adhoc

completed
2026-09-18T17:19:26.537022+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
486.2 s
total steps
162
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
agent noteTop view shows two white jugs mid-table and a red cup far-center-right; the left jug appears at the right edge of the left wrist cam, so it is a bit forward and ~15-20 cm to the right of the left gripper. Moving the left arm toward the jug at neck height to line up.
move_to
left_x0.3200left_y-0.1800left_z0.1600left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0227, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0116, -0.0257, 0.9998] state[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5675, -1.5248, 9.4838, 1.7949, -0.0269, 0.1587, -0.0562, -0.7043, -1.4974, 9.9897, 1.7411, -0.1343, 0.1294, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.18, "left_z": 0.16, "left_gripper": 1.0}, "note": "Top view shows two white jugs mid-table and a red cup far-center-right; the left jug appears at the right edge of the left wrist cam, so it is a bit forward and ~15-20 cm to the right of the left gripper. Moving the left arm toward the jug at neck height to line up."})
tool
executing move_to over 17 steps (1.7s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe wrist cam is filled by the Clorox jug body just ahead and slightly left of the jaws; its top seems near the current gripper height. Raising and advancing so I can look down on the jug's neck and center it before descending to grasp.
move_to
left_x0.3600left_y-0.1850left_z0.2300
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]: [-0.8242, 1.3163, 0.7883, -0.2665, -0.6556, -0.548, 0.9996, -0.0189, 0.7967, 0.6086, -0.3843, -0.0185, -0.0238, 0.9998] state[eef_state]: left_x=0.3144 left_y=-0.176 left_z=0.1461 left_yaw=-0.0139 left_pitch=-0.0372 left_roll=0.0213 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1805 right_yaw=0.0014 right_pitch=-0.0083 right_roll=0.0055 right_gripper=0.9998 state[joint_eff]: [-0.212, -4.9436, 9.0051, 1.5702, -0.5397, -0.022, -0.0562, 0.2393, -1.0735, 7.2274, 1.8144, 0.022, -0.0659, -0.0122] camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.185, "left_z": 0.23}, "note": "The wrist cam is filled by the Clorox jug body just ahead and slightly left of the jaws; its top seems near the current gripper height. Raising and advancing so I can look down on the jug's neck and center it before descending to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteWrist cam now shows the jug's open spout about 5-6 cm to the arm's left of the jaw column and slightly forward; blue and red cups are visible farther ahead. Shifting left and slightly forward to center the jug neck under the jaws.
move_to
left_x0.3700left_y-0.1300left_z0.2300
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]: [-0.7277, 1.4204, 1.1683, -0.5064, -0.5938, -0.4938, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.3593 left_y=-0.1828 left_z=0.2212 left_yaw=0.0073 left_pitch=-0.0426 left_roll=0.0098 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0091 right_roll=0.006 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.7231, 9.1419, 1.2967, -0.2125, 0.2418, -0.0171, -0.253, -1.2786, 7.0359, 1.707, -0.0757, -0.0366, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.13, "left_z": 0.23}, "note": "Wrist cam now shows the jug's open spout about 5-6 cm to the arm's left of the jaw column and slightly forward; blue and red cups are visible farther ahead. Shifting left and slightly forward to center the jug neck under the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteThe jug's spout is now centered on the jaw column but a few cm forward of the fingertips. Advancing ~3 cm and descending so the open jaws straddle the jug's neck just below the spout.
move_to
left_x0.4000left_y-0.1280left_z0.1800
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, 1.3518, 1.116, -0.4961, -0.4763, -0.384, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998] state[eef_state]: left_x=0.3717 left_y=-0.1278 left_z=0.2192 left_yaw=0.0371 left_pitch=-0.0719 left_roll=0.0199 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0091 right_roll=0.0058 right_gripper=0.9998 state[joint_eff]: [-0.5128, -7.7333, 6.5026, 1.707, -0.1001, 0.149, -0.0171, -0.335, -1.1009, 7.0359, 1.7558, -0.0171, -0.0562, -0.0122] camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.128, "left_z": 0.18}, "note": "The jug's spout is now centered on the jaw column but a few cm forward of the fingertips. Advancing ~3 cm and descending so the open jaws straddle the jug's neck just below the spout."})
tool
executing move_to over 3 steps (0.3s)
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 spout opening now sits between the jaw wedges at the bottom of the wrist view, essentially at the grasp point. Descending ~2.5 cm and 1 cm forward so the jaws straddle the neck, then I'll close.
move_to
left_x0.4100left_y-0.1250left_z0.1500
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]: [-0.4976, 1.4635, 1.0477, -0.3309, -0.4438, -0.3626, 0.9995, -0.02, 0.7975, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998] state[eef_state]: left_x=0.3971 left_y=-0.1253 left_z=0.1746 left_yaw=0.0512 left_pitch=-0.0966 left_roll=0.0265 left_gripper=0.9995 right_x=0.2949 right_y=0.001 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0099 right_roll=0.0058 right_gripper=0.9998 state[joint_eff]: [0.1846, -6.8171, 6.5846, 1.8144, -0.1636, 0.105, -0.0171, -0.1573, -1.347, 7.159, 1.7314, -0.0366, -0.0366, -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": 0.41, "left_y": -0.125, "left_z": 0.15}, "note": "The spout opening now sits between the jaw wedges at the bottom of the wrist view, essentially at the grasp point. Descending ~2.5 cm and 1 cm forward so the jaws straddle the neck, then I'll close."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe arm did not descend on the last command (z still 0.175), possibly a short move that didn't settle. Commanding a deeper target to z=0.13 to get the jaws down around the neck; I'll watch for contact.
move_to
left_x0.4100left_y-0.1250left_z0.1300
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]: [-0.4988, 1.4662, 1.0477, -0.3233, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1748 left_yaw=0.0498 left_pitch=-0.0924 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998 state[joint_eff]: [-0.3077, -7.0359, 6.5573, 1.746, -0.1978, 0.0855, -0.0122, 0.0342, -1.2923, 7.2137, 1.707, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.125, "left_z": 0.13}, "note": "The arm did not descend on the last command (z still 0.175), possibly a short move that didn't settle. Commanding a deeper target to z=0.13 to get the jaws down around the neck; I'll watch for contact."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe descent is blocked at z≈0.175: the open jaws are resting on the jug's shoulder, which is wider than the jaw stroke, so the spout neck is between the fingertips right now. Closing the gripper on the neck.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3229, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998] state[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1749 left_yaw=0.0498 left_pitch=-0.0921 left_roll=0.0237 left_gripper=0.9996 right_x=0.2949 right_y=0.0009 right_z=0.18 right_yaw=0.0 right_pitch=-0.0102 right_roll=0.0058 right_gripper=0.9998 state[joint_eff]: [-0.0479, -7.1726, 6.5573, 1.7363, -0.1636, 0.0855, -0.0171, -0.1162, -1.265, 7.0359, 1.7509, -0.0317, -0.0708, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The descent is blocked at z\u22480.175: the open jaws are resting on the jug's shoulder, which is wider than the jaw stroke, so the spout neck is between the fingertips right now. Closing the gripper on the neck."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteGripper settled at 0.22 (~2 cm), so it has pinched part of the spout rim and the jug looks tilted toward the arm in the wrist view. Lifting 5 cm to check whether the jug comes along.
move_to
left_z0.2300
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]: [-0.4988, 1.4662, 1.0477, -0.3252, -0.4438, -0.3664, 0.2237, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.3978 left_y=-0.1262 left_z=0.1745 left_yaw=0.0519 left_pitch=-0.094 left_roll=0.0219 left_gripper=0.2237 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998 state[joint_eff]: [-0.2256, -6.5709, 6.8034, 1.5604, -0.2125, 0.0073, 1.0281, -0.212, -1.2239, 7.2, 1.7411, -0.0317, -0.0806, -0.0171] 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_z": 0.23}, "note": "Gripper settled at 0.22 (~2 cm), so it has pinched part of the spout rim and the jug looks tilted toward the arm in the wrist view. Lifting 5 cm to check whether the jug comes along."})
tool
executing move_to over 4 steps (0.4s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe jug lifted with the gripper (still visible hanging ahead of the jaws in the wrist view). Carrying it high toward the red cup's estimated position to the right and forward, where I'll re-check alignment in the wrist camera.
move_to
left_x0.4400left_y-0.3000left_z0.3000
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]: [-0.4988, 1.4662, 1.2274, -0.5507, -0.4408, -0.3748, 0.2245, -0.02, 0.7986, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.3948 left_y=-0.1252 left_z=0.2119 left_yaw=0.0568 left_pitch=-0.1338 left_roll=0.0377 left_gripper=0.2245 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.011 right_roll=0.006 right_gripper=0.9998 state[joint_eff]: [-0.2256, -7.6923, 9.3333, 1.5018, -0.2564, 0.0464, 0.9206, -0.0342, -0.9368, 7.159, 1.7118, -0.0415, -0.0464, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.3, "left_z": 0.3}, "note": "The jug lifted with the gripper (still visible hanging ahead of the jaws in the wrist view). Carrying it high toward the red cup's estimated position to the right and forward, where I'll re-check alignment in the wrist camera."})
tool
executing move_to over 16 steps (1.6s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteWrist view shows the red cup ahead and to the right of the hanging jug; the top view confirms the cup just right of the gripper. Moving further right and forward while raising, since the jug hangs ~20 cm below the grasp point and must clear the cup rim.
move_to
left_x0.5000left_y-0.4000left_z0.3400
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]: [-0.791, 2.2772, 2.6396, -1.3102, -0.6247, -0.651, 0.2267, -0.02, 0.8005, 0.6086, -0.3859, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.4442 left_y=-0.2972 left_z=0.2826 left_yaw=0.0642 left_pitch=-0.1558 left_roll=0.0375 left_gripper=0.2267 right_x=0.295 right_y=0.001 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0061 right_gripper=0.9998 state[joint_eff]: [-0.7316, -8.5949, 4.3966, 0.4469, -0.2369, 0.3053, 0.5104, -0.3624, -1.347, 7.159, 1.7167, -0.0562, -0.0513, -0.0122] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.4, "left_z": 0.34}, "note": "Wrist view shows the red cup ahead and to the right of the hanging jug; the top view confirms the cup just right of the gripper. Moving further right and forward while raising, since the jug hangs ~20 cm below the grasp point and must clear the cup rim."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteThe arm stalled at x≈0.45, z≈0.27 — it is at its reach limit at this height with the wrist pointing down. Lowering the target height slightly to gain radial reach while moving the grasp point toward the red cup, which the top view shows just right and ahead of the gripper.
move_to
left_x0.5000left_y-0.3600left_z0.2400
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]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.6216, -0.6743, 0.2298, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0602 left_pitch=-0.1722 left_roll=0.0362 left_gripper=0.2298 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998 state[joint_eff]: [-0.4991, -12.9436, 6.3795, 1.2869, -0.4762, 0.0904, 0.315, -0.0615, -1.4564, 7.0359, 1.7558, -0.0562, -0.0562, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.5, "left_y": -0.36, "left_z": 0.24}, "note": "The arm stalled at x\u22480.45, z\u22480.27 \u2014 it is at its reach limit at this height with the wrist pointing down. Lowering the target height slightly to gain radial reach while moving the grasp point toward the red cup, which the top view shows just right and ahead of the gripper."})
tool
executing move_to over 5 steps (0.5s)
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 arm did not move at all toward the last target, so it was likely unreachable and held. Trying a nearer, lower target to get the arm moving again and gain reach toward the red cup.
move_to
left_x0.4300left_y-0.3300left_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.622, -0.6743, 0.2318, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0604 left_pitch=-0.172 left_roll=0.0364 left_gripper=0.2318 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998 state[joint_eff]: [-0.4991, -13.053, 6.0786, 1.2772, -0.4908, 0.0855, 0.1929, -0.1709, -1.0872, 7.0769, 1.7265, -0.0464, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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": 0.43, "left_y": -0.33, "left_z": 0.22}, "note": "The arm did not move at all toward the last target, so it was likely unreachable and held. Trying a nearer, lower target to get the arm moving again and gain reach toward the red cup."})
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 left arm is near its reach limit and I can't pin down the red cup's distance from the oblique top view. Sending the idle right arm to hover at rim height next to where I believe the red cup is, so the top camera shows the gripper and cup at the same height for a direct comparison.
move_to
right_x0.5000right_y0.2400right_z0.1300right_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]: [-0.8471, 2.6389, 3.1188, -1.5066, -0.6285, -0.7193, 0.2341, -0.02, 0.8043, 0.6086, -0.3855, -0.0189, -0.0235, 0.9998] state[eef_state]: left_x=0.4455 left_y=-0.3419 left_z=0.2234 left_yaw=0.0587 left_pitch=-0.2016 left_roll=0.0503 left_gripper=0.2341 right_x=0.2953 right_y=0.001 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0171 right_roll=0.0062 right_gripper=0.9998 state[joint_eff]: [-0.5402, -15.1316, 6.735, 1.1062, -0.5495, -0.1294, 0.232, -0.212, -1.1829, 7.0632, 1.7021, -0.0464, -0.0513, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). 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": {"right_x": 0.5, "right_y": 0.24, "right_z": 0.13, "right_gripper": 1.0}, "note": "The left arm is near its reach limit and I can't pin down the red cup's distance from the oblique top view. Sending the idle right arm to hover at rim height next to where I believe the red cup is, so the top camera shows the gripper and cup at the same height for a direct comparison."})
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
agent noteThe right gripper has run into the jug hanging from the left arm (right cam is filled with white plastic and the left arm was nudged in yaw). Backing the right arm away immediately toward its home side.
move_to
right_x0.3500right_y0.0500right_z0.2200
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7261, 2.6583, 3.1176, -1.5192, -0.7254, -0.7269, 0.2355, 0.5472, 1.9591, 1.3491, -0.1001, 0.4538, 0.3126, 0.9998] state[eef_state]: left_x=0.4882 left_y=-0.272 left_z=0.2208 left_yaw=0.2462 left_pitch=-0.1532 left_roll=0.122 left_gripper=0.2355 right_x=0.49 right_y=0.2121 right_z=0.1161 right_yaw=-0.0069 right_pitch=-0.0623 right_roll=-0.0238 right_gripper=0.9998 state[joint_eff]: [-10.2359, -15.4462, 5.2308, 1.1795, 0.7937, 0.0757, 0.1343, 3.3573, -8.0615, 11.8906, 1.5458, 0.3785, 0.2173, -0.0366] 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
move_to({"targets": {"right_x": 0.35, "right_y": 0.05, "right_z": 0.22}, "note": "The right gripper has run into the jug hanging from the left arm (right cam is filled with white plastic and the left arm was nudged in yaw). Backing the right arm away immediately toward its home side."})
tool
executing move_to over 14 steps (1.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteThe right cam shows the red cup far forward-left of the right arm, i.e. beyond the left arm's y bound and reach. New plan: set the jug down near the table's centre-right where the right arm can regrasp it and pour. Moving the jug over that spot first.
move_to
left_x0.4200left_y-0.3800left_z0.2100left_yaw0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.7261, 2.6446, 3.0585, -1.499, -0.7174, -0.7486, 0.2368, 0.2501, 1.1526, 0.9485, -0.4129, 0.2379, 0.1322, 0.9998] state[eef_state]: left_x=0.4885 left_y=-0.2737 left_z=0.2118 left_yaw=0.2568 left_pitch=-0.1715 left_roll=0.1227 left_gripper=0.2368 right_x=0.3603 right_y=0.0528 right_z=0.2226 right_yaw=-0.0291 right_pitch=-0.0333 right_roll=-0.0124 right_gripper=0.9998 state[joint_eff]: [-0.6222, -15.0359, 5.1761, 1.1355, -0.4615, 0.1099, 0.1343, -0.1846, -3.9726, 6.735, 1.8242, 0.0855, -0.1099, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.38, "left_z": 0.21, "left_yaw": 0.0}, "note": "The right cam shows the red cup far forward-left of the right arm, i.e. beyond the left arm's y bound and reach. New plan: set the jug down near the table's centre-right where the right arm can regrasp it and pour. Moving the jug over that spot first."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteJug is hanging over the centre-right spot where the right arm can reach it. Lowering until the jug's base touches the table so it stands upright before I release it.
move_to
left_z0.0600
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]: [-0.9279, 2.6797, 3.1065, -1.5238, -0.6945, -0.7448, 0.2386, 0.2428, 1.1587, 0.9447, -0.4332, 0.2237, 0.1127, 0.9998] state[eef_state]: left_x=0.4221 left_y=-0.369 left_z=0.2027 left_yaw=0.0421 left_pitch=-0.1952 left_roll=0.124 left_gripper=0.2386 right_x=0.3579 right_y=0.052 right_z=0.2146 right_yaw=-0.0146 right_pitch=-0.0648 right_roll=-0.0283 right_gripper=0.9998 state[joint_eff]: [-0.6769, -14.9538, 4.8342, 1.37, -0.398, 0.3687, 0.1685, 0.3624, -4.465, 7.2684, 1.8242, 0.1343, 0.1392, -0.0171] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06}, "note": "Jug is hanging over the centre-right spot where the right arm can reach it. Lowering until the jug's base touches the table so it stands upright before I release it."})
tool
executing move_to over 10 steps (1.0s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteThe jug touched down standing right beside the red cup, which the top view now shows just left (arm's +y) and slightly beyond the jug — closer than I feared. Lifting the jug again so I can position its spout over the cup and pour with the left arm.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9298, 2.8326, 3.1428, -1.2591, -0.7959, -0.794, 0.2403, 0.2333, 1.1637, 0.9401, -0.469, 0.2459, 0.1123, 0.9998] state[eef_state]: left_x=0.4624 left_y=-0.4028 left_z=0.1669 left_yaw=0.1105 left_pitch=-0.0407 left_roll=0.0066 left_gripper=0.2403 right_x=0.3531 right_y=0.0434 right_z=0.2046 right_yaw=-0.0434 right_pitch=-0.105 right_roll=-0.0539 right_gripper=0.9998 state[joint_eff]: [-0.5402, -4.6974, 5.6274, 0.3443, 0.7204, 0.2076, 0.1636, 0.5538, -4.1641, 7.3778, 2.0488, -0.2808, -0.0317, -0.0171] camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "The jug touched down standing right beside the red cup, which the top view now shows just left (arm's +y) and slightly beyond the jug \u2014 closer than I feared. Lifting the jug again so I can position its spout over the cup and pour with the left arm."})
tool
executing move_to over 6 steps (0.6s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteThe left arm cannot lift the jug here (stalled at z=0.18 with very high shoulder effort — reach limit). The jug is standing beside the red cup, so I'll release it and let the right arm, which reaches this spot more comfortably, do the pouring.
move_to
left_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]: [-0.9253, 2.5988, 2.7522, -1.1484, -0.7906, -0.8009, 0.2419, 0.2295, 1.1645, 0.9371, -0.4812, 0.2485, 0.1112, 0.9998] state[eef_state]: left_x=0.455 left_y=-0.3894 left_z=0.1822 left_yaw=0.1177 left_pitch=-0.0677 left_roll=0.0387 left_gripper=0.2419 right_x=0.3511 right_y=0.0411 right_z=0.2009 right_yaw=-0.0493 right_pitch=-0.12 right_roll=-0.0609 right_gripper=0.9998 state[joint_eff]: [-0.1026, -17.8393, 5.9009, 1.4237, -0.4811, 0.0855, 0.1538, 0.1436, -4.0137, 7.1453, 1.7021, 0.0073, -0.0415, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The left arm cannot lift the jug here (stalled at z=0.18 with very high shoulder effort \u2014 reach limit). The jug is standing beside the red cup, so I'll release it and let the right arm, which reaches this spot more comfortably, do the pouring."})
tool
executing move_to over 8 steps (0.8s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteJug released and standing next to the red cup. Retracting the left arm straight back and up so the open fingers slide off the spout without knocking the jug, before parking it.
move_to
left_x0.3600left_y-0.3900left_z0.2500
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.9253, 2.5881, 2.7464, -1.1347, -0.786, -0.8013, 0.9956, 0.2295, 1.1656, 0.9371, -0.4816, 0.2489, 0.1108, 0.9998] state[eef_state]: left_x=0.4554 left_y=-0.3909 left_z=0.1873 left_yaw=0.1142 left_pitch=-0.0615 left_roll=0.0203 left_gripper=0.9956 right_x=0.3511 right_y=0.041 right_z=0.2004 right_yaw=-0.0495 right_pitch=-0.1214 right_roll=-0.0618 right_gripper=0.9998 state[joint_eff]: [-0.253, -18.0991, 5.7915, 1.2918, -0.4567, 0.0757, -0.232, -0.1299, -3.8906, 6.8991, 1.6044, 0.0122, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.39, "left_z": 0.25}, "note": "Jug released and standing next to the red cup. Retracting the left arm straight back and up so the open fingers slide off the spout without knocking the jug, before parking it."})
tool
executing move_to over 8 steps (0.8s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteThe jug is standing beside the red cup (handle now facing the arms). Parking the left arm at home so it stops blocking the view and the right arm can work.
move_to
left_x0.3000left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-1.0557, 2.4775, 2.6598, -1.3712, -0.8345, -0.976, 0.9967, 0.2237, 1.1614, 0.9371, -0.4782, 0.2417, 0.1081, 0.9998] state[eef_state]: left_x=0.3772 left_y=-0.3934 left_z=0.2032 left_yaw=0.119 left_pitch=-0.1121 left_roll=0.0909 left_gripper=0.9967 right_x=0.3514 right_y=0.0403 right_z=0.2022 right_yaw=-0.0475 right_pitch=-0.1154 right_roll=-0.0573 right_gripper=0.9998 state[joint_eff]: [-2.8103, -18.5094, 8.8274, 1.2821, -0.6081, -0.0317, 0.1099, 0.1436, -3.6308, 6.9949, 1.5849, 0.1099, -0.0024, -0.0171] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.18}, "note": "The jug is standing beside the red cup (handle now facing the arms). Parking the left arm at home so it stops blocking the view and the right arm can work."})
tool
executing move_to over 35 steps (3.5s)
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 · 38.63 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: pour the left container into the red cup, then pour the right container into the red cup",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0227, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0116, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.5248, 9.4838, 1.7949, -0.0269, 0.1587, -0.0562, -0.7043, -1.4974, 9.9897, 1.7411, -0.1343, 0.1294, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9d58626a78ceac53807145a41616d91830036199ba786d7c6108b89c6de7d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345bfa585c069fe87d2663bb8aff2f1bbf40216d635f65dfb53992eaa8b656e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8dcf5427961dfc9da58e9934ad5327013fedfde770582d3c050d5572130d49d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob aa9d58626a78
wire blob 345bfa585c06
wire blob 8dcf5427961d
call 1 attempt 0 · /messages · status 200 · 19.96 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0227, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0116, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.5248, 9.4838, 1.7949, -0.0269, 0.1587, -0.0562, -0.7043, -1.4974, 9.9897, 1.7411, -0.1343, 0.1294, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa9d58626a78ceac53807145a41616d91830036199ba786d7c6108b89c6de7d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:345bfa585c069fe87d2663bb8aff2f1bbf40216d635f65dfb53992eaa8b656e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dcf5427961dfc9da58e9934ad5327013fedfde770582d3c050d5572130d49d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob aa9d58626a78]
[blob 345bfa585c06]
[blob 8dcf5427961d]
{
  "content": [
    {
      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KXXMgzvdbfEE9sTtXtJeQ1",
      "input": {
        "note": "Top view shows two white jugs mid-table and a red cup far-center-right; the left jug appears at the right edge of the left wrist cam, so it is a bit forward and ~15-20 cm to the right of the left gripper. Moving the left arm toward the jug at neck height to line up.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.32,
          "left_y": -0.18,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01KXXMgzvdbfEE9sTtXtJeQ1",
      "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]: [-0.8242, 1.3163, 0.7883, -0.2665, -0.6556, -0.548, 0.9996, -0.0189, 0.7967, 0.6086, -0.3843, -0.0185, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3144 left_y=-0.176 left_z=0.1461 left_yaw=-0.0139 left_pitch=-0.0372 left_roll=0.0213 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1805 right_yaw=0.0014 right_pitch=-0.0083 right_roll=0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.9436, 9.0051, 1.5702, -0.5397, -0.022, -0.0562, 0.2393, -1.0735, 7.2274, 1.8144, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5779372b62e4d75f268707c5db677ff39f4eecd6836969a860dc2e8513e3663a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fb1e89e1eb6848991232d8bad8cd608b59d3b1f9a60c44e7d9089b444827df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:472b6b529b86d91d0c49c4aa21a699b7ccec37c71ca273c808ef87c6575a73dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 5779372b62e4
wire blob d7fb1e89e1eb
wire blob 472b6b529b86
call 2 attempt 0 · /messages · status 200 · 12.79 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0227, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0116, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.5248, 9.4838, 1.7949, -0.0269, 0.1587, -0.0562, -0.7043, -1.4974, 9.9897, 1.7411, -0.1343, 0.1294, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8242, 1.3163, 0.7883, -0.2665, -0.6556, -0.548, 0.9996, -0.0189, 0.7967, 0.6086, -0.3843, -0.0185, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3144 left_y=-0.176 left_z=0.1461 left_yaw=-0.0139 left_pitch=-0.0372 left_roll=0.0213 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1805 right_yaw=0.0014 right_pitch=-0.0083 right_roll=0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.9436, 9.0051, 1.5702, -0.5397, -0.022, -0.0562, 0.2393, -1.0735, 7.2274, 1.8144, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5779372b62e4d75f268707c5db677ff39f4eecd6836969a860dc2e8513e3663a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7fb1e89e1eb6848991232d8bad8cd608b59d3b1f9a60c44e7d9089b444827df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:472b6b529b86d91d0c49c4aa21a699b7ccec37c71ca273c808ef87c6575a73dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 5779372b62e4]
[blob d7fb1e89e1eb]
[blob 472b6b529b86]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VTh47dbQEsyd2RDjpbu1DG",
      "input": {
        "note": "The wrist cam is filled by the Clorox jug body just ahead and slightly left of the jaws; its top seems near the current gripper height. Raising and advancing so I can look down on the jug's neck and center it before descending to grasp.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.185,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VTh47dbQEsyd2RDjpbu1DG",
      "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]: [-0.7277, 1.4204, 1.1683, -0.5064, -0.5938, -0.4938, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1828 left_z=0.2212 left_yaw=0.0073 left_pitch=-0.0426 left_roll=0.0098 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0091 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.7231, 9.1419, 1.2967, -0.2125, 0.2418, -0.0171, -0.253, -1.2786, 7.0359, 1.707, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8cc8bb26911553773b6263f98e54334238c335c5d296addfec0de71d2b9f77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec81f8f524aa669593f4a80bc1605f0ec73f45dde6173f4a326d571dbc290cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a35bf4d69838ab561f335bd910cc2b304d1386027d86a59b7fc7ddfefc34c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob f8cc8bb26911
wire blob cec81f8f524a
wire blob 5a35bf4d6983
call 3 attempt 0 · /messages · status 200 · 10.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0193, 0.7986, 0.6144, -0.3801, -0.0227, -0.033, 0.9996, -0.0154, 0.7967, 0.6106, -0.3779, -0.0116, -0.0257, 0.9998]\nstate[eef_state]: left_x=0.2963 left_y=0.0019 left_z=0.1834 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.296 right_y=0.0011 right_z=0.1827 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5675, -1.5248, 9.4838, 1.7949, -0.0269, 0.1587, -0.0562, -0.7043, -1.4974, 9.9897, 1.7411, -0.1343, 0.1294, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8242, 1.3163, 0.7883, -0.2665, -0.6556, -0.548, 0.9996, -0.0189, 0.7967, 0.6086, -0.3843, -0.0185, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3144 left_y=-0.176 left_z=0.1461 left_yaw=-0.0139 left_pitch=-0.0372 left_roll=0.0213 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1805 right_yaw=0.0014 right_pitch=-0.0083 right_roll=0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.9436, 9.0051, 1.5702, -0.5397, -0.022, -0.0562, 0.2393, -1.0735, 7.2274, 1.8144, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7277, 1.4204, 1.1683, -0.5064, -0.5938, -0.4938, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1828 left_z=0.2212 left_yaw=0.0073 left_pitch=-0.0426 left_roll=0.0098 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0091 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.7231, 9.1419, 1.2967, -0.2125, 0.2418, -0.0171, -0.253, -1.2786, 7.0359, 1.707, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8cc8bb26911553773b6263f98e54334238c335c5d296addfec0de71d2b9f77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec81f8f524aa669593f4a80bc1605f0ec73f45dde6173f4a326d571dbc290cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a35bf4d69838ab561f335bd910cc2b304d1386027d86a59b7fc7ddfefc34c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob f8cc8bb26911]
[blob cec81f8f524a]
[blob 5a35bf4d6983]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018E5dAWtwMG6DeCfdkBTQC6",
      "input": {
        "note": "Wrist cam now shows the jug's open spout about 5-6 cm to the arm's left of the jaw column and slightly forward; blue and red cups are visible farther ahead. Shifting left and slightly forward to center the jug neck under the jaws.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.13,
          "left_z": 0.23
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_018E5dAWtwMG6DeCfdkBTQC6",
      "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, 1.3518, 1.116, -0.4961, -0.4763, -0.384, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3717 left_y=-0.1278 left_z=0.2192 left_yaw=0.0371 left_pitch=-0.0719 left_roll=0.0199 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0091 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.7333, 6.5026, 1.707, -0.1001, 0.149, -0.0171, -0.335, -1.1009, 7.0359, 1.7558, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abef1f126db7c89f62a5d80c669038103781edf3528592be2217ebda436567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663f42ffe5572b2777272df9652eaf093cc1aea752ab273ac5a5b3e8b128b528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78d35e3be71873b3a95ab280bbbfd8b117b4fdd24da28e90f2c6d8f34e8778bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 6abef1f126db
wire blob 663f42ffe557
wire blob 78d35e3be718
call 4 attempt 0 · /messages · status 200 · 9.773 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]: [-0.8242, 1.3163, 0.7883, -0.2665, -0.6556, -0.548, 0.9996, -0.0189, 0.7967, 0.6086, -0.3843, -0.0185, -0.0238, 0.9998]\nstate[eef_state]: left_x=0.3144 left_y=-0.176 left_z=0.1461 left_yaw=-0.0139 left_pitch=-0.0372 left_roll=0.0213 left_gripper=0.9996 right_x=0.2949 right_y=0.0013 right_z=0.1805 right_yaw=0.0014 right_pitch=-0.0083 right_roll=0.0055 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -4.9436, 9.0051, 1.5702, -0.5397, -0.022, -0.0562, 0.2393, -1.0735, 7.2274, 1.8144, 0.022, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.7277, 1.4204, 1.1683, -0.5064, -0.5938, -0.4938, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1828 left_z=0.2212 left_yaw=0.0073 left_pitch=-0.0426 left_roll=0.0098 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0091 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.7231, 9.1419, 1.2967, -0.2125, 0.2418, -0.0171, -0.253, -1.2786, 7.0359, 1.707, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.548, 1.3518, 1.116, -0.4961, -0.4763, -0.384, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3717 left_y=-0.1278 left_z=0.2192 left_yaw=0.0371 left_pitch=-0.0719 left_roll=0.0199 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0091 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.7333, 6.5026, 1.707, -0.1001, 0.149, -0.0171, -0.335, -1.1009, 7.0359, 1.7558, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abef1f126db7c89f62a5d80c669038103781edf3528592be2217ebda436567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663f42ffe5572b2777272df9652eaf093cc1aea752ab273ac5a5b3e8b128b528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d35e3be71873b3a95ab280bbbfd8b117b4fdd24da28e90f2c6d8f34e8778bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 6abef1f126db]
[blob 663f42ffe557]
[blob 78d35e3be718]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UNgrP43qGU3zzH6i5TuEi4",
      "input": {
        "note": "The jug's spout is now centered on the jaw column but a few cm forward of the fingertips. Advancing ~3 cm and descending so the open jaws straddle the jug's neck just below the spout.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.128,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UNgrP43qGU3zzH6i5TuEi4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4976, 1.4635, 1.0477, -0.3309, -0.4438, -0.3626, 0.9995, -0.02, 0.7975, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.1253 left_z=0.1746 left_yaw=0.0512 left_pitch=-0.0966 left_roll=0.0265 left_gripper=0.9995 right_x=0.2949 right_y=0.001 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0099 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.8171, 6.5846, 1.8144, -0.1636, 0.105, -0.0171, -0.1573, -1.347, 7.159, 1.7314, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b4cf854c3c2c9ae49dde7645ccc499b144bb15f15b4659f2d91e895267fbad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e74736fa54e82848b8572b42d4bdfc9bcd76fb1ecf5c95e944c843401f84f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c94462fb5b382fab9bac89ed92278c46cd5c24137702a39a4bd90997f3865d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
wire blob 38b4cf854c3c
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 8.601 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]: [-0.7277, 1.4204, 1.1683, -0.5064, -0.5938, -0.4938, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3593 left_y=-0.1828 left_z=0.2212 left_yaw=0.0073 left_pitch=-0.0426 left_roll=0.0098 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0003 right_pitch=-0.0091 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.7231, 9.1419, 1.2967, -0.2125, 0.2418, -0.0171, -0.253, -1.2786, 7.0359, 1.707, -0.0757, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.548, 1.3518, 1.116, -0.4961, -0.4763, -0.384, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3717 left_y=-0.1278 left_z=0.2192 left_yaw=0.0371 left_pitch=-0.0719 left_roll=0.0199 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0091 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.7333, 6.5026, 1.707, -0.1001, 0.149, -0.0171, -0.335, -1.1009, 7.0359, 1.7558, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4976, 1.4635, 1.0477, -0.3309, -0.4438, -0.3626, 0.9995, -0.02, 0.7975, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.1253 left_z=0.1746 left_yaw=0.0512 left_pitch=-0.0966 left_roll=0.0265 left_gripper=0.9995 right_x=0.2949 right_y=0.001 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0099 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.8171, 6.5846, 1.8144, -0.1636, 0.105, -0.0171, -0.1573, -1.347, 7.159, 1.7314, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38b4cf854c3c2c9ae49dde7645ccc499b144bb15f15b4659f2d91e895267fbad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e74736fa54e82848b8572b42d4bdfc9bcd76fb1ecf5c95e944c843401f84f7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c94462fb5b382fab9bac89ed92278c46cd5c24137702a39a4bd90997f3865d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob 38b4cf854c3c]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgsKEAgRGAI4AUIIdGhpbmtpbmcSDKR6VcJlowCbbRML7hoMJTS1T592ykFOtFWuIjDDNXnwo6oUex+20v7uE9aIg90CySzPl7oceZkt6pzAJGjxFxCYwp5ZkHAm8bXDOXwqwwrAuEF4hk2bwVhH14JeKd2ZhEkGWT5zyS/pVdJRPs2hcsUO03bY8QYJnZDtL5rziAQB1hWAjnacNnsTI9uwEgAB1sbrMAxL5e90+qtely4vjMCucgGua+VI+5HZkg2/XyLMUhTjyqXCgzSqfkqxGdHUOPJ0iI6F99Maov8HuPtBuginGT7MeBL9kQJPsEEyFV6+YORVNK8mpvogQl/zyt0PT7pN7fjyt3TTA8RKpvjyVttGSqg6RbK4CxPEIjwD/lFPRKQz1K+gH7d3YqHjDkovYRvwkUjAUZVd3zIeO2huDG7iKtIF2PUOehHxwi3RZIQJD0mLiEDdx9M9FfQxzIt4OEyarER18ct3c5LvHi3HmFkVBSS1KGpaASyX8NFzsd2Q5yZsP6Q53b50kpB8cGc5u1jlEbALZKTuQJxdYkYfaATkNaYEwIeY2/VW0coLE3IXhS/yuDw8Vu2WGhEUt5Ul0Ri2FoOboHd/bINurVSZdZ24WscZCgvycVjvj7gj1OZbuGHase+3tdPSnLMMDDD/RT0K0Gpe5zIArvSYNWZ3xEYdIkc+7c2cd4FKB9oFL9kbC6UTClDJdjQGTAShCCZTpfR43gHqNJR6DDJMkmB6DDe7K1s++TUHvSfEgxbnFj99Ii8i6tr1x+UOqqRO2f6iHUMoMQ3deRUcCK45szOkqOmkTup8smBYjgLNm2i7tg2mz7sFkWHrePUPPzPJFVlCmTC7gvGlAJwwRdOlZ5HK63n56I+/IVQClOINMV7LW/oXkuQjaUeSMSkYRiuI9cTb59/bD64UoYnstiDSt3jI3a0ZxwUkjF8OmeFrHT96WSj3Nupe5XV9D+Sxn4SK7OVQagKNGSCTa+Xm+BASe5wasUSerpn6HllO/ZIjQbFuBQd6oBCjfENer1f6q2bt/ySXaY8zNCB97ymNMDZY8Dq/n1CRndUY1/sqxhwItGj3mRUIZWHIhTeXSSnJiFM/Ey8yvZV8Pc6/vnKT7AVv24xywQIXETwNcwEkkhcrxylnk+MgCihuio8dvyJCRiI55faf811a9keCIDmNvzZFxwAcw9QmoSxkuVNxTH2F4u8bZxAZ0PmINrIfkLOjVEBth9W45JCnrcVT6JrjSexjKUwXswuPH4IL+qAbgtYA9x/7F5ppW5xapYTGiPsrpPetWoKH5vhxhP8jkAD8qynSY5LI7UMzNOziMaLYhDnjsNBSYVwLoPtKkNcMFxw6C6QzbaqR58e0SAXarFiSrQLhcQQ2NhP7uhIvY23wrnD2KhW/73/fVb8q9jnn5cCuFAbqny004c+EbwfgsdJtX9sMDGmLCDSTIWLsX5IS3Ukp3bvEaOFC7F/c2Zye9EBkCN+JtafFfKfbRFos5Gb2uCPpWNUHz0s2xdW7hPrdFYWntcaSxubEgZeaehpVTugCQ3sZnUN7Fcnugr5VtkorxzsNLlV1AMkYX+R85KMPRcBkkWZgorf3BKmOg5lk81wgEu12ycIqsOlVVxwm65Qjb28PbdMs2fyJ1qw+fDi1NHrEjLwp/JvRBw7pA6XRQ1MAw5CF0vEyR9JHPtcFzIfFX497fdc72/xZAw6BBZjvdaI/uFnM1vzabwYqjoj1GY5p3LWP/Iu+whA3H8no5E4uA0MlC+lRnXN826YJbOpUrU1uuhgVst0hjMawBnLzdw1VdIJQl/2XVdq2xcaG18VudQjrXhhbhr25JA/Yc9TjfVYI6FNyVJ1i0F0SwYfb90Q2XIScFsGegHyKhZxCgDUZ7PNffrC09f+/3177/Zuu9FvQz/EWL7+xhFAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017V5KDVadi4zDyn1w8PfhhM",
      "input": {
        "note": "The spout opening now sits between the jaw wedges at the bottom of the wrist view, essentially at the grasp point. Descending ~2.5 cm and 1 cm forward so the jaws straddle the neck, then I'll close.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.125,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_017V5KDVadi4zDyn1w8PfhhM",
      "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]: [-0.4988, 1.4662, 1.0477, -0.3233, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1748 left_yaw=0.0498 left_pitch=-0.0924 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.0359, 6.5573, 1.746, -0.1978, 0.0855, -0.0122, 0.0342, -1.2923, 7.2137, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc5b9541bb908722c70dc083daee73639f1f121d5a27d7c85f7113441020b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c9f331b955185473481810c3f1e240bd870d67df9add45548941af24850fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:704ce12b6ff82f0f70d9a0076331a738e1b711299b4ebcc68c573661bdac25da",
        "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 · 13.43 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, 1.3518, 1.116, -0.4961, -0.4763, -0.384, 0.9996, -0.02, 0.7967, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3717 left_y=-0.1278 left_z=0.2192 left_yaw=0.0371 left_pitch=-0.0719 left_roll=0.0199 left_gripper=0.9996 right_x=0.2948 right_y=0.001 right_z=0.1803 right_yaw=0.0 right_pitch=-0.0091 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.5128, -7.7333, 6.5026, 1.707, -0.1001, 0.149, -0.0171, -0.335, -1.1009, 7.0359, 1.7558, -0.0171, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4976, 1.4635, 1.0477, -0.3309, -0.4438, -0.3626, 0.9995, -0.02, 0.7975, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.1253 left_z=0.1746 left_yaw=0.0512 left_pitch=-0.0966 left_roll=0.0265 left_gripper=0.9995 right_x=0.2949 right_y=0.001 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0099 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.8171, 6.5846, 1.8144, -0.1636, 0.105, -0.0171, -0.1573, -1.347, 7.159, 1.7314, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3233, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1748 left_yaw=0.0498 left_pitch=-0.0924 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.0359, 6.5573, 1.746, -0.1978, 0.0855, -0.0122, 0.0342, -1.2923, 7.2137, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc5b9541bb908722c70dc083daee73639f1f121d5a27d7c85f7113441020b6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c9f331b955185473481810c3f1e240bd870d67df9add45548941af24850fd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704ce12b6ff82f0f70d9a0076331a738e1b711299b4ebcc68c573661bdac25da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/goKEAgRGAI4AUIIdGhpbmtpbmcSDG04QJnhkYFXkjDDgBoMiQ/YHsNNCbBfH0azIjCJAkzVwp2otP7azUF07j1HQ7WUx06dfEOqcZrjW2Cpaqqim8X7e86WBE0IkFv2xNoqmwqKBszmDyuQntkgh9stdkRzGoqQ8t7QakD1f0MJjVquODgVV2xHZ8XMQmXQ7bxFrhoJldoGuk/A6wj1yarp5G/IukDtMOyWImKc2PV2pFy7fHnJALFZbm6Pzl4BlFNwdrWu2J01ndRp7aw9Ca5c0lPp4TVNpr7jnYWNTmYyIa1TYrR6LqMAidcdtsJzb13NPwrNTCHdy1tJ5/RAutQIlaMvBWQb2wVHiDaIesY39icats62hT+kWrdYvZsGd2h8yXRQn3PNHk+WkG+OvjX6lXH0KeyrdEUnALwpL4+nKHtLiRNUKhvh6RP/4uPxNeE5D5oTPYqGqzg0S6nJ9LZYAR/IToHIH+SpT14va2Wm7DkQO6hikg1JR+7+30gHdRyyEug89dWh8sbGvO3n9uznB5lVyESQeSHJXfofKvWJeuSKzK5G9MJo59zFeHy/Y2vEiSWzIIuf7LCuxlAsRPIQ73FjjGy2dQ0BXO6Zl1ArqefFB+QVt4YYN71gNBjknuOk40q3wdWy/tAwj/fPIwFqgv4hGHdXB1QORejUfKHNgu3wacgJQpMdhP6fiJdnszc3hyiFEHqNlPF7PtwmYpvMoTlpxa18gjodDUnmZeXpbivUPxDYh3s1aQ0UlfN1G9h86Nt+ooh9VC6C+dLSM6cMm8AIsgAYza/Qi4ybYhY+p70gUK3PiF/DXx7M8foMsMe7cCZ+JXmS8Q2wOjiiOYsNQSns2BshojFKkbfPySEpleo8vnG7egz9y+KsWRhQ7qbK++qZNr+Huth7STK57cXwxvj79nlQZVEME+9s7wIHui0WSYI15LOSpuNJIxrxVugKjXfvG1jmN/kEbPdbhArBDDqyRKwqhJoR/aJuFsM4g144U0ewhkKvlIkHe3HyDeKDD2qA/3MZhicCiWH6zyyTXh4tjacJojM6CNqhIwpFwUxiBERmni/D7UuvoJnLixRqOwaNOXEpT9CEu0d4h1W07i9HCjQPTllyEVVl3VnK56t2lYhBsNwWS4xlvpL5i1PC5RFhVi/PhSqd0zZ4SVK0dVa6adR6VOJyV+V5OAL6kUIXjaFBXesJbdpxlDJuzO35GWDM2OFGCa3YIZqDIb8yMuxsyljTzYlvAeVuENsH4ObQC4nE96qvabXLhTSxVfJRJ2PbDDSNxX/2Rzg38jXVvTDjBz+0Uyq1u9yhVxng1W4Gnz/U/1K+y9JPZNoEuUZ3LvYgPUwJHXOlJvcV/FuygGWFm26gGOA4qNAhAP+we6fR6bq0o1jRvVpj4INb4FxteTaNawM+8uvRdt0OxLoBY6tuAMIybHWmeBE5OIwWs9VxrkBn/D2lN6VVbYgiYhzhDfsghCOuQOzbGNrE2gk3oRwsQs7ubQHJ9VnVSINZusKNitiWEqZUwELyjSirLRpccv9sE46wyBMiHx3/zxzfqi4VLJzuTU8IwN6nF/n/P95ukd1n1eQ1w/8Qtf+xpbPz3YJbVIoUPLLXBo4NWnjk7RzIcuNfcSvkCaJjRBpiRRms5gZn1TVkfcExABEccr+LzBzaCKGFmTvszpiaMaxOHo1z74w6HXx9PFhtzs7Q5BUEQNh8RptUEzkDeuZzRiRMM2R1UG3kJtreyQhWizmn5olrfBsDqmDBbR4pB+4ld2gn5C0Z9/v/xLVcpLeQGMwBDGsbmNI/nd57nVs+L65m1y0Chger5+olPnxEe1wTeqCmBzvTisO6ZI8C9lw0r3Jodnxj1neg8VK1OKEIWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LVuQbZqbngd668acv5kuSt",
      "input": {
        "note": "The arm did not descend on the last command (z still 0.175), possibly a short move that didn't settle. Commanding a deeper target to z=0.13 to get the jaws down around the neck; I'll watch for contact.",
        "targets": {
          "left_x": 0.41,
          "left_y": -0.125,
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LVuQbZqbngd668acv5kuSt",
      "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]: [-0.4988, 1.4662, 1.0477, -0.3229, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1749 left_yaw=0.0498 left_pitch=-0.0921 left_roll=0.0237 left_gripper=0.9996 right_x=0.2949 right_y=0.0009 right_z=0.18 right_yaw=0.0 right_pitch=-0.0102 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.1726, 6.5573, 1.7363, -0.1636, 0.0855, -0.0171, -0.1162, -1.265, 7.0359, 1.7509, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e85434f2a54c32a9a0ef88a4273410f91b09fb04464cac97537b79056aa9d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d47e322cfc1e1a5f42088a93e92985cd6daf9cc0553ad4dd1f32739a683ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad8b03ea976e4bc56fed50806c6aecc9991379b71037275ed5d62fa15964b7bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 7.285 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]: [-0.4976, 1.4635, 1.0477, -0.3309, -0.4438, -0.3626, 0.9995, -0.02, 0.7975, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3971 left_y=-0.1253 left_z=0.1746 left_yaw=0.0512 left_pitch=-0.0966 left_roll=0.0265 left_gripper=0.9995 right_x=0.2949 right_y=0.001 right_z=0.1801 right_yaw=0.0 right_pitch=-0.0099 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -6.8171, 6.5846, 1.8144, -0.1636, 0.105, -0.0171, -0.1573, -1.347, 7.159, 1.7314, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3233, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1748 left_yaw=0.0498 left_pitch=-0.0924 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.0359, 6.5573, 1.746, -0.1978, 0.0855, -0.0122, 0.0342, -1.2923, 7.2137, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3229, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1749 left_yaw=0.0498 left_pitch=-0.0921 left_roll=0.0237 left_gripper=0.9996 right_x=0.2949 right_y=0.0009 right_z=0.18 right_yaw=0.0 right_pitch=-0.0102 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.1726, 6.5573, 1.7363, -0.1636, 0.0855, -0.0171, -0.1162, -1.265, 7.0359, 1.7509, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e85434f2a54c32a9a0ef88a4273410f91b09fb04464cac97537b79056aa9d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d47e322cfc1e1a5f42088a93e92985cd6daf9cc0553ad4dd1f32739a683ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8b03ea976e4bc56fed50806c6aecc9991379b71037275ed5d62fa15964b7bb",
        "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_019Zg6kK7KDDmiT8m36Nv5jx",
      "input": {
        "note": "The descent is blocked at z≈0.175: the open jaws are resting on the jug's shoulder, which is wider than the jaw stroke, so the spout neck is between the fingertips right now. Closing the gripper on the neck.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019Zg6kK7KDDmiT8m36Nv5jx",
      "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]: [-0.4988, 1.4662, 1.0477, -0.3252, -0.4438, -0.3664, 0.2237, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3978 left_y=-0.1262 left_z=0.1745 left_yaw=0.0519 left_pitch=-0.094 left_roll=0.0219 left_gripper=0.2237 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.5709, 6.8034, 1.5604, -0.2125, 0.0073, 1.0281, -0.212, -1.2239, 7.2, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ed3bf4d25d2e81a894347992b74ca9655bbee9c2f13a68204a12cf49b1e2fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a25633bd3a2a7ca9e5f2d81db7c41ccfed2304077776da549d4df4eac5eaad88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59c8e255edb190b36a3931ad191289348bec8c702ccf6bb5466519b5a9a2bbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 30.97 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]: [-0.4988, 1.4662, 1.0477, -0.3233, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1748 left_yaw=0.0498 left_pitch=-0.0924 left_roll=0.0239 left_gripper=0.9996 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.0359, 6.5573, 1.746, -0.1978, 0.0855, -0.0122, 0.0342, -1.2923, 7.2137, 1.707, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3229, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1749 left_yaw=0.0498 left_pitch=-0.0921 left_roll=0.0237 left_gripper=0.9996 right_x=0.2949 right_y=0.0009 right_z=0.18 right_yaw=0.0 right_pitch=-0.0102 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.1726, 6.5573, 1.7363, -0.1636, 0.0855, -0.0171, -0.1162, -1.265, 7.0359, 1.7509, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3252, -0.4438, -0.3664, 0.2237, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3978 left_y=-0.1262 left_z=0.1745 left_yaw=0.0519 left_pitch=-0.094 left_roll=0.0219 left_gripper=0.2237 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.5709, 6.8034, 1.5604, -0.2125, 0.0073, 1.0281, -0.212, -1.2239, 7.2, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26ed3bf4d25d2e81a894347992b74ca9655bbee9c2f13a68204a12cf49b1e2fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a25633bd3a2a7ca9e5f2d81db7c41ccfed2304077776da549d4df4eac5eaad88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c8e255edb190b36a3931ad191289348bec8c702ccf6bb5466519b5a9a2bbd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwwkKEAgRGAI4AUIIdGhpbmtpbmcSDJIVxeFoe6lSNCtkLRoMhz6inf58Ns8S/XokIjDxj5HyghXIAqBcFDyrV/58Ks1QNYYeUzOudlsw6wvrTgNxlyKFqs6ttBqKBCtdmWIq4AgZotERtMvYjJ0Ig4ivTKVJ/vlP93CyNmD8s+8frxvEngN5vOsTHM2LGXCE06687ld890jheJTNgw8qBu/KSz0VXbN+YYxD/+mkwCCmtN5+pYJCjPu9AjX3vWI2u42VWbrHdyJludTVrhVtGiDQO6ZHqOtknd6dy7RcrDq6Aic3D8dFfXscH1KG12EHenq0OgZDMfxeVk9ooipRAx/VpWsRW6IXDLerEkMY4lINHe4DLpNx2UJzmYAXt5pXSJRJ3W7UAJfWuA/osTatefy06I/0ExZS8tgJ5YqKBBE3flgbbQ9YgAMSu6ge4zd6zmRL3JTJYhetbmIxA2Y2uWU1gov0E9F0IaPaTVpBr6Ez1oVtr+pKCbIh47Xv7tWMGq4epzOEsoZArhl8IG78il15wGVjWNRtNrDfoCuxYefzntkGwTkc7sJ4CXJUq2p0XCg0Ouy9D1jD5QQG7AKC1qt3We2kpKoWTBT7S7IB/kNHAfujL/XEDxiwbN9LnTdjPuHDFm1EMELvhlnn6/EHsug+qfIbhU/1KeWjFN72PDiVHZD+8miXyMnk5m4U7mmt9ZeJgCLYTnnk0pZ8yfS2aixXMHbG6slkD1CLGKL7Bf9RS7ustEPnnnh/nSOG7KKt4fsI4K6sm6133l1o79GRUohJu4n13gKUD35i/1jx9KJvRjOyIO0Hztr/f4NLkHIXMNlFN02DqilE73kTz4LBPrBL9DZhdY2nSzI/DI9RqEOqz5qjrNrylUhSGbEs1QolxMCPCkze41sMqpFghsRAaC53TjBMhQIWnkPBh/dlLlCYC8AieBPtOUK5XiCp+f90e/xYpgpF/AF1HtVy//ziH9KON6DOzAdgF4ruX1JoxEE7Zpq9V5Nvbk0iK3sM/IAfOoYeR3hVCQFIfSOPhJZXxzmJfDYrmq1O3T1fE9d3FKCaVXjHkhH921GEuCBo9D8gmHD5BwkLtFR0muxbZO+RFQQuyDKoRc+2L4svXOwYyAO9fhD/XePiMye7T4gPYIZ8TqR9I+hQfuqHbw7Y8dDr6A57UeTC85Z3jqv0cgMXamaKngIJoJrGhE+s+FhSda1/ZPUhUMTjJ2L2/qC55VvRZxXvmBrBL0+dELqWldWR3QO+divTAQaPeQYfcgf36Q0ZDH131sCVhu14M4mX45v0VZRwiqXMmp+IGRMDClSNshJPEaVTlqymHvUVNFQr+BuI6qAXgnKxbAQYY6fmY2yBFMU9IVFLN5rNUtLy3pf7+Jft1aaZ9gW9Mr+1vA6TcANxDHTQNpBBCD81MHg/a9gPtJa03hfl5Ggt1v/H4UgdcVyG/zBunNF+oAv2htUlMGvoDc6oR0L0fwuinkr+zGKZw38YO91UqsiFW/2YhyyTeNbJa19yUybKXa7UHeyN13eVy7VQRggxSrLuZbwzT/4Oy0T2R/qO8VmCdrCrWewmw0dY3S7MElZ0vN3EejAvuLYGda2bXGPMuNm/QhjzPHO4CNYst1wgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DtwSfBm9AhiAWG2roLUKiW",
      "input": {
        "note": "Gripper settled at 0.22 (~2 cm), so it has pinched part of the spout rim and the jug looks tilted toward the arm in the wrist view. Lifting 5 cm to check whether the jug comes along.",
        "targets": {
          "left_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_01DtwSfBm9AhiAWG2roLUKiW",
      "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]: [-0.4988, 1.4662, 1.2274, -0.5507, -0.4408, -0.3748, 0.2245, -0.02, 0.7986, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3948 left_y=-0.1252 left_z=0.2119 left_yaw=0.0568 left_pitch=-0.1338 left_roll=0.0377 left_gripper=0.2245 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.011 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.6923, 9.3333, 1.5018, -0.2564, 0.0464, 0.9206, -0.0342, -0.9368, 7.159, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c7f710501a482ba4404b88219ffac1c354e7df6e6064296eb7aa8349440618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86bda98f889c2fecda0226643386156dbe263748a92df55ab4068456bc58b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8d639d5b44ee39cf3e1e347a8cf01f207b7a1930a5a43b178574d6cfc9884f2",
        "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 · 14.96 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]: [-0.4988, 1.4662, 1.0477, -0.3229, -0.4438, -0.3626, 0.9996, -0.02, 0.7979, 0.6086, -0.3851, -0.0185, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3981 left_y=-0.1264 left_z=0.1749 left_yaw=0.0498 left_pitch=-0.0921 left_roll=0.0237 left_gripper=0.9996 right_x=0.2949 right_y=0.0009 right_z=0.18 right_yaw=0.0 right_pitch=-0.0102 right_roll=0.0058 right_gripper=0.9998\nstate[joint_eff]: [-0.0479, -7.1726, 6.5573, 1.7363, -0.1636, 0.0855, -0.0171, -0.1162, -1.265, 7.0359, 1.7509, -0.0317, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4988, 1.4662, 1.0477, -0.3252, -0.4438, -0.3664, 0.2237, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3978 left_y=-0.1262 left_z=0.1745 left_yaw=0.0519 left_pitch=-0.094 left_roll=0.0219 left_gripper=0.2237 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.5709, 6.8034, 1.5604, -0.2125, 0.0073, 1.0281, -0.212, -1.2239, 7.2, 1.7411, -0.0317, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.4988, 1.4662, 1.2274, -0.5507, -0.4408, -0.3748, 0.2245, -0.02, 0.7986, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3948 left_y=-0.1252 left_z=0.2119 left_yaw=0.0568 left_pitch=-0.1338 left_roll=0.0377 left_gripper=0.2245 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.011 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.6923, 9.3333, 1.5018, -0.2564, 0.0464, 0.9206, -0.0342, -0.9368, 7.159, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c7f710501a482ba4404b88219ffac1c354e7df6e6064296eb7aa8349440618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b86bda98f889c2fecda0226643386156dbe263748a92df55ab4068456bc58b5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8d639d5b44ee39cf3e1e347a8cf01f207b7a1930a5a43b178574d6cfc9884f2",
        "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_01R1oKZMiBbERGjWBSShGHo5",
      "input": {
        "note": "The jug lifted with the gripper (still visible hanging ahead of the jaws in the wrist view). Carrying it high toward the red cup's estimated position to the right and forward, where I'll re-check alignment in the wrist camera.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.3,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01R1oKZMiBbERGjWBSShGHo5",
      "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]: [-0.791, 2.2772, 2.6396, -1.3102, -0.6247, -0.651, 0.2267, -0.02, 0.8005, 0.6086, -0.3859, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4442 left_y=-0.2972 left_z=0.2826 left_yaw=0.0642 left_pitch=-0.1558 left_roll=0.0375 left_gripper=0.2267 right_x=0.295 right_y=0.001 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -8.5949, 4.3966, 0.4469, -0.2369, 0.3053, 0.5104, -0.3624, -1.347, 7.159, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc28dfca888740c6fb6b9b2d6b974528c7c24033425c56e0b292b438d5c8320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50a522eb751de70160fa963ec43844b3b77b850d08fed9de816509d366f52e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d160850cca12074fbc269115b0484a3a369d96c2de7ec77d3ba1145febfb6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 37.51 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]: [-0.4988, 1.4662, 1.0477, -0.3252, -0.4438, -0.3664, 0.2237, -0.02, 0.7979, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3978 left_y=-0.1262 left_z=0.1745 left_yaw=0.0519 left_pitch=-0.094 left_roll=0.0219 left_gripper=0.2237 right_x=0.2949 right_y=0.001 right_z=0.18 right_yaw=0.0003 right_pitch=-0.0102 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -6.5709, 6.8034, 1.5604, -0.2125, 0.0073, 1.0281, -0.212, -1.2239, 7.2, 1.7411, -0.0317, -0.0806, -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]: [-0.4988, 1.4662, 1.2274, -0.5507, -0.4408, -0.3748, 0.2245, -0.02, 0.7986, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3948 left_y=-0.1252 left_z=0.2119 left_yaw=0.0568 left_pitch=-0.1338 left_roll=0.0377 left_gripper=0.2245 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.011 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.6923, 9.3333, 1.5018, -0.2564, 0.0464, 0.9206, -0.0342, -0.9368, 7.159, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.791, 2.2772, 2.6396, -1.3102, -0.6247, -0.651, 0.2267, -0.02, 0.8005, 0.6086, -0.3859, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4442 left_y=-0.2972 left_z=0.2826 left_yaw=0.0642 left_pitch=-0.1558 left_roll=0.0375 left_gripper=0.2267 right_x=0.295 right_y=0.001 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -8.5949, 4.3966, 0.4469, -0.2369, 0.3053, 0.5104, -0.3624, -1.347, 7.159, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddc28dfca888740c6fb6b9b2d6b974528c7c24033425c56e0b292b438d5c8320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b50a522eb751de70160fa963ec43844b3b77b850d08fed9de816509d366f52e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d160850cca12074fbc269115b0484a3a369d96c2de7ec77d3ba1145febfb6d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QxZnZCdeUDFEAS3zoEFESd",
      "input": {
        "note": "Wrist view shows the red cup ahead and to the right of the hanging jug; the top view confirms the cup just right of the gripper. Moving further right and forward while raising, since the jug hangs ~20 cm below the grasp point and must clear the cup rim.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.4,
          "left_z": 0.34
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QxZnZCdeUDFEAS3zoEFESd",
      "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]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.6216, -0.6743, 0.2298, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0602 left_pitch=-0.1722 left_roll=0.0362 left_gripper=0.2298 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.9436, 6.3795, 1.2869, -0.4762, 0.0904, 0.315, -0.0615, -1.4564, 7.0359, 1.7558, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f16543bb88458175b9ccd5ff41a716758050c8c2bd884d74f5e0098426b9f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4f73242c64ea2a1acaea88c87e3f73064c41e652cb8ffd7fcb6bd915dfb4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db8178c18c29a300a37614511e285341b07ea9513c9d3f4c42ddd2bc78aa33ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 6.972 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]: [-0.4988, 1.4662, 1.2274, -0.5507, -0.4408, -0.3748, 0.2245, -0.02, 0.7986, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.3948 left_y=-0.1252 left_z=0.2119 left_yaw=0.0568 left_pitch=-0.1338 left_roll=0.0377 left_gripper=0.2245 right_x=0.295 right_y=0.001 right_z=0.1798 right_yaw=0.0003 right_pitch=-0.011 right_roll=0.006 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -7.6923, 9.3333, 1.5018, -0.2564, 0.0464, 0.9206, -0.0342, -0.9368, 7.159, 1.7118, -0.0415, -0.0464, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.791, 2.2772, 2.6396, -1.3102, -0.6247, -0.651, 0.2267, -0.02, 0.8005, 0.6086, -0.3859, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4442 left_y=-0.2972 left_z=0.2826 left_yaw=0.0642 left_pitch=-0.1558 left_roll=0.0375 left_gripper=0.2267 right_x=0.295 right_y=0.001 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -8.5949, 4.3966, 0.4469, -0.2369, 0.3053, 0.5104, -0.3624, -1.347, 7.159, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.6216, -0.6743, 0.2298, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0602 left_pitch=-0.1722 left_roll=0.0362 left_gripper=0.2298 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.9436, 6.3795, 1.2869, -0.4762, 0.0904, 0.315, -0.0615, -1.4564, 7.0359, 1.7558, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9f16543bb88458175b9ccd5ff41a716758050c8c2bd884d74f5e0098426b9f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d4f73242c64ea2a1acaea88c87e3f73064c41e652cb8ffd7fcb6bd915dfb4f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db8178c18c29a300a37614511e285341b07ea9513c9d3f4c42ddd2bc78aa33ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cazFyQD17VsRRLqhTRu4H",
      "input": {
        "note": "The arm stalled at x≈0.45, z≈0.27 — it is at its reach limit at this height with the wrist pointing down. Lowering the target height slightly to gain radial reach while moving the grasp point toward the red cup, which the top view shows just right and ahead of the gripper.",
        "targets": {
          "left_x": 0.5,
          "left_y": -0.36,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015cazFyQD17VsRRLqhTRu4H",
      "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]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.622, -0.6743, 0.2318, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0604 left_pitch=-0.172 left_roll=0.0364 left_gripper=0.2318 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -13.053, 6.0786, 1.2772, -0.4908, 0.0855, 0.1929, -0.1709, -1.0872, 7.0769, 1.7265, -0.0464, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f591dc65b1e67f870a187fbd361365cb39269ff6161a58371a9423331512929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e36a065c6270e8350aebd0d920a4c43c2ed81772df7bde42516945cb98728ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13d362ba9da30de31447afb4220e2e27407d3c76f68762945622529f62ec9ba0",
        "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 · 45.93 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]: [-0.791, 2.2772, 2.6396, -1.3102, -0.6247, -0.651, 0.2267, -0.02, 0.8005, 0.6086, -0.3859, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4442 left_y=-0.2972 left_z=0.2826 left_yaw=0.0642 left_pitch=-0.1558 left_roll=0.0375 left_gripper=0.2267 right_x=0.295 right_y=0.001 right_z=0.1791 right_yaw=0.0003 right_pitch=-0.0137 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.7316, -8.5949, 4.3966, 0.4469, -0.2369, 0.3053, 0.5104, -0.3624, -1.347, 7.159, 1.7167, -0.0562, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.6216, -0.6743, 0.2298, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0602 left_pitch=-0.1722 left_roll=0.0362 left_gripper=0.2298 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.9436, 6.3795, 1.2869, -0.4762, 0.0904, 0.315, -0.0615, -1.4564, 7.0359, 1.7558, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.622, -0.6743, 0.2318, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0604 left_pitch=-0.172 left_roll=0.0364 left_gripper=0.2318 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -13.053, 6.0786, 1.2772, -0.4908, 0.0855, 0.1929, -0.1709, -1.0872, 7.0769, 1.7265, -0.0464, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f591dc65b1e67f870a187fbd361365cb39269ff6161a58371a9423331512929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e36a065c6270e8350aebd0d920a4c43c2ed81772df7bde42516945cb98728ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13d362ba9da30de31447afb4220e2e27407d3c76f68762945622529f62ec9ba0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShgkKEAgRGAI4AUIIdGhpbmtpbmcSDJKCzEulTuDYhNMiHBoM69Icv2+AJk89anjeIjCiXawyirUr727Z7YUx5OW+dK2dvACAf07Y0zFMP8sWof/n4DQhfOcvfGN8XGtPVBEqowg59DcsFPi2I3ivjG7gNP7O0fU9lGP/BERrocKvO4hOx+Hsd+r5/t3ToV+gJwRI62kVglgTTKDNEVvLYvSpwLt/79Qlyj6IRlkr+0NW89WReGlMKzw5wlbCZcvavgrAvCk2k2/pzdkUBFnR+/chsMlI31oGxdat7Er/oC/IThlxD43PVhaitbMFUwH8QOYYPEbYDCQBe4rAQ+5uMB+LVW/IU4jFBC6iWJ0+0N2Ziq1oRYPonnlnECiLtkasKBLN67yQ1qZoIBHWo5WRmD2HyypUm/P998UJSLCtkAwckASC1+eoh4d54NP3r38QSjm4388hNNQciQRS6Gl6KwieGiq1woSAUemBK+QT/U5ZDKFFB9XBk+We05/mQhrtN1Q20fm1gqe+4j1XCcnFTY7rgepY9wxGeLbaorwoLHpaxG4vbxWHXepCqkuL3taFeo9SioHL1ayOJ95i/a52Febfp1DQEseJEPE+oFAPKaJ4Wj75BGcB5jR8wXJnY7Yd0iXoYPtFxQBUmSLiGiPLQR2G6Cyune0k2+eTY1bi6LlAJkY+XpESe7SCS8W/DIJ3Wo0wySuiyNO6j42ndvUZLF3BdgfDvrqrytX+1M7extp+fYLWVeE0ZcL3clYignyJKF1H3mG++K+NRLNAwoZA5hMXtGEoFuXV1wgNG/jYr4K4kbMA90/deFPJe/fzclPzK20fSdjqFBR37/zNmeuWiomV+95C70TypzACLv1mZub+oOBWVs4/k0lfYHeEaJLuj1uwkN67+ABYc+pPLWMZR3K1EZ5R3zEP7wga6vJsKCkLqqUnLWwWx+dzfmjvMlGWfsrwlaY1Tdzuz0kCfoOUB7tlQJ9xKwhFTxKG3uNguaVTvpNzIKnGQJjogRSrVwV7fZrQZwZVq2S7k8xXZd1XMt+mLhLtTti6ldX4VdS5CunRGJFqwbPDxSbnwiFHfiQhFcVL7h7W3I6QHRBgR0R4TJMyh968fnxTryjIBqBls4q3O+CFcgl+1gDi8G+pahCbDOcs6mfqPTvj4RnOLhgHpx5HsmU8LdjTeavYJfMaQnHK2X2TwSeOnVIpDaguxL4a2iE88UcItAsrj5zg9lc2YRdXBRsmvymKNsISvcwYX8oZgK8RgHdl9u94nTEyHAml++sWhhWkKb/ZGbxq6F9QFOYeokXW57ef8tYp6XtLbgo75zfgrYkqnL0CMcPrBJCgrMI5deKqAq/K4UKPfwGYQhKmcqOmFaTNfE86U3hW/IOWquoRCGGQCEUKCvH/mng5oY9vvVwWv/qxjnncrGhJ+TEMFnWqwATdKdhhFRuMcsU6EZ3oreCSs68VtSNyuZBcSYJmuwYwmIABM261n6gkc+dh0ypbZneP+mduJ6EM79IT7ADbaC/yzoCZiqD0lVFodSzldtlaKYMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018xCVp2f4dtGNa5H4JzvMdi",
      "input": {
        "note": "The arm did not move at all toward the last target, so it was likely unreachable and held. Trying a nearer, lower target to get the arm moving again and gain reach toward the red cup.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.33,
          "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_018xCVp2f4dtGNa5H4JzvMdi",
      "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]: [-0.8471, 2.6389, 3.1188, -1.5066, -0.6285, -0.7193, 0.2341, -0.02, 0.8043, 0.6086, -0.3855, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3419 left_z=0.2234 left_yaw=0.0587 left_pitch=-0.2016 left_roll=0.0503 left_gripper=0.2341 right_x=0.2953 right_y=0.001 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0171 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -15.1316, 6.735, 1.1062, -0.5495, -0.1294, 0.232, -0.212, -1.1829, 7.0632, 1.7021, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79133b264b97c1e03c70fedc884846dea478821b3e75919c910df723a9313d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fda0f5178608f02b84138fc631b00aef85afc32930b04a310672df6c295240c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2a1d5c3a32266d9573576956b4b67dbf87d960ec4a2e373fea8a559d4002757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 16.56 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]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.6216, -0.6743, 0.2298, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0602 left_pitch=-0.1722 left_roll=0.0362 left_gripper=0.2298 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -12.9436, 6.3795, 1.2869, -0.4762, 0.0904, 0.315, -0.0615, -1.4564, 7.0359, 1.7558, -0.0562, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.622, -0.6743, 0.2318, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0604 left_pitch=-0.172 left_roll=0.0364 left_gripper=0.2318 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -13.053, 6.0786, 1.2772, -0.4908, 0.0855, 0.1929, -0.1709, -1.0872, 7.0769, 1.7265, -0.0464, -0.0806, -0.0171]\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]: [-0.8471, 2.6389, 3.1188, -1.5066, -0.6285, -0.7193, 0.2341, -0.02, 0.8043, 0.6086, -0.3855, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3419 left_z=0.2234 left_yaw=0.0587 left_pitch=-0.2016 left_roll=0.0503 left_gripper=0.2341 right_x=0.2953 right_y=0.001 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0171 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -15.1316, 6.735, 1.1062, -0.5495, -0.1294, 0.232, -0.212, -1.1829, 7.0632, 1.7021, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79133b264b97c1e03c70fedc884846dea478821b3e75919c910df723a9313d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fda0f5178608f02b84138fc631b00aef85afc32930b04a310672df6c295240c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2a1d5c3a32266d9573576956b4b67dbf87d960ec4a2e373fea8a559d4002757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nt7L4whBjC6LAtbfr7LcWj",
      "input": {
        "note": "The left arm is near its reach limit and I can't pin down the red cup's distance from the oblique top view. Sending the idle right arm to hover at rim height next to where I believe the red cup is, so the top camera shows the gripper and cup at the same height for a direct comparison.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.5,
          "right_y": 0.24,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Nt7L4whBjC6LAtbfr7LcWj",
      "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]: [-0.7261, 2.6583, 3.1176, -1.5192, -0.7254, -0.7269, 0.2355, 0.5472, 1.9591, 1.3491, -0.1001, 0.4538, 0.3126, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.272 left_z=0.2208 left_yaw=0.2462 left_pitch=-0.1532 left_roll=0.122 left_gripper=0.2355 right_x=0.49 right_y=0.2121 right_z=0.1161 right_yaw=-0.0069 right_pitch=-0.0623 right_roll=-0.0238 right_gripper=0.9998\nstate[joint_eff]: [-10.2359, -15.4462, 5.2308, 1.1795, 0.7937, 0.0757, 0.1343, 3.3573, -8.0615, 11.8906, 1.5458, 0.3785, 0.2173, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809031d7eb844b8070014f9315366c3a80d2e6612365a3d37c4d45ffdaa679b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc31415070e52363f9fe653ec58b8d0dc01c625807d2bf66f8c1ce34e3e2de22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6bd72945fda4d11868b29d9f4ea987dbf0af2f8b17dbfca62e9e73173fe9d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 38.17 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]: [-0.8085, 2.4317, 2.8883, -1.4277, -0.622, -0.6743, 0.2318, -0.02, 0.8024, 0.6086, -0.3851, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.446 left_y=-0.3129 left_z=0.2697 left_yaw=0.0604 left_pitch=-0.172 left_roll=0.0364 left_gripper=0.2318 right_x=0.2952 right_y=0.001 right_z=0.1787 right_yaw=0.0003 right_pitch=-0.0148 right_roll=0.0061 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -13.053, 6.0786, 1.2772, -0.4908, 0.0855, 0.1929, -0.1709, -1.0872, 7.0769, 1.7265, -0.0464, -0.0806, -0.0171]\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]: [-0.8471, 2.6389, 3.1188, -1.5066, -0.6285, -0.7193, 0.2341, -0.02, 0.8043, 0.6086, -0.3855, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3419 left_z=0.2234 left_yaw=0.0587 left_pitch=-0.2016 left_roll=0.0503 left_gripper=0.2341 right_x=0.2953 right_y=0.001 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0171 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -15.1316, 6.735, 1.1062, -0.5495, -0.1294, 0.232, -0.212, -1.1829, 7.0632, 1.7021, -0.0464, -0.0513, -0.0171]\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 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]: [-0.7261, 2.6583, 3.1176, -1.5192, -0.7254, -0.7269, 0.2355, 0.5472, 1.9591, 1.3491, -0.1001, 0.4538, 0.3126, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.272 left_z=0.2208 left_yaw=0.2462 left_pitch=-0.1532 left_roll=0.122 left_gripper=0.2355 right_x=0.49 right_y=0.2121 right_z=0.1161 right_yaw=-0.0069 right_pitch=-0.0623 right_roll=-0.0238 right_gripper=0.9998\nstate[joint_eff]: [-10.2359, -15.4462, 5.2308, 1.1795, 0.7937, 0.0757, 0.1343, 3.3573, -8.0615, 11.8906, 1.5458, 0.3785, 0.2173, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:809031d7eb844b8070014f9315366c3a80d2e6612365a3d37c4d45ffdaa679b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc31415070e52363f9fe653ec58b8d0dc01c625807d2bf66f8c1ce34e3e2de22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6bd72945fda4d11868b29d9f4ea987dbf0af2f8b17dbfca62e9e73173fe9d1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShxUKEAgRGAI4AUIIdGhpbmtpbmcSDMZVx/ewgvW3OeDJ5BoM7np95JO2TeCR++1RIjBomIVjLFx8lENrOMA8UY4yPtzfytkBQlnFwzKXyIBxMWcBN+dOE6IThUPZdxz+9Z0qpBRjVtktN8BfU25paVBBKHwNi9gspZDeqyJW29osk07YohJXLcrhRtEjM2qsrJFQDu+cR1OTwh33vWuyDCb2cww93iobCqo4vGL8GarummSexT0W3K2jEpamoQVfpjMsNL0iALeZ0bpBeLid24IdJSwZ6u4fSV0DvqA+gNu33On3vIWu1QjYG+/J0zbbxdUD4LTTSNPa4gCmjKbVSFduUEsY7MBiKlCAiPhjCbeCwMttjFOvYssGL7bMy7DXm+GqcvU4Iq4Map/zAbaIKqiFfmULd5ZXN+alcdeP/EH4YJbdZmi7aNtn/S+0bDs4RCSQ6l7ymFlqISFvKNV3RJrzccEsQTXNT8tMT5+RqGdumiRqFQQvV2O796CwaP7Z0QDqHFQ4BJ1zO+ACO7Pce2Gx6JksLVLmm02VXxvi6TqqEqtdeora6h5jCEtdaNrZNxRJM/qcgSyKN0ST9WHwSw1WcRZb8B57lprebAB26GdSayykCRJNKtbptQZZDFf4BdCQHAzBs5qE7QFjtDUMZDIPomdp6O3Img4W2B14yrZuHq3HZVVSJmL6M15BbnsHOXxpNWZDealEfN+DKJvP7oLaYiqhUGkQu1uctLwiWddPWI26Ug5hALK9kwffwwVeHgMMocdXGxdSb4dadybamdch7KHB1xdWObixMACRRfuV8YwhOplZMdTjifAUyhTF/zMFAQ6hVIgP5GvneW1fi0UowF9tAhOmvfbh1YNUkcE1wbhmgwxnTtthG1EgkKXQ9SsNvfKEWyOKxavFS3Nr0p0I+Rv8F1rtRsEJJoLOnpk+n3KzCQlLAxeYQOAAVB7kSrKCYWVJ9jTBx+ReNievwXW+7Ju91ABcfje4W1W0Al15dKEncXDZtwNrpM5/cidKT4cS80p1hO/goaIaQO5tpx/nBPgcu8JT/jz/Lj2ED3ANauUZ8yYtSMZSp1CYLgP4d5VW6ofxb+LUzG7fTLDqy2ww+M7qBIBI7lhudqT9Y3guzeBRuYgyC4bhkzGu96Cp4eXu24lCbGp2Z5G2XYCtcwik6iRUcx6h7Cb7hSIf+lr2Tt4IZSpx2wdATfGWJK/OaC7ATb5vRbm8SmKe/f72s5hRTwXFgd/ING8gKgsIdRwc7d4q4UZJSMCZmK9SUugfrbNfCXzhTxMmAkfJeTG6AUraAoacbTpf4narSb6kHGhWBdGF080ze2KSjauIFv5fSdUE+DmzTNh7XRQNIQVzsNkl2J5p84+rgZsH/VNzA1pJp7KU8+60hrjXpNeFJYeG8NQigq2kUDyP5BMlYuc/CDxBIYEsLJaZA1ufV53aoGSoMP9qGC6KHv6+pSE7OxnKq0srwi39v+g0fqSjLtt0RzTA8HbjFHlUURCLkfMSOGuOZIHadHWYajhsQJIkruzD53QjAq2FkyUQtUSyns1sxKnO4IgliAcmAQ2RZOzwP81h1sWeCd/hXz7YUD/NSSe344VdqugCWoyvMyw3Bz2g1QMBzTq0bH+Hw/Zdd5X4k6qaAPVcEeYxYNPo9E8rD1QbT4Br8gPbULuYcuLvqjS/1v7oL1nCDs4F908tj0/9kPP4QjTVtMT1L2D2Avb49jNgxrOBSojGqiMEr2ixn5kFPplNBHjHDJUPvgdMxarPrxRnx7dHRlJkBua7MTjk2vTi2WFaTSdkArQjDKHcIIBMpGdy5U671sT6HFPZYurk5gA1OFifAcHlxvKCejFUVnpmPGYsPQ8durP4MSSKQOA37RO8sKeneGzdTPKcm2YXKZZMrgahi8GI6SswtYmGJBuH9rbENb4NGcb/CyinHcDvZNEgfAsKHxfKHBJ+se/Y5TAM4xBcggCqPOkr/Tf1HJb1lI1G0q1i4DyoB/rCzR+FlD7k7Dt+otQko2XX5kAk/j35H39zYr6+LaUvtKTB9QlxH31N9RbgziXpuSFAuBT02pWnXWSL7BPfGzf7dZjLM+jMoOLtfQ4Cvd88R8lBhn4ZA11I8I/eFjAB01wqHwxC+z7zNyScLFT8x9TsjJK2huyFU/uqvUJYfF3WAym3Ue1b+/it85YisiFNgJOolKkgdBYvDKCa4GiTq8dGdvRQhazTHk2uOfju8uKui4/vNjmMaM09xTJR0T3FAiISMql2JUw0Tj72QVR9DToIb3zv2VZz24pRl7s3WtpB6UvGPUYDvmhPfm692Bh1Z3RZHFdg0muyWOspvm+sHT88FhVTGCK90bpAVeYhXiN+MStJdgYC0jCAwO7KGzfs4tWdPL9t5rC0QHm3f4/Cfa5WjQpjgAvB3GoCevnsIja2VBUkzKjmX48jTjDobcjMCPkXwqHfbkID/LuShA0XGu0P8G77whBtzBAtkwBD67jVx5yPjdXqyTuQE1O5N/R0dELKmdcwTYY/k47KwEiUL2h+L4gnIphSiROSmnNjGZQAahJnYmsLSX2MNUcM93+9ZropwtmVvGx7mFJ2Rwv/6NLlfxDWAnM1zkJyV6ci2hrAxHYX2pVb+50hr7diPtFyIqjOnVt3QdVWbLwsPwMHIlqjVlMphr+UzhMmy1fRdmCv5RnQVCbutY6V+nE89+/xNv9Fa7fGXe0aoXxbN/FKlwGsZvZ/loeQI5MHntg/yX1rL5WNROnPxySEkighJfMUdt4IEs4WRLptoe7+KovdqB0mbAkZ2IlhILoq7Kn0QJT6wKiAM7WKmymeI9cKKRooeFXIgX/1HFF//zwmuV8Li3UI0nKp21jE3NFT369XiqKLeE+g6LkI27NMxf+DdCe65YKHSfT/AsN79ZMlv8dNMIPeKhjAdLvGYSQva29n0RETh3Oe4eQuQHabF9MMREksF7Mpj2a9Nq8nsvZrjcBE0PFmFy8HeDy9Kf3ZBJRnGjPVpFKnHuGKQbW9p0vQs4c/35SwkGZI2TMUW+VXId2kVnnm7QSFBx92do4IquRe2qEZWKYPCbH9Kgiu9Xie7H/ckl7HKOo2L+U+rNjym1msmlj1L6CTHv1f9HvgHTbfyDNeAI9G0BohrG2ajL8uGYioC+/mCqTCVy7X49PaXUkJpOIcHA298cGLswt4lY5Wl9VcLLpJdKSj1IWkdQ7J7b2crY3etu2ZVQN7hCmVMDP3EJ0G+t7YRtkFdnLXnZDZxXKZhrMLRPaw9YgrhwSWbuSfd5kr6iL1chHKIxZ97iRqswL3wiK1r7mZxxiglNrZ6oj7Yfaz4N+EJxFFXXm9eJBfbL3yT09JEtEpVzex8EcVoPJRPRzO31CFvg7YpbWT8WUxb4YizjLz4sWpkXA6S4Fe+dlmTPpI7VM4+gCRlV5dEA1JyaxV0ji6BLs6JxddANomo4RV0mGlruoERftAuk0L1IFgTSpoPFr5ZT6gHhvlpOjwfli0yXy7wArJW+FlURl+Fazmx8nFt6yEqVS/VLlNJRGgAf4BcrcH+/2l+nEvB8kSrNecjSCxj8UAK8C2JsBwa2VlS/24hEkddSfCRPGcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HakE3F8eELsX65xqPxE4hC",
      "input": {
        "note": "The right gripper has run into the jug hanging from the left arm (right cam is filled with white plastic and the left arm was nudged in yaw). Backing the right arm away immediately toward its home side.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.05,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01HakE3F8eELsX65xqPxE4hC",
      "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]: [-0.7261, 2.6446, 3.0585, -1.499, -0.7174, -0.7486, 0.2368, 0.2501, 1.1526, 0.9485, -0.4129, 0.2379, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.2737 left_z=0.2118 left_yaw=0.2568 left_pitch=-0.1715 left_roll=0.1227 left_gripper=0.2368 right_x=0.3603 right_y=0.0528 right_z=0.2226 right_yaw=-0.0291 right_pitch=-0.0333 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -15.0359, 5.1761, 1.1355, -0.4615, 0.1099, 0.1343, -0.1846, -3.9726, 6.735, 1.8242, 0.0855, -0.1099, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35773945d34e5053885a13ea2040ea9431086d7a8bc402ab73e705ec08c4e7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda57b1cb9e036eaceb476ab7280bd97bcd6f62fa67fc5f9cabd620fbcfc5fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bff3807466aa408282184a2f1a1c59c56ebfb60bd243d95bf36b8b820e93df8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 22.71 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]: [-0.8471, 2.6389, 3.1188, -1.5066, -0.6285, -0.7193, 0.2341, -0.02, 0.8043, 0.6086, -0.3855, -0.0189, -0.0235, 0.9998]\nstate[eef_state]: left_x=0.4455 left_y=-0.3419 left_z=0.2234 left_yaw=0.0587 left_pitch=-0.2016 left_roll=0.0503 left_gripper=0.2341 right_x=0.2953 right_y=0.001 right_z=0.1781 right_yaw=0.0003 right_pitch=-0.0171 right_roll=0.0062 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -15.1316, 6.735, 1.1062, -0.5495, -0.1294, 0.232, -0.212, -1.1829, 7.0632, 1.7021, -0.0464, -0.0513, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7261, 2.6583, 3.1176, -1.5192, -0.7254, -0.7269, 0.2355, 0.5472, 1.9591, 1.3491, -0.1001, 0.4538, 0.3126, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.272 left_z=0.2208 left_yaw=0.2462 left_pitch=-0.1532 left_roll=0.122 left_gripper=0.2355 right_x=0.49 right_y=0.2121 right_z=0.1161 right_yaw=-0.0069 right_pitch=-0.0623 right_roll=-0.0238 right_gripper=0.9998\nstate[joint_eff]: [-10.2359, -15.4462, 5.2308, 1.1795, 0.7937, 0.0757, 0.1343, 3.3573, -8.0615, 11.8906, 1.5458, 0.3785, 0.2173, -0.0366]",
      "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]: [-0.7261, 2.6446, 3.0585, -1.499, -0.7174, -0.7486, 0.2368, 0.2501, 1.1526, 0.9485, -0.4129, 0.2379, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.2737 left_z=0.2118 left_yaw=0.2568 left_pitch=-0.1715 left_roll=0.1227 left_gripper=0.2368 right_x=0.3603 right_y=0.0528 right_z=0.2226 right_yaw=-0.0291 right_pitch=-0.0333 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -15.0359, 5.1761, 1.1355, -0.4615, 0.1099, 0.1343, -0.1846, -3.9726, 6.735, 1.8242, 0.0855, -0.1099, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35773945d34e5053885a13ea2040ea9431086d7a8bc402ab73e705ec08c4e7e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eda57b1cb9e036eaceb476ab7280bd97bcd6f62fa67fc5f9cabd620fbcfc5fa2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bff3807466aa408282184a2f1a1c59c56ebfb60bd243d95bf36b8b820e93df8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019xeG9iegL6YQM6o6SRyiiR",
      "input": {
        "note": "The right cam shows the red cup far forward-left of the right arm, i.e. beyond the left arm's y bound and reach. New plan: set the jug down near the table's centre-right where the right arm can regrasp it and pour. Moving the jug over that spot first.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.38,
          "left_yaw": 0.0,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019xeG9iegL6YQM6o6SRyiiR",
      "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]: [-0.9279, 2.6797, 3.1065, -1.5238, -0.6945, -0.7448, 0.2386, 0.2428, 1.1587, 0.9447, -0.4332, 0.2237, 0.1127, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=-0.369 left_z=0.2027 left_yaw=0.0421 left_pitch=-0.1952 left_roll=0.124 left_gripper=0.2386 right_x=0.3579 right_y=0.052 right_z=0.2146 right_yaw=-0.0146 right_pitch=-0.0648 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.9538, 4.8342, 1.37, -0.398, 0.3687, 0.1685, 0.3624, -4.465, 7.2684, 1.8242, 0.1343, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e696b03e7bc6b53b55a6b2b5935a83174806fbab2c6f626e98a17ba425667cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:529c61a2f530b9a75270ce544ec15ad2f5bc1435fbb1dbd19bfe860916810618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4202499eb5684a1a8537dc4bdef5d7da8da68a9c3c24ab8d84953a923b6596ce",
        "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 · 28.24 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]: [-0.7261, 2.6583, 3.1176, -1.5192, -0.7254, -0.7269, 0.2355, 0.5472, 1.9591, 1.3491, -0.1001, 0.4538, 0.3126, 0.9998]\nstate[eef_state]: left_x=0.4882 left_y=-0.272 left_z=0.2208 left_yaw=0.2462 left_pitch=-0.1532 left_roll=0.122 left_gripper=0.2355 right_x=0.49 right_y=0.2121 right_z=0.1161 right_yaw=-0.0069 right_pitch=-0.0623 right_roll=-0.0238 right_gripper=0.9998\nstate[joint_eff]: [-10.2359, -15.4462, 5.2308, 1.1795, 0.7937, 0.0757, 0.1343, 3.3573, -8.0615, 11.8906, 1.5458, 0.3785, 0.2173, -0.0366]",
      "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]: [-0.7261, 2.6446, 3.0585, -1.499, -0.7174, -0.7486, 0.2368, 0.2501, 1.1526, 0.9485, -0.4129, 0.2379, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.2737 left_z=0.2118 left_yaw=0.2568 left_pitch=-0.1715 left_roll=0.1227 left_gripper=0.2368 right_x=0.3603 right_y=0.0528 right_z=0.2226 right_yaw=-0.0291 right_pitch=-0.0333 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -15.0359, 5.1761, 1.1355, -0.4615, 0.1099, 0.1343, -0.1846, -3.9726, 6.735, 1.8242, 0.0855, -0.1099, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9279, 2.6797, 3.1065, -1.5238, -0.6945, -0.7448, 0.2386, 0.2428, 1.1587, 0.9447, -0.4332, 0.2237, 0.1127, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=-0.369 left_z=0.2027 left_yaw=0.0421 left_pitch=-0.1952 left_roll=0.124 left_gripper=0.2386 right_x=0.3579 right_y=0.052 right_z=0.2146 right_yaw=-0.0146 right_pitch=-0.0648 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.9538, 4.8342, 1.37, -0.398, 0.3687, 0.1685, 0.3624, -4.465, 7.2684, 1.8242, 0.1343, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e696b03e7bc6b53b55a6b2b5935a83174806fbab2c6f626e98a17ba425667cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:529c61a2f530b9a75270ce544ec15ad2f5bc1435fbb1dbd19bfe860916810618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4202499eb5684a1a8537dc4bdef5d7da8da68a9c3c24ab8d84953a923b6596ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CMemDdWxjiRYU1XZ3tMuR1",
      "input": {
        "note": "Jug is hanging over the centre-right spot where the right arm can reach it. Lowering until the jug's base touches the table so it stands upright before I release it.",
        "targets": {
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CMemDdWxjiRYU1XZ3tMuR1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9298, 2.8326, 3.1428, -1.2591, -0.7959, -0.794, 0.2403, 0.2333, 1.1637, 0.9401, -0.469, 0.2459, 0.1123, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.4028 left_z=0.1669 left_yaw=0.1105 left_pitch=-0.0407 left_roll=0.0066 left_gripper=0.2403 right_x=0.3531 right_y=0.0434 right_z=0.2046 right_yaw=-0.0434 right_pitch=-0.105 right_roll=-0.0539 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.6974, 5.6274, 0.3443, 0.7204, 0.2076, 0.1636, 0.5538, -4.1641, 7.3778, 2.0488, -0.2808, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447096da701291b82e3afae7d6ab35deb4ec20cb5d3d04286571c2d958b68ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d2ae580b183b6a448836ea5ac607f49a8ba96fc5c1493a10df42efdcd9735e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d998d2cc8afbefcf7bf2410cdacefcef991213a5069fbac13c33479f4cdb7761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 32.66 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]: [-0.7261, 2.6446, 3.0585, -1.499, -0.7174, -0.7486, 0.2368, 0.2501, 1.1526, 0.9485, -0.4129, 0.2379, 0.1322, 0.9998]\nstate[eef_state]: left_x=0.4885 left_y=-0.2737 left_z=0.2118 left_yaw=0.2568 left_pitch=-0.1715 left_roll=0.1227 left_gripper=0.2368 right_x=0.3603 right_y=0.0528 right_z=0.2226 right_yaw=-0.0291 right_pitch=-0.0333 right_roll=-0.0124 right_gripper=0.9998\nstate[joint_eff]: [-0.6222, -15.0359, 5.1761, 1.1355, -0.4615, 0.1099, 0.1343, -0.1846, -3.9726, 6.735, 1.8242, 0.0855, -0.1099, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.9279, 2.6797, 3.1065, -1.5238, -0.6945, -0.7448, 0.2386, 0.2428, 1.1587, 0.9447, -0.4332, 0.2237, 0.1127, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=-0.369 left_z=0.2027 left_yaw=0.0421 left_pitch=-0.1952 left_roll=0.124 left_gripper=0.2386 right_x=0.3579 right_y=0.052 right_z=0.2146 right_yaw=-0.0146 right_pitch=-0.0648 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.9538, 4.8342, 1.37, -0.398, 0.3687, 0.1685, 0.3624, -4.465, 7.2684, 1.8242, 0.1343, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9298, 2.8326, 3.1428, -1.2591, -0.7959, -0.794, 0.2403, 0.2333, 1.1637, 0.9401, -0.469, 0.2459, 0.1123, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.4028 left_z=0.1669 left_yaw=0.1105 left_pitch=-0.0407 left_roll=0.0066 left_gripper=0.2403 right_x=0.3531 right_y=0.0434 right_z=0.2046 right_yaw=-0.0434 right_pitch=-0.105 right_roll=-0.0539 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.6974, 5.6274, 0.3443, 0.7204, 0.2076, 0.1636, 0.5538, -4.1641, 7.3778, 2.0488, -0.2808, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447096da701291b82e3afae7d6ab35deb4ec20cb5d3d04286571c2d958b68ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95d2ae580b183b6a448836ea5ac607f49a8ba96fc5c1493a10df42efdcd9735e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d998d2cc8afbefcf7bf2410cdacefcef991213a5069fbac13c33479f4cdb7761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019RyxDk6QobF53ZLVFEuX4c",
      "input": {
        "note": "The jug touched down standing right beside the red cup, which the top view now shows just left (arm's +y) and slightly beyond the jug — closer than I feared. Lifting the jug again so I can position its spout over the cup and pour with the left arm.",
        "targets": {
          "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_019RyxDk6QobF53ZLVFEuX4c",
      "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]: [-0.9253, 2.5988, 2.7522, -1.1484, -0.7906, -0.8009, 0.2419, 0.2295, 1.1645, 0.9371, -0.4812, 0.2485, 0.1112, 0.9998]\nstate[eef_state]: left_x=0.455 left_y=-0.3894 left_z=0.1822 left_yaw=0.1177 left_pitch=-0.0677 left_roll=0.0387 left_gripper=0.2419 right_x=0.3511 right_y=0.0411 right_z=0.2009 right_yaw=-0.0493 right_pitch=-0.12 right_roll=-0.0609 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -17.8393, 5.9009, 1.4237, -0.4811, 0.0855, 0.1538, 0.1436, -4.0137, 7.1453, 1.7021, 0.0073, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862468c25ca0ddcd402bb7bd55671a1a14d58107609cf7446c5a2eb6138205d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e71713f872bc116d6c60e33c8f3e1f2abd6cc4ac690e1e462204e04410a093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f7e4d0aa24bb775e3b2092b0cfed06988ff3314bc61b06fa990231789d470384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 14.12 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]: [-0.9279, 2.6797, 3.1065, -1.5238, -0.6945, -0.7448, 0.2386, 0.2428, 1.1587, 0.9447, -0.4332, 0.2237, 0.1127, 0.9998]\nstate[eef_state]: left_x=0.4221 left_y=-0.369 left_z=0.2027 left_yaw=0.0421 left_pitch=-0.1952 left_roll=0.124 left_gripper=0.2386 right_x=0.3579 right_y=0.052 right_z=0.2146 right_yaw=-0.0146 right_pitch=-0.0648 right_roll=-0.0283 right_gripper=0.9998\nstate[joint_eff]: [-0.6769, -14.9538, 4.8342, 1.37, -0.398, 0.3687, 0.1685, 0.3624, -4.465, 7.2684, 1.8242, 0.1343, 0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.9298, 2.8326, 3.1428, -1.2591, -0.7959, -0.794, 0.2403, 0.2333, 1.1637, 0.9401, -0.469, 0.2459, 0.1123, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.4028 left_z=0.1669 left_yaw=0.1105 left_pitch=-0.0407 left_roll=0.0066 left_gripper=0.2403 right_x=0.3531 right_y=0.0434 right_z=0.2046 right_yaw=-0.0434 right_pitch=-0.105 right_roll=-0.0539 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.6974, 5.6274, 0.3443, 0.7204, 0.2076, 0.1636, 0.5538, -4.1641, 7.3778, 2.0488, -0.2808, -0.0317, -0.0171]",
      "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]: [-0.9253, 2.5988, 2.7522, -1.1484, -0.7906, -0.8009, 0.2419, 0.2295, 1.1645, 0.9371, -0.4812, 0.2485, 0.1112, 0.9998]\nstate[eef_state]: left_x=0.455 left_y=-0.3894 left_z=0.1822 left_yaw=0.1177 left_pitch=-0.0677 left_roll=0.0387 left_gripper=0.2419 right_x=0.3511 right_y=0.0411 right_z=0.2009 right_yaw=-0.0493 right_pitch=-0.12 right_roll=-0.0609 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -17.8393, 5.9009, 1.4237, -0.4811, 0.0855, 0.1538, 0.1436, -4.0137, 7.1453, 1.7021, 0.0073, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:862468c25ca0ddcd402bb7bd55671a1a14d58107609cf7446c5a2eb6138205d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72e71713f872bc116d6c60e33c8f3e1f2abd6cc4ac690e1e462204e04410a093",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7e4d0aa24bb775e3b2092b0cfed06988ff3314bc61b06fa990231789d470384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ipozaMFAyirASvb2rmaGA",
      "input": {
        "note": "The left arm cannot lift the jug here (stalled at z=0.18 with very high shoulder effort — reach limit). The jug is standing beside the red cup, so I'll release it and let the right arm, which reaches this spot more comfortably, do the pouring.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017ipozaMFAyirASvb2rmaGA",
      "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]: [-0.9253, 2.5881, 2.7464, -1.1347, -0.786, -0.8013, 0.9956, 0.2295, 1.1656, 0.9371, -0.4816, 0.2489, 0.1108, 0.9998]\nstate[eef_state]: left_x=0.4554 left_y=-0.3909 left_z=0.1873 left_yaw=0.1142 left_pitch=-0.0615 left_roll=0.0203 left_gripper=0.9956 right_x=0.3511 right_y=0.041 right_z=0.2004 right_yaw=-0.0495 right_pitch=-0.1214 right_roll=-0.0618 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -18.0991, 5.7915, 1.2918, -0.4567, 0.0757, -0.232, -0.1299, -3.8906, 6.8991, 1.6044, 0.0122, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976a8f61bc998f000e39551214bc0a9d326d539d0290563224c1f953f46b6c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8aaa0a597b961a6cc01ef342d508852582a8ea9851283e265293e9fa1668982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46712b68796bf3a75c47ef0cc57c94769cf7a14ec2171e720236a3b0fe2ebdc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 27.74 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]: [-0.9298, 2.8326, 3.1428, -1.2591, -0.7959, -0.794, 0.2403, 0.2333, 1.1637, 0.9401, -0.469, 0.2459, 0.1123, 0.9998]\nstate[eef_state]: left_x=0.4624 left_y=-0.4028 left_z=0.1669 left_yaw=0.1105 left_pitch=-0.0407 left_roll=0.0066 left_gripper=0.2403 right_x=0.3531 right_y=0.0434 right_z=0.2046 right_yaw=-0.0434 right_pitch=-0.105 right_roll=-0.0539 right_gripper=0.9998\nstate[joint_eff]: [-0.5402, -4.6974, 5.6274, 0.3443, 0.7204, 0.2076, 0.1636, 0.5538, -4.1641, 7.3778, 2.0488, -0.2808, -0.0317, -0.0171]",
      "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]: [-0.9253, 2.5988, 2.7522, -1.1484, -0.7906, -0.8009, 0.2419, 0.2295, 1.1645, 0.9371, -0.4812, 0.2485, 0.1112, 0.9998]\nstate[eef_state]: left_x=0.455 left_y=-0.3894 left_z=0.1822 left_yaw=0.1177 left_pitch=-0.0677 left_roll=0.0387 left_gripper=0.2419 right_x=0.3511 right_y=0.0411 right_z=0.2009 right_yaw=-0.0493 right_pitch=-0.12 right_roll=-0.0609 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -17.8393, 5.9009, 1.4237, -0.4811, 0.0855, 0.1538, 0.1436, -4.0137, 7.1453, 1.7021, 0.0073, -0.0415, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.9253, 2.5881, 2.7464, -1.1347, -0.786, -0.8013, 0.9956, 0.2295, 1.1656, 0.9371, -0.4816, 0.2489, 0.1108, 0.9998]\nstate[eef_state]: left_x=0.4554 left_y=-0.3909 left_z=0.1873 left_yaw=0.1142 left_pitch=-0.0615 left_roll=0.0203 left_gripper=0.9956 right_x=0.3511 right_y=0.041 right_z=0.2004 right_yaw=-0.0495 right_pitch=-0.1214 right_roll=-0.0618 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -18.0991, 5.7915, 1.2918, -0.4567, 0.0757, -0.232, -0.1299, -3.8906, 6.8991, 1.6044, 0.0122, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:976a8f61bc998f000e39551214bc0a9d326d539d0290563224c1f953f46b6c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8aaa0a597b961a6cc01ef342d508852582a8ea9851283e265293e9fa1668982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46712b68796bf3a75c47ef0cc57c94769cf7a14ec2171e720236a3b0fe2ebdc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014j2Qh8njfY83isb3jpDXvY",
      "input": {
        "note": "Jug released and standing next to the red cup. Retracting the left arm straight back and up so the open fingers slide off the spout without knocking the jug, before parking it.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.39,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_014j2Qh8njfY83isb3jpDXvY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-1.0557, 2.4775, 2.6598, -1.3712, -0.8345, -0.976, 0.9967, 0.2237, 1.1614, 0.9371, -0.4782, 0.2417, 0.1081, 0.9998]\nstate[eef_state]: left_x=0.3772 left_y=-0.3934 left_z=0.2032 left_yaw=0.119 left_pitch=-0.1121 left_roll=0.0909 left_gripper=0.9967 right_x=0.3514 right_y=0.0403 right_z=0.2022 right_yaw=-0.0475 right_pitch=-0.1154 right_roll=-0.0573 right_gripper=0.9998\nstate[joint_eff]: [-2.8103, -18.5094, 8.8274, 1.2821, -0.6081, -0.0317, 0.1099, 0.1436, -3.6308, 6.9949, 1.5849, 0.1099, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25a1ebff821f4179a286e0616c3b0f39a400cba0beec87fe3033c601502e05c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89fa52a63f9266f4e24f2711dbc314da694184aa3e1900d197ea161703871d51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdf2288dee70b75889b2a3a44d56366b14e3af616da0a3c74e73334f288e861e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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