, 0.8051, 0.6086, -0.3851, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5474 left_y=-0.0479 left_z=0.1959 left_yaw=0.0697 left_pitch=-0.063 left_roll=1.3286 left_gripper=0.2357 right_x=0.2954 right_y=0.0025 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.9333, 6.8855, 1.9463, -0.2271, 0.0757, 1.0281, -0.1983, -1.2786, 7.0906, 1.7363, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3264a83871e55e252fb3ca66b6fa1cbfc885221d19bac9b734f1b90bb4869fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fdf0b7275eb805e8fd3cdf766d0506a9fb2e8c577f9f133f4dc62d0214d425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08485c6e12a240a9ad20cc7fcd12a56d6ab2a41ece8944aa5aa3b8b8834113ef",
        "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 · 6.931 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]: [-0.157, 1.961, 1.8385, -0.617, -0.2008, -0.149, 0.236, -0.0143, 0.8032, 0.6086, -0.3855, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.55 left_y=-0.0477 left_z=0.222 left_yaw=0.0926 left_pitch=-0.1627 left_roll=0.0249 left_gripper=0.236 right_x=0.2952 right_y=0.0026 right_z=0.1784 right_yaw=0.0009 right_pitch=-0.0198 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.212, -11.6581, 9.388, 1.6435, -0.0073, 0.2369, 1.0281, -0.0342, -1.5521, 7.241, 1.7118, -0.0269, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3149, 1.9694, 1.5127, -0.1894, -0.6861, 0.3962, 0.2359, -0.0147, 0.8043, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5435 left_y=-0.0556 left_z=0.1768 left_yaw=0.073 left_pitch=-0.0842 left_roll=0.7253 left_gripper=0.2359 right_x=0.2953 right_y=0.0026 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5897, 7.1726, 1.8339, -0.3883, 0.0904, 1.033, -0.2803, -1.3744, 7.1179, 1.7167, -0.0562, -0.0464, -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 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]: [-0.3599, 2.019, 1.3674, 0.3355, -0.9569, 1.1336, 0.2357, -0.0147, 0.8051, 0.6086, -0.3851, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5474 left_y=-0.0479 left_z=0.1959 left_yaw=0.0697 left_pitch=-0.063 left_roll=1.3286 left_gripper=0.2357 right_x=0.2954 right_y=0.0025 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.9333, 6.8855, 1.9463, -0.2271, 0.0757, 1.0281, -0.1983, -1.2786, 7.0906, 1.7363, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3264a83871e55e252fb3ca66b6fa1cbfc885221d19bac9b734f1b90bb4869fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68fdf0b7275eb805e8fd3cdf766d0506a9fb2e8c577f9f133f4dc62d0214d425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08485c6e12a240a9ad20cc7fcd12a56d6ab2a41ece8944aa5aa3b8b8834113ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwoKEAgRGAI4AUIIdGhpbmtpbmcSDDXx1g5mDwu3WZT9FxoM2Sn+Ddc7fRn9uRQhIjAvhUOoh3TVpSDOqMfM+ByGxL7Zo2SfoKInnlJZkxB/ZAvgJ4dfIfafFG0DmmLuz2Iq5Anz+50jHfzXJiCodODccC2UmOTls8teriVsP67YL2dbo7ScBAcKDQvgmgPUwEtu2dZHXF1KTCt3h49/oOBA9tKcd1UN+DNk+Dv24Z1elHWThM6y+owqsmICqN0JXfLWGpsKpAr0EBUoYrzvmDZCJ+vsHx5b68xobN/TV2WsR/WPTskwQmHG7fVg5BlMMFOn6A1mqsKjIaux5YvQtrPGGB1ptvmdgEKhNO4JkVq68BKLcvfq8snWOqCRkRUm322L/RvnptzC/aIN6HNiqXLLsKJ0VAQLGhsZjl8Y80Q6fstWZUwMACNox3wadlhXUWF/SmAkBq4IL/CH6uII1V7mo4lQD12Y6w5A8nTSm3TG00J0AyfX5KuvGz0efpUs1Ant2Mbdv/Ly/cQZV0mSd/o1D2eWQlaXlmHh52XMX9UaP1/Grm2Cr/ZFsJt2WnEkK+MvhJZrp9D3y/yqUXrBITygBrK9voGBJ2R2CM57/DP09Ks31GuQyibMLflLyFI/lDgWYlZu2PQ0qSEmJW0k3IcBfRMiSFYs9HCe2RadiWWCAqYm8GEmXQvy8UPLOOQOLoI9uvZQne+zmXvoDMLX7mibpM1t5hE53B+EkTwwytlko8pBwzDZwII0U7IePHaAJlYOPtBiiL3Jl2/nmWm1kyDHYeKHnY/dIBzbYmghUXf99KINHQKWzOfXAg8aIPcjXL0IMvpPWd2U39y0kbgUo7Iva9xgEpwFDA7mtJQhIw1MNFNa+KjEwCD2uHD7DduDqLdOKvbrPVUYfRC3kiustvisQBi1S/bFGJjFRurAaxqXdwMNNfFqlGco1rgmwYiqObAksqWi+plJBxkB+r5IN9tgYdUPJKgpwAA7b0fkVg4iwMGGOHp1Wz0lhDxloIi8/5erUq4xgC2JuA7VqmA29LHCaOv4u2LOnRMWJMKSG3qQWR10w25vxBWIIr80BT4iEl0sup4Rxr/8sdXej6cC3vOXOMw56j+TWrBEmyRk7CiPp5tkdDbEOtiYRm9YyMe9uU6ID+XyUikn3LauxSquwha+IJ3a5JsPGQYZpWQlH4OIlqmQketx8LcgnEnmEipa/OX/PoaxjlTgZUQDU3BVswLUKbmezr36iOk+x4hmeJtXR+0mdN08TcTocTIo+4qHEf1rpCimxqNifMwdKve9ohl2NWVPTtkABbjR2pnVP7msB8qv/y9uwztzenm0cG+J0lT7b8SUjQD6V1L/7np3C8fvBzlqyHXLjA1aO6y2Gd53RDRdTTIdgXtMw/oipZID4b4fGxyypJrUYz5dnITIt73uFQbYC4Mrkz4Q2bTJsy5KT7A8JHD9Dgo1KgW4PqNZgx0Ew56o+2C95xnfwd+3sc/+AiFvhAJsNBJ5hqgyiGwPt7qBDQipxOwEdCbK4/LVBlHyX/MFk/JmdgA1HBDIsvN5IVNJi7dzug0xeAcxIs0BAB+G05fEabN4NJx6iOAg8VRG3ZPJ3KNrTwY0Xb+gQWPsiHHZ0T1UsgtFeTssXUNHo4zG6b76O/myijAe985A/p0JljX009Zg1q9u9CDtU/DuoLCwUQrfNIepVO4g7E4ox5wESmeTQ2f03GzpBIX7WzXefyhi8/aqYT1ToRwgGNnFsSJlipPObVSVNuBHKNGV6qYW2KtIa+cB4i64kpYAwdypClPKKxK+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DCdu6AwmsuBDxDH3KZPfkc",
      "input": {
        "note": "The bottle is nearly horizontal with its spout end adjacent to the red cup in the overhead view. Completing the roll to 1.57 rad to fully pour.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 1.57,
          "left_x": 0.55,
          "left_y": -0.05,
          "left_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_01DCdu6AwmsuBDxDH3KZPfkc",
      "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]: [-0.3653, 2.059, 1.3144, 0.6228, -0.9882, 1.4544, 0.2323, -0.0147, 0.8051, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5499 left_y=-0.0485 left_z=0.2032 left_yaw=0.0666 left_pitch=-0.0517 left_roll=1.5247 left_gripper=0.2323 right_x=0.2954 right_y=0.0026 right_z=0.178 right_yaw=0.0009 right_pitch=-0.0214 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -11.0427, 6.5299, 2.0733, -0.1343, 0.1245, 1.033, -0.3761, -1.265, 7.0769, 1.7021, -0.0317, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5584aeebd52922d32eb6ed304fa2488004b573cb9c4b2010e20f9321759d2e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcabbfe73cf7c2a22f2c42438c2fe184d4a73574fa922cce8492b49c59b19992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:278efd90300296f802298f82ab1ee9b8fe5d1ba4f5921bbf775f08e99a7f2365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.087 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]: [-0.3149, 1.9694, 1.5127, -0.1894, -0.6861, 0.3962, 0.2359, -0.0147, 0.8043, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5435 left_y=-0.0556 left_z=0.1768 left_yaw=0.073 left_pitch=-0.0842 left_roll=0.7253 left_gripper=0.2359 right_x=0.2953 right_y=0.0026 right_z=0.1782 right_yaw=0.0009 right_pitch=-0.0206 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -11.5897, 7.1726, 1.8339, -0.3883, 0.0904, 1.033, -0.2803, -1.3744, 7.1179, 1.7167, -0.0562, -0.0464, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3599, 2.019, 1.3674, 0.3355, -0.9569, 1.1336, 0.2357, -0.0147, 0.8051, 0.6086, -0.3851, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5474 left_y=-0.0479 left_z=0.1959 left_yaw=0.0697 left_pitch=-0.063 left_roll=1.3286 left_gripper=0.2357 right_x=0.2954 right_y=0.0025 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.9333, 6.8855, 1.9463, -0.2271, 0.0757, 1.0281, -0.1983, -1.2786, 7.0906, 1.7363, -0.0366, -0.0366, -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 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]: [-0.3653, 2.059, 1.3144, 0.6228, -0.9882, 1.4544, 0.2323, -0.0147, 0.8051, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5499 left_y=-0.0485 left_z=0.2032 left_yaw=0.0666 left_pitch=-0.0517 left_roll=1.5247 left_gripper=0.2323 right_x=0.2954 right_y=0.0026 right_z=0.178 right_yaw=0.0009 right_pitch=-0.0214 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -11.0427, 6.5299, 2.0733, -0.1343, 0.1245, 1.033, -0.3761, -1.265, 7.0769, 1.7021, -0.0317, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5584aeebd52922d32eb6ed304fa2488004b573cb9c4b2010e20f9321759d2e80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcabbfe73cf7c2a22f2c42438c2fe184d4a73574fa922cce8492b49c59b19992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:278efd90300296f802298f82ab1ee9b8fe5d1ba4f5921bbf775f08e99a7f2365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gcKEAgRGAI4AUIIdGhpbmtpbmcSDEWgnTnAjWSVvXj+GRoMTiZN3AKqdUSwBUdVIjAXF/GYoY2IVWy6Csh48F7lWsjxV80GLuAVeKlVD5I3T+sv46qCPhbfI7ypJVXNKh4q7wa+/kTd2+4nEuNjrlUB98Lt+gEjJj570wqCvedCK66X9RAM9CCpaUSVD5iwNuQBhXAIS/+5tVOYoolWFv/w/fSxUdCbP2LCxDXtMiG9Tdm06inVcCZYyMkdmidEvdAh4xAheAu3/H/A/13rESu3ND0iM8oDZoPYRYnDZe1gPYzMabS1SnmxxgLa6XCty1Vg13lEgzinuTIe/osbbVF9rjykEijaV37jwWIzdu3cKrHF6qRAu2UVoM8likXjM4Yj59tXmrOdVWDwjiQ0XyH2c7GiUhecTmLsapqYnxTzytA/0a0hTCi5oafUohqIvGK1Y8vP+q/UlUy9xQjryU3whXZbAPSUuT9xlvukL/8QEpzWTVkhy9OrCFKvIX4uC328GeQ1ljzYu8vHftimPlM2hNUsEXRQH5w8mbQzWOlDM7NHDgqSc7JUxxwxZM5jS5nqHqsuJL31hyfIF8Iv3uiOD/wpK+mwzifEOnQF1DMiKw171VqXbfi1iZPGsLG6YJ1Mrak6DVYBxH8GIu6CMKkPG8DySmY+xWhDn/4i4GREPU4Dr4lk3pty2SGni/lvtDvMr/zAPB0EiFiyhdDVX66LF3OOtm849D5iVIdeHexWTd4frhe3y6UJI+4GJvpZIuLQkpaD4wgILqh4jByMPGVXTUByuh/yC592u9ubglnlFW3wye5jK/Ed5dSn02W3kXKoe+BUxATFRWBO58hoTi+5B3ikQKqT40qFDM3DNKGc7D2/HoFNtZhzC9ZzLdd/ykl0v2DTa/QqHSgqShA98+0ZDYU5QQA1cJK1z3Ob9XJLssOaJp1UE1kt0VH97IqMAtpOTRoRCjVtqKQ6k5FenDVG81V2tPiFRp7exuD24I3iZTl6td8uU5to2V6m69lSOI4EBhpoCVIRfGwYIPHs30c589ykt+DeY6cenk5RrP76Aw1xdxyHVvXAR78dTORJoYeY+4Bpn2tNurvrPj3WCeyZO6BfUKfrmK1+zwmDsgHYdbsykG0nBll3O2eVr1IXmQCCJHYmyeQIyQYDboaRkwYGoUHGbFoJ/TJGmWGOdhl0gz6FVpEmFQ3hz81Vrb5y8F9+AY4e5v8ksZhTUKdV14b7mYnaLdb2uJH/Ccy1ETe2hcROpiWxKBM+suybMOfSAlb+/dDQJ7Iooh9V4ROaipj0vJ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6V5sBkY3majeNT9CrDMSa",
      "input": {
        "note": "The bottle has been held horizontal with its spout over the red cup, so the first pour is done. Rolling back upright and moving away from the cup to return the bottle to its spot.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.5,
          "left_y": -0.1,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01M6V5sBkY3majeNT9CrDMSa",
      "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]: [-0.3187, 1.7676, 1.5143, -0.382, -0.3756, 0.0265, 0.2309, -0.0147, 0.8062, 0.6086, -0.3851, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.5082 left_y=-0.0957 left_z=0.2286 left_yaw=-0.0185 left_pitch=-0.0452 left_roll=0.2431 left_gripper=0.2309 right_x=0.2955 right_y=0.0025 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -13.5726, 7.241, 1.5409, -0.0611, -0.1197, 1.0281, -0.0752, -0.9504, 7.0632, 1.7216, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aca0ec9c93559020004d3a6601eeff71465506b6a0c8c142382778cbc711d3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cc484dc104c029984cdf0f3a52fc60fc1ab223bfdd17e192197ec18d5b575c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:844fdee8683d1211f9cd675c3f7164baed1c7d973fdd35edb8cd65de53b40f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.687 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]: [-0.3599, 2.019, 1.3674, 0.3355, -0.9569, 1.1336, 0.2357, -0.0147, 0.8051, 0.6086, -0.3851, -0.0185, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5474 left_y=-0.0479 left_z=0.1959 left_yaw=0.0697 left_pitch=-0.063 left_roll=1.3286 left_gripper=0.2357 right_x=0.2954 right_y=0.0025 right_z=0.178 right_yaw=0.0006 right_pitch=-0.0214 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.8137, -10.9333, 6.8855, 1.9463, -0.2271, 0.0757, 1.0281, -0.1983, -1.2786, 7.0906, 1.7363, -0.0366, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3653, 2.059, 1.3144, 0.6228, -0.9882, 1.4544, 0.2323, -0.0147, 0.8051, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5499 left_y=-0.0485 left_z=0.2032 left_yaw=0.0666 left_pitch=-0.0517 left_roll=1.5247 left_gripper=0.2323 right_x=0.2954 right_y=0.0026 right_z=0.178 right_yaw=0.0009 right_pitch=-0.0214 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -11.0427, 6.5299, 2.0733, -0.1343, 0.1245, 1.033, -0.3761, -1.265, 7.0769, 1.7021, -0.0317, -0.022, -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 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]: [-0.3187, 1.7676, 1.5143, -0.382, -0.3756, 0.0265, 0.2309, -0.0147, 0.8062, 0.6086, -0.3851, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.5082 left_y=-0.0957 left_z=0.2286 left_yaw=-0.0185 left_pitch=-0.0452 left_roll=0.2431 left_gripper=0.2309 right_x=0.2955 right_y=0.0025 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -13.5726, 7.241, 1.5409, -0.0611, -0.1197, 1.0281, -0.0752, -0.9504, 7.0632, 1.7216, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aca0ec9c93559020004d3a6601eeff71465506b6a0c8c142382778cbc711d3a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cc484dc104c029984cdf0f3a52fc60fc1ab223bfdd17e192197ec18d5b575c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:844fdee8683d1211f9cd675c3f7164baed1c7d973fdd35edb8cd65de53b40f42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Now returning the bottle to its original spot and setting it down.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017TV51mz8qHayLWABFGXrff",
      "input": {
        "note": "Bottle is back upright (roll still settling) beside the cups. Carrying it back to its original spot and lowering it toward the table.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017TV51mz8qHayLWABFGXrff",
      "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]: [-0.5194, 1.673, 1.1, -0.1101, -0.4202, -0.2447, 0.2308, -0.0147, 0.8097, 0.6086, -0.3847, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4411 left_y=-0.1651 left_z=0.1463 left_yaw=-0.0396 left_pitch=-0.0566 left_roll=0.0635 left_gripper=0.2308 right_x=0.2957 right_y=0.0026 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0256 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.4274, 6.8034, 1.3309, 0.022, -0.0366, 1.033, -0.212, -1.6479, 7.2137, 1.7118, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b62b55de2cd0683f0bc6cbad5cc3d206751f3b0b115badf93a690ac80bcae7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5b9896ea954cb64e6b8b9b15422d2687b9ab3a9a8c8f8487c5c54e8eef6e288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8a43f1fea75ac421f5a7e8d2eb44a377b3da7e1b6199d655058e641db67bd95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 6.808 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]: [-0.3653, 2.059, 1.3144, 0.6228, -0.9882, 1.4544, 0.2323, -0.0147, 0.8051, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.5499 left_y=-0.0485 left_z=0.2032 left_yaw=0.0666 left_pitch=-0.0517 left_roll=1.5247 left_gripper=0.2323 right_x=0.2954 right_y=0.0026 right_z=0.178 right_yaw=0.0009 right_pitch=-0.0214 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -11.0427, 6.5299, 2.0733, -0.1343, 0.1245, 1.033, -0.3761, -1.265, 7.0769, 1.7021, -0.0317, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3187, 1.7676, 1.5143, -0.382, -0.3756, 0.0265, 0.2309, -0.0147, 0.8062, 0.6086, -0.3851, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.5082 left_y=-0.0957 left_z=0.2286 left_yaw=-0.0185 left_pitch=-0.0452 left_roll=0.2431 left_gripper=0.2309 right_x=0.2955 right_y=0.0025 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -13.5726, 7.241, 1.5409, -0.0611, -0.1197, 1.0281, -0.0752, -0.9504, 7.0632, 1.7216, -0.0122, -0.0513, -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 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]: [-0.5194, 1.673, 1.1, -0.1101, -0.4202, -0.2447, 0.2308, -0.0147, 0.8097, 0.6086, -0.3847, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4411 left_y=-0.1651 left_z=0.1463 left_yaw=-0.0396 left_pitch=-0.0566 left_roll=0.0635 left_gripper=0.2308 right_x=0.2957 right_y=0.0026 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0256 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.4274, 6.8034, 1.3309, 0.022, -0.0366, 1.033, -0.212, -1.6479, 7.2137, 1.7118, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b62b55de2cd0683f0bc6cbad5cc3d206751f3b0b115badf93a690ac80bcae7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5b9896ea954cb64e6b8b9b15422d2687b9ab3a9a8c8f8487c5c54e8eef6e288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8a43f1fea75ac421f5a7e8d2eb44a377b3da7e1b6199d655058e641db67bd95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwcKEAgRGAI4AUIIdGhpbmtpbmcSDAklVmWKHACepLxcehoMkgliIcKTbrPnRdEgIjBptZH+MhhT+9wAH3POthLtnTefxiYupRO/18t2VHoWCPOFjUUka39rUfimV6VNqcQqtAZ65StGGdp8s7CAZNFaQSrWBzXQT4Wbn9XTyfh8OSQN+I97dgRXKiKYV7pl0GZEYbUB+mfYPpA1/I64Ri4g1dDlA+o1mgK3FmvxaENlw8rFrv71xb+41MW34l07+yhcA2bomQpoYwQXrOL2ISRp6FB+OHLRHWtFlOkpMG6YB70elyy0T2p+VlhXc97J262u3HSPCb9eVu3IcrdHepqZk3JwB3IGSRxIOsi4NbRVYll+e9IhAuuzNLLdz52AUFjSoaz/+2fqa0ZSjZ65fxT83Auk1KLX52YOSOWHSy7AxeUPn8ooCybsYLr4Ynhy2SBbXYocCYUp/zGE0kTqiT44W93vWwXdR31uwFk5d9FPFETRBJ1G49ms11MSE0htMQSGZi7p3jRS3RTF1/I/PhBPjeBJ99BsggcSOigEHgMfErJyTMpcw1wIWm9g3fsRr5NQuHdo+M+NNLRZY2fZzW9+CFVHeBoM2oEuSsyclrw88PNAuO/xctIAWiN2fUJRt1ZOk2Zyyf1DtNIzn5x82slT/rNwVMs+eeVf0UzklO6KFzRutXV9jaVgBctdEKBlBie8UiGCzGCLKpi/MKwWtJ564bRBNVY29cKYvP2rD9cBqNTNRaM5Z1Sfmm0SrAt2C1Qor1dXIz9ZvZxYg+9LA0yo8m2H7Fqo2OmRxNLxHAs+H8mpeXIGSx6na+J/rpNRttdXZBrN6mSuy9YENVvvcOQycj4Xxz4aiOnM5pcd+HVLZMHzkUJUEVMJjIZIArzkAskjYzAiWHrFsB84VhOODiuw2+hNOqjmLRuTUpyYg6zziQQWcPsZvB3qFZaCPGSiiMN4XbXvKMlDWucgj4uffYVVZhCGBz7arRWL8VMm1CsoyiSMLm0/94hW25ef7eW9n+6Rl8I8rIGFC2yqhNOnygCRQusc5QSu43LFsw+EPjsZeQbYozJHwy0Oyclw6hiwAVtNbU+UZLyEK8TcNVMtlL9m3JwJlOQbveLnPG1CLIXYv3LKhr8+cgsNp38QwWiOUbMC0O4rWUOE7uExJrWyj76ecXxEdrxDCtkg9XzRoh0x1Y14q9K91kdpARIHfK7t2biBi0J0ER6vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fa61fX7pogWzXJE2r27fDd",
      "input": {
        "note": "Bottle is back at its original grasp height, presumably resting on the table. Opening the gripper to release it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.44,
          "left_y": -0.17,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Fa61fX7pogWzXJE2r27fDd",
      "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]: [-0.5285, 1.6756, 1.0824, -0.0879, -0.4198, -0.2592, 0.7951, -0.0147, 0.8101, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.1688 left_z=0.1418 left_yaw=-0.0414 left_pitch=-0.0546 left_roll=0.0506 left_gripper=0.7951 right_x=0.2957 right_y=0.0026 right_z=0.1766 right_yaw=0.0009 right_pitch=-0.0263 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.241, 7.4188, 1.6044, -0.3248, 0.0073, -0.1197, -0.1436, -0.9504, 7.0769, 1.7705, -0.0464, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea681cba33ca5066b9903448bfa0c85339c62aec3440a495c3a6baeec11fc1ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36a2205e548279724656b8c7c915d20b9b65a347e7578acdd98d3def3d87cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ff482506b663549b103f42941c956f1ff4497e9179534d2e93f4dcbf990ecde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 32.69 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]: [-0.3187, 1.7676, 1.5143, -0.382, -0.3756, 0.0265, 0.2309, -0.0147, 0.8062, 0.6086, -0.3851, -0.0185, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.5082 left_y=-0.0957 left_z=0.2286 left_yaw=-0.0185 left_pitch=-0.0452 left_roll=0.2431 left_gripper=0.2309 right_x=0.2955 right_y=0.0025 right_z=0.1777 right_yaw=0.0008 right_pitch=-0.0225 right_roll=0.0003 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -13.5726, 7.241, 1.5409, -0.0611, -0.1197, 1.0281, -0.0752, -0.9504, 7.0632, 1.7216, -0.0122, -0.0513, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5194, 1.673, 1.1, -0.1101, -0.4202, -0.2447, 0.2308, -0.0147, 0.8097, 0.6086, -0.3847, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4411 left_y=-0.1651 left_z=0.1463 left_yaw=-0.0396 left_pitch=-0.0566 left_roll=0.0635 left_gripper=0.2308 right_x=0.2957 right_y=0.0026 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0256 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.4274, 6.8034, 1.3309, 0.022, -0.0366, 1.033, -0.212, -1.6479, 7.2137, 1.7118, -0.0806, -0.0659, -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 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]: [-0.5285, 1.6756, 1.0824, -0.0879, -0.4198, -0.2592, 0.7951, -0.0147, 0.8101, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.1688 left_z=0.1418 left_yaw=-0.0414 left_pitch=-0.0546 left_roll=0.0506 left_gripper=0.7951 right_x=0.2957 right_y=0.0026 right_z=0.1766 right_yaw=0.0009 right_pitch=-0.0263 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.241, 7.4188, 1.6044, -0.3248, 0.0073, -0.1197, -0.1436, -0.9504, 7.0769, 1.7705, -0.0464, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea681cba33ca5066b9903448bfa0c85339c62aec3440a495c3a6baeec11fc1ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e36a2205e548279724656b8c7c915d20b9b65a347e7578acdd98d3def3d87cf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ff482506b663549b103f42941c956f1ff4497e9179534d2e93f4dcbf990ecde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Released. Now lifting the left arm clear and parking it home, so it doesn't block the view for the right arm.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017V9n5qYv8msy2FMBaEeDrZ",
      "input": {
        "note": "Gripper is open and the white bottle stands released on the table. Retracting the left arm up and back to its home pose to clear the workspace for the right arm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_017V9n5qYv8msy2FMBaEeDrZ",
      "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, 0.9226, 0.9169, -0.6033, -0.0597, 0.0154, 0.9988, -0.0143, 0.8127, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3085 left_y=0.0018 left_z=0.2402 left_yaw=-0.0 left_pitch=-0.0497 left_roll=0.0484 left_gripper=0.9988 right_x=0.2959 right_y=0.0027 right_z=0.1759 right_yaw=0.0013 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.4957, 9.8667, 1.619, 0.0366, 0.0659, -0.0952, -0.0889, -1.4017, 7.0359, 1.7314, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e22722e71b8d1469d8d4fd1e664fb01f33756c3a37b35cf03e4860416f7cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b96f56378150d515a6f588ea9f0fa3f06e0a6aa4efb32274b1de1eb85f6a0f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83875269ca8a7c7c5c70be525e72f59d99ebac1044ce73b08d9749563c5bf93f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 10.97 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]: [-0.5194, 1.673, 1.1, -0.1101, -0.4202, -0.2447, 0.2308, -0.0147, 0.8097, 0.6086, -0.3847, -0.0189, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.4411 left_y=-0.1651 left_z=0.1463 left_yaw=-0.0396 left_pitch=-0.0566 left_roll=0.0635 left_gripper=0.2308 right_x=0.2957 right_y=0.0026 right_z=0.1768 right_yaw=0.0011 right_pitch=-0.0256 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -10.4274, 6.8034, 1.3309, 0.022, -0.0366, 1.033, -0.212, -1.6479, 7.2137, 1.7118, -0.0806, -0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.5285, 1.6756, 1.0824, -0.0879, -0.4198, -0.2592, 0.7951, -0.0147, 0.8101, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.1688 left_z=0.1418 left_yaw=-0.0414 left_pitch=-0.0546 left_roll=0.0506 left_gripper=0.7951 right_x=0.2957 right_y=0.0026 right_z=0.1766 right_yaw=0.0009 right_pitch=-0.0263 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.241, 7.4188, 1.6044, -0.3248, 0.0073, -0.1197, -0.1436, -0.9504, 7.0769, 1.7705, -0.0464, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0399, 0.9226, 0.9169, -0.6033, -0.0597, 0.0154, 0.9988, -0.0143, 0.8127, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3085 left_y=0.0018 left_z=0.2402 left_yaw=-0.0 left_pitch=-0.0497 left_roll=0.0484 left_gripper=0.9988 right_x=0.2959 right_y=0.0027 right_z=0.1759 right_yaw=0.0013 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.4957, 9.8667, 1.619, 0.0366, 0.0659, -0.0952, -0.0889, -1.4017, 7.0359, 1.7314, -0.0464, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e22722e71b8d1469d8d4fd1e664fb01f33756c3a37b35cf03e4860416f7cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b96f56378150d515a6f588ea9f0fa3f06e0a6aa4efb32274b1de1eb85f6a0f6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83875269ca8a7c7c5c70be525e72f59d99ebac1044ce73b08d9749563c5bf93f",
        "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_01S9woipym1BUaHSV8BmVuW2",
      "input": {
        "note": "Left arm is parked and the first bottle stands back in place. Now flying the right arm above the right (white) bottle, which sits just right of the table centre line about 0.43 m forward.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.29,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 24 steps (2.4s)",
      "tool_use_id": "toolu_01S9woipym1BUaHSV8BmVuW2",
      "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]: [-0.0414, 0.9283, 0.9211, -0.6128, -0.0486, 0.0223, 0.9983, 0.7952, 1.8709, 1.8412, -0.7418, 0.6022, 0.485, 0.9996]\nstate[eef_state]: left_x=0.3082 left_y=-0.0006 left_z=0.2385 left_yaw=-0.0146 left_pitch=-0.0612 left_roll=0.048 left_gripper=0.9983 right_x=0.4185 right_y=0.289 right_z=0.2667 right_yaw=0.0336 right_pitch=-0.052 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -2.441, 6.4752, 1.7705, -0.1636, -0.1343, -0.0562, 0.4034, -10.3179, 8.8, 1.199, 0.5348, 0.2466, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d1090a4e54a13f115fd490100cf1da32f2cdd4db8a32bf88c3f2ea6e735e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a717c406e9ddff351f059823d169b34461afedf3b8ee6785f3bca5294ad82fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8fcf49c2529c9adbeff10183455853e08942eb6a696b7a16bd02021c8dae8ed3",
        "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 · 7.946 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]: [-0.5285, 1.6756, 1.0824, -0.0879, -0.4198, -0.2592, 0.7951, -0.0147, 0.8101, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.439 left_y=-0.1688 left_z=0.1418 left_yaw=-0.0414 left_pitch=-0.0546 left_roll=0.0506 left_gripper=0.7951 right_x=0.2957 right_y=0.0026 right_z=0.1766 right_yaw=0.0009 right_pitch=-0.0263 right_roll=0.0009 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -7.241, 7.4188, 1.6044, -0.3248, 0.0073, -0.1197, -0.1436, -0.9504, 7.0769, 1.7705, -0.0464, -0.0464, -0.0073]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.0399, 0.9226, 0.9169, -0.6033, -0.0597, 0.0154, 0.9988, -0.0143, 0.8127, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3085 left_y=0.0018 left_z=0.2402 left_yaw=-0.0 left_pitch=-0.0497 left_roll=0.0484 left_gripper=0.9988 right_x=0.2959 right_y=0.0027 right_z=0.1759 right_yaw=0.0013 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.4957, 9.8667, 1.619, 0.0366, 0.0659, -0.0952, -0.0889, -1.4017, 7.0359, 1.7314, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.0414, 0.9283, 0.9211, -0.6128, -0.0486, 0.0223, 0.9983, 0.7952, 1.8709, 1.8412, -0.7418, 0.6022, 0.485, 0.9996]\nstate[eef_state]: left_x=0.3082 left_y=-0.0006 left_z=0.2385 left_yaw=-0.0146 left_pitch=-0.0612 left_roll=0.048 left_gripper=0.9983 right_x=0.4185 right_y=0.289 right_z=0.2667 right_yaw=0.0336 right_pitch=-0.052 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -2.441, 6.4752, 1.7705, -0.1636, -0.1343, -0.0562, 0.4034, -10.3179, 8.8, 1.199, 0.5348, 0.2466, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92d1090a4e54a13f115fd490100cf1da32f2cdd4db8a32bf88c3f2ea6e735e9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a717c406e9ddff351f059823d169b34461afedf3b8ee6785f3bca5294ad82fbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8fcf49c2529c9adbeff10183455853e08942eb6a696b7a16bd02021c8dae8ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QoKEAgRGAI4AUIIdGhpbmtpbmcSDKOhTuTJGkDJuEXcbhoMv4E8s4PwpQQkz21vIjDpLseP5kpsjO2Ay68ydO83iQ81mLlCiJ57xR22zYaNALEl7cpeWAwWt1LhY5EWQ3Uqkgqe3tZRuBaxymizv6SCu1dr3tAq0LCvJj1LOZnhKlVmPdvBhF4upZCh6KUYpokxnec+bMnEmyRDh/sfZRN9qcp+ibKGjI+hnD2K8wYdVhQSXCQH9pvt4WtPExXb3UIVXuIuhLJW34N2YPiTvCy3fGh179HbKV5omt3BcH89l3sQC4WgSxSzoI1mI3PbwMlFvnQ2dZGUZ7L+/bu5EbLqe3kk3KUNiuWYtjs+R7sk21E5M/MsvclFVZ8/xjzSwFVkuBQfzchcLoLlqmNtCQVbyKqaZswC5gwYUKHhC3hvjWoUyUflx0C0BaqCa+c9yb7f+ZSeLge6jvrT2Rs5DvO6/XlWRlKcP7dWcs0o11qBE26t+pyooWH3b+7m+iSVjrseWQ4BdnsQJCNhCZ9DlHpSMkMw2ONzkh22TZ1k9hJIxoD9VJQnMQ8bN2QreO7256deYvNKynreqfRJ4YZIOlZ33TuaFMZPdoB2Lhb5X2gw6eUVINDZSPS1O5stPODOHXkAP0Rcq4UGS9LFe6TH5wsV+Rk1VgIP1mv3hWwyCYqX/2V4O30qynEtokSkOZJRa+et80mXZzAWLRrwE+577rMLmAqTflMkp1uj8opE+t+6umblJtcMjUXTgJtsw3NcMLKrp/eLwiPnfnlSQBp8aX96YKmzBfmh2ADcYXhlh0EYD6rK+FbZTReOAZ9XNILMmCV76kff5xZ66+x2YcHqDexP/5QSpWe/8BIW2N9OKZU2ZwBYy3oVfsSwSW8MGCbxjoBQSYRzUkp3v4e/xdj8M4xNvX3Ftp4TfOCK9ja5zBsBCoU2LaUTBqMW7I0vfPdpN5bIn2rQcgnHKSq/e1POG/hxhvU10+nI+fIjJMYP5+QlPwIw36/X+4v2PNIOfP5kNZs+uqyRWbweoj6SfKupLhFnJ54+KpGDfkRoE5KTustSvlhuGm342APFKn13V7lzOHnQ7MzTNhQVdhiPhKAyPegkSoXZ+Sf5VyCi6BEXxaHnh1xPXXhG9WMCvk4KK0tT1ZvoDfkDUEZkc+Ygt+APDbFG/uRvYwf4JAudiWVmVtfpdT+bIufDZUXK07W16IyCi4f0Tka4vVTvigqZwlr3i8vKOv6ZfjQkuzeI3o1I2Z255KlUv5XLc1Mxk6vsF3uQUSMOiUAdkjhJit9quZSCzmnYCfoXFWq3c13a085XQp8J6o+Udn6X0qwbcXoGM3d2vq7LvKL0GrgpTHMYnJ2vM7mmtbGsKFmu8XUZ1XUpcuLcBjIwl4OSgBiEUbc6sf0yzATtwhPpY5AFFjupJ9i/hmNfM251W4wehuv3DYpXHCBhPvLEiEfninz4hddR5iu88MNWBQzwQMN3LJYolAGy7Gy2LQHJ0lpriOPGBoclP4eQwL+AxAX13Fyci4doIuGDUSUqlnK633jJAZS33QyCsrvu8DDqcp/ImLuCqIRbQ0Ku5OVcxrWUyO07oZfiyhBMt+YzSzUv/ALUJLGq88gm6OG7Qj6X6lOx1xajqxFBO1YIIMcsjH5HHVY/QbYiBCESNWEDDZFPILbJBb0tr7njAjY4nrIJ2/dhJPEo85hDR6Z1k/TmsxQOkrrrM3Orb8h7896Uq9DGGd2j7PexMolZfxyNtAc/qmoazBPw2XpD86IWWZ4Bh24QXdj0d7uc/eMek+qjCILvhSzW/QfrPnKOOyS5YjT64Fhnu0dJQRBNFCW2LP367AODtn1kKMZiAlaofcLfcQ8MihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018YRj5H6s8q8sZrdDykCywh",
      "input": {
        "note": "Right wrist cam shows the white round jug almost centred just below the jaw column with its open neck facing up. Descending toward the neck, nudging 1 cm forward and right, to grasp the narrow neck rather than the wide body.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.28,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018YRj5H6s8q8sZrdDykCywh",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.7662, 1.869, 1.4715, -0.4049, 0.5888, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4241 right_y=0.2769 right_z=0.1689 right_yaw=0.0308 right_pitch=-0.0815 right_roll=-0.0556 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -2.0034, 6.8308, 1.6777, -0.022, -0.0415, -0.0171, -0.6632, -10.2359, 5.9692, 1.4237, -0.1929, 0.1343, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056e79c93b6b11d63086282079418da1f96e1d8fa91cea9441ca78fae33ae1d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e49434ecbb014e5f28eb3f72aead4395291be52801ce588f7e33ba8700076c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:252b2f8b4b6cc39838ef54bea95779eb2132562b2c5bb4626119051bb003666e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 8.424 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]: [-0.0399, 0.9226, 0.9169, -0.6033, -0.0597, 0.0154, 0.9988, -0.0143, 0.8127, 0.6086, -0.3851, -0.0189, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3085 left_y=0.0018 left_z=0.2402 left_yaw=-0.0 left_pitch=-0.0497 left_roll=0.0484 left_gripper=0.9988 right_x=0.2959 right_y=0.0027 right_z=0.1759 right_yaw=0.0013 right_pitch=-0.029 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.4957, 9.8667, 1.619, 0.0366, 0.0659, -0.0952, -0.0889, -1.4017, 7.0359, 1.7314, -0.0464, -0.0415, -0.0073]",
      "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]: [-0.0414, 0.9283, 0.9211, -0.6128, -0.0486, 0.0223, 0.9983, 0.7952, 1.8709, 1.8412, -0.7418, 0.6022, 0.485, 0.9996]\nstate[eef_state]: left_x=0.3082 left_y=-0.0006 left_z=0.2385 left_yaw=-0.0146 left_pitch=-0.0612 left_roll=0.048 left_gripper=0.9983 right_x=0.4185 right_y=0.289 right_z=0.2667 right_yaw=0.0336 right_pitch=-0.052 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -2.441, 6.4752, 1.7705, -0.1636, -0.1343, -0.0562, 0.4034, -10.3179, 8.8, 1.199, 0.5348, 0.2466, -0.0562]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.7662, 1.869, 1.4715, -0.4049, 0.5888, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4241 right_y=0.2769 right_z=0.1689 right_yaw=0.0308 right_pitch=-0.0815 right_roll=-0.0556 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -2.0034, 6.8308, 1.6777, -0.022, -0.0415, -0.0171, -0.6632, -10.2359, 5.9692, 1.4237, -0.1929, 0.1343, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056e79c93b6b11d63086282079418da1f96e1d8fa91cea9441ca78fae33ae1d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e49434ecbb014e5f28eb3f72aead4395291be52801ce588f7e33ba8700076c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252b2f8b4b6cc39838ef54bea95779eb2132562b2c5bb4626119051bb003666e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAoKEAgRGAI4AUIIdGhpbmtpbmcSDDlswkChbRu9t4TM5RoMksXk1p1EvM5pMxEcIjAK60lFKP/4HLDkkIaw5cer9yC0jBJtWecmnbrEOgihMw3VHu8+5mzRa44ST0YvtCgq5QlhLI5x3ldQIGwKDmreLTT99HZKLcm1jpMoTS9kFe0vLnDVvYAecDhwuClOj/2rLbLAgEgGP/YpAg5Zxna/TQEne+A/sWERKiDajQABZr7Qr4TB4w+ZK25aN9kA7NjRSiBVwxAtlDwETPo069wZW4sia/JCQPR/0qzURGAfnZxftHm+Be8M3oH2MAd5BC079Kkq1y9h6iEHyOGeR8RX0uNG2Yn+hZYJGQKNTGs6iRjCnWRI7BcnVeqTCCnUi8TPNpDkhnvCPvHP1zvxwmSEKPg4OsSBmmXVWrCX3LU2fppMSuZHO+LP8v8Rgwpy7NWh3mg2J73EG4NCj1bdeNzhTH7xtMXQp7cSIdEBCbqvGLwA6v3qews1AL0dogFVlXnnxV8Dj/z/EKc4aXjjPCSl+I3RE7AZx3WbYUmy6iKSQvcGz2ciqsZhKSZeDNSzbZE8pv2IBZmpHz2egqkFck02Uo0y20SgG3jY7RTg6A4qWiWqSOe6eiKW+0zAqL3JS2ZRgJSGhRMpdlckV8wCOqE3RbGbH9kbh+dsT0XcLQUOBPp1FBJk0CkZKBTjHxljbkWQk9LfWPZ5e2CpV0KSc9LwNPivVFWKvfaLGYbq1L2nCRjUBAR8cTpPyBOxGD53ZTDd4MAWVSaoAI2W0Vzjt7XnqClmmvHQ7x8oEHMlQCtHtgmDdwaZuJfvKXoIFxdJUHPiCY6JB5SxmJQXUfTGsC13/bcVjnUveha7N86c/QSzKujDT5ISruq7a3Eem9ytIPGsVs8FFY+TZfHT9emp0CefEYPuaJ0KPn2VJXeXtYt1MPhf++xoQIV/3CZHrepKUZh+yO+3a8DgON6urNfp6hyrHh5VIk902zVuNDjsHPdEdv07b66d6XIDu1CTScgl9WwWn/YIs5hzzze6651frlfl9ejmbloliOiN4rAirASPc8egPj0g4j8qkx2WkCB7KnRKHktJ0SP9jVnz588jNmncnjwGi4YbPgk+0Zg1qs19vrf2M/T5GyjugU6gtZNZXHW+0+XO5BH0kVVbXqurQbqQ70Ys0i0Q/WoELd4Remwbs2xkwR+e31eqsKmGug7V/CQfONo+PoA0QHKXSx4r3Re74Cmnu9UXlbhqg07jO+G+ivQ9/+H5wAMU5s0wvSV/AB9oVU/TOkHSKof323JwL/QtV4I1hsgpBJdFyNwM7kQnWWFk6cTeg7MFjhx4BTZmthXr+TCtZH2inXgD3rOhpBU+wOXBpiC1Vjh00w2cdobmg5usPZ5XdDQ9knNvM6P/BZCSdDnhyGFcNDZYVkNiMR8gMWVCD1T5QMjSI3nnXLNwm+BtmqXobZ6lqrQ7hMJF4lBFWm59ENDG2CkYA1ES7nQ4TrLyzX6IuTCzf/Z0LHVIeLGfUHF/goNXKFNCa7Rzgf+GBzaWlqFphiCc1zIqXgpBnLoOH5MNs3JWJ1xHZK4bOA8BWeOQpxlh5qPQkMGY+KA7S/SNbmSgetMeEvjxEX7QU/DsWoTIZ/DojvWfDoiiKDQTpL+pSqeczLk8VRSsEmf69B+93TrEUOtRnrHrTOcsqGnmtO4P2Gbl1/qzBR5moDPXFeAhoxNXkWu234iNOK9DtpT0qEDVSSOWuDk/VFXDda+Ju8ULwmvs7O6C1rKeuOIrK6cjMHaeRpzITnqKfiqo6A/dfh+ojhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HBHDzGYfHcmy6wFc5c9pBB",
      "input": {
        "note": "The jug fills the right wrist view with its neck opening at the upper right, so the neck is a few cm forward and right of the fingertips. Shifting 3 cm forward and 3 cm right to centre the neck between the jaws.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.25,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01HBHDzGYfHcmy6wFc5c9pBB",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.688, 1.8751, 1.4738, -0.3492, 0.5358, 0.3862, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4494 right_y=0.2573 right_z=0.1721 right_yaw=0.03 right_pitch=-0.067 right_roll=-0.0466 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.8667, 6.8034, 1.663, -0.022, -0.0708, -0.0122, -0.5812, -8.294, 9.0872, 1.3846, 0.1832, 0.0024, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d438323f2335e80b11962f0dadb6ccb68ae19fecf71b60208d52f236b39e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814ca951e75b5e457c67851967b843f3297463243e6159b05a05b1cd0f224c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3ad54d3736242fa8c56c49f5349801ec7e00510f041f01c27ec1e37a0ed0b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 9.874 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]: [-0.0414, 0.9283, 0.9211, -0.6128, -0.0486, 0.0223, 0.9983, 0.7952, 1.8709, 1.8412, -0.7418, 0.6022, 0.485, 0.9996]\nstate[eef_state]: left_x=0.3082 left_y=-0.0006 left_z=0.2385 left_yaw=-0.0146 left_pitch=-0.0612 left_roll=0.048 left_gripper=0.9983 right_x=0.4185 right_y=0.289 right_z=0.2667 right_yaw=0.0336 right_pitch=-0.052 right_roll=-0.0145 right_gripper=0.9996\nstate[joint_eff]: [0.0205, -2.441, 6.4752, 1.7705, -0.1636, -0.1343, -0.0562, 0.4034, -10.3179, 8.8, 1.199, 0.5348, 0.2466, -0.0562]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.7662, 1.869, 1.4715, -0.4049, 0.5888, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4241 right_y=0.2769 right_z=0.1689 right_yaw=0.0308 right_pitch=-0.0815 right_roll=-0.0556 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -2.0034, 6.8308, 1.6777, -0.022, -0.0415, -0.0171, -0.6632, -10.2359, 5.9692, 1.4237, -0.1929, 0.1343, -0.0562]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.688, 1.8751, 1.4738, -0.3492, 0.5358, 0.3862, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4494 right_y=0.2573 right_z=0.1721 right_yaw=0.03 right_pitch=-0.067 right_roll=-0.0466 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.8667, 6.8034, 1.663, -0.022, -0.0708, -0.0122, -0.5812, -8.294, 9.0872, 1.3846, 0.1832, 0.0024, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d438323f2335e80b11962f0dadb6ccb68ae19fecf71b60208d52f236b39e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814ca951e75b5e457c67851967b843f3297463243e6159b05a05b1cd0f224c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3ad54d3736242fa8c56c49f5349801ec7e00510f041f01c27ec1e37a0ed0b68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgkKEAgRGAI4AUIIdGhpbmtpbmcSDK0lhSX+Hbismp8izhoMQWLtitrgjFL/4uXJIjDHgDdNe6jDe5GO4LJc41gOUE35xnIKB+/3SCUqKX99XrU9ff65+mBg6Uop2LlecwEq6wjEOT4IquDaFPoXeorh/rKQzVhdJOXEmhy6cLC6FBoD9xNM43zottwgtIDlfk3zjgsuz0qYa2ke7s4rjG/dkkUEV8zL3AS6rSFNEXMA3QwkK9yopVF64oU0y7kL53rBT0QhnfrlX9nCuQwGXllp5nH2uiX7T1XA6tfE8EDponFgqz7jbVTQN9E7MFgWUNT79oTStIgkzCNJQEtJmXaVN5hI+Kq/PULsZcTLl1RGXIJ26gRzzeWkb2na3v4coMU+xiR/BovukzmzMBhNU4MD6kKVNhvCNhWkH6v7jERgoiDluiR+SjsoGgNHiEiV0FienvLS/zgPg8OLxiMWjMzshGax6JVj8XbKV9gRO7va3mB026b6Hxuu65dfD5sRBCqieNCZvKZbpt+YeysSx9VxWE7pX/a/WJIn9EkSvmTfYz2EnZjNQKX3B4H+gZjZ6plvSmhd21KTJ+oGpgRtkTUYrUNCrUrEP7TgVszupbeYYqmzcYxIMcR0VVXphjKTAQ8Y2tYc+t43NHO/ev0H3ihS9RcXVAC1Khvq3Wqz/P2HMuy6VARvDO3636iEkJGly2rK555hFVYODwokYuuaXzh2eSfgL1G/P0FIFRoW9iYvrqlKlU36x9bQv8dsmSDyDWtwFjLlhZPAXJRH/vR64hvxonp48zayulj9iOP3Ak60kcuP6H/vn4bU1lyL/3HU6WP0s+P8l2xNwbWQ9F/1o9piwHVfwZCo6rQ50KFvbO8/wzARCNNZJoPCcsWQAygevZ03LpTQuWrpxJLAs3HLs70De6J74Kpi77SH4XJGRJ6afXFkSH/QT0EO4AbUqPMFGZa6g0LUKVlyT9iakXK883e1a6UEZabh+qm77Qwqn9fFYTzs166jL0hemnRNbxCamE0AWJAQ3S7BAKNI/A3UjGW6AtBcDfcLK6X4SbOpTmEyWEk49X6Jk3Nz4383iJct1v9MiflDEoV6th002fHG/QQnFbwm98Rs5qS0zfGcDSxQ9ZB4Qcw9ApwQ03LPA0L4Aj5NDL4kPFLizOlHfeLaYlv4SlHBYO37iqo2S4iWHO6Lq+v/nxm58R0kF0D01/BUcK5CARv3PA+g46kUXufBQX2WSmqCIWWNeWrkU9RX4PkIHZBgKqXaZmdVYNNxE8brIEcdYMjlN55RfqMdXeboScZI89/3TX/psk/DQKcB6I4CxHmKk5fiTKDma65xumNsyF1LXdnu/UnJHV9wM0sTXzv7Ix55KCfyEl0wCSjIKiktgeBMPQYwqaenHi+qI9tsqVjcpe/CTIjr/a7boxpDbEuobgoxagl2rOrDUIqIqh8eiujZZzVdmDW/Z4DQBmYTLLGKQH0Xk4oK46FFrJ3JIBG/+ZcPjqDktnlp27gzHtMeOqeLk6zUDmHHlT+2YFk2H6IcYqOqXjfRX9GAH5Z7hBANwLlhqVTXGZyW1iSHpMKTLfNp7r7YcgCJTwrj1fRupimMLcnuqyQagZZjwobx+1aWGU65FxYAnaxj4YCvB7kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TAUqyCPfjsSaAfFWFvjLtD",
      "input": {
        "note": "The lateral move fell short and the neck still shows at the upper right of the right wrist view, so the fingers may be resting on the jug's shoulder. Raising 6 cm and moving further forward-right to get directly above the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.47,
          "right_y": 0.24,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TAUqyCPfjsSaAfFWFvjLtD",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5041, 0.3588, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2473 right_z=0.1666 right_yaw=0.034 right_pitch=-0.0867 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.935, 6.8171, 1.6581, -0.0659, -0.0611, -0.0122, 0.1983, -9.2103, 8.8821, 1.3553, 0.1978, 0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64df64709d51a2061319cd4b0af8f3fc6511b117e0736c3986eecf4846b42be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f80fb355c8593cb491df658feb0f349ce567dc11fee2c2cf9538443f5c0431b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ca977cedc829990116d740a035c8495f1286377474a056dbed14dfa9b1b1516",
        "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 · 6.863 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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.7662, 1.869, 1.4715, -0.4049, 0.5888, 0.4519, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4241 right_y=0.2769 right_z=0.1689 right_yaw=0.0308 right_pitch=-0.0815 right_roll=-0.0556 right_gripper=0.9996\nstate[joint_eff]: [-0.3487, -2.0034, 6.8308, 1.6777, -0.022, -0.0415, -0.0171, -0.6632, -10.2359, 5.9692, 1.4237, -0.1929, 0.1343, -0.0562]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.688, 1.8751, 1.4738, -0.3492, 0.5358, 0.3862, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4494 right_y=0.2573 right_z=0.1721 right_yaw=0.03 right_pitch=-0.067 right_roll=-0.0466 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.8667, 6.8034, 1.663, -0.022, -0.0708, -0.0122, -0.5812, -8.294, 9.0872, 1.3846, 0.1832, 0.0024, -0.0513]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5041, 0.3588, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2473 right_z=0.1666 right_yaw=0.034 right_pitch=-0.0867 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.935, 6.8171, 1.6581, -0.0659, -0.0611, -0.0122, 0.1983, -9.2103, 8.8821, 1.3553, 0.1978, 0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64df64709d51a2061319cd4b0af8f3fc6511b117e0736c3986eecf4846b42be5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f80fb355c8593cb491df658feb0f349ce567dc11fee2c2cf9538443f5c0431b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ca977cedc829990116d740a035c8495f1286377474a056dbed14dfa9b1b1516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQsKEAgRGAI4AUIIdGhpbmtpbmcSDBsD0Wp0M+s2RJoq9xoMgZDwuPzdUIL+QGyVIjCKk2zDvGXuM5qdB2f+0TkLK6u2kuYpHK87xrzypALIrL7TrfjlYU+HJQY5afRNNvcqqgq6LunfeJS5djOyvUB+kIafDtEqvZvPO1xV1B3dla+sB8FFb0cPdqPqAEmhYE2HZAnfi3FIRhCZNA41X4id8fSSq8+ODpGkFmiYt82yxjekVZLA6/sMMAsro5Q6Y/I+EI5wAJuZeHlGwqh1sHOpkl2+5H9W9MEyk4FDYcBvkwRt2sWASTu3stQK1/QDOAwfZwv5XS9ZSG8xiE6r5j5hfJf7qMrUVPCjdYDdRuA/ETnvMxp87QrX0dAoPjoSTtjxsVDpLtRzUYlV5GwklQgbf2jBnFSSyJ4A3aQokTdbOh/Q5/N98nUdZ0gfQmUkDGqbwBTY6FKL0cGyYSTkK0mx9wcM4PAkCKzXJ9PlMpdYM7YLsSmTbGcD9QsJFfk34RO1Fwc2tWbazGR4+jmaP6DF7Ml2jHhHsW7s8lhUquoG9mHaQCodVCAo1JFcf/LDtv5tfFN6+rmxNWioTKzC/sD9zpzYeccltDHZWuumMHwt1/EceHbwTAuD2vz+9wDvYLT3vkm/Apy7JkJV6gXeJA+R/O+zF3VH471zH84uCLA1TF0L03lMQx0jA73cySquOoSqmMGdyihvmv2jIHR5KozJFjJRu8fGix4LaTZBdWgYbapAb2mHPz0ZwvGYS7ab8MC9b14bxJxlGr35mPv7Cjd5/RytHVwfHTIjBIUZ5r7/gNe5ND8huEmYEW7FOEOndXX9XNyGEqvfcg8gYN3P7qw+ojnwlN4deCjZOXM5WLcSGPOT+kttTD+dKkVwPeo3B8TXNXDGf36+Pr4tbrkDthWs2DFT9HIAlLPdB67xaLI61L2NEN10SgcceLkrYkCg6ahwwSuHbEj3WLymQ87xCMG5wSUQHk5Arc1LCstrr8LZEAJPQiMmXoVO7qM/GVE0IW6bv14tmmOWR1dH6gDvtQDlCYLk7rFL8SXQRhRuPco7UhYIW3499oRMJGHaZkRS4DcrEeor0vqz9R6LOhrbe/7fHg0pJDYw92pf8hkvwwPr6+A7hQGPfbd3ir5ka2RVbuwZZM/qEkcbnVnY8JAt3+Pb9MyqH9c/7VQWCYaS0YLEfNdH3W7QDG6NK91vh3JjyS3vZAn27PTbh7fArY4Z/+Epidwww/104U9BT+8U2SDgR3H+jvfbHKrU+UMs47ekeknTiRE5f5uRkzvRcaQdFijPt7nGECyNlWdbgIOHhGoz7LLXT2R7kQRqXYydAQDpmxGwBy5HbE1HhNSTb4XKY8hphIR0nHSpt3CAc0uFFHjluwCl/HASjBV1PlUmq6It92ynUiJzpAW7mA1FUkJ5gQKDwF7yevTg7eiZnwI4kYmwyzMlbKaQ98at+1LSJX96rIEkSPA/Dsv+3G86geUt0ePmNBdgIQokI3FkWOvC9moPLxysOhHBhNT8bHcHu/1V4+nr0yG1/8hMIiIKmLJj4faoY39jsdBEkO1aSRNi9PiHjsTw58UQ9rv/ncwlIF89s1znW4FONQXQOSJdm4TptwAvI0nFA8tR88XgEk3k1DgNKRGraNBN6UxUZR6Gd0OqWKPQaNXbWb/vYkxaugTSS6uGg/iNl4HA9Dn++cttY2E0/EIcmwrXXbNzlOaAwr8OMK+sK7SS8RWXVOQNq9dnFFMGrTJgu8ojrY4k11fFNvlYi5aFy/AfJF4eoNGJGmoyo7Wp+rS1zDvqpThkcvyYRKHt1BVEQtVG/H2UFVJMXGSE1Uya8VDywhzVfvaKiUFiEouvo4W23pe76jINpwPY9L3LkXfm+rSUD0SQCHI2HBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BFvtXRQzKs99jhwEtZocnx",
      "input": {
        "note": "The right arm did not rise as commanded (z still 0.167) and the jug looms close in its wrist view. Trying a smaller pure lift to free the gripper from the jug before repositioning.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.25,
          "right_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BFvtXRQzKs99jhwEtZocnx",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5037, 0.3584, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2474 right_z=0.1665 right_yaw=0.0345 right_pitch=-0.0868 right_roll=-0.056 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9487, 6.7897, 1.7167, -0.0562, -0.0659, -0.0122, 0.0889, -9.5385, 8.9231, 1.3602, 0.1832, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798b889c2083d3d4ed63019fa27af7200ab342438f96513883ab01e38c08918f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a43cbcc00d5c1d752c4419486fed3e333ffe0b7abc4521a2e86c1780e3200cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d57f2e5688a0e0d2baca4cb9c15e47c6cb8c7decae39b0be088448b350c38f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 8.571 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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0509, 0.0227, 0.9983, 0.688, 1.8751, 1.4738, -0.3492, 0.5358, 0.3862, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0003 left_z=0.2379 left_yaw=-0.0132 left_pitch=-0.063 left_roll=0.0497 left_gripper=0.9983 right_x=0.4494 right_y=0.2573 right_z=0.1721 right_yaw=0.03 right_pitch=-0.067 right_roll=-0.0466 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.8667, 6.8034, 1.663, -0.022, -0.0708, -0.0122, -0.5812, -8.294, 9.0872, 1.3846, 0.1832, 0.0024, -0.0513]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5041, 0.3588, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2473 right_z=0.1666 right_yaw=0.034 right_pitch=-0.0867 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.935, 6.8171, 1.6581, -0.0659, -0.0611, -0.0122, 0.1983, -9.2103, 8.8821, 1.3553, 0.1978, 0.0122, -0.0513]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5037, 0.3584, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2474 right_z=0.1665 right_yaw=0.0345 right_pitch=-0.0868 right_roll=-0.056 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9487, 6.7897, 1.7167, -0.0562, -0.0659, -0.0122, 0.0889, -9.5385, 8.9231, 1.3602, 0.1832, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798b889c2083d3d4ed63019fa27af7200ab342438f96513883ab01e38c08918f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a43cbcc00d5c1d752c4419486fed3e333ffe0b7abc4521a2e86c1780e3200cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d57f2e5688a0e0d2baca4cb9c15e47c6cb8c7decae39b0be088448b350c38f0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAcKEAgRGAI4AUIIdGhpbmtpbmcSDDX0gInKYdXYO2ccrxoM6UPt6ggMVP/+Ad04IjAEd2gj2HWLKW3b8Y7PM2KKOIhNFLDn5jz3CBwHJcbqPtUCIwezpmgSxd9mJcGoXjkq4QZ2Atn5+r+P3sN+DI4iKFVgMkjPNXoZGEZQ0hPS0H6GATzyl0HkJwUJ9r0C4P0kLxGpL4NN2o5GDl6b07f19URkjW9V29IGuLegFXpW+YrD99GcJgzABauSP1ffLR7lWM4lOxf22frTS1S8qnMSx3peqaQB2UBklE2H9aqz0BrgvmGntTOMfNb06hFGDE7ZJljG5k67t8kjzqtezwJT4gnLsYo8rTPHRnqCwmeEsedhAx8D8Up7+YbBk7aHRRYZyOcO4YkEKQPum2jbqHI5EgzgXIf6zuiGEHt3Hom+oxlRSqhlsKJOsMlnt6O+vJhtKzjv+qONcOdkaEStK6Uxc0TeVykbhaBUSsTCcx20LyVQhNFRpHNfLh5/Wb2eRJ+eCYhb8vCty135zL6xqnDf2K1SA4fSY06vf0qGJdoM5zW1NG9eeOq+0imVUtw1Ry378LDYhw4YmaRj5TYi4wpHHFztCW4FpiwiCwTWV+r/DroOIezxZu4zOiKEuxe/ppgSIu87IVc2XmkfobDnhraKa6D/kSwOCLsksuZShBJar1nJNIhSFcz5DRamFTluL2hgxy5JcGB39csuJix0dbyb7x0v3R2dUc+h5wHbOFRH6KHmeeuv7YWXxuygJngMZ+3jkJEb32iw8o98HwGbSomEcP0Yd1rjh3h5ngNK/vjXpPu0oCZtZl9nOzS9vTkJxxl9s0nH7r9ckpDf2rIrXntZ3ghgDwa5kZSwgGZ/99KA1Xu/2ZCWVJ2K54Hv8vNIpQf0JIT9S89cNVsOS7YPyuQ3aHs8bH4Y/jiopiy1GpIYHAZape/PtPS+nXAJ6f1XLYekNQzmLdCFeK2HFxTVtzChaUMi5AeDHB8+1qLuLINLa3m5D4RiNZMKF7Zco5Yv0XwUhJ877GsDGEAVVtoVrqUcDTBc0DclLaAttsVK+0IoQ3r1Pp6AbuBlmnDsfCX4gtBGwbvY6vHQA2FbrCzUwZuXUbnuIWopXXbusv9pbP7e6PjHPUPesHDGEkEUWcT8xJwMe22/ZxS1ZOCvnMu9f7V1LqBoxWl1FLRJGa2JyndfWd95H1+tZiDsuwE0e6PZT/gW09iuOntlcpaoE7gGbuK7js+uDPrMKWMvw0jLToircKfXDma5ru63se+KVwRlbztU8OcfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EPVzRkVXdYPhW9GNgwP6u4",
      "input": {
        "note": "The right arm is stalled with joints unchanged despite lift commands. Pulling the target back toward the base while raising, as the rig notes suggest for a stalled pose.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.4,
          "right_y": 0.27,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EPVzRkVXdYPhW9GNgwP6u4",
      "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]: [-0.0418, 0.9298, 0.9207, -0.6128, -0.0513, 0.0227, 0.9983, 0.7059, 1.8668, 1.5009, -0.4461, 0.5484, 0.4065, 0.9996]\nstate[eef_state]: left_x=0.3084 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4374 right_y=0.2565 right_z=0.1728 right_yaw=0.0242 right_pitch=-0.1091 right_roll=-0.0757 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6479, 6.8991, 1.7265, -0.0562, -0.0317, -0.0122, 3.8769, -16.1573, 11.453, 1.5507, 0.4078, 0.1294, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63d12756e0f98a43f131a3e24c9b0b9a0247602a345fe001765e474b23f1cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ef4ec90e3b10e9fc90f9475e409410158b1edc4b879c908cb8ac519917c6567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2c1eca078030ef5ec96799633b9ff253ca6b5b4629a56203b2cf797e4975815",
        "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 · 13.9 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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5041, 0.3588, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2473 right_z=0.1666 right_yaw=0.034 right_pitch=-0.0867 right_roll=-0.0559 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -1.935, 6.8171, 1.6581, -0.0659, -0.0611, -0.0122, 0.1983, -9.2103, 8.8821, 1.3553, 0.1978, 0.0122, -0.0513]",
      "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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5037, 0.3584, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2474 right_z=0.1665 right_yaw=0.0345 right_pitch=-0.0868 right_roll=-0.056 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9487, 6.7897, 1.7167, -0.0562, -0.0659, -0.0122, 0.0889, -9.5385, 8.9231, 1.3602, 0.1832, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0418, 0.9298, 0.9207, -0.6128, -0.0513, 0.0227, 0.9983, 0.7059, 1.8668, 1.5009, -0.4461, 0.5484, 0.4065, 0.9996]\nstate[eef_state]: left_x=0.3084 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4374 right_y=0.2565 right_z=0.1728 right_yaw=0.0242 right_pitch=-0.1091 right_roll=-0.0757 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6479, 6.8991, 1.7265, -0.0562, -0.0317, -0.0122, 3.8769, -16.1573, 11.453, 1.5507, 0.4078, 0.1294, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63d12756e0f98a43f131a3e24c9b0b9a0247602a345fe001765e474b23f1cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ef4ec90e3b10e9fc90f9475e409410158b1edc4b879c908cb8ac519917c6567",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 182):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c1eca078030ef5ec96799633b9ff253ca6b5b4629a56203b2cf797e4975815",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9QoKEAgRGAI4AUIIdGhpbmtpbmcSDOr2V4qX5pyF5cC6HxoMpz9rV0qcWP2XerVUIjDGae493D+NuhO+5EgLwaVWGC95JPZljT46SeAa6A0khr9sb1hyyns/54OGIj44ECkqkgqEYMH3UjpzjBzckx8Eny08UBQBAF9rrxF7PYnjw1bDXs/xPHMxu83oz4SrPYmBd8w5fO8hR7Qjv/Akvpgw+KJ57m/SV6Gd6ZClqtAudGB2L4JoLuYnQD8VbbX/EWXa0JxXIp1Mdae/Gq1DWDsBcrhCqs/zDtdtEDd1BS/urDOiaJGLhaha09fSCv9E7t2EIcVRsl1SYG3bYPZsJ884jfJjOM0Nyh9UFFBCEYK1osupYgehgqAzn0wEvaHtjuZclK8ZvTH19apXj9DB7mtDlUWFOsXu70kwvX1rHPRqxSyRYX6AQS536DpUA3H4u7dfZya/YJEL/I0EpQCLq0BI2l+EoZDxjHQtyrTZoAKe5UIthDY+/HSHNB2CgDL2A/rcUh2uYq8QTS9qIqkeYNz2n8txWBaH3qv220li5SJPXqIFhpU9tDl8x5fG/MzRSNGi8iIsrlggdJuqqVdnPV+30X3Wss6BwISAmewmqXGWTVXX4hsB+CWXHQ4yp+fke3UxnhnP79gQSQHcjPIGmjpRz3w5AltAgeYpArODu5DABQM0zIC9FFupTycXy7rpo8o+EgbYZ89WrSUKCh4OEbMGAiqFd3aTFaZ684lQfaBjWQ1nlPJ7+n1z6N6JbgM7ErD1DkuFLOf7rvJHx2y+0ATJxUulV2/g//p9qYLDN8KPgQgOCcY3Vnnl+xIwSjoPFcaPGYBowIP76PZmQwFU8ydCuSnlMx71jjoQy3ng0tdhuY2lKDe+vaCic6blDKSdfKJJr0m20GsU+oUKXs7kXHn0pto6kVsyxKKHQHWlxMXK7jecVdy4mpWB5YFVlTcpNaNa/HkCjr8WXpsSpA3YnwhOJRfQQciokCId4LioUHlVxnGgtDPX1MEjs2e0oytL+EsLubp4OXP7Z7n3zY8SUrBICYBXuP2p3RIb9bmDUJ9296kyDJfujSovzgF/ipbrXfiHbh1BlXEDoXtkoaXisorTzoYnvvXqmEpMsIsc4vonMHNU4FAoxeFb60IQ4xnQnYw/C7K3mKC36yfuoespplZ3o7PkSCW3dUWG38rgn93DWxWVUdlWBprcahMRyESThBZnYGVuLqD5scqtdwSEp3ykgZ0HyQsDFar8lCsFHX/w2V5nZAB93E0NMwUHUz0ipQDj+Y+3rMxNcAGqx3rwxf8l4kwqETajgnOv5lJpp7doZuxqvii5FRuE0YRyhTOF8WvKEjyYEufMzsnXVo45PX76hvQi5nNL2TgpR5Xzf7e4ozAFaimnqUSdAJt0Y8iNNHhSmjKXhWYujgjMmtKzWR39UqGqXJdZMnNgtI7foa7J6a6NEX6D3Ldqq1HsaTKdp2zFY0Ajz72p/VsqdKsY/h13o7Y0vHbSh3VQMRkYf8keHIMRLaWUebEP6sqtxwZILflqcjvlzSEynpl2RgcOZLsW2vlqsniZbsf3UhOAaWpj0EvGwTSRQUNbiuTd4wLmAJv4Hq8/DXEnCX8wgFNP0hZ6nJ6HqZxLfeSb+FmrNKo6uOU0AcmRcjQsSfZqV9d1AbSHxzN1hKkVeG//Z9S/R318tWlM173zLNQP/cx5bN14ljtjZzWOudfpUA00Cwbgv8rbcMi4eezY6O5R7D9kLuk4Wb4NC1QS4iqWQH0BB42licXc/JfjQSqa9ZfkFjkVyAGj86tJOSgkzPgOGK91OlzmI0XoF+sEAIsFDWD9OBDySsQS2CDGhU2h7nVY8d5TAOegVULFLBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AaWDfnK1CV62BNo9pgiL7x",
      "input": {
        "note": "The right arm is straining (shoulder effort -16) and its wrist cam is pressed against the jug, so the gripper is likely wedged against or hooked on the jug. Sliding sideways away from the jug to free it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.43,
          "right_y": 0.2,
          "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_01AaWDfnK1CV62BNo9pgiL7x",
      "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]: [-0.0418, 0.9348, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6014, 1.7615, 1.3937, -0.4759, 0.4881, 0.3431, 0.9996]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2364 left_yaw=-0.0131 left_pitch=-0.0684 left_roll=0.0504 left_gripper=0.9983 right_x=0.4329 right_y=0.2009 right_z=0.1704 right_yaw=-0.0034 right_pitch=-0.1638 right_roll=-0.1081 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.4, 6.8308, 1.6679, -0.0415, -0.0366, -0.0122, -0.5265, -13.0393, 7.3094, 1.5556, 0.2759, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b18cdbdee27f198410ebba56977925f86a9bf007e78412843062cf9e347a576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eddcb58228579f0936bb37e272c92ab2248bf756265b9407fdfb059153b3b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29ef08cf34bd8390d56f2b5e294dec3223a3b44ad26b493f1ff2158e5bdb333d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 11.84 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]: [-0.0418, 0.9295, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.6533, 1.8854, 1.4776, -0.3504, 0.5037, 0.3584, 0.9996]\nstate[eef_state]: left_x=0.3083 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4576 right_y=0.2474 right_z=0.1665 right_yaw=0.0345 right_pitch=-0.0868 right_roll=-0.056 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.9487, 6.7897, 1.7167, -0.0562, -0.0659, -0.0122, 0.0889, -9.5385, 8.9231, 1.3602, 0.1832, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0418, 0.9298, 0.9207, -0.6128, -0.0513, 0.0227, 0.9983, 0.7059, 1.8668, 1.5009, -0.4461, 0.5484, 0.4065, 0.9996]\nstate[eef_state]: left_x=0.3084 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4374 right_y=0.2565 right_z=0.1728 right_yaw=0.0242 right_pitch=-0.1091 right_roll=-0.0757 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6479, 6.8991, 1.7265, -0.0562, -0.0317, -0.0122, 3.8769, -16.1573, 11.453, 1.5507, 0.4078, 0.1294, -0.0562]\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]: [-0.0418, 0.9348, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6014, 1.7615, 1.3937, -0.4759, 0.4881, 0.3431, 0.9996]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2364 left_yaw=-0.0131 left_pitch=-0.0684 left_roll=0.0504 left_gripper=0.9983 right_x=0.4329 right_y=0.2009 right_z=0.1704 right_yaw=-0.0034 right_pitch=-0.1638 right_roll=-0.1081 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.4, 6.8308, 1.6679, -0.0415, -0.0366, -0.0122, -0.5265, -13.0393, 7.3094, 1.5556, 0.2759, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b18cdbdee27f198410ebba56977925f86a9bf007e78412843062cf9e347a576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1eddcb58228579f0936bb37e272c92ab2248bf756265b9407fdfb059153b3b9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29ef08cf34bd8390d56f2b5e294dec3223a3b44ad26b493f1ff2158e5bdb333d",
        "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_01L6wGZpc1mYyftJhJiMo89R",
      "input": {
        "note": "The jug moved sideways with the arm and sits right in front of the wrist camera, so its handle is probably hooked inside the open jaws. Closing the gripper to grasp the handle.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.43,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L6wGZpc1mYyftJhJiMo89R",
      "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]: [-0.0418, 0.9352, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6006, 1.7164, 1.3895, -0.4736, 0.4614, 0.313, 0.0128]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2363 left_yaw=-0.0131 left_pitch=-0.0688 left_roll=0.0504 left_gripper=0.9983 right_x=0.429 right_y=0.2029 right_z=0.1877 right_yaw=0.0363 right_pitch=-0.1401 right_roll=-0.0906 right_gripper=0.0128\nstate[joint_eff]: [-0.2667, -2.0308, 6.8581, 1.663, -0.0708, -0.0317, -0.0122, -0.5538, -10.5641, 6.9949, 1.5897, 0.2955, 0.0708, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b277ec63f154a75a14d830deb1b0c00934c0e773b7d02dfbd2748822d40b7bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42467a9fa89e86cb32df0d3dfdd6fe5492ac282a32325029d4e940c2ff225ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d21fc05685303518fb5ae631b5b7dacff10fe98af670d94207d285180f454e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 15.3 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]: [-0.0418, 0.9298, 0.9207, -0.6128, -0.0513, 0.0227, 0.9983, 0.7059, 1.8668, 1.5009, -0.4461, 0.5484, 0.4065, 0.9996]\nstate[eef_state]: left_x=0.3084 left_y=-0.0002 left_z=0.2379 left_yaw=-0.0129 left_pitch=-0.063 left_roll=0.0499 left_gripper=0.9983 right_x=0.4374 right_y=0.2565 right_z=0.1728 right_yaw=0.0242 right_pitch=-0.1091 right_roll=-0.0757 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.6479, 6.8991, 1.7265, -0.0562, -0.0317, -0.0122, 3.8769, -16.1573, 11.453, 1.5507, 0.4078, 0.1294, -0.0562]\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]: [-0.0418, 0.9348, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6014, 1.7615, 1.3937, -0.4759, 0.4881, 0.3431, 0.9996]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2364 left_yaw=-0.0131 left_pitch=-0.0684 left_roll=0.0504 left_gripper=0.9983 right_x=0.4329 right_y=0.2009 right_z=0.1704 right_yaw=-0.0034 right_pitch=-0.1638 right_roll=-0.1081 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.4, 6.8308, 1.6679, -0.0415, -0.0366, -0.0122, -0.5265, -13.0393, 7.3094, 1.5556, 0.2759, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0418, 0.9352, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6006, 1.7164, 1.3895, -0.4736, 0.4614, 0.313, 0.0128]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2363 left_yaw=-0.0131 left_pitch=-0.0688 left_roll=0.0504 left_gripper=0.9983 right_x=0.429 right_y=0.2029 right_z=0.1877 right_yaw=0.0363 right_pitch=-0.1401 right_roll=-0.0906 right_gripper=0.0128\nstate[joint_eff]: [-0.2667, -2.0308, 6.8581, 1.663, -0.0708, -0.0317, -0.0122, -0.5538, -10.5641, 6.9949, 1.5897, 0.2955, 0.0708, 1.1453]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b277ec63f154a75a14d830deb1b0c00934c0e773b7d02dfbd2748822d40b7bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42467a9fa89e86cb32df0d3dfdd6fe5492ac282a32325029d4e940c2ff225ce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d21fc05685303518fb5ae631b5b7dacff10fe98af670d94207d285180f454e7",
        "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_013TWuGorKw7ZQPkyhTSssCu",
      "input": {
        "note": "The close was empty (0.013) and the jug leans against the right gripper body. Lifting the closed gripper well clear so the jug can settle, then I will re-approach from directly above the neck.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.43,
          "right_y": 0.2,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_013TWuGorKw7ZQPkyhTSssCu",
      "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]: [-0.0418, 0.936, 0.9207, -0.6136, -0.0513, 0.0231, 0.9983, 0.5999, 1.7672, 1.8584, -0.8658, 0.4503, 0.3019, 0.012]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.236 left_yaw=-0.0131 left_pitch=-0.0699 left_roll=0.0504 left_gripper=0.9983 right_x=0.4325 right_y=0.207 right_z=0.2929 right_yaw=0.0519 right_pitch=-0.1226 right_roll=-0.0787 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -2.0718, 6.8171, 1.663, -0.0659, -0.0269, -0.0122, -0.6085, -8.2667, 8.8547, 1.1209, 0.1783, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b1c8ab9f10129cfc3b4ba3af12186bc6a732870766172317cc679b4f15b6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8898c20a7013abaf87b7e76bfda7264ae9e5d3aa8d969c84bbbc326e2cc50331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:206cb8d6c9f4bba86387f4e1d5d951c1125580a1e87c6f88cfb9cfff54018bec",
        "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 · 8.59 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]: [-0.0418, 0.9348, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6014, 1.7615, 1.3937, -0.4759, 0.4881, 0.3431, 0.9996]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2364 left_yaw=-0.0131 left_pitch=-0.0684 left_roll=0.0504 left_gripper=0.9983 right_x=0.4329 right_y=0.2009 right_z=0.1704 right_yaw=-0.0034 right_pitch=-0.1638 right_roll=-0.1081 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -2.4, 6.8308, 1.6679, -0.0415, -0.0366, -0.0122, -0.5265, -13.0393, 7.3094, 1.5556, 0.2759, -0.0366, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0418, 0.9352, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6006, 1.7164, 1.3895, -0.4736, 0.4614, 0.313, 0.0128]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2363 left_yaw=-0.0131 left_pitch=-0.0688 left_roll=0.0504 left_gripper=0.9983 right_x=0.429 right_y=0.2029 right_z=0.1877 right_yaw=0.0363 right_pitch=-0.1401 right_roll=-0.0906 right_gripper=0.0128\nstate[joint_eff]: [-0.2667, -2.0308, 6.8581, 1.663, -0.0708, -0.0317, -0.0122, -0.5538, -10.5641, 6.9949, 1.5897, 0.2955, 0.0708, 1.1453]\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]: [-0.0418, 0.936, 0.9207, -0.6136, -0.0513, 0.0231, 0.9983, 0.5999, 1.7672, 1.8584, -0.8658, 0.4503, 0.3019, 0.012]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.236 left_yaw=-0.0131 left_pitch=-0.0699 left_roll=0.0504 left_gripper=0.9983 right_x=0.4325 right_y=0.207 right_z=0.2929 right_yaw=0.0519 right_pitch=-0.1226 right_roll=-0.0787 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -2.0718, 6.8171, 1.663, -0.0659, -0.0269, -0.0122, -0.6085, -8.2667, 8.8547, 1.1209, 0.1783, 0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b1c8ab9f10129cfc3b4ba3af12186bc6a732870766172317cc679b4f15b6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8898c20a7013abaf87b7e76bfda7264ae9e5d3aa8d969c84bbbc326e2cc50331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:206cb8d6c9f4bba86387f4e1d5d951c1125580a1e87c6f88cfb9cfff54018bec",
        "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_01A3YrK54zY9Wzosv9NKoVsN",
      "input": {
        "note": "The jug is upright again and its narrow neck shows left of and ahead of the jaw column in the right wrist view. Moving forward-left to hover directly over the neck with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.47,
          "right_y": 0.23,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A3YrK54zY9Wzosv9NKoVsN",
      "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]: [-0.0418, 0.9371, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.5999, 1.895, 1.8481, -0.7605, 0.4362, 0.2882, 0.9947]\nstate[eef_state]: left_x=0.3092 left_y=-0.0003 left_z=0.2357 left_yaw=-0.0131 left_pitch=-0.0707 left_roll=0.0505 left_gripper=0.9983 right_x=0.4618 right_y=0.2297 right_z=0.2445 right_yaw=0.0681 right_pitch=-0.1565 right_roll=-0.0976 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -2.0991, 6.8034, 1.7118, -0.0562, -0.0024, -0.0122, -0.6496, -9.7983, 7.3641, 1.7607, 0.2808, 0.1099, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:241ab6441577851ad98caac301b0f4ec893c81e67eb6d584cabb71fa234ad839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:778d55748f2b8edf43ae8c2bf5bc1f97d156778ea50a5b468bab9df453b49c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca3636b559d7b81c69c17fb2a6a9a5548c6c68b16a0123a6dc5756aca40f8f73",
        "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 · 10.23 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]: [-0.0418, 0.9352, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.6006, 1.7164, 1.3895, -0.4736, 0.4614, 0.313, 0.0128]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.2363 left_yaw=-0.0131 left_pitch=-0.0688 left_roll=0.0504 left_gripper=0.9983 right_x=0.429 right_y=0.2029 right_z=0.1877 right_yaw=0.0363 right_pitch=-0.1401 right_roll=-0.0906 right_gripper=0.0128\nstate[joint_eff]: [-0.2667, -2.0308, 6.8581, 1.663, -0.0708, -0.0317, -0.0122, -0.5538, -10.5641, 6.9949, 1.5897, 0.2955, 0.0708, 1.1453]\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]: [-0.0418, 0.936, 0.9207, -0.6136, -0.0513, 0.0231, 0.9983, 0.5999, 1.7672, 1.8584, -0.8658, 0.4503, 0.3019, 0.012]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.236 left_yaw=-0.0131 left_pitch=-0.0699 left_roll=0.0504 left_gripper=0.9983 right_x=0.4325 right_y=0.207 right_z=0.2929 right_yaw=0.0519 right_pitch=-0.1226 right_roll=-0.0787 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -2.0718, 6.8171, 1.663, -0.0659, -0.0269, -0.0122, -0.6085, -8.2667, 8.8547, 1.1209, 0.1783, 0.0317, 1.0281]",
      "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]: [-0.0418, 0.9371, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.5999, 1.895, 1.8481, -0.7605, 0.4362, 0.2882, 0.9947]\nstate[eef_state]: left_x=0.3092 left_y=-0.0003 left_z=0.2357 left_yaw=-0.0131 left_pitch=-0.0707 left_roll=0.0505 left_gripper=0.9983 right_x=0.4618 right_y=0.2297 right_z=0.2445 right_yaw=0.0681 right_pitch=-0.1565 right_roll=-0.0976 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -2.0991, 6.8034, 1.7118, -0.0562, -0.0024, -0.0122, -0.6496, -9.7983, 7.3641, 1.7607, 0.2808, 0.1099, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:241ab6441577851ad98caac301b0f4ec893c81e67eb6d584cabb71fa234ad839",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:778d55748f2b8edf43ae8c2bf5bc1f97d156778ea50a5b468bab9df453b49c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca3636b559d7b81c69c17fb2a6a9a5548c6c68b16a0123a6dc5756aca40f8f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwkKEAgRGAI4AUIIdGhpbmtpbmcSDM/ZS3zgTtkfC6YQRRoMvUwuIhanXsq+u0pJIjCgoeDRxj1r8S/N8G+g+/kmcfLge/ZTN3/O+NvoI/GMOx6JDJPzhPY8d4ON+rxWF/0qzAgUyONmG24O7sJbnoJMKnptnI0bZcNFVOXEn9tLLn0q6cQcBLadL3EG5jPHf3ox8OuHU9R586g5UaX21f50wAi4h5IIw1/n1ZLH0ZdFSK/Nj4Gg5wzJB25k7CKMDY1zzBv31hE+kCBF9ZJgB5EoJd44NWJgvE5N5VDPFWIJc9tIE+ZRnwIjLfK3sORZKWByuwA/sRLBdVapvVfCvnJVCJpYg+ExcwkidVoWG2atU2eP5hoDgoRYfCa2gfDnExzaSGN91XHA+O6x1Oq3jueO0dxOja5MDTKXRGDij2vcRY9Ezqo0ORBfXdI38zHmUo0hFI9t9kte7PwzdQXqPEZjJP9ILJPj2Qsk9hB8GX2i4RFJhf52bi/Fr8vA6tO1OwFblK0tc5nSni+eB4R40FUjJgecMlvM/mn7TPJ9L8qbsoVunqqrOwv4eENVO77XKLPMNcOqR88j2Q68KxexeAM+KMWDNhUyVI4DzbRrA3YLbvyOXiN9XZdd/lEljhpje1o713N3yESiSQQh99UQzBKlE5YNl/nXbCCsBx/Ug0Y3TQMp3/fckqxGY0PcPLI2+6u4kuuwF+TTAyKykhDctXacw55Qlw6LY1FUpKQMnehIxobwi2pZWrUEjmdlw55Mc6ez40SkjngvWlJYJwDn1HaM0cK18TbdLG8MEsA82xi+e8eKLd7MXpXwHYldxxjCMuAtnBYVeY975+vQiGKyI9Uq8BH4iPNUBe36IrvIKgtPR80k2bAsW0D7dQiyj01g+iWg/g8i5tfqxqT0+T2zKrLVObnoJpjtFapypPRUiIWXLyj4uZsjK3Tfa1qqWfhYya+lZbUyNkk4dg/k5ULZ4KQ0VQ5HCa/xdPMKoYHpEkp1OuA7u7HV6XMumWxHaZO2XCRM4DfWvMgw7u8QGXwXGBNhgrSNj3XwwKdv3HBfqZkvemp6BeEUhDxGoXowlqnWlgjeONcPl9pxRW8mLUOrJMPe5K1cbnV4C0mLBU7se1cmArMBDbfpTTrowWP7+Pt8r99KA7isXZ2zKloGw8TUC2ahxgNjW0RdYNaquxgH1x+iLA/Lh8bYwepBkwXfpuQ6o4nn6fQ/ECGbMS3vJMGEvjdF4B+YcJM3RWhffjekknkhx78fT/S2nzHHzuQD4xMFOsQxlIuGcJEPB3ny2Me3gNjKDbVlAKIA3G0qLZAR5iTw1KkTb/vAEucd7cx1zP2w6t20l1c9lgTDGt5W290zK71ECmempLSXHxN4qFzPFXv7C/IGjd2/8tMBGGXDHhbCKSwobTLmYcGnzuuV8Y5UXCjZ5f47kV8jfWxdBtPq7v5JMrxjaO+6eQBYuhDL/0G4XOPc4oivHV6PZm22sT06xzxJvkjcI9Awi2uewA/8gPxNMT+ikg6Fze2eHgSEqEb61HSToDrXHV/EK+KL5IX3tLzsuqBd4bDF7Z9DKKvOwM3DKYYYjk9WWz7CF70vyGPCNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QtHKTdCyyu7TyL622PM6Wd",
      "input": {
        "note": "The jug's neck opening now sits on the jaw column but ahead of the fingertips in the right wrist view. Advancing 3 cm and descending to just above the neck height to check alignment before grasping.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.5,
          "right_y": 0.23,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QtHKTdCyyu7TyL622PM6Wd",
      "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]: [-0.0418, 0.9398, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5793, 1.9079, 1.5665, -0.3565, 0.445, 0.2192, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.0003 left_z=0.235 left_yaw=-0.013 left_pitch=-0.073 left_roll=0.0505 left_gripper=0.9983 right_x=0.4868 right_y=0.2318 right_z=0.1883 right_yaw=0.0832 right_pitch=-0.0615 right_roll=-0.1032 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -2.1812, 6.8171, 1.7411, -0.0708, -0.0611, -0.0122, -1.1009, -8.9368, 6.7761, 1.4188, 0.2662, -0.1441, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa5a6ad33c346007a0b3a357ac8fb2ffb7356bcaae0192bbf5691345e3722b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:570d3d2e7850947666c9329e8650bcaf39747c5e83372cae5fb686b9f3663242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9eca2db12787a0cc4d86589c6f93e7b5de8f2dd6a8bcce2955adc36ff31f4f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 9.671 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]: [-0.0418, 0.936, 0.9207, -0.6136, -0.0513, 0.0231, 0.9983, 0.5999, 1.7672, 1.8584, -0.8658, 0.4503, 0.3019, 0.012]\nstate[eef_state]: left_x=0.309 left_y=-0.0003 left_z=0.236 left_yaw=-0.0131 left_pitch=-0.0699 left_roll=0.0504 left_gripper=0.9983 right_x=0.4325 right_y=0.207 right_z=0.2929 right_yaw=0.0519 right_pitch=-0.1226 right_roll=-0.0787 right_gripper=0.012\nstate[joint_eff]: [-0.2256, -2.0718, 6.8171, 1.663, -0.0659, -0.0269, -0.0122, -0.6085, -8.2667, 8.8547, 1.1209, 0.1783, 0.0317, 1.0281]",
      "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]: [-0.0418, 0.9371, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.5999, 1.895, 1.8481, -0.7605, 0.4362, 0.2882, 0.9947]\nstate[eef_state]: left_x=0.3092 left_y=-0.0003 left_z=0.2357 left_yaw=-0.0131 left_pitch=-0.0707 left_roll=0.0505 left_gripper=0.9983 right_x=0.4618 right_y=0.2297 right_z=0.2445 right_yaw=0.0681 right_pitch=-0.1565 right_roll=-0.0976 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -2.0991, 6.8034, 1.7118, -0.0562, -0.0024, -0.0122, -0.6496, -9.7983, 7.3641, 1.7607, 0.2808, 0.1099, -0.022]\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 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]: [-0.0418, 0.9398, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5793, 1.9079, 1.5665, -0.3565, 0.445, 0.2192, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.0003 left_z=0.235 left_yaw=-0.013 left_pitch=-0.073 left_roll=0.0505 left_gripper=0.9983 right_x=0.4868 right_y=0.2318 right_z=0.1883 right_yaw=0.0832 right_pitch=-0.0615 right_roll=-0.1032 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -2.1812, 6.8171, 1.7411, -0.0708, -0.0611, -0.0122, -1.1009, -8.9368, 6.7761, 1.4188, 0.2662, -0.1441, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa5a6ad33c346007a0b3a357ac8fb2ffb7356bcaae0192bbf5691345e3722b48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:570d3d2e7850947666c9329e8650bcaf39747c5e83372cae5fb686b9f3663242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eca2db12787a0cc4d86589c6f93e7b5de8f2dd6a8bcce2955adc36ff31f4f8b",
        "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_01QJqbDTegYqV9ugcpbfsJR1",
      "input": {
        "note": "The neck rim fills the upper part of the right wrist view, centred between the jaws but still ahead of the fingertips. Advancing another 3 cm and lowering so the jaws come down around the neck.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.52,
          "right_y": 0.23,
          "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_01QJqbDTegYqV9ugcpbfsJR1",
      "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]: [-0.0418, 0.9409, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.5579, 1.956, 1.549, -0.1741, 0.4374, 0.1844, 0.9989]\nstate[eef_state]: left_x=0.3097 left_y=-0.0003 left_z=0.2346 left_yaw=-0.0128 left_pitch=-0.0745 left_roll=0.0503 left_gripper=0.9983 right_x=0.5131 right_y=0.2363 right_z=0.1886 right_yaw=0.087 right_pitch=0.0384 right_roll=-0.0742 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.7026, 6.8034, 1.663, -0.0415, -0.0366, -0.0122, -1.1419, -7.9111, 6.0923, 0.8034, 0.0855, -0.1538, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4502a13e7b0b33b32f2ecabbe0bfbcb360f6beef34a94da842568044552d356e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496849d454143957d717ba46301622dde8b8bb9ce12c6438d2843264c78a7d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:433770ae014f08a5923bd5fd8ab8697af7225df55abe4652b0c4db2193573d07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.23 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]: [-0.0418, 0.9371, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.5999, 1.895, 1.8481, -0.7605, 0.4362, 0.2882, 0.9947]\nstate[eef_state]: left_x=0.3092 left_y=-0.0003 left_z=0.2357 left_yaw=-0.0131 left_pitch=-0.0707 left_roll=0.0505 left_gripper=0.9983 right_x=0.4618 right_y=0.2297 right_z=0.2445 right_yaw=0.0681 right_pitch=-0.1565 right_roll=-0.0976 right_gripper=0.9947\nstate[joint_eff]: [-0.335, -2.0991, 6.8034, 1.7118, -0.0562, -0.0024, -0.0122, -0.6496, -9.7983, 7.3641, 1.7607, 0.2808, 0.1099, -0.022]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0418, 0.9398, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5793, 1.9079, 1.5665, -0.3565, 0.445, 0.2192, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.0003 left_z=0.235 left_yaw=-0.013 left_pitch=-0.073 left_roll=0.0505 left_gripper=0.9983 right_x=0.4868 right_y=0.2318 right_z=0.1883 right_yaw=0.0832 right_pitch=-0.0615 right_roll=-0.1032 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -2.1812, 6.8171, 1.7411, -0.0708, -0.0611, -0.0122, -1.1009, -8.9368, 6.7761, 1.4188, 0.2662, -0.1441, -0.1148]",
      "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]: [-0.0418, 0.9409, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.5579, 1.956, 1.549, -0.1741, 0.4374, 0.1844, 0.9989]\nstate[eef_state]: left_x=0.3097 left_y=-0.0003 left_z=0.2346 left_yaw=-0.0128 left_pitch=-0.0745 left_roll=0.0503 left_gripper=0.9983 right_x=0.5131 right_y=0.2363 right_z=0.1886 right_yaw=0.087 right_pitch=0.0384 right_roll=-0.0742 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.7026, 6.8034, 1.663, -0.0415, -0.0366, -0.0122, -1.1419, -7.9111, 6.0923, 0.8034, 0.0855, -0.1538, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4502a13e7b0b33b32f2ecabbe0bfbcb360f6beef34a94da842568044552d356e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:496849d454143957d717ba46301622dde8b8bb9ce12c6438d2843264c78a7d86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:433770ae014f08a5923bd5fd8ab8697af7225df55abe4652b0c4db2193573d07",
        "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_01VUouVKip46FmDnfAFUt4VD",
      "input": {
        "note": "The jug's handle now sits between the jaw wedges at the bottom of the right wrist view while the descent is blocked by the jug shoulder. Closing the gripper to grasp the handle.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.51,
          "right_y": 0.235,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VUouVKip46FmDnfAFUt4VD",
      "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]: [-0.0418, 0.9417, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5472, 1.9808, 1.549, -0.0929, 0.429, 0.1726, 0.1526]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2345 left_yaw=-0.013 left_pitch=-0.0749 left_roll=0.0506 left_gripper=0.9983 right_x=0.5254 right_y=0.2383 right_z=0.1907 right_yaw=0.088 right_pitch=0.0865 right_roll=-0.0553 right_gripper=0.1526\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.7021, -0.0464, -0.0269, -0.0122, -0.5812, -9.388, 5.8872, 1.116, 0.1148, -0.0904, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb80b684312dbcc252ef46cb39d884ca247ef762078d30c6ac0667a4262d19a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0136554730bc8d1f1660dd53490f654dccd054857b23f8d7c8056ac93dfa87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e831fe65084621b9de3b1f9a02f8d8c7749096e40a8079b7d9522ceff1e7eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 42.5 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]: [-0.0418, 0.9398, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5793, 1.9079, 1.5665, -0.3565, 0.445, 0.2192, 0.9989]\nstate[eef_state]: left_x=0.3096 left_y=-0.0003 left_z=0.235 left_yaw=-0.013 left_pitch=-0.073 left_roll=0.0505 left_gripper=0.9983 right_x=0.4868 right_y=0.2318 right_z=0.1883 right_yaw=0.0832 right_pitch=-0.0615 right_roll=-0.1032 right_gripper=0.9989\nstate[joint_eff]: [-0.253, -2.1812, 6.8171, 1.7411, -0.0708, -0.0611, -0.0122, -1.1009, -8.9368, 6.7761, 1.4188, 0.2662, -0.1441, -0.1148]",
      "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]: [-0.0418, 0.9409, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.5579, 1.956, 1.549, -0.1741, 0.4374, 0.1844, 0.9989]\nstate[eef_state]: left_x=0.3097 left_y=-0.0003 left_z=0.2346 left_yaw=-0.0128 left_pitch=-0.0745 left_roll=0.0503 left_gripper=0.9983 right_x=0.5131 right_y=0.2363 right_z=0.1886 right_yaw=0.087 right_pitch=0.0384 right_roll=-0.0742 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.7026, 6.8034, 1.663, -0.0415, -0.0366, -0.0122, -1.1419, -7.9111, 6.0923, 0.8034, 0.0855, -0.1538, -0.1245]",
      "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]: [-0.0418, 0.9417, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5472, 1.9808, 1.549, -0.0929, 0.429, 0.1726, 0.1526]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2345 left_yaw=-0.013 left_pitch=-0.0749 left_roll=0.0506 left_gripper=0.9983 right_x=0.5254 right_y=0.2383 right_z=0.1907 right_yaw=0.088 right_pitch=0.0865 right_roll=-0.0553 right_gripper=0.1526\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.7021, -0.0464, -0.0269, -0.0122, -0.5812, -9.388, 5.8872, 1.116, 0.1148, -0.0904, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb80b684312dbcc252ef46cb39d884ca247ef762078d30c6ac0667a4262d19a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d0136554730bc8d1f1660dd53490f654dccd054857b23f8d7c8056ac93dfa87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e831fe65084621b9de3b1f9a02f8d8c7749096e40a8079b7d9522ceff1e7eda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgRGAI4AUIIdGhpbmtpbmcSDBbMxJbWHox16ON7HRoMRdFgbTI88/mIOtiqIjB6LLWePllZE1I5QNDJWPiJvgaGkrZ1M+aGkoxFXHEv7y8lOHOR2E3h/TLQxSACJewq8QXp3+9Tk1gUopsKFI/3wtwRHwE5BXuPR5e5olefkFmklWIMKUMoOUgPkX1wyB7Ik9rbREbWNgFZWsWWJ9YFHjhOol2dxi80PUBpty9mRuvus4Gz5reLteX0Khc8GOCQATlUxmqjyTfNlYC8ehL76PhC0zNX583mwupr1pEKgiTcZUh689YnBm1WDCiJO0o9tAptuSSGVx8mEmy0UxK9dmrZptfm4Eet2DB2Vcdwn3BdotJzc5prh2TYFRkiUy1P79Dg/cQayOW6wpKHtKSxqCjKKKplCJoJAm+TJrmMYRPlN6OJDpJX3UhR9xQCn8TgXqlFGuEe8OBLRf9yZCRhMjwk825PZRZrxpak5ZLLrbhvj6eL1MT2yEe9T75x+LjcaHQvnlvTJ2QVrQ13nFjRuUTGj99gska3JMVUlSWz8BtgQZWPxG8ZGmB3LezqCs23dQ6hU1IG8N0ui8dnbO4zqY8BePNKpx9Bir38UEyp3+DPEvt2EFXgXRL3tZ/SCzbwX/yPk3fmo5eikRrI72wTcWSwwIhuTVHAm5Wb2vIOCf++jopl2mD9QMJKl6TGJts8AstaBgxu4Xlc3vwyLa1Kx8azqi29B9NOx2o9P458FaQ/0ZHXMvWqQeb6ACVNYkwpBkJSbbRIbJelh4Fsy/J2nutEnfkUqNlFaq3QHW1O0CP+EuGZXzN2SBoSS2BAIzrXWvvrZHaxCPcse0ujdm+q2dxcfGfsdnokLRe4YgSCG/8KaVmIiGNbkLfF1grlCTJmtA0PiJGtAj/ofb/t2eXm0QfBdnAysLMsct8gpWtpVhF1qi7z0y76FxPLUnHGracdvU8yQkjRO+2nhjcObpXBwc/c2mS/JlToFEJEJ6vwWXUb4phtxXH23yose4ibeJVq+J38lSzzRC/5H9Su6GpdkN8fl05z+hDplps1xJzbRrbXGNJi8uuIdLzLCcAXFSN29pJboSLDiE6EU0ZueAfP0T/IjvtN/tFVH0l6L+pHXPLaNXEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1NTdZEGBAkrJBRXPzrMuy",
      "input": {
        "note": "Gripper settled at 0.15 with the jug handle visibly pinched between the jaws. Lifting the jug 8 cm to confirm it comes along.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.51,
          "right_y": 0.235,
          "right_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01T1NTdZEGBAkrJBRXPzrMuy",
      "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]: [-0.0418, 0.9417, 0.9207, -0.6132, -0.0509, 0.0231, 0.9983, 0.5533, 1.9648, 1.7035, -0.3546, 0.4248, 0.1719, 0.1526]\nstate[eef_state]: left_x=0.3098 left_y=-0.0004 left_z=0.2344 left_yaw=-0.0134 left_pitch=-0.0753 left_roll=0.0504 left_gripper=0.9983 right_x=0.5147 right_y=0.2366 right_z=0.2171 right_yaw=0.0997 right_pitch=0.0036 right_roll=-0.0941 right_gripper=0.1526\nstate[joint_eff]: [-0.1846, -2.0855, 6.8308, 1.7216, -0.0415, -0.0366, -0.0122, 0.3624, -15.3641, 10.9197, 1.8388, 0.2418, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76227d78c011f5271f42a98e0a7842980f448bd851504fee21f38a228e33cd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053a54b766ace32f4cd40590836276a73ba1a46fb02b44f5bf490febb03dcb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5048889b143101c81c4d319b951ebd345e7bb885324dd02232bd2f3e6746e38f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 15.1 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]: [-0.0418, 0.9409, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.5579, 1.956, 1.549, -0.1741, 0.4374, 0.1844, 0.9989]\nstate[eef_state]: left_x=0.3097 left_y=-0.0003 left_z=0.2346 left_yaw=-0.0128 left_pitch=-0.0745 left_roll=0.0503 left_gripper=0.9983 right_x=0.5131 right_y=0.2363 right_z=0.1886 right_yaw=0.087 right_pitch=0.0384 right_roll=-0.0742 right_gripper=0.9989\nstate[joint_eff]: [-0.2393, -1.7026, 6.8034, 1.663, -0.0415, -0.0366, -0.0122, -1.1419, -7.9111, 6.0923, 0.8034, 0.0855, -0.1538, -0.1245]",
      "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]: [-0.0418, 0.9417, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5472, 1.9808, 1.549, -0.0929, 0.429, 0.1726, 0.1526]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2345 left_yaw=-0.013 left_pitch=-0.0749 left_roll=0.0506 left_gripper=0.9983 right_x=0.5254 right_y=0.2383 right_z=0.1907 right_yaw=0.088 right_pitch=0.0865 right_roll=-0.0553 right_gripper=0.1526\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.7021, -0.0464, -0.0269, -0.0122, -0.5812, -9.388, 5.8872, 1.116, 0.1148, -0.0904, 1.0183]\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 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]: [-0.0418, 0.9417, 0.9207, -0.6132, -0.0509, 0.0231, 0.9983, 0.5533, 1.9648, 1.7035, -0.3546, 0.4248, 0.1719, 0.1526]\nstate[eef_state]: left_x=0.3098 left_y=-0.0004 left_z=0.2344 left_yaw=-0.0134 left_pitch=-0.0753 left_roll=0.0504 left_gripper=0.9983 right_x=0.5147 right_y=0.2366 right_z=0.2171 right_yaw=0.0997 right_pitch=0.0036 right_roll=-0.0941 right_gripper=0.1526\nstate[joint_eff]: [-0.1846, -2.0855, 6.8308, 1.7216, -0.0415, -0.0366, -0.0122, 0.3624, -15.3641, 10.9197, 1.8388, 0.2418, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76227d78c011f5271f42a98e0a7842980f448bd851504fee21f38a228e33cd6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:053a54b766ace32f4cd40590836276a73ba1a46fb02b44f5bf490febb03dcb2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5048889b143101c81c4d319b951ebd345e7bb885324dd02232bd2f3e6746e38f",
        "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_0142GDhyEPrHVAJXd4nbkvpE",
      "input": {
        "note": "The jug lifted with the right gripper (heavy: shoulder effort -15, height sagging). The red cup lies beyond the right arm's y-limit, so I'm carrying the jug toward the table centre where the left arm can take it by the handle.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.5,
          "right_y": 0.38,
          "right_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0142GDhyEPrHVAJXd4nbkvpE",
      "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]: [-0.0418, 0.9428, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.7979, 2.413, 2.4557, -0.7673, 0.5911, 0.3183, 0.1524]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2341 left_yaw=-0.013 left_pitch=-0.0764 left_roll=0.0506 left_gripper=0.9983 right_x=0.5019 right_y=0.3787 right_z=0.2147 right_yaw=0.1343 right_pitch=-0.0263 right_roll=-0.116 right_gripper=0.1524\nstate[joint_eff]: [-0.0615, -2.0308, 6.8171, 1.6484, -0.0317, -0.0708, -0.0122, 0.3897, -14.4615, 9.2923, 1.4383, 0.4322, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5108c12eb6ff12a0627442a8eed1e34a5cb5e6f15c3f0a0ba1526a2fa8071c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:243efb55a383528fbaa2facde11fe6eda21ce7618c1ad441ac47b2cc743a287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:831fcd5d27e74f4902e2f7e49ec35e17172a3aeeebbc756215de9f879e930318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 8.951 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]: [-0.0418, 0.9417, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.5472, 1.9808, 1.549, -0.0929, 0.429, 0.1726, 0.1526]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2345 left_yaw=-0.013 left_pitch=-0.0749 left_roll=0.0506 left_gripper=0.9983 right_x=0.5254 right_y=0.2383 right_z=0.1907 right_yaw=0.088 right_pitch=0.0865 right_roll=-0.0553 right_gripper=0.1526\nstate[joint_eff]: [-0.0752, -2.1538, 6.7897, 1.7021, -0.0464, -0.0269, -0.0122, -0.5812, -9.388, 5.8872, 1.116, 0.1148, -0.0904, 1.0183]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0418, 0.9417, 0.9207, -0.6132, -0.0509, 0.0231, 0.9983, 0.5533, 1.9648, 1.7035, -0.3546, 0.4248, 0.1719, 0.1526]\nstate[eef_state]: left_x=0.3098 left_y=-0.0004 left_z=0.2344 left_yaw=-0.0134 left_pitch=-0.0753 left_roll=0.0504 left_gripper=0.9983 right_x=0.5147 right_y=0.2366 right_z=0.2171 right_yaw=0.0997 right_pitch=0.0036 right_roll=-0.0941 right_gripper=0.1526\nstate[joint_eff]: [-0.1846, -2.0855, 6.8308, 1.7216, -0.0415, -0.0366, -0.0122, 0.3624, -15.3641, 10.9197, 1.8388, 0.2418, 0.0366, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0418, 0.9428, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.7979, 2.413, 2.4557, -0.7673, 0.5911, 0.3183, 0.1524]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2341 left_yaw=-0.013 left_pitch=-0.0764 left_roll=0.0506 left_gripper=0.9983 right_x=0.5019 right_y=0.3787 right_z=0.2147 right_yaw=0.1343 right_pitch=-0.0263 right_roll=-0.116 right_gripper=0.1524\nstate[joint_eff]: [-0.0615, -2.0308, 6.8171, 1.6484, -0.0317, -0.0708, -0.0122, 0.3897, -14.4615, 9.2923, 1.4383, 0.4322, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5108c12eb6ff12a0627442a8eed1e34a5cb5e6f15c3f0a0ba1526a2fa8071c54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:243efb55a383528fbaa2facde11fe6eda21ce7618c1ad441ac47b2cc743a287e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:831fcd5d27e74f4902e2f7e49ec35e17172a3aeeebbc756215de9f879e930318",
        "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_01SyFpoZmnfS8hrp7jBk7M8x",
      "input": {
        "note": "The jug now hangs just right of and behind the red cup at the right arm's y-limit. Trying to pour from here: rolling the wrist negative so the jug's neck tips left toward the cup.",
        "targets": {
          "right_gripper": 0.0,
          "right_roll": -0.8,
          "right_x": 0.5,
          "right_y": 0.4,
          "right_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_01SyFpoZmnfS8hrp7jBk7M8x",
      "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]: [-0.0418, 0.9463, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.8581, 2.7171, 2.999, -1.1374, 0.8043, 0.0879, 0.1523]\nstate[eef_state]: left_x=0.3104 left_y=-0.0003 left_z=0.2331 left_yaw=-0.013 left_pitch=-0.0798 left_roll=0.0507 left_gripper=0.9983 right_x=0.4895 right_y=0.3773 right_z=0.2013 right_yaw=0.1519 right_pitch=-0.0678 right_roll=-0.5062 right_gripper=0.1523\nstate[joint_eff]: [-0.335, -2.2085, 6.8034, 1.6728, -0.0513, -0.0513, -0.0122, 0.0889, -14.5299, 8.212, 1.0867, 0.5836, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10e84ac6d99e2270f5bf6a708417bfdf5c1f18ff0a7268c87a5d550268b3c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a46c87e42a8d486002560bf35662032c128cc6f17f1c6d4e9d8161d866ae81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87041d6ac62442b674fa68a4461ec2db36c3d633facbef53fa5d1d5385eb8ea5",
        "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]: [-0.0418, 0.9417, 0.9207, -0.6132, -0.0509, 0.0231, 0.9983, 0.5533, 1.9648, 1.7035, -0.3546, 0.4248, 0.1719, 0.1526]\nstate[eef_state]: left_x=0.3098 left_y=-0.0004 left_z=0.2344 left_yaw=-0.0134 left_pitch=-0.0753 left_roll=0.0504 left_gripper=0.9983 right_x=0.5147 right_y=0.2366 right_z=0.2171 right_yaw=0.0997 right_pitch=0.0036 right_roll=-0.0941 right_gripper=0.1526\nstate[joint_eff]: [-0.1846, -2.0855, 6.8308, 1.7216, -0.0415, -0.0366, -0.0122, 0.3624, -15.3641, 10.9197, 1.8388, 0.2418, 0.0366, 1.033]\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]: [-0.0418, 0.9428, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.7979, 2.413, 2.4557, -0.7673, 0.5911, 0.3183, 0.1524]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2341 left_yaw=-0.013 left_pitch=-0.0764 left_roll=0.0506 left_gripper=0.9983 right_x=0.5019 right_y=0.3787 right_z=0.2147 right_yaw=0.1343 right_pitch=-0.0263 right_roll=-0.116 right_gripper=0.1524\nstate[joint_eff]: [-0.0615, -2.0308, 6.8171, 1.6484, -0.0317, -0.0708, -0.0122, 0.3897, -14.4615, 9.2923, 1.4383, 0.4322, 0.1538, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0418, 0.9463, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.8581, 2.7171, 2.999, -1.1374, 0.8043, 0.0879, 0.1523]\nstate[eef_state]: left_x=0.3104 left_y=-0.0003 left_z=0.2331 left_yaw=-0.013 left_pitch=-0.0798 left_roll=0.0507 left_gripper=0.9983 right_x=0.4895 right_y=0.3773 right_z=0.2013 right_yaw=0.1519 right_pitch=-0.0678 right_roll=-0.5062 right_gripper=0.1523\nstate[joint_eff]: [-0.335, -2.2085, 6.8034, 1.6728, -0.0513, -0.0513, -0.0122, 0.0889, -14.5299, 8.212, 1.0867, 0.5836, -0.0659, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10e84ac6d99e2270f5bf6a708417bfdf5c1f18ff0a7268c87a5d550268b3c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60a46c87e42a8d486002560bf35662032c128cc6f17f1c6d4e9d8161d866ae81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87041d6ac62442b674fa68a4461ec2db36c3d633facbef53fa5d1d5385eb8ea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgoKEAgRGAI4AUIIdGhpbmtpbmcSDF8nuPLBAZPeGnAD9RoMbdf9K2DfjmcGR4sTIjCF3rI/PhWkoL9kx8RSfepWormWcT/DJbls5EmwRTZQxkYJRfxq9oN6CXVzLCEnCjQq2wlzu9COkRMRqKalXIMQq1zPJ5b7hxTPdJJKM3KtVuhlar2OqnjZxdDABYAY5yiGY2rQfUoSihcBmlqJINFSGkOou62Ib/ft9on7t8wsctnHzbzcv6ldIyMRL55ReBXXDc69DjAJks/gbxSnivPTqPO5piiw5kxqPwkPM6VvypcIlnOk+1zoJVG1oShrFdNqI4aiSd8oEga2OMEGgB7/5/ko8Fi8GeCrLhEdyBTwv+HRd0dOlJLz+8gbFsekJB516Irfj7jCH2MvFlyQeh44G7aFvyEwg1auvVZSvv1KlovkDk2GJE8RIVKWNGLpaLTzNgr6yZpokKYIIq7GBob3rg/Bsu8JeRJLU0vMD3M7IYKHr2dKj6cdPamMIxxYnwZhTb4jS34xaPbVAh04+aIRQPMblv7g0dnCxslrqFNwXzuvg1L6ogD0qeXIRyhogc0qlYGYgma+5zwWC7Vkgxsd4FmXQzCnwMxl2SENCWymwzcjm6zGmAkYxa13xSINspdarhgyLd3lw21Z4vFAXAlR8VOw1tY1jDvB21lczG6Pm+ie8i+lhpuuDMNHfIODAjsd3UQZBjBa+uk8OsByemH5n394vnsPOlFrX/7syFSA/V+Q12U2LR0KX+T2RO44BAMcBDS12sL8NuCavwe9NSgUQm64bT0CNSYplHMQmCXI3unpeWuHRKLR2b/ApS5ILZcN9UvBgAk0b1KpqTMu5hVYkScsAIsDFuLnFCdFL/S7c2Z3Q5hkLKessAJWjA1Epek9ddOi66NMpg8a0QGwmNlB2k2AzvbGeTuI4g/Tg82nmx1uopIF1r6SUT7ZHeOaovAyP9lB41eeit0cog+cn8KK0BSXW37x2yx+J7Pb+5uig2Z4+XblIvQmYdsMI0eOuL3g9pJTfm2/oPg6jgQCiAFeBYEvZuwGnkUs/AQ1SntHWMoJQSl3jMl939rOiS0awAWw8yX013F+OvjQKQihmWQ4LiMnplRewqi0U4gI++D+/8Bhz1RPIeLePYOvzub33XCzZwzTru9XPzC9leSqa4asstdTGgKSSxqBdxgK2ve7l7vEm6yYeg2qKPREwU6dzyvxGzUflF5vI5jWfMr2ctNDsp+g5fsXFfgH9h9Xwq+009MP/rL7O21vX/vjIt0XdDrvnlxt3fz9hgZp/kscEStUUKRmtbbvF+Bj01036cgtWofpcCsbqxEerd3diDCohmeEqMLclXvgZk03Q1yRlNnNJxr6vpq4ne708Z3XgcXLby3SE7wqscVX2MNhgxtxRL5ksZ9NqIsMse/EaZhUBwBjue7DIGu9GvKHw4nXyVc/O5Y9EA/39rdSVa8/yAVGhJ8WENSmxpuoaTsa0/mrXhdiPpblteQLp2HuNF+mf313vF+dYo7PCyn1SnDmWjdOTTaoB0KCRC+aoMGfmauwwO0JQY3VS9bvO1SRhEf/TrAHArHGarbPmv5dIL1FQo1rMGjtOFjOXSQcjT0iq3oMkS1t1wz80QaEaMtXSHubeMQcxbBWfmTEjkEAmYIChBEDM4d1pBtHQ+E6IHDZmN1y5JbxZLgXeA9+eZD3NMCwB7psFG7IpBmN+tA3s9AKCYU1vUtWEkGt6P7j9KAmPrdcUDibKBwUNUSBmJracSGOqC29QZJx0fFxQghUnZCd6shWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0157KYQ7xVM1R5KqDYD51ATE",
      "input": {
        "note": "Roll only reached -0.5 and the jug's neck sits just short of the red cup in the overhead. Pushing the roll further toward -1.4 while lifting slightly to bring the neck over the cup.",
        "targets": {
          "right_gripper": 0.0,
          "right_roll": -1.4,
          "right_x": 0.49,
          "right_y": 0.4,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0157KYQ7xVM1R5KqDYD51ATE",
      "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]: [-0.0418, 0.9474, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.9489, 2.7758, 2.9765, -0.8848, 1.2137, -0.6754, 0.1519]\nstate[eef_state]: left_x=0.3106 left_y=-0.0003 left_z=0.2328 left_yaw=-0.013 left_pitch=-0.0806 left_roll=0.0508 left_gripper=0.9983 right_x=0.4794 right_y=0.3909 right_z=0.2309 right_yaw=0.2003 right_pitch=-0.056 right_roll=-1.2476 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -2.1128, 6.8171, 1.7216, -0.0611, -0.0562, -0.0122, -0.4581, -14.2564, 8.1983, 1.199, 0.8132, -0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ffc4cfa74782c65040aaf685a2ffbd618fd9e04adfa4384b23f3034c7a802ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0bb256191e21424ba0965f088059203e21d526d3d459de0c9d4b7a91d361aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84c6fc5e8e0e67c1f7f6f43733238e5b87cdb9cbc27f5c16894ef12509e7abcf",
        "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 · 8.652 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]: [-0.0418, 0.9428, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.7979, 2.413, 2.4557, -0.7673, 0.5911, 0.3183, 0.1524]\nstate[eef_state]: left_x=0.3099 left_y=-0.0003 left_z=0.2341 left_yaw=-0.013 left_pitch=-0.0764 left_roll=0.0506 left_gripper=0.9983 right_x=0.5019 right_y=0.3787 right_z=0.2147 right_yaw=0.1343 right_pitch=-0.0263 right_roll=-0.116 right_gripper=0.1524\nstate[joint_eff]: [-0.0615, -2.0308, 6.8171, 1.6484, -0.0317, -0.0708, -0.0122, 0.3897, -14.4615, 9.2923, 1.4383, 0.4322, 0.1538, 1.033]\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]: [-0.0418, 0.9463, 0.9207, -0.6132, -0.0513, 0.0231, 0.9983, 0.8581, 2.7171, 2.999, -1.1374, 0.8043, 0.0879, 0.1523]\nstate[eef_state]: left_x=0.3104 left_y=-0.0003 left_z=0.2331 left_yaw=-0.013 left_pitch=-0.0798 left_roll=0.0507 left_gripper=0.9983 right_x=0.4895 right_y=0.3773 right_z=0.2013 right_yaw=0.1519 right_pitch=-0.0678 right_roll=-0.5062 right_gripper=0.1523\nstate[joint_eff]: [-0.335, -2.2085, 6.8034, 1.6728, -0.0513, -0.0513, -0.0122, 0.0889, -14.5299, 8.212, 1.0867, 0.5836, -0.0659, 1.0232]\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]: [-0.0418, 0.9474, 0.9207, -0.6128, -0.0513, 0.0231, 0.9983, 0.9489, 2.7758, 2.9765, -0.8848, 1.2137, -0.6754, 0.1519]\nstate[eef_state]: left_x=0.3106 left_y=-0.0003 left_z=0.2328 left_yaw=-0.013 left_pitch=-0.0806 left_roll=0.0508 left_gripper=0.9983 right_x=0.4794 right_y=0.3909 right_z=0.2309 right_yaw=0.2003 right_pitch=-0.056 right_roll=-1.2476 right_gripper=0.1519\nstate[joint_eff]: [-0.1846, -2.1128, 6.8171, 1.7216, -0.0611, -0.0562, -0.0122, -0.4581, -14.2564, 8.1983, 1.199, 0.8132, -0.0855, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ffc4cfa74782c65040aaf685a2ffbd618fd9e04adfa4384b23f3034c7a802ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0bb256191e21424ba0965f088059203e21d526d3d459de0c9d4b7a91d361aa7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c6fc5e8e0e67c1f7f6f43733238e5b87cdb9cbc27f5c16894ef12509e7abcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgsKEAgRGAI4AUIIdGhpbmtpbmcSDLUOY0tL/o01N8PjuhoMjYrQrfNM2kFd1mm/IjBMfZcjyW39mggN+p66CT3tK4szYFEO4AZgzVaha02T/F9FOcTXc70CPO9Z8YUFjm4qowo0HtMlGMahHO92U+1uoaz3TLA2RboUe9CwFvV6JI8bocI7Pw6tScs4reNf8tTJhg2rIWZYAnPSzPAkng9HCLT+2jAo3xnt28NV0he0JJzR3TLat01T9wGV7I/PK460wQpC22nfe89oEqD4uNFB5hG2bfEqgpcOvL+FK9O07j9g+G6GuWzriUEMCS6EcECRazPSDXL6np4ncUPBHib/+hIzxfylI9/8wz0cgbDxpw2PIWrPtbADG+aQ6Yg1yQNpqGhOx72sovF1jkSzTsCwPCfBFoJLD35tqTfI+qGzEfARySldIcBh580Fm8ZGdAVj1DkRnNs6GFGt2NCUcs87n680Z9gC+3uhDFcjS6QwLEuj+qOMoT3Qsj6yuhqxGSD3HwnyPSrBbRnwYsTatnzlJijo267Ha6vla8ySynXENkLP5CBjTxtDnrad/mH0AVmheLU871PtpPbTTmduPQad9V/Bu4p3M/1xCtNDP8SoJZ1QyPLrzOHJSuH7DHD9Ojgpmt0LNtvELl04q79E+AqwEyqzRahwsSgIthk81unZCdz4dv1pGKwxhOUpMWZjh1wrAXsBc5Ue3P/6vBlEKz0ZwJRJn7B4O8OUpbktD4vyw3BHJXqcZ/eeQh6km94vKinQvxFNXMUXyVxGUX7i8tQK9N8rEyaVpoed79/Y7zVjLB6uP7ejUzyuSz2T06C6sNZENDG+OTPvYeyCkqQt1veQBywEs71f+RR2XfNJdI4eiM5ZGjMW0olxU0zguGk5mL/qS0lg700JxoIu/7STeUYtbyh/ud7EWlf0KfyuOvwExlK5rqh0zuKVa/wlNY9CX2a1KExkU+tM1+sV1yVKrQFPhUoa2o0kTBebmBvNwSq7KNzTPvUT6b4Dz0riPWxdqHjuy4ZJeyc+wHy2aM2FIvcSYxUrq6lFaMFAJTLQXHmmhSH0KdBaRoBN6UVFeEl++SiELdbZv4Tz3HDMaGSpaelO6Aql131UVZJGADeYlu1QG9g/5TpGcr8EH4ZqYGMBJhz5TyxBs3zWHWn+twXVlStX3dO6bZmFpSoSe8c5gCa/uu135ApYFm2NIxVHO6d6vleM2vfo5rI2uCvu+OrxLGxb4hGayWXsFRooslbAmr05cB2ZcAz5xTWzHKNpQ5t35I7cT8oWq/LhbpSA662EcJkLUQiAodGgY2ukHajpDZhe58Nf1lezEgn0okI5wfh4vtOd/tvQNuztxCPtKtBOOW3wCOkX002GSmLAZj/jdBwkm12KOm+jeocGEZjVorrDu5bEAwjglpySBueXtgIPY8ZgOlJEyCrYn5OOgmZF+eiiIWsfAe9PHZErYNaXPovwLsrg8/c0WaQjTl+CQQ+AlJtYcACCmrEZniVvN6aKwrLu1yRkiexKe4keRuN8z4iioRMgJVQTZCE6dv+ggqXnx9cw8s7jXsyH7QbtHe/31rgfUah+kkysGGyTq0rI13Mu3Rx5ntV1LhHtYQQnYxCAmhpwKOcLL4YeV8vYuGn+tSk5yoFMMMmRiGt8rZE0HETAFSObKnlnvrEyzJ/6yJnc9g1VuOXIW/t6TFPTHdYlgZqO0NGan4Jci/6k/RYTcGikGVrbeFgZgDq7xYsnP3ZIefwcaSviJW3Sw4Bq7hcG92kIEfNLcwv5MKMwBg8vYYs+PYKYk8lulS9Yar9WtP5sEeaR9vqbDpESurjuSzhtXE+gHsQQluJLf6slTquVAjJYRYvJ6EANNqwIxDGZ4Q/4WxAsVRX8HO9bGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015sLx9pAqzWeUqgFMqHR5mi",
      "input": {
        "note": "The jug is nearly horizontal with its mouth beside the red cup rim in the overhead view. Finishing the roll to -1.57 rad so it pours into the cup.",
        "targets": {
          "right_gripper": 0.0,
          "right_roll": -1.57,
          "right_x": 0.48,
          "right_y": 0.4,
          "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_015sLx9pAqzWeUqgFMqHR5mi",
      "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]: [-0.0418, 0.9482, 0.9207, -0.6132, -0.0513, 0.0227, 0.9983, 0.9585, 2.8902, 3.1252, -0.5892, 1.2987, -1.1896, 0.1518]\nstate[eef_state]: left_x=0.3106 left_y=-0.0003 left_z=0.2325 left_yaw=-0.0128 left_pitch=-0.0817 left_roll=0.0505 left_gripper=0.9983 right_x=0.4872 right_y=0.4038 right_z=0.2525 right_yaw=0.2037 right_pitch=-0.0514 right_roll=-1.4872 right_gripper=0.1518\nstate[joint_eff]: [-0.0615, -1.9761, 6.9265, 1.6581, -0.0415, -0.0659, -0.0073, 0.9915, -12.7795, 7.6923, 1.2527, 0.3346, -0.2369, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f5be9923fb7234b2455dc11b34133b39b60fd6cab36729856944ce91b9c750",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:920fa20e60d67b5f8fd9c74233b37250bec86ee462e2f342919ada097a36f4ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06691448af520c98b81a452c43b4f64f64d060b148a315f38be18afa72bd8c06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]