adhoc

completed
2026-09-18T18:52:27.648713+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
80
max_output_tokens
16000
max_speed_frac
0.25
model
claude-fable-5-1
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
1800
duration
806.2 s
total steps
503
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

pour the left container into the red cup, then pour the right container into the red cup

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 80 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: pour the left container into the red cup, then pour the right container into the red cup
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
I'll start by moving the left arm toward the left (white) container to gauge its position.
agent noteThe left white bottle sits roughly straight ahead of the left arm in both views; advancing the open left gripper toward it at bottle-shoulder height to check alignment.
move_to
left_x0.3500left_y0.0000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 0.7986, 0.6155, -0.3775, -0.0219, -0.0166, 0.9996, -0.0154, 0.7967, 0.6109, -0.371, -0.012, -0.0254, 0.9998] state[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998 state[joint_eff]: [-0.5538, -1.6479, 9.6479, 1.7411, -0.0366, -0.0269, -0.0562, -0.9094, -1.4838, 9.7846, 1.6777, -0.0806, 0.0562, -0.0366] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
I'll start by moving the left arm toward the left (white) container to gauge its position.
move_to({"targets": {"left_x": 0.35, "left_y": 0.0, "left_z": 0.2, "left_gripper": 1.0}, "note": "The left white bottle sits roughly straight ahead of the left arm in both views; advancing the open left gripper toward it at bottle-shoulder height to check alignment."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteThe bottle fills the left wrist view centred on the jaw column, so it is a few cm ahead of the fingertips; advancing so the jaws straddle the bottle's upper body.
move_to
left_x0.4000left_y0.0000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0193, 1.0576, 0.7387, -0.2977, -0.0219, -0.02, 0.9996, -0.0154, 0.7986, 0.6086, -0.3737, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3433 left_y=0.0008 left_z=0.1797 left_yaw=0.0019 left_pitch=-0.056 left_roll=-0.0017 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1821 right_yaw=0.0004 right_pitch=-0.0069 right_roll=-0.0005 right_gripper=0.9998 state[joint_eff]: [-0.4718, -3.6444, 9.7573, 1.8584, -0.0464, -0.0269, -0.0562, -0.253, -1.3744, 7.2547, 1.7363, -0.0464, -0.0366, -0.0122] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": 0.0, "left_z": 0.2, "left_gripper": 1.0}, "note": "The bottle fills the left wrist view centred on the jaw column, so it is a few cm ahead of the fingertips; advancing so the jaws straddle the bottle's upper body."})
tool
executing move_to over 5 steps (0.5s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe left wrist camera now looks down into the bottle's open mouth just ahead of the jaws; raising slightly and advancing so the jaws straddle the narrower neck below the rim.
move_to
left_x0.4300left_y0.0000left_z0.2200left_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]: [-0.0181, 1.2984, 0.926, -0.2993, -0.0223, -0.0277, 0.9996, -0.0154, 0.8032, 0.6086, -0.3775, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.3923 left_y=0.0004 left_z=0.1797 left_yaw=0.0075 left_pitch=-0.1109 left_roll=-0.0063 left_gripper=0.9996 right_x=0.2963 right_y=0.0011 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998 state[joint_eff]: [-0.0889, -5.3402, 9.6479, 1.8388, -0.0708, 0.0317, -0.0562, -0.3487, -1.4974, 7.0906, 1.7851, -0.0269, -0.0513, -0.0122] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": 0.0, "left_z": 0.22, "left_gripper": 1.0}, "note": "The left wrist camera now looks down into the bottle's open mouth just ahead of the jaws; raising slightly and advancing so the jaws straddle the narrower neck below the rim."})
tool
executing move_to over 3 steps (0.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe bottle mouth now sits at the bottom-left of the left wrist view, just left of the jaw column and near the fingertips; shifting 2 cm left and slightly forward to centre the neck between the jaws.
move_to
left_x0.4450left_y0.0200left_z0.2100left_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]: [-0.0181, 1.4391, 1.1652, -0.4267, -0.0216, -0.0387, 0.9996, -0.0151, 0.8062, 0.6086, -0.3817, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4262 left_y=-0.0003 left_z=0.2063 left_yaw=0.0129 left_pitch=-0.1399 left_roll=-0.0146 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9998 state[joint_eff]: [0.0342, -6.1744, 9.6342, 1.6532, -0.0366, 0.0659, -0.0513, -0.3077, -1.5521, 7.0359, 1.7753, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": 0.02, "left_z": 0.21, "left_gripper": 1.0}, "note": "The bottle mouth now sits at the bottom-left of the left wrist view, just left of the jaw column and near the fingertips; shifting 2 cm left and slightly forward to centre the neck between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe bottle mouth is centred just ahead of the left jaws in the wrist view; closing the gripper on the neck to grasp it.
move_to
left_x0.4450left_y0.0200left_z0.1900left_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]: [0.0498, 1.5131, 1.2121, -0.4526, 0.0235, -0.0223, 0.9996, -0.0151, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.436 left_y=0.0212 left_z=0.1916 left_yaw=0.0333 left_pitch=-0.1931 left_roll=-0.0321 left_gripper=0.9996 right_x=0.2956 right_y=0.0013 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.335, -7.1316, 9.6068, 1.7607, 0.0269, 0.232, -0.0562, -0.253, -1.4564, 7.0496, 1.746, -0.0464, -0.0317, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.445, "left_y": 0.02, "left_z": 0.19, "left_gripper": 0.0}, "note": "The bottle mouth is centred just ahead of the left jaws in the wrist view; closing the gripper on the neck to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteGripper settled at 0.42 (≈4 cm), consistent with holding the bottle neck; lifting 7 cm to confirm the bottle comes along.
move_to
left_x0.4400left_y0.0200left_z0.2600left_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]: [0.0483, 1.5269, 1.2144, -0.4473, 0.0235, -0.0387, 0.4163, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9997] state[eef_state]: left_x=0.4384 left_y=0.0206 left_z=0.1878 left_yaw=0.0407 left_pitch=-0.1994 left_roll=-0.0444 left_gripper=0.4163 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9997 state[joint_eff]: [-0.4581, -5.2171, 9.1556, 1.5604, -0.0806, 0.0757, 1.0232, -0.335, -1.1692, 7.1043, 1.7167, -0.0415, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": 0.02, "left_z": 0.26, "left_gripper": 0.0}, "note": "Gripper settled at 0.42 (\u22484 cm), consistent with holding the bottle neck; lifting 7 cm to confirm the bottle comes along."})
tool
executing move_to over 5 steps (0.5s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteGripper reads 0.38 and the bottle mouth still appears in the wrist view, suggesting the bottle is held by its rim/handle and tilted; lifting higher to confirm it clears the table in the top view.
move_to
left_x0.4200left_y0.0200left_z0.3200left_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]: [0.0483, 1.5589, 1.4952, -0.7479, 0.0231, -0.0532, 0.3828, -0.0151, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4346 left_y=0.0205 left_z=0.2415 left_yaw=0.0489 left_pitch=-0.2516 left_roll=-0.0548 left_gripper=0.3828 right_x=0.2958 right_y=0.0013 right_z=0.1767 right_yaw=0.0008 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.4034, -7.7333, 9.2513, 1.6484, -0.0269, 0.0855, 1.0281, -0.212, -1.4564, 7.0222, 1.7509, -0.0513, -0.0317, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": 0.02, "left_z": 0.32, "left_gripper": 0.0}, "note": "Gripper reads 0.38 and the bottle mouth still appears in the wrist view, suggesting the bottle is held by its rim/handle and tilted; lifting higher to confirm it clears the table in the top view."})
tool
executing move_to over 6 steps (0.6s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteThe bottle is lifted and the red cup appears to the right in the left wrist view; carrying the bottle rightward and higher to hover just left of the red cup before tilting.
move_to
left_x0.4300left_y-0.1000left_z0.3600left_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]: [0.049, 1.6199, 1.8484, -1.0988, 0.0235, -0.0643, 0.3726, -0.0154, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4166 left_y=0.0199 left_z=0.3012 left_yaw=0.0555 left_pitch=-0.3106 left_roll=-0.0625 left_gripper=0.3726 right_x=0.2958 right_y=0.0011 right_z=0.1767 right_yaw=0.0004 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -7.9248, 8.4855, 1.5946, -0.0415, 0.0904, 1.0232, -0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0562, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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_x": 0.43, "left_y": -0.1, "left_z": 0.36, "left_gripper": 0.0}, "note": "The bottle is lifted and the red cup appears to the right in the left wrist view; carrying the bottle rightward and higher to hover just left of the red cup before tilting."})
tool
executing move_to over 11 steps (1.1s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteThe bottle hangs just left of the red cup in both views; rolling the left wrist toward the right to tip the bottle's mouth over the red cup.
move_to
left_x0.4300left_y-0.1000left_z0.3600left_roll-0.8000left_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]: [-0.3084, 1.9934, 2.6053, -1.5169, -0.1764, -0.3412, 0.3567, -0.0151, 0.8101, 0.6086, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4346 left_y=-0.1022 left_z=0.3509 left_yaw=0.032 left_pitch=-0.3271 left_roll=-0.0814 left_gripper=0.3567 right_x=0.2957 right_y=0.0013 right_z=0.1766 right_yaw=0.0008 right_pitch=-0.0298 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1436, -9.2923, 6.1333, 1.1306, -0.2271, 0.1197, 0.9206, -0.335, -1.306, 7.241, 1.7363, -0.0122, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.1, "left_z": 0.36, "left_roll": -0.8, "left_gripper": 0.0}, "note": "The bottle hangs just left of the red cup in both views; rolling the left wrist toward the right to tip the bottle's mouth over the red cup."})
tool
executing move_to over 10 steps (1.0s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteTop view shows the bottle tilted with its mouth over the red cup; rolling further to complete the pour.
move_to
left_x0.4300left_y-0.1000left_z0.3400left_roll-1.4000left_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]: [-0.1379, 1.7214, 2.0472, -1.1378, 0.2077, -0.7708, 0.3513, -0.0154, 0.812, 0.6083, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4311 left_y=-0.093 left_z=0.3321 left_yaw=0.061 left_pitch=-0.4003 left_roll=-0.6928 left_gripper=0.3513 right_x=0.2958 right_y=0.0011 right_z=0.1759 right_yaw=0.0004 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.4444, -10.6598, 6.5026, 1.873, 0.2076, -0.0708, 1.0281, -0.3487, -1.4427, 7.0222, 1.7021, -0.0464, -0.0611, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.1, "left_z": 0.34, "left_roll": -1.4, "left_gripper": 0.0}, "note": "Top view shows the bottle tilted with its mouth over the red cup; rolling further to complete the pour."})
tool
executing move_to over 10 steps (1.0s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteThe bottle is tilted with its mouth directly above the red cup; holding the pour a moment at a slightly steeper angle.
move_to
left_x0.4300left_y-0.1000left_z0.3100left_roll-1.5000left_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]: [-0.0704, 1.4944, 1.5227, -0.6262, 0.4107, -1.3487, 0.3464, -0.0151, 0.8131, 0.6086, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4292 left_y=-0.0974 left_z=0.3117 left_yaw=0.082 left_pitch=-0.4667 left_roll=-1.293 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [0.2393, -9.265, 7.1453, 2.0781, 0.3443, -0.1294, 1.0281, -0.2667, -1.3333, 7.0222, 1.7411, -0.0562, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.1, "left_z": 0.31, "left_roll": -1.5, "left_gripper": 0.0}, "note": "The bottle is tilted with its mouth directly above the red cup; holding the pour a moment at a slightly steeper angle."})
tool
executing move_to over 4 steps (0.4s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
Pour done; now righting the bottle and returning it to its original spot.
agent noteThe left bottle has been tipped over the red cup; rolling it back upright and lifting before carrying it back to the left.
move_to
left_x0.4300left_y-0.0800left_z0.3600left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0704, 1.47, 1.3678, -0.4801, 0.4191, -1.515, 0.3464, -0.0151, 0.8139, 0.6083, -0.3851, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4308 left_y=-0.0988 left_z=0.2822 left_yaw=0.0931 left_pitch=-0.5383 left_roll=-1.4315 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1026, -10.0444, 7.6103, 2.1758, 0.0952, -0.0757, 1.0281, -0.212, -0.9641, 7.0222, 1.7167, -0.022, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
Pour done; now righting the bottle and returning it to its original spot.
move_to({"targets": {"left_x": 0.43, "left_y": -0.08, "left_z": 0.36, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The left bottle has been tipped over the red cup; rolling it back upright and lifting before carrying it back to the left."})
tool
executing move_to over 19 steps (1.9s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe red cup seems to have been displaced toward the left-front; carrying the upright bottle back to its original spot on the left before dealing with the cup.
move_to
left_x0.4400left_y0.0000left_z0.3000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.242, 1.9125, 2.4123, -1.5234, -0.0975, -0.4351, 0.333, -0.0147, 0.8185, 0.6083, -0.3923, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.3209 left_yaw=0.0981 left_pitch=-0.4661 left_roll=-0.1635 left_gripper=0.333 right_x=0.2952 right_y=0.0014 right_z=0.1726 right_yaw=0.0014 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.0769, 3.8632, 1.4921, -0.2369, 0.232, 0.9255, -0.4034, -1.7162, 7.0496, 1.7753, -0.0513, -0.0806, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": 0.0, "left_z": 0.3, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The red cup seems to have been displaced toward the left-front; carrying the upright bottle back to its original spot on the left before dealing with the cup."})
tool
executing move_to over 8 steps (0.8s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe last move barely progressed and the wrist has pitched back to -0.5; explicitly commanding pitch and roll back to zero while easing the bottle leftward to free the arm.
move_to
left_x0.4200left_y-0.0400left_z0.3000left_roll0.0000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2127, 1.9507, 2.4504, -1.578, -0.0967, -0.3977, 0.3312, -0.0143, 0.8185, 0.6079, -0.392, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4153 left_y=-0.0686 left_z=0.3107 left_yaw=0.114 left_pitch=-0.5152 left_roll=-0.1229 left_gripper=0.3312 right_x=0.2952 right_y=0.0015 right_z=0.1725 right_yaw=0.0016 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.1573, -9.5932, 7.0906, 1.2234, -0.0415, 0.0024, 1.0281, -0.0615, -1.4017, 7.0496, 1.7021, -0.0757, -0.0708, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.04, "left_z": 0.3, "left_roll": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The last move barely progressed and the wrist has pitched back to -0.5; explicitly commanding pitch and roll back to zero while easing the bottle leftward to free the arm."})
tool
executing move_to over 18 steps (1.8s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteThe bottle is upright again and the red cup sits nearer the base on the left; lowering the bottle to its original spot ahead of the cup to set it down.
move_to
left_x0.4400left_y0.0000left_z0.2000left_roll0.0000left_pitch0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2211, 1.4372, 1.409, -0.6708, -0.2676, -0.2169, 0.3229, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4165 left_y=-0.0421 left_z=0.2721 left_yaw=0.1137 left_pitch=-0.1091 left_roll=0.003 left_gripper=0.3229 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [-0.3214, -9.0598, 7.3915, 2.0781, -0.2955, 0.0659, 1.0281, -0.3487, -1.6068, 7.0769, 1.7118, -0.0366, -0.0415, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": 0.0, "left_z": 0.2, "left_roll": 0.0, "left_pitch": 0.0, "left_gripper": 0.0}, "note": "The bottle is upright again and the red cup sits nearer the base on the left; lowering the bottle to its original spot ahead of the cup to set it down."})
tool
executing move_to over 5 steps (0.5s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteThe bottle is back at its spot and the shoulder is unloading, so it is likely resting on the table; opening the left gripper to release it.
move_to
left_x0.4300left_y0.0000left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0845, 1.4311, 1.0554, -0.2653, -0.1898, -0.1371, 0.3228, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4301 left_y=0.0006 left_z=0.1938 left_yaw=0.1412 left_pitch=-0.0673 left_roll=0.004 left_gripper=0.3228 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998 state[joint_eff]: [0.1436, -5.8325, 6.7487, 1.5409, 0.0317, 0.1001, 1.0281, -0.335, -1.2376, 7.1043, 1.6972, -0.0269, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": 0.0, "left_z": 0.2, "left_gripper": 1.0}, "note": "The bottle is back at its spot and the shoulder is unloading, so it is likely resting on the table; opening the left gripper to release it."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe bottle is released; raising and retracting the left arm so the top camera can show where the displaced red cup ended up.
move_to
left_x0.3000left_y0.0000left_z0.3000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0845, 1.4326, 1.0424, -0.2768, -0.1867, -0.1421, 0.6951, -0.0147, 0.8249, 0.6075, -0.3927, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4262 left_y=0.0004 left_z=0.1852 left_yaw=0.1417 left_pitch=-0.093 left_roll=0.0041 left_gripper=0.6951 right_x=0.2954 right_y=0.0014 right_z=0.1704 right_yaw=0.0012 right_pitch=-0.0534 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.253, -6.7487, 10.2085, 1.5409, -0.1099, 0.0855, 0.1343, -0.3487, -1.5521, 7.2274, 1.707, -0.0366, -0.0464, -0.0122] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.3, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The bottle is released; raising and retracting the left arm so the top camera can show where the displaced red cup ended up."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteThe red cup was knocked to the near-left, at the bottom-left of the left wrist view; moving the open left gripper above its estimated spot to pick it up and relocate it toward the centre where the right arm can reach.
move_to
left_x0.3100left_y0.0300left_z0.1600left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1658, 0.9726, 1.1023, -0.7132, -0.2485, -0.1699, 0.9986, -0.0147, 0.8276, 0.6075, -0.392, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3116 left_y=-0.0044 left_z=0.2886 left_yaw=0.1261 left_pitch=-0.0029 left_roll=-0.0052 left_gripper=0.9986 right_x=0.2957 right_y=0.0014 right_z=0.1699 right_yaw=0.0012 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.3077, -2.359, 8.9778, 1.6532, -0.2662, -0.0122, 0.0611, -0.2393, -1.5658, 7.0359, 1.746, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": 0.03, "left_z": 0.16, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The red cup was knocked to the near-left, at the bottom-left of the left wrist view; moving the open left gripper above its estimated spot to pick it up and relocate it toward the centre where the right arm can reach."})
tool
executing move_to over 9 steps (0.9s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe red mug appears in the left wrist view about 55 px left of the jaw column with its handle toward the right; shifting the gripper left to centre over the mug body.
move_to
left_x0.3000left_y0.0900left_z0.1500left_pitch0.0000left_gripper1.0000
assistant
agent noteLeft y is capped at 0.05 by the fence-side bound; moving to that limit and checking whether the mug body can still be centred between the jaws.
move_to
left_x0.3000left_y0.0500left_z0.1500left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0349, 0.8829, 0.5613, -0.3099, -0.0994, -0.0769, 0.9988, -0.0147, 0.8288, 0.6075, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3014 left_y=0.0317 left_z=0.1505 left_yaw=0.152 left_pitch=-0.0675 left_roll=-0.0017 left_gripper=0.9988 right_x=0.2957 right_y=0.0014 right_z=0.1695 right_yaw=0.0012 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [0.1846, -1.853, 7.6786, 2.0928, 0.0659, 0.1294, -0.1392, -0.1436, -1.5521, 6.9949, 1.6972, -0.0317, -0.0464, -0.0171] camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.09, "left_z": 0.15, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The red mug appears in the left wrist view about 55 px left of the jaw column with its handle toward the right; shifting the gripper left to centre over the mug body."})
tool
target for left_y is outside [-0.4, 0.05]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.05, "left_z": 0.15, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Left y is capped at 0.05 by the fence-side bound; moving to that limit and checking whether the mug body can still be centred between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteThe mug body is beyond the left arm's y limit but its handle sits on the jaw column pointing toward the base-right; yawing the gripper ~45° and lowering so the jaws can pinch the handle across.
move_to
left_x0.2900left_y0.0500left_z0.1000left_yaw0.8000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1364, 0.8574, 0.5045, -0.2379, -0.0433, -0.038, 0.9988, -0.0143, 0.8299, 0.6075, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2985 left_y=0.0523 left_z=0.1461 left_yaw=0.1851 left_pitch=-0.0296 left_roll=-0.0053 left_gripper=0.9988 right_x=0.2957 right_y=0.0015 right_z=0.1691 right_yaw=0.0016 right_pitch=-0.058 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.2393, -2.359, 6.7077, 2.044, 0.2906, 0.1245, -0.1392, -0.1299, -1.5521, 7.0085, 1.7216, -0.0073, -0.0415, -0.0171] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.05, "left_z": 0.1, "left_yaw": 0.8, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The mug body is beyond the left arm's y limit but its handle sits on the jaw column pointing toward the base-right; yawing the gripper ~45\u00b0 and lowering so the jaws can pinch the handle across."})
tool
executing move_to over 4 steps (0.4s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe yaw request made the IK struggle and pulled y inward; reverting to yaw 0 and lowering to handle height at the y limit, aiming the open jaws around the mug's handle which points toward the base-right.
move_to
left_x0.2700left_y0.0500left_z0.0600left_yaw0.0000left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1478, 0.9619, 0.4473, -0.1989, -0.3336, -0.3363, 0.9988, -0.0147, 0.8322, 0.6075, -0.392, -0.0124, -0.0265, 0.9998] state[eef_state]: left_x=0.2969 left_y=0.0179 left_z=0.1052 left_yaw=0.3059 left_pitch=-0.1067 left_roll=-0.0459 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1686 right_yaw=0.0017 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [-0.1026, -3.0838, 7.3915, 1.6874, -0.1587, -0.105, -0.1343, -0.1846, -1.5658, 7.0222, 1.7705, -0.0366, -0.0806, -0.0122] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": 0.05, "left_z": 0.06, "left_yaw": 0.0, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "The yaw request made the IK struggle and pulled y inward; reverting to yaw 0 and lowering to handle height at the y limit, aiming the open jaws around the mug's handle which points toward the base-right."})
tool
executing move_to over 4 steps (0.4s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteThe left arm did not move at all on the last command, so it seems stalled in an awkward pose; raising it to z=0.2 with all rotations zeroed to unstick it before retrying the handle grasp.
move_to
left_x0.2800left_y0.0300left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.1463, 0.9604, 0.4473, -0.1928, -0.3969, -0.3939, 0.9988, -0.0147, 0.8326, 0.6075, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2964 left_y=0.029 left_z=0.1093 left_yaw=0.3893 left_pitch=-0.0817 left_roll=-0.059 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1684 right_yaw=0.0012 right_pitch=-0.0606 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.0615, -2.9607, 7.3641, 1.6532, -0.2759, -0.0513, -0.1392, -0.0342, -1.4701, 7.1726, 1.707, -0.0269, -0.0757, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": 0.03, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The left arm did not move at all on the last command, so it seems stalled in an awkward pose; raising it to z=0.2 with all rotations zeroed to unstick it before retrying the handle grasp."})
tool
executing move_to over 6 steps (0.6s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent noteElbow effort jumped to 14 and the arm barely moved, so the open gripper is probably jammed against the left fence; pulling inward to y=-0.03 and up to free it.
move_to
left_x0.2800left_y-0.0300left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0292, 0.8761, 0.5163, -0.3183, -0.3035, -0.3164, 0.9988, -0.0143, 0.8345, 0.6075, -0.3916, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2889 left_y=0.048 left_z=0.1352 left_yaw=0.3877 left_pitch=-0.0822 left_roll=-0.0627 left_gripper=0.9988 right_x=0.2961 right_y=0.0015 right_z=0.168 right_yaw=0.0016 right_pitch=-0.0618 right_roll=0.0003 right_gripper=0.9998 state[joint_eff]: [-0.294, -5.7641, 13.9145, 2.21, 0.1392, 0.1783, -0.1343, -0.1436, -1.5248, 7.0632, 1.707, -0.0513, -0.0611, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.03, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Elbow effort jumped to 14 and the arm barely moved, so the open gripper is probably jammed against the left fence; pulling inward to y=-0.03 and up to free it."})
tool
executing move_to over 7 steps (0.7s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
assistant
agent noteThe arm is free again; the mug handle points toward the base-right at about 7 cm left of the jaw column. Moving over the handle at reduced jaw opening so the fingers stay clear of the mug body and fence.
move_to
left_x0.2700left_y0.0350left_z0.1000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2501, 0.757, 0.6323, -0.4808, -0.2398, -0.1818, 0.9988, -0.0147, 0.8371, 0.6075, -0.3927, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2801 left_y=-0.0246 left_z=0.1849 left_yaw=0.0408 left_pitch=-0.0255 left_roll=-0.0135 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1671 right_yaw=0.0012 right_pitch=-0.0656 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.1573, -1.5248, 9.2103, 1.6923, -0.1441, 0.2027, -0.1343, -0.1299, -1.6205, 7.241, 1.7265, -0.0317, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.27, "left_y": 0.035, "left_z": 0.1, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.7}, "note": "The arm is free again; the mug handle points toward the base-right at about 7 cm left of the jaw column. Moving over the handle at reduced jaw opening so the fingers stay clear of the mug body and fence."})
tool
executing move_to over 6 steps (0.6s)
step 177
assistant
agent noteThe mug handle now sits between the jaws in the left wrist view, a little ahead of the fingertips; advancing 3 cm and descending to handle height before closing.
move_to
left_x0.2900left_y0.0400left_z0.0500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.7000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.2184, 0.6994, 0.2783, -0.2195, 0.1024, 0.0578, 0.7029, -0.0143, 0.8379, 0.6075, -0.3923, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2602 left_y=0.0429 left_z=0.0898 left_yaw=0.0925 left_pitch=-0.0763 left_roll=-0.013 left_gripper=0.7029 right_x=0.2962 right_y=0.0015 right_z=0.1669 right_yaw=0.0016 right_pitch=-0.066 right_roll=0.0004 right_gripper=0.9998 state[joint_eff]: [-0.3624, -0.212, 7.3778, 2.0147, 0.4469, 0.1245, 0.0904, -0.0615, -1.6068, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122] camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.29, "left_y": 0.04, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.7}, "note": "The mug handle now sits between the jaws in the left wrist view, a little ahead of the fingertips; advancing 3 cm and descending to handle height before closing."})
tool
executing move_to over 3 steps (0.3s)
step 180
assistant
agent noteThe handle is right between the jaws in the wrist view; closing the left gripper to pinch it.
move_to
left_x0.2800left_y0.0400left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.2413, 1.0172, 0.1596, 0.1535, 0.1844, 0.1162, 0.7013, -0.0147, 0.8398, 0.6075, -0.395, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.2717 left_y=0.0372 left_z=0.0329 left_yaw=0.0136 left_pitch=-0.1293 left_roll=-0.0285 left_gripper=0.7013 right_x=0.2959 right_y=0.0013 right_z=0.1659 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998 state[joint_eff]: [0.4581, -5.2581, 6.5436, 2.0635, 0.2662, 0.0659, 0.1245, -0.3487, -1.2513, 7.2, 1.8681, -0.0513, -0.0366, -0.0171] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": 0.04, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The handle is right between the jaws in the wrist view; closing the left gripper to pinch it."})
tool
executing move_to over 8 steps (0.8s)
step 188
assistant
agent noteThe close was empty; the wrist view shows the handle just beyond the fingertips. Opening and advancing 3 cm forward so the jaws straddle the handle.
move_to
left_x0.3100left_y0.0400left_z0.0500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.6000
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]: [0.2436, 1.0782, 0.1223, 0.3305, 0.1879, 0.1207, 0.0093, -0.0147, 0.8417, 0.6075, -0.4, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2819 left_y=0.0397 left_z=0.0366 left_yaw=0.0122 left_pitch=-0.0523 left_roll=-0.009 left_gripper=0.0093 right_x=0.2953 right_y=0.0014 right_z=0.1644 right_yaw=0.0012 right_pitch=-0.0774 right_roll=0.0006 right_gripper=0.9998 state[joint_eff]: [0.1436, -2.7692, 6.6256, 1.8437, 0.1587, 0.0611, 0.7497, -0.1709, -1.4427, 6.9949, 1.7607, -0.0122, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": 0.04, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.6}, "note": "The close was empty; the wrist view shows the handle just beyond the fingertips. Opening and advancing 3 cm forward so the jaws straddle the handle."})
tool
executing move_to over 6 steps (0.6s)
step 194
assistant
agent noteThe handle now sits squarely between the open jaws in the left wrist view; closing to pinch it.
move_to
left_x0.3000left_y0.0400left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.2199, 1.2045, 0.1596, 0.403, 0.1795, 0.1085, 0.5951, -0.0147, 0.8455, 0.6075, -0.4072, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.2948 left_y=0.0373 left_z=0.0309 left_yaw=0.0019 left_pitch=-0.0694 left_roll=-0.0177 left_gripper=0.5951 right_x=0.2944 right_y=0.0014 right_z=0.1619 right_yaw=0.0012 right_pitch=-0.0885 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.4991, -2.7419, 7.6513, 1.8242, 0.022, 0.1245, 0.1294, -0.1983, -1.7983, 7.1726, 1.8144, -0.0464, -0.0464, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.04, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The handle now sits squarely between the open jaws in the left wrist view; closing to pinch it."})
tool
executing move_to over 6 steps (0.6s)
step 200
assistant
agent noteGripper settled at 0.11 (≈1 cm), consistent with pinching the mug handle; lifting the mug and starting to carry it toward the table centre.
move_to
left_x0.3000left_y0.0000left_z0.1700left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.2256, 1.2091, 0.1425, 0.4629, 0.1837, 0.1085, 0.1075, -0.0147, 0.8455, 0.6075, -0.408, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.2971 left_y=0.0388 left_z=0.0352 left_yaw=0.0045 left_pitch=-0.0317 left_roll=-0.0118 left_gripper=0.1075 right_x=0.2943 right_y=0.0013 right_z=0.1617 right_yaw=0.0009 right_pitch=-0.0893 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.2803, -2.0034, 4.8205, 2.0049, 0.0757, 0.0659, 0.823, -0.1983, -1.5658, 7.0222, 1.7167, -0.0171, -0.022, -0.0171] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.17, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "Gripper settled at 0.11 (\u22481 cm), consistent with pinching the mug handle; lifting the mug and starting to carry it toward the table centre."})
tool
executing move_to over 9 steps (0.9s)
step 209
assistant
agent noteThe mug slipped out of the pinch and remains on the left beyond the arm's y limit; new plan is to hook the open gripper's left finger inside the handle loop and drag the mug rightward. Moving above the handle area with jaws open.
move_to
left_x0.3400left_y0.0100left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0208, 0.8242, 0.519, -0.2394, -0.0013, -0.0093, 0.009, -0.0147, 0.8494, 0.6075, -0.4088, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3036 left_y=-0.0025 left_z=0.1617 left_yaw=-0.0228 left_pitch=0.0159 left_roll=-0.0048 left_gripper=0.009 right_x=0.2944 right_y=0.0014 right_z=0.1605 right_yaw=0.0012 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [-0.2393, -2.1949, 8.8684, 1.6728, -0.1636, -0.0611, 0.7057, -0.1983, -1.7846, 6.9949, 1.6825, -0.0317, -0.0269, -0.0122] camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": 0.01, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The mug slipped out of the pinch and remains on the left beyond the arm's y limit; new plan is to hook the open gripper's left finger inside the handle loop and drag the mug rightward. Moving above the handle area with jaws open."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteThe handle loop appears just right of the open left jaw and a few cm ahead of the fingertips; advancing slightly and descending so the left finger drops inside the handle loop.
move_to
left_x0.3700left_y-0.0050left_z0.0500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0227, 1.0813, 0.469, 0.017, 0.0055, 0.0006, 0.9954, -0.0143, 0.8494, 0.6075, -0.4088, -0.012, -0.0265, 0.9998] state[eef_state]: left_x=0.3351 left_y=0.0102 left_z=0.1151 left_yaw=0.0096 left_pitch=-0.0349 left_roll=-0.0005 left_gripper=0.9954 right_x=0.2944 right_y=0.0015 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0938 right_roll=0.0005 right_gripper=0.9998 state[joint_eff]: [0.4718, -3.2068, 6.3658, 1.8486, 0.0708, 0.0562, -0.0855, -0.0479, -1.5795, 7.0359, 1.6581, -0.0269, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.005, "left_z": 0.05, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The handle loop appears just right of the open left jaw and a few cm ahead of the fingertips; advancing slightly and descending so the left finger drops inside the handle loop."})
tool
executing move_to over 5 steps (0.5s)
step 224
assistant
agent noteThe gripper is down at table level next to the mug's handle; sliding it 10 cm to the right to see whether the left finger hooks the handle and drags the mug along.
move_to
left_x0.3550left_y-0.1000left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.038, 1.4651, 0.3809, 0.4137, -0.0303, -0.0242, 0.9988, -0.0147, 0.8536, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.3532 left_y=-0.0045 left_z=0.0329 left_yaw=-0.0073 left_pitch=-0.1097 left_roll=0.0014 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.159 right_yaw=0.0009 right_pitch=-0.0992 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [-0.3761, -5.8188, 4.9709, 1.7705, -0.0659, -0.0708, -0.1343, -0.0615, -1.7162, 7.0359, 1.6484, -0.0366, -0.0562, -0.0171] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.355, "left_y": -0.1, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The gripper is down at table level next to the mug's handle; sliding it 10 cm to the right to see whether the left finger hooks the handle and drags the mug along."})
tool
executing move_to over 9 steps (0.9s)
step 233
assistant
agent noteThe drag missed — the mug has not moved in the top view and is further forward (x≈0.39) than I assumed. Repositioning the open gripper above the handle further forward to retry the hook.
move_to
left_x0.3900left_y0.0200left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4572, 1.5635, 0.3779, 0.5228, -0.3458, -0.2417, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3439 left_y=-0.0985 left_z=0.0263 left_yaw=-0.0457 left_pitch=-0.0572 left_roll=0.0158 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [-0.1573, -5.0256, 7.159, 1.9072, -0.3199, -0.1392, -0.1392, -0.253, -1.6068, 7.2274, 1.6386, -0.0317, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": 0.02, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The drag missed \u2014 the mug has not moved in the top view and is further forward (x\u22480.39) than I assumed. Repositioning the open gripper above the handle further forward to retry the hook."})
tool
executing move_to over 11 steps (1.1s)
step 244
assistant
agent noteThe mug handle now shows at the bottom-left of the left wrist view directly above the open left jaw; descending here so the finger enters the handle loop.
move_to
left_x0.3750left_y0.0200left_z0.0450left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0486, 1.3624, 0.5735, 0.1944, 0.0013, -0.0074, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3845 left_y=0.0221 left_z=0.1007 left_yaw=0.0433 left_pitch=-0.0341 left_roll=-0.0048 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998 state[joint_eff]: [0.0615, -7.159, 8.4991, 1.6532, 0.1197, 0.1441, -0.1343, -0.2256, -1.5385, 7.0359, 1.6288, -0.0464, -0.0708, -0.0122] camera 'top_cam' (step 244): [image omitted: streamed camera frame] camera 'left_cam' (step 244): [image omitted: streamed camera frame] camera 'right_cam' (step 244): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": 0.02, "left_z": 0.045, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The mug handle now shows at the bottom-left of the left wrist view directly above the open left jaw; descending here so the finger enters the handle loop."})
tool
executing move_to over 4 steps (0.4s)
step 248
assistant
agent noteThe gripper is down at table level with the mug's red handle right against the left jaw; dragging rightward to pull the mug toward the table centre.
move_to
left_x0.3600left_y-0.1200left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0631, 1.5326, 0.4004, 0.4477, 0.0349, 0.0162, 0.9988, -0.0147, 0.8547, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.3589 left_y=0.0201 left_z=0.0237 left_yaw=0.0165 left_pitch=-0.1236 left_roll=-0.0082 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.1003 right_roll=0.0007 right_gripper=0.9998 state[joint_eff]: [0.3487, -6.2838, 5.8188, 2.293, 0.149, 0.0464, -0.1392, -0.2256, -1.6479, 6.9949, 1.6288, -0.0122, -0.0513, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.12, "left_z": 0.035, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The gripper is down at table level with the mug's red handle right against the left jaw; dragging rightward to pull the mug toward the table centre."})
tool
executing move_to over 13 steps (1.3s)
step 261
assistant
agent noteThe drag stalled at y=-0.06 with rising base torque, and the mug still has not moved in the top view; lifting clear to reassess the mug and bottle positions.
move_to
left_x0.3600left_y-0.0600left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2649, 1.6466, 0.4374, 0.5629, -0.189, -0.1783, 0.9988, -0.0147, 0.8589, 0.6067, -0.4088, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.3738 left_y=-0.0633 left_z=0.0207 left_yaw=-0.0179 left_pitch=-0.0727 left_roll=-0.0285 left_gripper=0.9988 right_x=0.2947 right_y=0.0013 right_z=0.1576 right_yaw=0.0009 right_pitch=-0.1041 right_roll=0.0008 right_gripper=0.9998 state[joint_eff]: [3.1795, -6.8855, 5.9419, 1.5702, -0.2759, -0.2271, -0.1392, -0.3761, -1.4838, 7.2137, 1.663, -0.0122, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.06, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The drag stalled at y=-0.06 with rising base torque, and the mug still has not moved in the top view; lifting clear to reassess the mug and bottle positions."})
tool
executing move_to over 12 steps (1.2s)
step 273
assistant
agent noteEarlier contacts put the mug's handle tip near (0.30, 0.04), so its loop should be around (0.32, 0.06); placing the open gripper so the left finger drops into that loop, well short of the bottle.
move_to
left_x0.3200left_y0.0120left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.2943, 1.161, 0.7746, -0.2031, -0.2443, -0.1905, 0.9988, -0.0147, 0.8604, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.363 left_y=-0.0616 left_z=0.1833 left_yaw=0.005 left_pitch=-0.0094 left_roll=-0.023 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0013 right_pitch=-0.106 right_roll=0.001 right_gripper=0.9998 state[joint_eff]: [-0.7043, -5.4906, 9.3607, 1.6435, -0.1978, 0.1783, -0.1343, -0.0752, -1.6889, 7.0632, 1.6337, -0.0122, -0.0366, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": 0.012, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Earlier contacts put the mug's handle tip near (0.30, 0.04), so its loop should be around (0.32, 0.06); placing the open gripper so the left finger drops into that loop, well short of the bottle."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteThe wrist view shows the mug ahead-left of the fingertips, so the handle loop is a bit further forward; sliding the open gripper 2.5 cm forward and left at table level to seat the left finger in the loop.
move_to
left_x0.3350left_y0.0220left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0296, 1.2949, 0.2008, 0.4377, -0.0128, -0.0162, 0.9988, -0.0143, 0.8631, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3091 left_y=0.015 left_z=0.0255 left_yaw=0.0409 left_pitch=-0.0958 left_roll=-0.0035 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1563 right_yaw=0.0016 right_pitch=-0.1087 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.0752, -4.0, 5.5179, 1.9951, 0.1392, 0.0513, -0.1343, -0.0342, -1.8803, 6.9949, 1.6337, -0.0611, -0.0611, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": 0.022, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The wrist view shows the mug ahead-left of the fingertips, so the handle loop is a bit further forward; sliding the open gripper 2.5 cm forward and left at table level to seat the left finger in the loop."})
tool
executing move_to over 4 steps (0.4s)
step 287
assistant
agent noteForward progress stopped short, suggesting the finger is against the handle; dragging rightward now to see if the mug follows.
move_to
left_x0.3200left_y-0.0800left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0872, 1.4536, 0.1963, 0.6174, 0.0444, 0.0238, 0.9988, -0.0147, 0.865, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3188 left_y=0.0236 left_z=0.0126 left_yaw=0.0285 left_pitch=-0.0787 left_roll=-0.0057 left_gripper=0.9988 right_x=0.2949 right_y=0.0014 right_z=0.1558 right_yaw=0.0013 right_pitch=-0.1106 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.253, -4.1504, 6.5983, 1.9707, 0.1441, 0.0806, -0.1343, -0.0889, -1.7983, 7.0906, 1.6484, -0.0806, -0.0806, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.32, "left_y": -0.08, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Forward progress stopped short, suggesting the finger is against the handle; dragging rightward now to see if the mug follows."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe arm ignored the sideways command entirely — it appears stalled in a folded pose near the table; raising and pulling in slightly to unstick it before another attempt.
move_to
left_x0.3000left_y0.0000left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0914, 1.4704, 0.1982, 0.6704, 0.0574, 0.0307, 0.9988, -0.0143, 0.8642, 0.6067, -0.4088, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3255 left_y=0.0232 left_z=0.0188 left_yaw=0.0182 left_pitch=-0.0402 left_roll=-0.0051 left_gripper=0.9988 right_x=0.2949 right_y=0.0015 right_z=0.1561 right_yaw=0.0016 right_pitch=-0.1095 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.0889, -4.4103, 6.0103, 1.8681, 0.1392, 0.0659, -0.1343, -0.1162, -1.5795, 7.159, 1.6142, -0.0562, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": 0.0, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The arm ignored the sideways command entirely \u2014 it appears stalled in a folded pose near the table; raising and pulling in slightly to unstick it before another attempt."})
tool
executing move_to over 7 steps (0.7s)
step 304
assistant
agent noteThe mug sits at about (0.40, 0.10) beside the bottle with its handle toward the bottle, so hooking it there would hit the bottle; instead I will reach past the mug with the open gripper and pull it toward the base with the left finger.
move_to
left_x0.4800left_y0.0500left_z0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0242, 0.8768, 0.329, 0.0235, -0.0254, -0.0261, 0.9988, -0.0147, 0.868, 0.6067, -0.4095, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3053 left_y=0.0007 left_z=0.1152 left_yaw=0.003 left_pitch=0.0363 left_roll=-0.0072 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1549 right_yaw=0.0013 right_pitch=-0.114 right_roll=0.0012 right_gripper=0.9998 state[joint_eff]: [-0.4034, -1.6342, 9.3333, 1.8046, -0.0513, -0.0024, -0.1392, -0.0889, -1.9487, 7.1179, 1.6093, -0.0464, -0.0464, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 304): [image omitted: streamed camera frame] camera 'left_cam' (step 304): [image omitted: streamed camera frame] camera 'right_cam' (step 304): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.48, "left_y": 0.05, "left_z": 0.15, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The mug sits at about (0.40, 0.10) beside the bottle with its handle toward the bottle, so hooking it there would hit the bottle; instead I will reach past the mug with the open gripper and pull it toward the base with the left finger."})
tool
executing move_to over 14 steps (1.4s)
step 318
assistant
agent noteThe gripper collided with the bottle and knocked it over; pulling the left arm up and back to get a clear top view of the fallen bottle and mug.
move_to
left_x0.3000left_y-0.0500left_z0.3000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.136, 1.3895, 0.9009, 0.0311, 0.0757, 0.0353, 0.9988, -0.0143, 0.8726, 0.6067, -0.4103, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4353 left_y=0.0497 left_z=0.201 left_yaw=0.0445 left_pitch=0.1043 left_roll=0.0015 left_gripper=0.9988 right_x=0.295 right_y=0.0015 right_z=0.1535 right_yaw=0.0017 right_pitch=-0.1194 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.212, -7.9521, 4.9026, 1.0672, 0.1685, 0.2515, -0.1343, -0.0479, -1.812, 6.9675, 1.746, -0.0513, -0.0513, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.3, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The gripper collided with the bottle and knocked it over; pulling the left arm up and back to get a clear top view of the fallen bottle and mug."})
tool
executing move_to over 11 steps (1.1s)
step 329
assistant
agent noteThe bottle has rolled forward out of the way and the mug sits near-left with its handle pointing right; placing the open gripper so the left finger lands in the handle loop at about (0.34, 0.06).
move_to
left_x0.3400left_y0.0100left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3237, 0.9791, 1.1103, -0.6827, -0.2367, -0.1608, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.012, -0.0261, 0.9997] state[eef_state]: left_x=0.3119 left_y=-0.0572 left_z=0.2961 left_yaw=-0.0465 left_pitch=0.0261 left_roll=-0.0125 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1525 right_yaw=0.0017 right_pitch=-0.1228 right_roll=0.0013 right_gripper=0.9997 state[joint_eff]: [-0.1709, -2.4137, 8.6222, 1.5702, -0.3053, -0.0611, -0.1343, -0.0889, -1.9624, 7.1316, 1.6728, -0.0464, -0.0366, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": 0.01, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The bottle has rolled forward out of the way and the mug sits near-left with its handle pointing right; placing the open gripper so the left finger lands in the handle loop at about (0.34, 0.06)."})
tool
executing move_to over 17 steps (1.7s)
step 346
assistant
agent noteThe top view shows the mug directly left of the gripper and slightly further forward; sliding forward 4 cm at table level so the left finger passes into the handle loop before dragging.
move_to
left_x0.3650left_y0.0120left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0219, 1.3926, 0.2661, 0.4618, -0.0025, -0.0071, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998] state[eef_state]: left_x=0.3268 left_y=0.0112 left_z=0.0244 left_yaw=0.0196 left_pitch=-0.1043 left_roll=-0.0025 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1525 right_yaw=0.0013 right_pitch=-0.1228 right_roll=0.0011 right_gripper=0.9998 state[joint_eff]: [0.1299, -5.2034, 4.6974, 1.9805, 0.022, 0.105, -0.1343, -0.0615, -1.7162, 7.1316, 1.619, -0.0366, -0.0415, -0.0073] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": 0.012, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The top view shows the mug directly left of the gripper and slightly further forward; sliding forward 4 cm at table level so the left finger passes into the handle loop before dragging."})
tool
executing move_to over 4 steps (0.4s)
step 350
assistant
agent noteThe handle is visible ahead-left in the wrist view and the fingertips are scraping the table; lifting a touch and advancing further so the left finger reaches the loop.
move_to
left_x0.3900left_y0.0120left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.028, 1.5772, 0.2989, 0.638, 0.0048, -0.0063, 0.9988, -0.0143, 0.878, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3475 left_y=0.0125 left_z=0.0115 left_yaw=0.0192 left_pitch=-0.0798 left_roll=-0.0062 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1523 right_yaw=0.0017 right_pitch=-0.1236 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.4171, -5.7094, 6.3658, 1.9512, 0.1685, 0.1392, -0.1343, -0.1573, -1.8256, 7.159, 1.6093, -0.022, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 350): [image omitted: streamed camera frame] camera 'left_cam' (step 350): [image omitted: streamed camera frame] camera 'right_cam' (step 350): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": 0.012, "left_z": 0.035, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The handle is visible ahead-left in the wrist view and the fingertips are scraping the table; lifting a touch and advancing further so the left finger reaches the loop."})
tool
executing move_to over 4 steps (0.4s)
step 354
assistant
agent noteForward motion is blocked at x≈0.355, likely by the mug handle against the left finger; trying the rightward drag from here to see if the mug comes along.
move_to
left_x0.3600left_y-0.1000left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0296, 1.5894, 0.3088, 0.6781, 0.0086, 0.0006, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3557 left_y=0.0126 left_z=0.0187 left_yaw=0.0138 left_pitch=-0.0421 left_roll=-0.0023 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.2256, -5.3812, 6.0103, 1.9316, 0.1001, 0.0562, -0.1343, -0.1709, -1.7983, 7.241, 1.6142, -0.0513, -0.0269, -0.0171] camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.1, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Forward motion is blocked at x\u22480.355, likely by the mug handle against the left finger; trying the rightward drag from here to see if the mug comes along."})
tool
executing move_to over 11 steps (1.1s)
step 365
assistant
agent noteThe mug still hasn't moved, so the open finger keeps missing the loop; switching to a closed gripper as a narrow hook, positioning it above the handle loop at the y limit before lowering into it.
move_to
left_x0.3600left_y0.0500left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.4564, 1.6314, 0.3843, 0.6392, -0.3119, -0.226, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3544 left_y=-0.1097 left_z=0.0264 left_yaw=-0.082 left_pitch=-0.0142 left_roll=-0.0109 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.1436, -5.053, 6.4205, 1.6484, -0.1978, -0.0757, -0.1343, -0.2393, -1.7162, 6.9949, 1.6337, -0.0611, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 365): [image omitted: streamed camera frame] camera 'left_cam' (step 365): [image omitted: streamed camera frame] camera 'right_cam' (step 365): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": 0.05, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The mug still hasn't moved, so the open finger keeps missing the loop; switching to a closed gripper as a narrow hook, positioning it above the handle loop at the y limit before lowering into it."})
tool
executing move_to over 15 steps (1.5s)
step 380
assistant
agent noteClear wrist view now: the handle loop sits about 2.5 cm left of and a few cm ahead of the jaw tips. Opening the jaws so the left finger (4.75 cm left of the grasp point) drops into the loop at about (0.37, 0.075).
move_to
left_x0.3700left_y0.0280left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1963, 1.2392, 0.5041, 0.1493, 0.1268, 0.075, 0.0083, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3573 left_y=0.0519 left_z=0.1064 left_yaw=0.0409 left_pitch=-0.02 left_roll=-0.0051 left_gripper=0.0083 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.6684, 8.5812, 1.663, 0.1685, 0.149, 0.6813, -0.1983, -1.5248, 6.9949, 1.6435, -0.0366, -0.0269, -0.0122] camera 'top_cam' (step 380): [image omitted: streamed camera frame] camera 'left_cam' (step 380): [image omitted: streamed camera frame] camera 'right_cam' (step 380): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": 0.028, "left_z": 0.035, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Clear wrist view now: the handle loop sits about 2.5 cm left of and a few cm ahead of the jaw tips. Opening the jaws so the left finger (4.75 cm left of the grasp point) drops into the loop at about (0.37, 0.075)."})
tool
executing move_to over 10 steps (1.0s)
step 390
assistant
agent noteThe gripper reached table level but the handle bar still appears ahead of the left jaw in the wrist view; sliding forward 3 cm so the finger moves into the loop.
move_to
left_x0.4000left_y0.0280left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1081, 1.5688, 0.3679, 0.5827, 0.0898, 0.0498, 0.9954, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3638 left_y=0.0272 left_z=0.0268 left_yaw=-0.0027 left_pitch=-0.0549 left_roll=-0.0094 left_gripper=0.9954 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.2393, -5.6137, 4.2325, 2.0147, -0.0269, 0.0513, -0.1197, -0.0205, -1.7026, 6.9949, 1.6581, -0.0317, -0.0757, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 390): [image omitted: streamed camera frame] camera 'left_cam' (step 390): [image omitted: streamed camera frame] camera 'right_cam' (step 390): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": 0.028, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The gripper reached table level but the handle bar still appears ahead of the left jaw in the wrist view; sliding forward 3 cm so the finger moves into the loop."})
tool
executing move_to over 3 steps (0.3s)
step 393
assistant
agent noteThe handle now sits right beside the open left jaw in the wrist view; dragging rightward to pull the mug toward the centre.
move_to
left_x0.4000left_y-0.1000left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0956, 1.6978, 0.4377, 0.6495, 0.0807, 0.0444, 0.9988, -0.0147, 0.8795, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3865 left_y=0.0264 left_z=0.018 left_yaw=-0.0046 left_pitch=-0.0478 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1518 right_yaw=0.0013 right_pitch=-0.1251 right_roll=0.0013 right_gripper=0.9998 state[joint_eff]: [-0.2393, -6.7077, 6.1197, 1.956, -0.0708, -0.0562, -0.1392, -0.2256, -1.2786, 7.0085, 1.6532, -0.0269, -0.0415, -0.0171] camera 'top_cam' (step 393): [image omitted: streamed camera frame] camera 'left_cam' (step 393): [image omitted: streamed camera frame] camera 'right_cam' (step 393): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The handle now sits right beside the open left jaw in the wrist view; dragging rightward to pull the mug toward the centre."})
tool
executing move_to over 12 steps (1.2s)
step 405
assistant
agent noteThe drag stalled after 2-3 cm with little torque, which matches earlier controller stalls near the table when the wrist joint hits a limit; repeating the rightward drag slightly higher at z=0.055.
move_to
left_x0.4000left_y-0.1000left_z0.0550left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.0235, 1.7435, 0.5022, 0.63, -0.0315, -0.0498, 0.9988, -0.0147, 0.8814, 0.6067, -0.4099, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4036 left_y=-0.0003 left_z=0.0183 left_yaw=0.0216 left_pitch=-0.0505 left_roll=-0.0208 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1512 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.3077, -7.1316, 5.6684, 1.7607, 0.0806, -0.0806, -0.1343, -0.2393, -1.8393, 6.9675, 1.619, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 405): [image omitted: streamed camera frame] camera 'left_cam' (step 405): [image omitted: streamed camera frame] camera 'right_cam' (step 405): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.1, "left_z": 0.055, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The drag stalled after 2-3 cm with little torque, which matches earlier controller stalls near the table when the wrist joint hits a limit; repeating the rightward drag slightly higher at z=0.055."})
tool
executing move_to over 9 steps (0.9s)
step 414
assistant
agent noteThe mug barely moved, so the finger is not catching the handle (a mug handle is a vertical loop, closed on top). New plan: pinch the handle's vertical outer bar between the jaws by approaching it from the base side; first positioning behind it at handle height.
move_to
left_x0.3400left_y0.0200left_z0.0450left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [-0.3801, 1.6878, 0.5507, 0.4892, -0.2993, -0.2111, 0.9988, -0.0147, 0.8818, 0.6067, -0.4095, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.391 left_y=-0.0963 left_z=0.0331 left_yaw=-0.0236 left_pitch=-0.0544 left_roll=0.0088 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1511 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [-0.3897, -9.1829, 7.3231, 1.7314, -0.2662, -0.0611, -0.1343, -0.212, -1.812, 7.1316, 1.6044, -0.0366, -0.0415, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 414): [image omitted: streamed camera frame] camera 'left_cam' (step 414): [image omitted: streamed camera frame] camera 'right_cam' (step 414): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": 0.02, "left_z": 0.045, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The mug barely moved, so the finger is not catching the handle (a mug handle is a vertical loop, closed on top). New plan: pinch the handle's vertical outer bar between the jaws by approaching it from the base side; first positioning behind it at handle height."})
tool
executing move_to over 11 steps (1.1s)
step 425
assistant
agent noteThe handle's outer bar shows ahead-left of the jaws in the wrist view, roughly at (0.41, 0.06); advancing at the y limit with the jaws half open so the bar enters between them.
move_to
left_x0.4100left_y0.0500left_z0.0400left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.5000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.0605, 1.4155, 0.2749, 0.5465, 0.0074, -0.0013, 0.9988, -0.0143, 0.8829, 0.6067, -0.4095, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3397 left_y=0.0228 left_z=0.0372 left_yaw=0.0467 left_pitch=-0.0337 left_roll=-0.0032 left_gripper=0.9988 right_x=0.2956 right_y=0.0015 right_z=0.1508 right_yaw=0.0017 right_pitch=-0.1289 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [0.0615, -5.2718, 4.5744, 1.9023, 0.2173, 0.0855, -0.1343, -0.0889, -1.853, 6.9949, 1.6337, -0.0611, -0.0317, -0.0122] camera 'top_cam' (step 425): [image omitted: streamed camera frame] camera 'left_cam' (step 425): [image omitted: streamed camera frame] camera 'right_cam' (step 425): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": 0.05, "left_z": 0.04, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.5}, "note": "The handle's outer bar shows ahead-left of the jaws in the wrist view, roughly at (0.41, 0.06); advancing at the y limit with the jaws half open so the bar enters between them."})
tool
executing move_to over 6 steps (0.6s)
step 431
assistant
agent noteThe handle bar is just left of the half-open left jaw and slightly ahead; opening fully and advancing 2.5 cm so the bar lies inside the jaw gap, then I will close on it.
move_to
left_x0.4250left_y0.0500left_z0.0350left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1658, 1.6867, 0.4999, 0.5861, 0.1101, 0.065, 0.504, -0.0147, 0.8848, 0.6067, -0.4088, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3979 left_y=0.0505 left_z=0.0309 left_yaw=0.0298 left_pitch=-0.036 left_roll=-0.0062 left_gripper=0.504 right_x=0.2958 right_y=0.0014 right_z=0.1504 right_yaw=0.0013 right_pitch=-0.1301 right_roll=0.0014 right_gripper=0.9998 state[joint_eff]: [0.3077, -6.2974, 6.0513, 1.7558, 0.149, 0.149, -0.0073, -0.0479, -1.5795, 6.9949, 1.6532, -0.0708, -0.0708, -0.0171] camera 'top_cam' (step 431): [image omitted: streamed camera frame] camera 'left_cam' (step 431): [image omitted: streamed camera frame] camera 'right_cam' (step 431): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.425, "left_y": 0.05, "left_z": 0.035, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The handle bar is just left of the half-open left jaw and slightly ahead; opening fully and advancing 2.5 cm so the bar lies inside the jaw gap, then I will close on it."})
tool
executing move_to over 5 steps (0.5s)
step 436
assistant
agent noteThe red handle now sits right beside the open left jaw in the wrist view; closing the jaws to pinch the handle bar.
move_to
left_x0.4150left_y0.0500left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1623, 1.7641, 0.5583, 0.5922, 0.128, 0.07, 0.9948, -0.0147, 0.8867, 0.6067, -0.4095, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4125 left_y=0.0483 left_z=0.0226 left_yaw=0.0085 left_pitch=-0.0474 left_roll=-0.0141 left_gripper=0.9948 right_x=0.2957 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1327 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.1162, -6.9128, 6.4889, 1.9463, 0.0806, 0.1783, 0.1148, -0.0342, -1.9077, 6.9949, 1.6386, -0.0659, -0.0415, -0.0171] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 436): [image omitted: streamed camera frame] camera 'left_cam' (step 436): [image omitted: streamed camera frame] camera 'right_cam' (step 436): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "The red handle now sits right beside the open left jaw in the wrist view; closing the jaws to pinch the handle bar."})
tool
executing move_to over 10 steps (1.0s)
step 446
assistant
agent noteEmpty close again — the handle is roughly 6 cm beyond the left arm's y limit. Last attempt: reach past the handle with the fully open jaws and then rake it back toward the base to swing the mug inward.
move_to
left_x0.4700left_y0.0500left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1623, 1.7691, 0.5678, 0.5964, 0.1272, 0.0723, 0.0092, -0.0147, 0.8867, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4159 left_y=0.049 left_z=0.0247 left_yaw=0.008 left_pitch=-0.0388 left_roll=-0.0105 left_gripper=0.0092 right_x=0.2958 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1324 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [0.0342, -7.0496, 6.2291, 1.9853, 0.0904, 0.0415, 0.696, -0.1709, -1.6342, 7.2137, 1.5995, -0.0611, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 446): [image omitted: streamed camera frame] camera 'left_cam' (step 446): [image omitted: streamed camera frame] camera 'right_cam' (step 446): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Empty close again \u2014 the handle is roughly 6 cm beyond the left arm's y limit. Last attempt: reach past the handle with the fully open jaws and then rake it back toward the base to swing the mug inward."})
tool
executing move_to over 10 steps (1.0s)
step 456
assistant
agent noteThe open gripper is now forward of the mug's handle at table level; raking back toward the base so the left finger catches the handle and swings the mug inward.
move_to
left_x0.3500left_y0.0500left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1452, 1.9072, 0.7353, 0.5808, 0.1085, 0.054, 0.9951, -0.0147, 0.8875, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4591 left_y=0.0514 left_z=0.022 left_yaw=0.0164 left_pitch=-0.0267 left_roll=-0.0133 left_gripper=0.9951 right_x=0.2958 right_y=0.0014 right_z=0.1496 right_yaw=0.0013 right_pitch=-0.1331 right_roll=0.0015 right_gripper=0.9998 state[joint_eff]: [-0.4444, -7.8974, 7.2821, 1.7705, 0.0513, 0.2759, 0.0611, -0.1026, -1.3197, 7.0359, 1.6386, -0.0659, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 456): [image omitted: streamed camera frame] camera 'left_cam' (step 456): [image omitted: streamed camera frame] camera 'right_cam' (step 456): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The open gripper is now forward of the mug's handle at table level; raking back toward the base so the left finger catches the handle and swings the mug inward."})
tool
executing move_to over 9 steps (0.9s)
step 465
assistant
agent noteThe rake rotated the mug so its handle now points forward (+x), which suits jaws closing along y; lifting and moving forward over where the handle's outer bar should be (x≈0.46) before descending onto it.
move_to
left_x0.4600left_y0.0500left_z0.1200left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.2161, 1.5818, 0.3096, 0.6704, 0.1604, 0.0971, 0.9988, -0.0147, 0.8925, 0.6067, -0.4088, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.351 left_y=0.0518 left_z=0.0212 left_yaw=0.0206 left_pitch=-0.0325 left_roll=-0.008 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1483 right_yaw=0.0013 right_pitch=-0.1377 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [0.3487, -5.7915, 5.1624, 1.8242, 0.1978, 0.0317, -0.1245, -0.212, -2.1402, 6.9538, 1.6337, -0.0464, -0.0611, -0.0171] camera 'top_cam' (step 465): [image omitted: streamed camera frame] camera 'left_cam' (step 465): [image omitted: streamed camera frame] camera 'right_cam' (step 465): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": 0.05, "left_z": 0.12, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The rake rotated the mug so its handle now points forward (+x), which suits jaws closing along y; lifting and moving forward over where the handle's outer bar should be (x\u22480.46) before descending onto it."})
tool
executing move_to over 9 steps (0.9s)
step 474
assistant
agent noteRed shows right beside the open left jaw at the bottom-left of the wrist view, so the handle should be just under the jaw; descending to handle height here.
move_to
left_x0.4500left_y0.0500left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.1505, 1.6222, 0.8211, 0.2276, 0.12, 0.0593, 0.9988, -0.0147, 0.8944, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.451 left_y=0.0506 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.0085 left_roll=-0.0127 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1477 right_yaw=0.0013 right_pitch=-0.14 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.6906, -7.3231, 8.1983, 1.8291, 0.0122, 0.0708, -0.1392, -0.0615, -1.6479, 6.9949, 1.6337, -0.0659, -0.0366, -0.0122] camera 'top_cam' (step 474): [image omitted: streamed camera frame] camera 'left_cam' (step 474): [image omitted: streamed camera frame] camera 'right_cam' (step 474): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "Red shows right beside the open left jaw at the bottom-left of the wrist view, so the handle should be just under the jaw; descending to handle height here."})
tool
executing move_to over 6 steps (0.6s)
step 480
assistant
agent noteAt table level the red handle sits immediately beside the open left jaw; closing to try to catch it.
move_to
left_x0.4500left_y0.0500left_z0.0300left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper0.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.149, 1.8462, 0.6945, 0.5217, 0.1127, 0.0631, 0.9988, -0.0147, 0.8959, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.4424 left_y=0.0499 left_z=0.0221 left_yaw=0.0116 left_pitch=-0.0649 left_roll=-0.0133 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [0.0342, -7.8291, 4.5607, 1.8291, 0.0708, 0.0024, -0.1392, -0.2256, -1.9897, 6.9538, 1.5946, -0.0415, -0.0659, -0.0122] camera 'top_cam' (step 480): [image omitted: streamed camera frame] camera 'left_cam' (step 480): [image omitted: streamed camera frame] camera 'right_cam' (step 480): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": 0.05, "left_z": 0.03, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 0.0}, "note": "At table level the red handle sits immediately beside the open left jaw; closing to try to catch it."})
tool
executing move_to over 10 steps (1.0s)
step 490
assistant
agent noteThe close was empty again; the mug lies against the left fence beyond the arm's y limit. Parking the left arm clear of the objects before ending the trial.
move_to
left_x0.3000left_y-0.0500left_z0.2000left_yaw0.0000left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: pour the left container into the red cup, then pour the right container into the red cup state[joint_pos]: [0.149, 1.8645, 0.688, 0.5896, 0.1116, 0.0677, 0.0093, -0.0147, 0.8963, 0.6067, -0.4088, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.448 left_y=0.051 left_z=0.0257 left_yaw=0.0104 left_pitch=-0.0223 left_roll=-0.003 left_gripper=0.0093 right_x=0.2962 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998 state[joint_eff]: [-0.0752, -8.4034, 4.7111, 1.917, 0.1197, 0.0171, 0.696, -0.2256, -1.9077, 7.1453, 1.5946, -0.0611, -0.0562, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 490): [image omitted: streamed camera frame] camera 'left_cam' (step 490): [image omitted: streamed camera frame] camera 'right_cam' (step 490): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.05, "left_z": 0.2, "left_yaw": 0.0, "left_pitch": 0.0, "left_roll": 0.0, "left_gripper": 1.0}, "note": "The close was empty again; the mug lies against the left fence beyond the arm's y limit. Parking the left arm clear of the objects before ending the trial."})
tool
executing move_to over 12 steps (1.2s)
step 502
assistant
agent noteThe left container was grasped, carried over the red cup and tipped (roll ≈ -1.4 rad) to pour, but while righting it the hanging bottle swept the red mug ~20 cm to the left, where it now sits against the left fence at left_y ≈ 0.10–0.12, beyond the left arm's y bound (0.05) and far outside the right arm's reach. After many attempts to pinch/hook its handle from the y limit (all empty closes or misses) and one collision that knocked the left bottle over, the second pour into the red cup is no longer feasible.
give_up
hindsight1) The "containers" are tall open-mouth pitchers/bottles (~20 cm); grasping the neck at z≈0.19, x≈0.44 gives a handle/rim grip (gripper ≈0.35–0.42) with the bottle hanging tilted ~20 cm below the grasp point. Carry it at z ≥ 0.36 and keep the grasp point ≥ 12 cm from any cup while rolling back upright — the hanging body swings and knocked the red mug away when I un-rolled at y=-0.08 next to the cup (cup at ≈-0.16). Better: pour from further away/higher, or lift to z≈0.4 before un-rolling. 2) The pour itself is easy: hover grasp point ~6 cm to the side of the cup at z≈0.33 and roll toward the cup to ≈-1.4 rad; commanded pitch drifts toward -0.5 while rolled, so command pitch 0 explicitly when returning. 3) The red cup is a mug with a D handle (vertical loop, closed on top) — a finger cannot be dropped "into" it; pinch the vertical outer bar with jaws closing perpendicular to the handle direction. 4) Anything pushed toward the left fence beyond left_y≈0.06 is unrecoverable by either arm; the right arm's box (right_y ≤ 0.4 ↔ left_y ≥ -0.25) cannot reach there. 5) The left arm repeatedly stalled (ignored commands entirely) at table level for x≈0.30–0.40 with joint 4 near 0.6–0.68; raising z ≥ 0.05–0.1 restores tracking — do table-level slides at z≈0.05 not 0.02. 6) Top-cam scale near the left edge at table level ≈ 2.9 px/cm in image-x; the mug and bottles at image y≈80–95 are at x≈0.40–0.44.
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]: [-0.3229, 0.8921, 0.659, -0.3145, -0.2314, -0.1589, 0.9958, -0.0147, 0.9016, 0.6067, -0.4091, -0.012, -0.0261, 0.9998] state[eef_state]: left_x=0.3111 left_y=-0.0576 left_z=0.1934 left_yaw=-0.0512 left_pitch=0.029 left_roll=-0.0146 left_gripper=0.9958 right_x=0.2963 right_y=0.0014 right_z=0.1457 right_yaw=0.0013 right_pitch=-0.1472 right_roll=0.0017 right_gripper=0.9998 state[joint_eff]: [-0.2256, -2.2769, 9.347, 1.6044, -0.2613, 0.0269, -0.0073, -0.1299, -2.2906, 7.1316, 1.5995, -0.0757, -0.0464, -0.0171] camera 'top_cam' (step 502): [image omitted: streamed camera frame] camera 'left_cam' (step 502): [image omitted: streamed camera frame] camera 'right_cam' (step 502): [image omitted: streamed camera frame]
assistant
give_up({"reason": "The left container was grasped, carried over the red cup and tipped (roll \u2248 -1.4 rad) to pour, but while righting it the hanging bottle swept the red mug ~20 cm to the left, where it now sits against the left fence at left_y \u2248 0.10\u20130.12, beyond the left arm's y bound (0.05) and far outside the right arm's reach. After many attempts to pinch/hook its handle from the y limit (all empty closes or misses) and one collision that knocked the left bottle over, the second pour into the red cup is no longer feasible.", "hindsight": "1) The \"containers\" are tall open-mouth pitchers/bottles (~20 cm); grasping the neck at z\u22480.19, x\u22480.44 gives a handle/rim grip (gripper \u22480.35\u20130.42) with the bottle hanging tilted ~20 cm below the grasp point. Carry it at z \u2265 0.36 and keep the grasp point \u2265 12 cm from any cup while rolling back upright \u2014 the hanging body swings and knocked the red mug away when I un-rolled at y=-0.08 next to the cup (cup at \u2248-0.16). Better: pour from further away/higher, or lift to z\u22480.4 before un-rolling. 2) The pour itself is easy: hover grasp point ~6 cm to the side of the cup at z\u22480.33 and roll toward the cup to \u2248-1.4 rad; commanded pitch drifts toward -0.5 while rolled, so command pitch 0 explicitly when returning. 3) The red cup is a mug with a D handle (vertical loop, closed on top) \u2014 a finger cannot be dropped \"into\" it; pinch the vertical outer bar with jaws closing perpendicular to the handle direction. 4) Anything pushed toward the left fence beyond left_y\u22480.06 is unrecoverable by either arm; the right arm's box (right_y \u2264 0.4 \u2194 left_y \u2265 -0.25) cannot reach there. 5) The left arm repeatedly stalled (ignored commands entirely) at table level for x\u22480.30\u20130.40 with joint 4 near 0.6\u20130.68; raising z \u2265 0.05\u20130.1 restores tracking \u2014 do table-level slides at z\u22480.05 not 0.02. 6) Top-cam scale near the left edge at table level \u2248 2.9 px/cm in image-x; the mug and bottles at image y\u224880\u201395 are at x\u22480.40\u20130.44."})
tool
give_up: The left container was grasped, carried over the red cup and tipped (roll ≈ -1.4 rad) to pour, but while righting it the hanging bottle swept the red mug ~20 cm to the left, where it now sits against the left fence at left_y ≈ 0.10–0.12, beyond the left arm's y bound (0.05) and far outside the right arm's reach. After many attempts to pinch/hook its handle from the y limit (all empty closes or misses) and one collision that knocked the left bottle over, the second pour into the red cup is no longer feasible.
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 · 25.26 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, 0.6155, -0.3775, -0.0219, -0.0166, 0.9996, -0.0154, 0.7967, 0.6109, -0.371, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6479, 1.7411, -0.0366, -0.0269, -0.0562, -0.9094, -1.4838, 9.7846, 1.6777, -0.0806, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe0fe340015cf59d64943c86bcb94ae9b1f3d9ce7ecfd705182fee9f1fd8554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:141f10b93b226039870c8b7e6b7f9e9ce5e6ce71dedae9d69df8a231469e7d42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29df66dc66a6fd10f75492e2e0c4230a5bd1627d309f771bc5cf6eda54981c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 10.36 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, 0.6155, -0.3775, -0.0219, -0.0166, 0.9996, -0.0154, 0.7967, 0.6109, -0.371, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6479, 1.7411, -0.0366, -0.0269, -0.0562, -0.9094, -1.4838, 9.7846, 1.6777, -0.0806, 0.0562, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fe0fe340015cf59d64943c86bcb94ae9b1f3d9ce7ecfd705182fee9f1fd8554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:141f10b93b226039870c8b7e6b7f9e9ce5e6ce71dedae9d69df8a231469e7d42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29df66dc66a6fd10f75492e2e0c4230a5bd1627d309f771bc5cf6eda54981c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "text": "I'll start by moving the left arm toward the left (white) container to gauge its position.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014HRzx3PQfj3oDEemsSqVP8",
      "input": {
        "note": "The left white bottle sits roughly straight ahead of the left arm in both views; advancing the open left gripper toward it at bottle-shoulder height to check alignment.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.35,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014HRzx3PQfj3oDEemsSqVP8",
      "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]: [-0.0193, 1.0576, 0.7387, -0.2977, -0.0219, -0.02, 0.9996, -0.0154, 0.7986, 0.6086, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=0.0008 left_z=0.1797 left_yaw=0.0019 left_pitch=-0.056 left_roll=-0.0017 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1821 right_yaw=0.0004 right_pitch=-0.0069 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -3.6444, 9.7573, 1.8584, -0.0464, -0.0269, -0.0562, -0.253, -1.3744, 7.2547, 1.7363, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c18226ccae44f7577237d9bd1d7baa886d7728f7b119bfee8a51b1d3fb6bfb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bdef80e6a2f53b54d968734c00b8bde8c2cebd0136e4dc3e99ecb8e06ce0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f15450a5c0f42324e94292551d711ba1897ad561314ef10f5f3eaaf7363d3a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 10.03 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, 0.6155, -0.3775, -0.0219, -0.0166, 0.9996, -0.0154, 0.7967, 0.6109, -0.371, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6479, 1.7411, -0.0366, -0.0269, -0.0562, -0.9094, -1.4838, 9.7846, 1.6777, -0.0806, 0.0562, -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]: [-0.0193, 1.0576, 0.7387, -0.2977, -0.0219, -0.02, 0.9996, -0.0154, 0.7986, 0.6086, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=0.0008 left_z=0.1797 left_yaw=0.0019 left_pitch=-0.056 left_roll=-0.0017 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1821 right_yaw=0.0004 right_pitch=-0.0069 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -3.6444, 9.7573, 1.8584, -0.0464, -0.0269, -0.0562, -0.253, -1.3744, 7.2547, 1.7363, -0.0464, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c18226ccae44f7577237d9bd1d7baa886d7728f7b119bfee8a51b1d3fb6bfb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7bdef80e6a2f53b54d968734c00b8bde8c2cebd0136e4dc3e99ecb8e06ce0d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f15450a5c0f42324e94292551d711ba1897ad561314ef10f5f3eaaf7363d3a3f",
        "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_0172EiDzxSu2NYL86Jz7idaQ",
      "input": {
        "note": "The bottle fills the left wrist view centred on the jaw column, so it is a few cm ahead of the fingertips; advancing so the jaws straddle the bottle's upper body.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0172EiDzxSu2NYL86Jz7idaQ",
      "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]: [-0.0181, 1.2984, 0.926, -0.2993, -0.0223, -0.0277, 0.9996, -0.0154, 0.8032, 0.6086, -0.3775, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3923 left_y=0.0004 left_z=0.1797 left_yaw=0.0075 left_pitch=-0.1109 left_roll=-0.0063 left_gripper=0.9996 right_x=0.2963 right_y=0.0011 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.3402, 9.6479, 1.8388, -0.0708, 0.0317, -0.0562, -0.3487, -1.4974, 7.0906, 1.7851, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5737023bdbcb08244592c2b9f714312051d04cee316dfbe20e0526d13997e07f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d553a3f0d68f511af828c0ba37bf65c2b36dfca06a077e2ae4d4da73e83382e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b3462131ec6652286916fd547cee15d7638345bbc32adf125e5c30cb1f8091c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.118 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, 0.6155, -0.3775, -0.0219, -0.0166, 0.9996, -0.0154, 0.7967, 0.6109, -0.371, -0.012, -0.0254, 0.9998]\nstate[eef_state]: left_x=0.2968 left_y=0.0017 left_z=0.1845 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.297 right_y=0.0011 right_z=0.1843 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9998\nstate[joint_eff]: [-0.5538, -1.6479, 9.6479, 1.7411, -0.0366, -0.0269, -0.0562, -0.9094, -1.4838, 9.7846, 1.6777, -0.0806, 0.0562, -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]: [-0.0193, 1.0576, 0.7387, -0.2977, -0.0219, -0.02, 0.9996, -0.0154, 0.7986, 0.6086, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=0.0008 left_z=0.1797 left_yaw=0.0019 left_pitch=-0.056 left_roll=-0.0017 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1821 right_yaw=0.0004 right_pitch=-0.0069 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -3.6444, 9.7573, 1.8584, -0.0464, -0.0269, -0.0562, -0.253, -1.3744, 7.2547, 1.7363, -0.0464, -0.0366, -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]: [-0.0181, 1.2984, 0.926, -0.2993, -0.0223, -0.0277, 0.9996, -0.0154, 0.8032, 0.6086, -0.3775, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3923 left_y=0.0004 left_z=0.1797 left_yaw=0.0075 left_pitch=-0.1109 left_roll=-0.0063 left_gripper=0.9996 right_x=0.2963 right_y=0.0011 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.3402, 9.6479, 1.8388, -0.0708, 0.0317, -0.0562, -0.3487, -1.4974, 7.0906, 1.7851, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5737023bdbcb08244592c2b9f714312051d04cee316dfbe20e0526d13997e07f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d553a3f0d68f511af828c0ba37bf65c2b36dfca06a077e2ae4d4da73e83382e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b3462131ec6652286916fd547cee15d7638345bbc32adf125e5c30cb1f8091c",
        "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_01GHKkXDaDh2Rzo7G1tQkvk1",
      "input": {
        "note": "The left wrist camera now looks down into the bottle's open mouth just ahead of the jaws; raising slightly and advancing so the jaws straddle the narrower neck below the rim.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": 0.0,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GHKkXDaDh2Rzo7G1tQkvk1",
      "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]: [-0.0181, 1.4391, 1.1652, -0.4267, -0.0216, -0.0387, 0.9996, -0.0151, 0.8062, 0.6086, -0.3817, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=-0.0003 left_z=0.2063 left_yaw=0.0129 left_pitch=-0.1399 left_roll=-0.0146 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.1744, 9.6342, 1.6532, -0.0366, 0.0659, -0.0513, -0.3077, -1.5521, 7.0359, 1.7753, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a74dda700104db9cb1f10e1152cbe57d86df60ae0d7416101ad4c54541b8429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3d516e5178b31879405c9014eb09290e4a76ce7689791f361d5966440066655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eddd8def10726c0c10f5c8f5b678390d4980c06cd6eb64c7baa92ce66e1603b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.498 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]: [-0.0193, 1.0576, 0.7387, -0.2977, -0.0219, -0.02, 0.9996, -0.0154, 0.7986, 0.6086, -0.3737, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3433 left_y=0.0008 left_z=0.1797 left_yaw=0.0019 left_pitch=-0.056 left_roll=-0.0017 left_gripper=0.9996 right_x=0.2965 right_y=0.0011 right_z=0.1821 right_yaw=0.0004 right_pitch=-0.0069 right_roll=-0.0005 right_gripper=0.9998\nstate[joint_eff]: [-0.4718, -3.6444, 9.7573, 1.8584, -0.0464, -0.0269, -0.0562, -0.253, -1.3744, 7.2547, 1.7363, -0.0464, -0.0366, -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]: [-0.0181, 1.2984, 0.926, -0.2993, -0.0223, -0.0277, 0.9996, -0.0154, 0.8032, 0.6086, -0.3775, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3923 left_y=0.0004 left_z=0.1797 left_yaw=0.0075 left_pitch=-0.1109 left_roll=-0.0063 left_gripper=0.9996 right_x=0.2963 right_y=0.0011 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.3402, 9.6479, 1.8388, -0.0708, 0.0317, -0.0562, -0.3487, -1.4974, 7.0906, 1.7851, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 1.4391, 1.1652, -0.4267, -0.0216, -0.0387, 0.9996, -0.0151, 0.8062, 0.6086, -0.3817, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=-0.0003 left_z=0.2063 left_yaw=0.0129 left_pitch=-0.1399 left_roll=-0.0146 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.1744, 9.6342, 1.6532, -0.0366, 0.0659, -0.0513, -0.3077, -1.5521, 7.0359, 1.7753, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a74dda700104db9cb1f10e1152cbe57d86df60ae0d7416101ad4c54541b8429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3d516e5178b31879405c9014eb09290e4a76ce7689791f361d5966440066655",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eddd8def10726c0c10f5c8f5b678390d4980c06cd6eb64c7baa92ce66e1603b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwgKEAgRGAI4AUIIdGhpbmtpbmcSDK8JVcT4QVP1OpXJCRoMrWRdSl6codBZSjVmIjDo2BUIlJjhuYhSyMQ2Kng49gYtx2usk3iY0JHnyBwqrWpUjT3GZbYtHuCCbKvrCEoqrAf98nOmInwwraB4y7sc/Gg8KC+1py9rXLFr6OPr7j1YGRF/k3Ukr8PPK+43XGhAXKJ9XxvIyrTZVJAfVtiBwUvW1y62kxiegOioQlYOCzB74QHE4xETKwX8lqiAM/eBZp+tcw6Sg/ANFvhszGIaWre64eTXuRQYKyJ0tEOXiNdx8ihcEr70iQAvK+Rt+kimksBWUBju9gddXH/YA4q37dHbmmneHY1hGt7fY9wES99SxEIKEI/R5Xe9tKnothReC7eVMGu/km+mIYJnwdA2oYbhXJlyPS97adoN/0jkYjvdnkomxDCy8IKdrpNr6IIWjrNJgaXCXDn+iLSvuEQcW/66cCvgRlg4WGbqbVp+8v3rRoLr8yfJaDOUw1lmXWWIbJdR+PgS9no/X+Zo/S48VvHvubRJ6/oiTO2HCTnYy2dKvl+AikmnY4BGyzmHIJqps95me3qKswUk3MB0Affm/gcfMN8yF/VvqEeeyjbMAPCq8DCbcMxihEm9TGMIaSg+XgO7rh0hIMeMaDHyBNFFf36pViuz4a9mo3JbPnBtGg8PGGt4z74uGlQrYvlT7x6k+uNVQzQfF42N/6xR9V78reK0VU9xZUM+NPtnPoLVhDUwfekZkKogd353q81nWZDnQyqxjAWaygdnsPKmyN6Q77pEs/RiUg2GW1+OGA7qWTaGZkOfBFJb/LzgF8sf6ZHVjzW8OaJwdKTbCqxwySH6BQ6ysN43uBG0D67+0YjNAEmXHPzlS98bWXVI6PlYFtc4Sc5BwrrNKecQ7XmiB8FsD8e6M0i4d8TyOOhVrrHJMMY8lX+EOqnr+2g0lNoFZUqB/I23mrF2mgNHU0QC+lPsdrfkrxRZXNBWnD6GLyX7v7p8sOPwVKmul3uls+pQGRVfBrb5ipTVJL1NV9aIfglA7e2UTQ12j18vESXvckayKsV3iwcExlKHUdQgOqgPEYhaKzxOeLJBIwn+uvPU+S+wm+mf0azNJsZLvHZuFweBPsEB61ilhiJ0/8GrpTyzT9yaBXi9kZOlzMHfYy3QZ/BlhVjIJpJbN7NNKP855RtXRDSHS4Y4PHQl16I/QXutkzc1bs1Qw93ItGIJ4yp1eNmORSvdSkYfoKB4hCgvZbtF3eDvCWNjlKZ7S4hHnpUA7Rrs53dlytX2iseeWoeNZ/Nu98Q6gsB4EIqHNxMTBXZFCCthmBhUbP+cuolYTnKQ/f0kw2ET4+KBb9Xcx4LslCOt92aSHh7gjRzN3NCL4TgoGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JPUmiZLgHYp13aGqMhAgtU",
      "input": {
        "note": "The bottle mouth now sits at the bottom-left of the left wrist view, just left of the jaw column and near the fingertips; shifting 2 cm left and slightly forward to centre the neck between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.445,
          "left_y": 0.02,
          "left_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01JPUmiZLgHYp13aGqMhAgtU",
      "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]: [0.0498, 1.5131, 1.2121, -0.4526, 0.0235, -0.0223, 0.9996, -0.0151, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=0.0212 left_z=0.1916 left_yaw=0.0333 left_pitch=-0.1931 left_roll=-0.0321 left_gripper=0.9996 right_x=0.2956 right_y=0.0013 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.1316, 9.6068, 1.7607, 0.0269, 0.232, -0.0562, -0.253, -1.4564, 7.0496, 1.746, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5641a3a5f9d9d2fabf647cca8ea7abc76d7cc863d253ea9237f7433b8a4af785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbba8f7ea88ae307a42881e76a4cd62f6283a063d45a0c9461aa6412e6a2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7014846983e5e2a923c7f082ece6f4f4a7e4e29e6f94300d08c135b39528b6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.463 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]: [-0.0181, 1.2984, 0.926, -0.2993, -0.0223, -0.0277, 0.9996, -0.0154, 0.8032, 0.6086, -0.3775, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3923 left_y=0.0004 left_z=0.1797 left_yaw=0.0075 left_pitch=-0.1109 left_roll=-0.0063 left_gripper=0.9996 right_x=0.2963 right_y=0.0011 right_z=0.1801 right_yaw=0.0001 right_pitch=-0.0153 right_roll=-0.0006 right_gripper=0.9998\nstate[joint_eff]: [-0.0889, -5.3402, 9.6479, 1.8388, -0.0708, 0.0317, -0.0562, -0.3487, -1.4974, 7.0906, 1.7851, -0.0269, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0181, 1.4391, 1.1652, -0.4267, -0.0216, -0.0387, 0.9996, -0.0151, 0.8062, 0.6086, -0.3817, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=-0.0003 left_z=0.2063 left_yaw=0.0129 left_pitch=-0.1399 left_roll=-0.0146 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.1744, 9.6342, 1.6532, -0.0366, 0.0659, -0.0513, -0.3077, -1.5521, 7.0359, 1.7753, -0.0269, -0.0415, -0.0171]",
      "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]: [0.0498, 1.5131, 1.2121, -0.4526, 0.0235, -0.0223, 0.9996, -0.0151, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=0.0212 left_z=0.1916 left_yaw=0.0333 left_pitch=-0.1931 left_roll=-0.0321 left_gripper=0.9996 right_x=0.2956 right_y=0.0013 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.1316, 9.6068, 1.7607, 0.0269, 0.232, -0.0562, -0.253, -1.4564, 7.0496, 1.746, -0.0464, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5641a3a5f9d9d2fabf647cca8ea7abc76d7cc863d253ea9237f7433b8a4af785",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbba8f7ea88ae307a42881e76a4cd62f6283a063d45a0c9461aa6412e6a2ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7014846983e5e2a923c7f082ece6f4f4a7e4e29e6f94300d08c135b39528b6b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQkKEAgRGAI4AUIIdGhpbmtpbmcSDOHOXvmQnSZ5sX5sSBoM3iPmHLBWczM5iZ1oIjAXKoCav71ngI8NQ2bh2Y0SQrSWqx//H8cwPJ+/1rr+Javd7Z3j23s6mOWDdzlDGUYq1giRKapm9A5Z32C+kMAXrY572AEyQ7U/VolOp73zksSzL5CpAqraQAJk6thDa01pcp128IPnhi+C4jSSYOo1f9Q/kTv+ogG0rpLovNEOSsTZuT4Mhn+LpX8fLWorfr8klgNwAcLIAF9RyGaEp5kTeP4KQdGHWKq45KB/Wb/SOTba4sbs2PXcCDCRGggybM9t4MwLYRJefkiy86f0q9rFiLFmsB6cIz25k9J5Pjzd5UZTl8fd4XXLghBYLE+0DtyqCsNvJIqhXBA5zkXLeFCl3AVpaK7EwOWvsCxPLRUe+0YJ2WcxadM70FajZFJ6X/md6rTNs7uHt/F/SIaw5o+hHsmMw4dwGmR6aaZeX5TTzYhF8ZC1O3a5kZipKfMJKf0UO7qPDSS1PhxV5zd2OeVLjCRfGUYJ8HQo/1iuOL4R8PxG72/j72KuoeRMNF1tA+o48NsE/3+QnI17p7f4cM//d6In5Rrqcvi9Y+Axj7x+BQ0nzl5EHg72F9EwNmPvRKtTyJGD/ETOHUFVFz55qVwv6etSbMCtNVfUlY07ZgIylUBbDAvFMRRMiF1HMFTn6Tq9Pqo2klprUzywG0D6YmXlGF/QW3rr9J/Urlf1Oq58wu1It22hpLJFxDkl5rNM1OIszV21INTk4+850GfyRroxuupB6yDzFpAvwRBBpYQA3Rr2dUnUt85BdSbTGYj+A6Dr+Rj0TRZYYS9puahziiVLGhqzaeqfafEBgpb4wdKm5+YOFB7ZGOWzeK5tvGsyGo6O/2esG6s0qT1lt0++GM+uceuKEcX5z8nXoMPPr15JfpMmyO4GsvGVdDb4sRh55dbd21+JNpCJykbvQyzVvQnPgXvVkBoFmOCQEkhcOsLpnP83KWeDnfXYbiTtzjg6ZBRN4RF9fzs3tfN2l1xjQVW6Tlpsop+9TtirPEO4rL1x94tH1pvCcTkqt6mubzFbz8ay5KQO6ijLvZo4rtEiQtH3INSVhlLMpEVXqnzOtkUABUz0WEQkxVZ83cMNkDThCBOMOqyIbnPUTkdF1Wu8n8K1ZdpuBdji39TxXdBw3UN9I7UTrSWXY4HJBQpDlt+D6JGfLfoRyTPJPXnjrYX54lylCsCoOpxDbDYJu9PoajgLUsidZrhDyqChjXIjVPrXodM9Djyib4EHWhxJUyWjEx37y03WpIDW61GtePk9SM0JAH/VXTsSQ9MZDv8c5au0WxjZm1dkHerf8/QOpO5zGuEvkMhafVcorn5SKN3VXuORbcnQxgyA3NIGQ31+6pXXk/AKsV933N3qe7owH+gXn9A3KoozkcaqGN5wj0q+PP5nhBAkxVyoOpnyolfxinu9ZY+5P75wCjafiBB8+HizbnXekoOWXzkewudPF5bYsP605d1QbgibG0PwWl1rQx1yinvm7SmAkyEYoQtagPF4oo86q7Ti2eSTezYOv0Mzgzm4mACnwIP1ZrSjIouhOnH8ux+ibJSVodPb1y4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E1X1K9JnyweqYZpYETD1wR",
      "input": {
        "note": "The bottle mouth is centred just ahead of the left jaws in the wrist view; closing the gripper on the neck to grasp it.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.445,
          "left_y": 0.02,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E1X1K9JnyweqYZpYETD1wR",
      "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]: [0.0483, 1.5269, 1.2144, -0.4473, 0.0235, -0.0387, 0.4163, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.4384 left_y=0.0206 left_z=0.1878 left_yaw=0.0407 left_pitch=-0.1994 left_roll=-0.0444 left_gripper=0.4163 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4581, -5.2171, 9.1556, 1.5604, -0.0806, 0.0757, 1.0232, -0.335, -1.1692, 7.1043, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a48a4a308e2923bdedb04fb25bda894f869c487c1c873e62e13eac192c7209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e3a0d2926c2d85f246ffa03be10fecfd094f5d987b566744fc9bed04a19ed05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21a7f0c716407f8d5ca247144a46512ac46da0fc4dd86ea55a590d82f9a55dcb",
        "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 · 8.561 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]: [-0.0181, 1.4391, 1.1652, -0.4267, -0.0216, -0.0387, 0.9996, -0.0151, 0.8062, 0.6086, -0.3817, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=-0.0003 left_z=0.2063 left_yaw=0.0129 left_pitch=-0.1399 left_roll=-0.0146 left_gripper=0.9996 right_x=0.2959 right_y=0.0013 right_z=0.1784 right_yaw=0.0008 right_pitch=-0.0225 right_roll=-0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -6.1744, 9.6342, 1.6532, -0.0366, 0.0659, -0.0513, -0.3077, -1.5521, 7.0359, 1.7753, -0.0269, -0.0415, -0.0171]",
      "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]: [0.0498, 1.5131, 1.2121, -0.4526, 0.0235, -0.0223, 0.9996, -0.0151, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=0.0212 left_z=0.1916 left_yaw=0.0333 left_pitch=-0.1931 left_roll=-0.0321 left_gripper=0.9996 right_x=0.2956 right_y=0.0013 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.1316, 9.6068, 1.7607, 0.0269, 0.232, -0.0562, -0.253, -1.4564, 7.0496, 1.746, -0.0464, -0.0317, -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]: [0.0483, 1.5269, 1.2144, -0.4473, 0.0235, -0.0387, 0.4163, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.4384 left_y=0.0206 left_z=0.1878 left_yaw=0.0407 left_pitch=-0.1994 left_roll=-0.0444 left_gripper=0.4163 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4581, -5.2171, 9.1556, 1.5604, -0.0806, 0.0757, 1.0232, -0.335, -1.1692, 7.1043, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53a48a4a308e2923bdedb04fb25bda894f869c487c1c873e62e13eac192c7209",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e3a0d2926c2d85f246ffa03be10fecfd094f5d987b566744fc9bed04a19ed05",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21a7f0c716407f8d5ca247144a46512ac46da0fc4dd86ea55a590d82f9a55dcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQYKEAgRGAI4AUIIdGhpbmtpbmcSDG4iGsv05Gb6zMaJVhoMe7I5mv4s2g0TjrGuIjC0RbzBEvbJQ6vFt0JGBp9gwyEpZ7ET9JuP65JBrr2YoSd4Othfx7GetV7GnGz5QeAq3gU1noMyMs5LjMYjhTgjz0NarITWNOrWQ8IF8DIl3HvAgHU65jlOG5gqmpDbT/0OZP53TNIueFWcyBbg5ay3flD6pHL2jy6FSMMHi7FOKG/uAaGtQCWVn6peY8+uaTFYWvH2AskVWRgo1JGYw6F+e73O/aOhZv/lsJUW5265QW1kk//4Xtvoij3YWqW67XBoGq7CWlicYSOKa1no3gDzU8xHX+pe32g0zDKPYuKDdgbPXTX8pt/2usQlop6QU19KgxcUaRuPVORaaB+ImPw+EMcHgXNMAm4Fi41oUj6ttYV963Vk8Z10EMa7OqSddS+n8MdjHBeT8V70BcgCEiwjVgr5TgRz+aosEEq3oQUSC5ePw9X6exqwTbFZ/ru7b2JjCxPy15+aayovyo9SVkqPwSOsdB1y5AEqdMYBxKULDY8gdUB0tqMAJqEiLqBJ/+ZBvITlf4fvNMeYlYRvN9XklDerhacWwMlEVtEYqw1rvf0GnEWgbI3FV905lrYmwptKxRp0/8HjwtOXsS9wKAHCBcIb4fJoLl/+G5MjGDV6OFGX3stkBDg2NjJbKKK5qvj2bUntTum6ug9w1ieyjYNtSf6l8TW+6ixrIA4nfyAB/PxTPGlpytF+QtbbaQv1+bcrNUM2Kn/NHwYDXU4GC1zhOfIZiXz08pi8yZvT1R1r67gAKEOKJOf1LnOuA6X1Ssrx2kYGrvCr02wZ6Bu0t1RTI8FCl4huTpmuaJph5bFZmZ05Ijy81Sv3ahb24GaaFKLUOQxyOMwhdvh3DRZAsH2s+riB3JKKSVM6Rg/YfHIHtOWZqvMU1cy07HDDNd6BZTkNRh7j7xGptVZJkSUFcTtetwTsAnGd8sKeD7+TtrqGHxfWZIfL7DiGTIW89ZD++CQrWFJ1JXFgRZLXMHgyLsOQRW6nI1ytvJSYqTNuyttRKmjFu3/gEcSuDl4anZPuXZ1PN03EWhhg29ISo5dHcXEyPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y5hcdpNQZZ8zwtjT98NYYD",
      "input": {
        "note": "Gripper settled at 0.42 (≈4 cm), consistent with holding the bottle neck; lifting 7 cm to confirm the bottle comes along.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.44,
          "left_y": 0.02,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Y5hcdpNQZZ8zwtjT98NYYD",
      "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]: [0.0483, 1.5589, 1.4952, -0.7479, 0.0231, -0.0532, 0.3828, -0.0151, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=0.0205 left_z=0.2415 left_yaw=0.0489 left_pitch=-0.2516 left_roll=-0.0548 left_gripper=0.3828 right_x=0.2958 right_y=0.0013 right_z=0.1767 right_yaw=0.0008 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.7333, 9.2513, 1.6484, -0.0269, 0.0855, 1.0281, -0.212, -1.4564, 7.0222, 1.7509, -0.0513, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba9c154946dcf1c4f67d7df10a43da5740f5f4eea484016223eac257b91925f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae893d699f2e5e53213ccd71528af1c26cd49080764c808d3e03aa325df91f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:938305db8c374ccf6067e1b8fb938b72285083758b171e37b7ab244555d83471",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 14.28 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]: [0.0498, 1.5131, 1.2121, -0.4526, 0.0235, -0.0223, 0.9996, -0.0151, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.436 left_y=0.0212 left_z=0.1916 left_yaw=0.0333 left_pitch=-0.1931 left_roll=-0.0321 left_gripper=0.9996 right_x=0.2956 right_y=0.0013 right_z=0.1772 right_yaw=0.0008 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.335, -7.1316, 9.6068, 1.7607, 0.0269, 0.232, -0.0562, -0.253, -1.4564, 7.0496, 1.746, -0.0464, -0.0317, -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]: [0.0483, 1.5269, 1.2144, -0.4473, 0.0235, -0.0387, 0.4163, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.4384 left_y=0.0206 left_z=0.1878 left_yaw=0.0407 left_pitch=-0.1994 left_roll=-0.0444 left_gripper=0.4163 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4581, -5.2171, 9.1556, 1.5604, -0.0806, 0.0757, 1.0232, -0.335, -1.1692, 7.1043, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0483, 1.5589, 1.4952, -0.7479, 0.0231, -0.0532, 0.3828, -0.0151, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=0.0205 left_z=0.2415 left_yaw=0.0489 left_pitch=-0.2516 left_roll=-0.0548 left_gripper=0.3828 right_x=0.2958 right_y=0.0013 right_z=0.1767 right_yaw=0.0008 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.7333, 9.2513, 1.6484, -0.0269, 0.0855, 1.0281, -0.212, -1.4564, 7.0222, 1.7509, -0.0513, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba9c154946dcf1c4f67d7df10a43da5740f5f4eea484016223eac257b91925f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae893d699f2e5e53213ccd71528af1c26cd49080764c808d3e03aa325df91f39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938305db8c374ccf6067e1b8fb938b72285083758b171e37b7ab244555d83471",
        "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_014XYJwV3xp5fR7PVjsLoCGC",
      "input": {
        "note": "Gripper reads 0.38 and the bottle mouth still appears in the wrist view, suggesting the bottle is held by its rim/handle and tilted; lifting higher to confirm it clears the table in the top view.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.42,
          "left_y": 0.02,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_014XYJwV3xp5fR7PVjsLoCGC",
      "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]: [0.049, 1.6199, 1.8484, -1.0988, 0.0235, -0.0643, 0.3726, -0.0154, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4166 left_y=0.0199 left_z=0.3012 left_yaw=0.0555 left_pitch=-0.3106 left_roll=-0.0625 left_gripper=0.3726 right_x=0.2958 right_y=0.0011 right_z=0.1767 right_yaw=0.0004 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 8.4855, 1.5946, -0.0415, 0.0904, 1.0232, -0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108850274716aebfeba2ead6534826a73ac3429ab00017315f5f135949ddc21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddaf8a554c74445937c559851918b5d1d7631c711c337887267fc62054d7f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a52be74cf8b6463390438afa9d968676b800f6a550d844d9c4c501d349daca63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 6.972 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]: [0.0483, 1.5269, 1.2144, -0.4473, 0.0235, -0.0387, 0.4163, -0.0154, 0.8082, 0.6086, -0.3847, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.4384 left_y=0.0206 left_z=0.1878 left_yaw=0.0407 left_pitch=-0.1994 left_roll=-0.0444 left_gripper=0.4163 right_x=0.2956 right_y=0.0011 right_z=0.1772 right_yaw=0.0004 right_pitch=-0.0275 right_roll=-0.0002 right_gripper=0.9997\nstate[joint_eff]: [-0.4581, -5.2171, 9.1556, 1.5604, -0.0806, 0.0757, 1.0232, -0.335, -1.1692, 7.1043, 1.7167, -0.0415, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0483, 1.5589, 1.4952, -0.7479, 0.0231, -0.0532, 0.3828, -0.0151, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=0.0205 left_z=0.2415 left_yaw=0.0489 left_pitch=-0.2516 left_roll=-0.0548 left_gripper=0.3828 right_x=0.2958 right_y=0.0013 right_z=0.1767 right_yaw=0.0008 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.7333, 9.2513, 1.6484, -0.0269, 0.0855, 1.0281, -0.212, -1.4564, 7.0222, 1.7509, -0.0513, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [0.049, 1.6199, 1.8484, -1.0988, 0.0235, -0.0643, 0.3726, -0.0154, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4166 left_y=0.0199 left_z=0.3012 left_yaw=0.0555 left_pitch=-0.3106 left_roll=-0.0625 left_gripper=0.3726 right_x=0.2958 right_y=0.0011 right_z=0.1767 right_yaw=0.0004 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 8.4855, 1.5946, -0.0415, 0.0904, 1.0232, -0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108850274716aebfeba2ead6534826a73ac3429ab00017315f5f135949ddc21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddaf8a554c74445937c559851918b5d1d7631c711c337887267fc62054d7f48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a52be74cf8b6463390438afa9d968676b800f6a550d844d9c4c501d349daca63",
        "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_01FpNjRKcRfK8UNm3xzF2iPW",
      "input": {
        "note": "The bottle is lifted and the red cup appears to the right in the left wrist view; carrying the bottle rightward and higher to hover just left of the red cup before tilting.",
        "targets": {
          "left_gripper": 0.0,
          "left_x": 0.43,
          "left_y": -0.1,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01FpNjRKcRfK8UNm3xzF2iPW",
      "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]: [-0.3084, 1.9934, 2.6053, -1.5169, -0.1764, -0.3412, 0.3567, -0.0151, 0.8101, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.1022 left_z=0.3509 left_yaw=0.032 left_pitch=-0.3271 left_roll=-0.0814 left_gripper=0.3567 right_x=0.2957 right_y=0.0013 right_z=0.1766 right_yaw=0.0008 right_pitch=-0.0298 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2923, 6.1333, 1.1306, -0.2271, 0.1197, 0.9206, -0.335, -1.306, 7.241, 1.7363, -0.0122, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5e177f7bffc88fce7092bce0f4987b55a6d8eb1edceee77494bef6700cb931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff23ac2a3b6cd0c43e82e7fd5c53aa7fdafba7ecf0e980c6160403162989961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc242295030cbe6af57921a0944bfa94c2da29485d31bc346491e5e83f5323ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.775 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]: [0.0483, 1.5589, 1.4952, -0.7479, 0.0231, -0.0532, 0.3828, -0.0151, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=0.0205 left_z=0.2415 left_yaw=0.0489 left_pitch=-0.2516 left_roll=-0.0548 left_gripper=0.3828 right_x=0.2958 right_y=0.0013 right_z=0.1767 right_yaw=0.0008 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -7.7333, 9.2513, 1.6484, -0.0269, 0.0855, 1.0281, -0.212, -1.4564, 7.0222, 1.7509, -0.0513, -0.0317, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [0.049, 1.6199, 1.8484, -1.0988, 0.0235, -0.0643, 0.3726, -0.0154, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4166 left_y=0.0199 left_z=0.3012 left_yaw=0.0555 left_pitch=-0.3106 left_roll=-0.0625 left_gripper=0.3726 right_x=0.2958 right_y=0.0011 right_z=0.1767 right_yaw=0.0004 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 8.4855, 1.5946, -0.0415, 0.0904, 1.0232, -0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0562, -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 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]: [-0.3084, 1.9934, 2.6053, -1.5169, -0.1764, -0.3412, 0.3567, -0.0151, 0.8101, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.1022 left_z=0.3509 left_yaw=0.032 left_pitch=-0.3271 left_roll=-0.0814 left_gripper=0.3567 right_x=0.2957 right_y=0.0013 right_z=0.1766 right_yaw=0.0008 right_pitch=-0.0298 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2923, 6.1333, 1.1306, -0.2271, 0.1197, 0.9206, -0.335, -1.306, 7.241, 1.7363, -0.0122, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c5e177f7bffc88fce7092bce0f4987b55a6d8eb1edceee77494bef6700cb931",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ff23ac2a3b6cd0c43e82e7fd5c53aa7fdafba7ecf0e980c6160403162989961",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc242295030cbe6af57921a0944bfa94c2da29485d31bc346491e5e83f5323ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogoKEAgRGAI4AUIIdGhpbmtpbmcSDDUPqi8bW4ZMb72k0xoMmRDvp4mQAHNAydEOIjB+mCgr0zeTw2/3+rf+merTi2uV9rYwvr/xI2h/aLnMMrgBaWpGHJDe238HhC+xg+oqvwmrL1oH+y6uOdSt9/B3iMDHwq1UYcgQ9wc1PYhNkUj8O2t9BsiKdhmFzbgIPPyjHCInCT+hJMR9cWnNl9prOGQbUDpFScup0OtLnLXY9aDHCUjAxmYsN6PT4zkuylivmVAKounAgTRbZ9aAfFOdCl0bkcjvElNnl8CGvUU8iqsjx0GCMDY+GRO1vy13QbRzK59lPlHEh39whlN/hKcqmA/a6en4pRxzLhWWgWf09FzYLjValj9umvLgBpYXthG7CD8qNimIeZ+hjVfya7tgSSTw97S116zzj4xtSdJ2J2+yb/vwfRJxH3lNSpAEVDhA+vWq+AnvjfjyQexmot+avgP/3GFWeNdqnTqgqEllYoJI9NYL63U7ZKjZHPgvywDsxE+sVpX+9P2XXQbvrpV9diqxZo0XzUgywUkdJrzILt8/OW8e4VDuTbJIBrAhbJ1/T1Be/jF+ihJXF8ZXT2xniO7/e2p7qO8cT1pjf8aEcbzNA679TC8sJ/ze3uXl+gPxmM/Zh9VWdH1rAYMYPwprj64fsvLMmun46TDpuPSt7x7Dgwy0uRxW3IQmxqXtyctz4R6fjhmnUkOS8SW0oxhMQjgQ5cAqvsxnFpAx0uyJMn+J40H3IrHdWqberkY9hk7A0Tw/mBpOUfzC63+oyAa0sz0h2AEIHsbX4XM0hI8HU0rIo56/JVassGVUSntJGaJVb7DZLtHXYv2jP4JiUxkoP7S2FQnm/7JrwTezcYelepebJ35x8NQqk3pzVXsy9FbW7xHTE0c4W7EIMr0XLnzn0Smv7u9Ndaik6g5COvdVrel/C2QUoiM9aiKlneXRMCk6lfOb+QvHpCY6Lb2DN+p/6R4nM3c1K3QBtyXe6CW2kLzSK14O1YNwtrKSxw7Wz047ZrBnD64ofC3O1B6OHJitT2IDX5nTPFT1cd3zO+auaTnniSn0IrDJ2Q87eLkrznBabLSzupwDih4UBoIbmwzVE3qiLrjBis8B/YtM8P81Z28TGqSRElMsrf/V4dJb0rdkOnF5p8sjqEX3BAxr6NRkzUhxau6lmGhCHK1nHjDza9F1s+ZKjzJ32O25InqAQibkwW1evuRHIzgzipEZjJe+q+VpOw1cqJKxGGDItPBv2np34YE2EGrfJIMRFllSkNnr+7O0gRiMieHditetwE7BfgDtof4xEapRPVW02pD1FXYoYygbPsZUFhZyl6FAPZHQVKxcY4IFS6HDlPIYu0FiugM3pcrFg/EwLAPOhi524mtrkKPlwxQH7fvKWa0e7B6Z7i6MTHMSjp5koAE9dZ/6ZYKXRsYdVJX20OX/d4cQxuMZbFaMJLhUHvXE6erYOj1O0M+YsjsBlB/vMu/2fIF6RdL0xVq2y54QkYQU6n+nxAudTtB40mZnTVYd0mjAVqCkQ9dyL3Mjs/iUKLADwX4feceZtBdAo+6w23XhiJ3vZ8TMmewkJnW/ik+H4ZAGeHAGUcAyZmg6Sz7cyZ+UBfuzE5Vx3906nw4sCoatAXNvI57QIVuyW9ADWmUShNXhFtZJSCwC0jOdE0+ONRTyyT3CFepSlMvWXNNjcnUrbdH8c3rhxrPkuaEGMwqBgund560g1iY379npFXu0dQO/i+1DJXEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M2dNPn2bQH4svSmRYgALMJ",
      "input": {
        "note": "The bottle hangs just left of the red cup in both views; rolling the left wrist toward the right to tip the bottle's mouth over the red cup.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": -0.8,
          "left_x": 0.43,
          "left_y": -0.1,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M2dNPn2bQH4svSmRYgALMJ",
      "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]: [-0.1379, 1.7214, 2.0472, -1.1378, 0.2077, -0.7708, 0.3513, -0.0154, 0.812, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4311 left_y=-0.093 left_z=0.3321 left_yaw=0.061 left_pitch=-0.4003 left_roll=-0.6928 left_gripper=0.3513 right_x=0.2958 right_y=0.0011 right_z=0.1759 right_yaw=0.0004 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -10.6598, 6.5026, 1.873, 0.2076, -0.0708, 1.0281, -0.3487, -1.4427, 7.0222, 1.7021, -0.0464, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23257b6abf03565a25ad33bcf3ae512d3fc80d5831721358858531229783132c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21ed4d352030cbb0325fb63bb7defccd2f1c0b354387519368a28bc64521acd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:455add4bd0d3b05fe7c8b42ad38381167b5abb86db3ceae297d5351de3d8ef33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 5.433 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]: [0.049, 1.6199, 1.8484, -1.0988, 0.0235, -0.0643, 0.3726, -0.0154, 0.8101, 0.6086, -0.3847, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4166 left_y=0.0199 left_z=0.3012 left_yaw=0.0555 left_pitch=-0.3106 left_roll=-0.0625 left_gripper=0.3726 right_x=0.2958 right_y=0.0011 right_z=0.1767 right_yaw=0.0004 right_pitch=-0.0294 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -7.9248, 8.4855, 1.5946, -0.0415, 0.0904, 1.0232, -0.2803, -1.2103, 7.159, 1.707, -0.0464, -0.0562, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3084, 1.9934, 2.6053, -1.5169, -0.1764, -0.3412, 0.3567, -0.0151, 0.8101, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.1022 left_z=0.3509 left_yaw=0.032 left_pitch=-0.3271 left_roll=-0.0814 left_gripper=0.3567 right_x=0.2957 right_y=0.0013 right_z=0.1766 right_yaw=0.0008 right_pitch=-0.0298 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2923, 6.1333, 1.1306, -0.2271, 0.1197, 0.9206, -0.335, -1.306, 7.241, 1.7363, -0.0122, -0.0366, -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 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]: [-0.1379, 1.7214, 2.0472, -1.1378, 0.2077, -0.7708, 0.3513, -0.0154, 0.812, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4311 left_y=-0.093 left_z=0.3321 left_yaw=0.061 left_pitch=-0.4003 left_roll=-0.6928 left_gripper=0.3513 right_x=0.2958 right_y=0.0011 right_z=0.1759 right_yaw=0.0004 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -10.6598, 6.5026, 1.873, 0.2076, -0.0708, 1.0281, -0.3487, -1.4427, 7.0222, 1.7021, -0.0464, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23257b6abf03565a25ad33bcf3ae512d3fc80d5831721358858531229783132c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21ed4d352030cbb0325fb63bb7defccd2f1c0b354387519368a28bc64521acd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:455add4bd0d3b05fe7c8b42ad38381167b5abb86db3ceae297d5351de3d8ef33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAcKEAgRGAI4AUIIdGhpbmtpbmcSDAV/j4j/SLc6uonMSRoMjUg0K9VitU7jN9yvIjAL1Czu1bag6nBUvIZBxE4dfmJ2/1Fx7AERhsr77A2YWPULBO/u/txbe1+qKLzSe+IquQaS4ql/AIMMZz9I6ZX2czz5aHBP+P7agE+ltwnFpiDCBQE8Q1eXKMAZbSA6yo7+52lypp85+VaNAGtR6vNNxgV0hMmPvSzK44DZC7gZEuKxonAoxGreRgVUWCRCKMVSGR51gXMy0StO/GmPXb8sf9LmQOlF02a4JKF17T+MQrRrKtWPPN4Q2CyuIWQa+FeCNi19YeKxpiOYHAFJXuoiKOduHUhKaieg69V6OBb9G12trCDpinwRZmuRANVmjJi1rE2vnEy3BVKRNHMlnMZ8x3T3PJVoMPL1hbUajSXAWO0OraGZVHzNsoH+NJTMRq8U5ZTkFXJ/m6aSSa6OVWopIBnj/u6IzWRuldqffJlvwF/VxI682l0y481zmohV2FAXdLnpQlodQwtZmgaVVb5iz9eRz5bZCCyShQZ2A1Zpt5FQsfjXVjhv/KW8yeSR6VbKrPllWLJAw5vYS+b99BrXORIpX96xquIUA7wWRpLM5OD6bJihPKm5ekpol9SWgHUaVXnLV/8wRPmFIhSDO3sGmx1dZylPzmKnpf9F5uiiFmqBj7vlbAqcjfvSVcctcbYkdg2mKMSrEyUWtr4tuk1+JR7dykV73pXml/1d7gJexPYRGc+yFFp9XZ1DxRYZHDaAnbVkImqbNgdrRrFyUCeVlT8zRXz13JK68ngQsh4tYq5uyrLe4oMqNYsU6YTK5r+uHQAVeo8ZHwx2IrqwqrBB4biWzWianCnipEFTbss1Rwi4AbaVfcEzp1CPTdKzWIob718lEkEaV2yZstMML21wgBeRD4pSyJ7w8jbyYJ7qrDvS2nFFGYTGbv1w+cq5Hx0ACMsNHftu1KF5RoCnMhf49DmDDoOPiCt0xq5HltGZlxhfaGfUswnjrVR7kriXJpgxgTwPkKrC7oIhWn3TRfvu71IqTAeerw7n0oSyxCcZ/ywa2Y/N0g4ucuz+zKBUsMrQDn9ikyqUZUouDNV+904I5atbFfJwKTJo1cpCI2H7/0qf8QJrscKrW2XGUKIkL5g48kvvby2h9ZIRPQvaq1GR+JLlJpYkWhBCc89BCPucWA4M3j0cCtr31Gm4X+Wj9A51J67YsdbdRt5179AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U5Y9tjfp3k4VYHqtPjRVHw",
      "input": {
        "note": "Top view shows the bottle tilted with its mouth over the red cup; rolling further to complete the pour.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": -1.4,
          "left_x": 0.43,
          "left_y": -0.1,
          "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_01U5Y9tjfp3k4VYHqtPjRVHw",
      "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]: [-0.0704, 1.4944, 1.5227, -0.6262, 0.4107, -1.3487, 0.3464, -0.0151, 0.8131, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.0974 left_z=0.3117 left_yaw=0.082 left_pitch=-0.4667 left_roll=-1.293 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -9.265, 7.1453, 2.0781, 0.3443, -0.1294, 1.0281, -0.2667, -1.3333, 7.0222, 1.7411, -0.0562, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f194a61ed009dadbec3d488c3598d76d560cf055635b5966222dd6a9bf1f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236257e56c24edae3e54cdcdc3d1e78aa454cc349665cf4739d00b9e324ef4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7152ad112cfe9684168cb3fc049a79b9b0f05c20a03f46ae04489252525f919a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.956 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]: [-0.3084, 1.9934, 2.6053, -1.5169, -0.1764, -0.3412, 0.3567, -0.0151, 0.8101, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4346 left_y=-0.1022 left_z=0.3509 left_yaw=0.032 left_pitch=-0.3271 left_roll=-0.0814 left_gripper=0.3567 right_x=0.2957 right_y=0.0013 right_z=0.1766 right_yaw=0.0008 right_pitch=-0.0298 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1436, -9.2923, 6.1333, 1.1306, -0.2271, 0.1197, 0.9206, -0.335, -1.306, 7.241, 1.7363, -0.0122, -0.0366, -0.0171]\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]: [-0.1379, 1.7214, 2.0472, -1.1378, 0.2077, -0.7708, 0.3513, -0.0154, 0.812, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4311 left_y=-0.093 left_z=0.3321 left_yaw=0.061 left_pitch=-0.4003 left_roll=-0.6928 left_gripper=0.3513 right_x=0.2958 right_y=0.0011 right_z=0.1759 right_yaw=0.0004 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -10.6598, 6.5026, 1.873, 0.2076, -0.0708, 1.0281, -0.3487, -1.4427, 7.0222, 1.7021, -0.0464, -0.0611, -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 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]: [-0.0704, 1.4944, 1.5227, -0.6262, 0.4107, -1.3487, 0.3464, -0.0151, 0.8131, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.0974 left_z=0.3117 left_yaw=0.082 left_pitch=-0.4667 left_roll=-1.293 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -9.265, 7.1453, 2.0781, 0.3443, -0.1294, 1.0281, -0.2667, -1.3333, 7.0222, 1.7411, -0.0562, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7f194a61ed009dadbec3d488c3598d76d560cf055635b5966222dd6a9bf1f73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:236257e56c24edae3e54cdcdc3d1e78aa454cc349665cf4739d00b9e324ef4c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7152ad112cfe9684168cb3fc049a79b9b0f05c20a03f46ae04489252525f919a",
        "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/wcKEAgRGAI4AUIIdGhpbmtpbmcSDEzwzZwe8337HxakfxoMgfzrmgjhntbdXXlCIjDzbSIA2E79lumbRd+3ZHcYkAYcX4nKaj6a5jce5ejaqBMB0qrlH8xurLrkvizmNP0qnAdLecIky89rTMeymM9C7uYslI2Q07P38XJpjsYJbaBgae0TPIQB9Ex8XKztq9p/QGZlgccG6mOTCBO1AKKHZo/Q2fd4zC7QyQlZkJ7cHnV4u/HcURNKjeciB587RESyUaFqlKuhReOBytIIPaxD3DwM+MsUn2Aa5j2aWstx7cJ71OFR5TgwXHU4+99hkYDjBMtU4cZzaUDz22GTz7MV++rijpUkBs3luGd6w0rX/Qvp904SsVRym7q4EVHscPu6q+eu/LOMTLzCMzcIj8zFR239uUu22rvcKENzC0QOw2k6DtEcJM0nrvk8DIpc4fFTNbVLB24UCalPjdWklfJrqWqgoQu392yoLXsjPDO0hpxVQd4xnqNDPCjrVwZN436vw5XajHf8k20ERspmSyNUvKIqJr/X87mwwa5Dx5ArgN9Q8i6dLpjhpBFs7yn8PhvO+Y5fwhAuy7d1iGNcLNrPtf8HWY/TOPrmuVSJ/hssOLkq2O9l1pASEgsOk8ue8lwJ0SZLUuRUPaRTyfxvmQEVXDIvK1JPiNnkalVclVQw3Nba0JhBGIeJGeUuaNoLw5DDbQF+U7Kjv+5CsWap94093JGQHIIXhdunrGmET2JmAuzZu74QfMmNLVduZIErbB1OIyHVneRWJbNsrlmyJCwDGstEaom3xvHmDApDshAHaMnzIYTbt/p8C1E+SgEKwA8+jplkFKlTo5L4zPueOfioze1EXCs9Tx198pS25Xh5yCsXs06Fffq7d685Rn2PCxUqR0nd2YYlF+MaG8zAFekxTvOS+LjcVUkRUfl1aUPcm0kPtIbnD2MyDsqpjNRwGI4Mtkvh5yxAUoxg5QxafhFkG8mPOiMT1xGIf5v6Y4iIVhBV2wdLVJ5bIDhFC27Ik56es5qwsYbDrcwtTRRTN5nAO7Xs1JIuiIv04XN4HjqRvdxD1NYMBlZMIcPCFFteIihZ4Nlgfz8Z+f5Og6BpVyF1gi3U7XTUqR68tjuUYc8eB3xaUmHCIZwS/6gkwj8/SmTCQpmfDNHuBNAI1421NYNS/xI3aT1aRASWxCVee90kS/x/p7H0FdaADHlMRqbkxAbOvLzKYTLEuT8yHhJB+Y95B1aTAiXXF3ey+ZZan1FE0Oi9rUGUaJ+nomDfzh05EybHKAAGttQhxVmcArYSqMcjEOdWoUkbl25W4Kd1fyQA0nF6+ZwQASkwPMvJSECAV/EmDlnvjLTk1gFRC/wpG/QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vuv7pB1kwbHoxad8RWRKCE",
      "input": {
        "note": "The bottle is tilted with its mouth directly above the red cup; holding the pour a moment at a slightly steeper angle.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": -1.5,
          "left_x": 0.43,
          "left_y": -0.1,
          "left_z": 0.31
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Vuv7pB1kwbHoxad8RWRKCE",
      "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]: [-0.0704, 1.47, 1.3678, -0.4801, 0.4191, -1.515, 0.3464, -0.0151, 0.8139, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4308 left_y=-0.0988 left_z=0.2822 left_yaw=0.0931 left_pitch=-0.5383 left_roll=-1.4315 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.0444, 7.6103, 2.1758, 0.0952, -0.0757, 1.0281, -0.212, -0.9641, 7.0222, 1.7167, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe2ef9e6d11b03fc6b333a7b92af50590974abfd35e09f1e97ec94f6bc77248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3719ac7cca041d00f4c5a86ecf582283a6e8bb9cac39b01746a5a9790c26af84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b86b5999b69b4d816b43f6d8d8ba3714f4dc5159d521ef7307fce45a0304a20",
        "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 · 11.14 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]: [-0.1379, 1.7214, 2.0472, -1.1378, 0.2077, -0.7708, 0.3513, -0.0154, 0.812, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4311 left_y=-0.093 left_z=0.3321 left_yaw=0.061 left_pitch=-0.4003 left_roll=-0.6928 left_gripper=0.3513 right_x=0.2958 right_y=0.0011 right_z=0.1759 right_yaw=0.0004 right_pitch=-0.032 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.4444, -10.6598, 6.5026, 1.873, 0.2076, -0.0708, 1.0281, -0.3487, -1.4427, 7.0222, 1.7021, -0.0464, -0.0611, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0704, 1.4944, 1.5227, -0.6262, 0.4107, -1.3487, 0.3464, -0.0151, 0.8131, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.0974 left_z=0.3117 left_yaw=0.082 left_pitch=-0.4667 left_roll=-1.293 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -9.265, 7.1453, 2.0781, 0.3443, -0.1294, 1.0281, -0.2667, -1.3333, 7.0222, 1.7411, -0.0562, -0.0562, -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 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]: [-0.0704, 1.47, 1.3678, -0.4801, 0.4191, -1.515, 0.3464, -0.0151, 0.8139, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4308 left_y=-0.0988 left_z=0.2822 left_yaw=0.0931 left_pitch=-0.5383 left_roll=-1.4315 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.0444, 7.6103, 2.1758, 0.0952, -0.0757, 1.0281, -0.212, -0.9641, 7.0222, 1.7167, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbe2ef9e6d11b03fc6b333a7b92af50590974abfd35e09f1e97ec94f6bc77248",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3719ac7cca041d00f4c5a86ecf582283a6e8bb9cac39b01746a5a9790c26af84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b86b5999b69b4d816b43f6d8d8ba3714f4dc5159d521ef7307fce45a0304a20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pour done; now righting the bottle and returning it to its original spot.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X9xEEbFSLQBUB9Fhg7zdFV",
      "input": {
        "note": "The left bottle has been tipped over the red cup; rolling it back upright and lifting before carrying it back to the left.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": 0.0,
          "left_x": 0.43,
          "left_y": -0.08,
          "left_z": 0.36
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01X9xEEbFSLQBUB9Fhg7zdFV",
      "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]: [-0.242, 1.9125, 2.4123, -1.5234, -0.0975, -0.4351, 0.333, -0.0147, 0.8185, 0.6083, -0.3923, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.3209 left_yaw=0.0981 left_pitch=-0.4661 left_roll=-0.1635 left_gripper=0.333 right_x=0.2952 right_y=0.0014 right_z=0.1726 right_yaw=0.0014 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 3.8632, 1.4921, -0.2369, 0.232, 0.9255, -0.4034, -1.7162, 7.0496, 1.7753, -0.0513, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805e4362c4ec4074dc7edbc33cea69c999cdba128cf99447282ac66448b52b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea3c11a98bc2c16c96fd97525a03296c09fe9c0552d2f617deddb9cb829694b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e84975adac8ceb674af86d7aaeb289239c05bfc68bfc7e3383933a2238b9fbd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 10.27 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]: [-0.0704, 1.4944, 1.5227, -0.6262, 0.4107, -1.3487, 0.3464, -0.0151, 0.8131, 0.6086, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4292 left_y=-0.0974 left_z=0.3117 left_yaw=0.082 left_pitch=-0.4667 left_roll=-1.293 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1758 right_yaw=0.0008 right_pitch=-0.0328 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.2393, -9.265, 7.1453, 2.0781, 0.3443, -0.1294, 1.0281, -0.2667, -1.3333, 7.0222, 1.7411, -0.0562, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0704, 1.47, 1.3678, -0.4801, 0.4191, -1.515, 0.3464, -0.0151, 0.8139, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4308 left_y=-0.0988 left_z=0.2822 left_yaw=0.0931 left_pitch=-0.5383 left_roll=-1.4315 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.0444, 7.6103, 2.1758, 0.0952, -0.0757, 1.0281, -0.212, -0.9641, 7.0222, 1.7167, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.242, 1.9125, 2.4123, -1.5234, -0.0975, -0.4351, 0.333, -0.0147, 0.8185, 0.6083, -0.3923, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.3209 left_yaw=0.0981 left_pitch=-0.4661 left_roll=-0.1635 left_gripper=0.333 right_x=0.2952 right_y=0.0014 right_z=0.1726 right_yaw=0.0014 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 3.8632, 1.4921, -0.2369, 0.232, 0.9255, -0.4034, -1.7162, 7.0496, 1.7753, -0.0513, -0.0806, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:805e4362c4ec4074dc7edbc33cea69c999cdba128cf99447282ac66448b52b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ea3c11a98bc2c16c96fd97525a03296c09fe9c0552d2f617deddb9cb829694b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e84975adac8ceb674af86d7aaeb289239c05bfc68bfc7e3383933a2238b9fbd5",
        "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_01XDddDJgYox7puEpCb7iNjJ",
      "input": {
        "note": "The red cup seems to have been displaced toward the left-front; carrying the upright bottle back to its original spot on the left before dealing with the cup.",
        "targets": {
          "left_gripper": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XDddDJgYox7puEpCb7iNjJ",
      "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]: [-0.2127, 1.9507, 2.4504, -1.578, -0.0967, -0.3977, 0.3312, -0.0143, 0.8185, 0.6079, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0686 left_z=0.3107 left_yaw=0.114 left_pitch=-0.5152 left_roll=-0.1229 left_gripper=0.3312 right_x=0.2952 right_y=0.0015 right_z=0.1725 right_yaw=0.0016 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.5932, 7.0906, 1.2234, -0.0415, 0.0024, 1.0281, -0.0615, -1.4017, 7.0496, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6b3f12a95774af2ceecc004da151918709f2309f9d84e64ba0f99ab242f6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7decb32ef150367a199a68ed169ae68cf764b9375fc516f966ca11558db81f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4a28b30faae5bf246b1331e6c786b2eb519a309c5d7ee9543fb633461a2a890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.533 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]: [-0.0704, 1.47, 1.3678, -0.4801, 0.4191, -1.515, 0.3464, -0.0151, 0.8139, 0.6083, -0.3851, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4308 left_y=-0.0988 left_z=0.2822 left_yaw=0.0931 left_pitch=-0.5383 left_roll=-1.4315 left_gripper=0.3464 right_x=0.2959 right_y=0.0013 right_z=0.1754 right_yaw=0.0008 right_pitch=-0.0339 right_roll=-0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -10.0444, 7.6103, 2.1758, 0.0952, -0.0757, 1.0281, -0.212, -0.9641, 7.0222, 1.7167, -0.022, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.242, 1.9125, 2.4123, -1.5234, -0.0975, -0.4351, 0.333, -0.0147, 0.8185, 0.6083, -0.3923, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.3209 left_yaw=0.0981 left_pitch=-0.4661 left_roll=-0.1635 left_gripper=0.333 right_x=0.2952 right_y=0.0014 right_z=0.1726 right_yaw=0.0014 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 3.8632, 1.4921, -0.2369, 0.232, 0.9255, -0.4034, -1.7162, 7.0496, 1.7753, -0.0513, -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 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]: [-0.2127, 1.9507, 2.4504, -1.578, -0.0967, -0.3977, 0.3312, -0.0143, 0.8185, 0.6079, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0686 left_z=0.3107 left_yaw=0.114 left_pitch=-0.5152 left_roll=-0.1229 left_gripper=0.3312 right_x=0.2952 right_y=0.0015 right_z=0.1725 right_yaw=0.0016 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.5932, 7.0906, 1.2234, -0.0415, 0.0024, 1.0281, -0.0615, -1.4017, 7.0496, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6b3f12a95774af2ceecc004da151918709f2309f9d84e64ba0f99ab242f6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7decb32ef150367a199a68ed169ae68cf764b9375fc516f966ca11558db81f55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a28b30faae5bf246b1331e6c786b2eb519a309c5d7ee9543fb633461a2a890",
        "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_01M1SZrc9xszxRLJXAZy7uFk",
      "input": {
        "note": "The last move barely progressed and the wrist has pitched back to -0.5; explicitly commanding pitch and roll back to zero while easing the bottle leftward to free the arm.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.42,
          "left_y": -0.04,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01M1SZrc9xszxRLJXAZy7uFk",
      "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]: [-0.2211, 1.4372, 1.409, -0.6708, -0.2676, -0.2169, 0.3229, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.0421 left_z=0.2721 left_yaw=0.1137 left_pitch=-0.1091 left_roll=0.003 left_gripper=0.3229 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.0598, 7.3915, 2.0781, -0.2955, 0.0659, 1.0281, -0.3487, -1.6068, 7.0769, 1.7118, -0.0366, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c14a00d15c78ed940d0523c5076469be04668c2e9e950dacb14028c56efa10fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40d9cdc9d1e92253ab93bc5873edc47f7773489fff048484154da6d3ae14902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3afc82bc463a9104b10e61eb1eecad1398b0ab2655e5da009e2616d0ed0a80d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.915 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]: [-0.242, 1.9125, 2.4123, -1.5234, -0.0975, -0.4351, 0.333, -0.0147, 0.8185, 0.6083, -0.3923, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0811 left_z=0.3209 left_yaw=0.0981 left_pitch=-0.4661 left_roll=-0.1635 left_gripper=0.333 right_x=0.2952 right_y=0.0014 right_z=0.1726 right_yaw=0.0014 right_pitch=-0.0458 right_roll=-0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.0769, 3.8632, 1.4921, -0.2369, 0.232, 0.9255, -0.4034, -1.7162, 7.0496, 1.7753, -0.0513, -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 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]: [-0.2127, 1.9507, 2.4504, -1.578, -0.0967, -0.3977, 0.3312, -0.0143, 0.8185, 0.6079, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0686 left_z=0.3107 left_yaw=0.114 left_pitch=-0.5152 left_roll=-0.1229 left_gripper=0.3312 right_x=0.2952 right_y=0.0015 right_z=0.1725 right_yaw=0.0016 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.5932, 7.0906, 1.2234, -0.0415, 0.0024, 1.0281, -0.0615, -1.4017, 7.0496, 1.7021, -0.0757, -0.0708, -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 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]: [-0.2211, 1.4372, 1.409, -0.6708, -0.2676, -0.2169, 0.3229, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.0421 left_z=0.2721 left_yaw=0.1137 left_pitch=-0.1091 left_roll=0.003 left_gripper=0.3229 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.0598, 7.3915, 2.0781, -0.2955, 0.0659, 1.0281, -0.3487, -1.6068, 7.0769, 1.7118, -0.0366, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c14a00d15c78ed940d0523c5076469be04668c2e9e950dacb14028c56efa10fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e40d9cdc9d1e92253ab93bc5873edc47f7773489fff048484154da6d3ae14902",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3afc82bc463a9104b10e61eb1eecad1398b0ab2655e5da009e2616d0ed0a80d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgRGAI4AUIIdGhpbmtpbmcSDMFU1UdVbcW49dj8+RoMrFK/4+5YYfSj4SCnIjBLjcanzfJ8Sd0/GXEJ0RzzKyeeW/5LyKmTe2Zvwtd/OQjNgocHWfjey8rtb8rwYb4qgggYzt09P0xlAKALSQwx2nVJgQCZ/QcJAG6a52gbD6kCN7ybwUZ9BtQNWTskZY0+RFDguOJfRKvBP8GAEH+5BYPcZU3GV7b9HnFqVPFWpwcvsgZRy2rhlZN8tqtf37T8/Wq+Hslw1+LGVUDyxk+3XSNDOmRp/tE9Uqo585Ned7pe+rkjBrGUhf0QDM9MpAzOTKUBE9jm7wQKUpSJ7RQAtgNghGFF5j3+3m72FFYTr9PFsVBYiVTnd3NEOoffFcrx1WI+hiao3BgZTzloU/49mgWPnMQP/uXhOMBTnKVe++x92jrqUqdDpax5m1RjFOI7c4bKTeFJITen0yrnwxPH+8p8154hspALTRTK9Jcjeae5eDES6dij2lTQWV2dpUxm6IZ6G6Eniv2VrCKH2Wo8mPrPuJxyywGcVD04gKY5tZlww7cdEpN8KwzC5r0N1PM69ZZ+T2krxmFIOq0mAGaAj4wYNkNy5S8G/1Bbfneqx7iLZwPDWw+LA8q09TCQOqrMIxBsCKUpef77zm8s1vWlv7d8wppD+V3VTgxuSUyCxUODXA38AlT97tcq4o3+m4q6VkuQYzsvjcU4jEaK6c4mCWv+2rK5GepsbLU9t7qSNgzydh/I0GDh5lC9fs0kWblXfocP/332mxSyGxkweg0z9t1Db5WtCHZUtleReaLLlk1E6fEW4F/WJOiKOcQCGLCYF94uj0r1XsadX3JHncCdnDGeOp/fin2l+4c6v+QHVj1pg1kA2JHCZoq+kH8gWaxc6xNXl86V/ey4FxkXxq/Cb6tDv+PcByALlI7Zcyb7pobZcGjxDMCf7t54w0ztMYbo7uYqVBxFEUCh0boCAP1fivFnaPHCQmRtsY7PL/BldhKJMtz3zf6iagpgkVUz5AMotpGMIo7yE3Ai9eZp5FMzwmGYwP92icd5YFQf1d6MsjxOEIxYpPxPzxhMBmSZbY8ysnRQPktBohynofbXzxhzOCIE882ad6mNIas/JiV7tS+Kfs2PPEBa0nccucmFh6IrfQ3/oEMLJuF059pxDLUrupvTNy2wx7pYzW/cHrwUnATtAUtplUso0W4ljKhdRAusPc+2J31jAL3z6AqgzgbRilx0Hiv/xrQDZT0Yj7auUPqWvG9+xGcv5j/RcYV+xYyzBa3UHCvKWt6zSLWLs3/f4S8CjIcBW8+joniT9okcIRhC7AJp/qwq2DwjJVo56b1bXbg0DOtL7GfT/rpTFctHYJD05XR7AdU4zjEp8xiIBTgduN6eKeDnDK2STA5qmrKLaIagP0z/je063T51UnmzOt1TlSoTaZ14CeXokLqePcJ6czWP7ru7KrLYpthso0iC7zOn7fbeQYBHD2k95hV3x/A+JEkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWDKK3D2F6aRJkdyjmND3X",
      "input": {
        "note": "The bottle is upright again and the red cup sits nearer the base on the left; lowering the bottle to its original spot ahead of the cup to set it down.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.44,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01BWDKK3D2F6aRJkdyjmND3X",
      "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]: [-0.0845, 1.4311, 1.0554, -0.2653, -0.1898, -0.1371, 0.3228, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4301 left_y=0.0006 left_z=0.1938 left_yaw=0.1412 left_pitch=-0.0673 left_roll=0.004 left_gripper=0.3228 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.8325, 6.7487, 1.5409, 0.0317, 0.1001, 1.0281, -0.335, -1.2376, 7.1043, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c6589d4392781cadf54e45220e08923e05ea2dd1cdf1e0ab0b1b088766123a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d0ba8ecc4c838671fd56adf1dc59b2be351b303142c6cf494c717ef96804329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19ebf08db4f78d376c1a00b8345275cae3600ad2992a36f3f36b19fc03c5959e",
        "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 · 18.59 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]: [-0.2127, 1.9507, 2.4504, -1.578, -0.0967, -0.3977, 0.3312, -0.0143, 0.8185, 0.6079, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4153 left_y=-0.0686 left_z=0.3107 left_yaw=0.114 left_pitch=-0.5152 left_roll=-0.1229 left_gripper=0.3312 right_x=0.2952 right_y=0.0015 right_z=0.1725 right_yaw=0.0016 right_pitch=-0.0458 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -9.5932, 7.0906, 1.2234, -0.0415, 0.0024, 1.0281, -0.0615, -1.4017, 7.0496, 1.7021, -0.0757, -0.0708, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.2211, 1.4372, 1.409, -0.6708, -0.2676, -0.2169, 0.3229, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.0421 left_z=0.2721 left_yaw=0.1137 left_pitch=-0.1091 left_roll=0.003 left_gripper=0.3229 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.0598, 7.3915, 2.0781, -0.2955, 0.0659, 1.0281, -0.3487, -1.6068, 7.0769, 1.7118, -0.0366, -0.0415, -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 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]: [-0.0845, 1.4311, 1.0554, -0.2653, -0.1898, -0.1371, 0.3228, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4301 left_y=0.0006 left_z=0.1938 left_yaw=0.1412 left_pitch=-0.0673 left_roll=0.004 left_gripper=0.3228 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.8325, 6.7487, 1.5409, 0.0317, 0.1001, 1.0281, -0.335, -1.2376, 7.1043, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c6589d4392781cadf54e45220e08923e05ea2dd1cdf1e0ab0b1b088766123a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d0ba8ecc4c838671fd56adf1dc59b2be351b303142c6cf494c717ef96804329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ebf08db4f78d376c1a00b8345275cae3600ad2992a36f3f36b19fc03c5959e",
        "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/AYKEAgRGAI4AUIIdGhpbmtpbmcSDJI140azQOAOZ94k4BoMahJGQhoGyqwX0hBDIjBHDY0TyzydMBXE/erpVrGEVzdAnKgHp70Pa9KIJ90WT6D943mr0cU2Ujho/6kOzBEqmQY59AXiFBA1CXkz0qQ04LnNcYXb7Qe/q6wm/pkG01QH1fJaHAG0s7ooxH9tnmP62s9vPlD6XA6HVx9ZjlMEF6jGQqCIapnZariYYepJrH1K5IwzZP5d+iUA86sfnduxm48kX460g2irqoZzEqz5VinU2xoZ9+WfasPoLTVz1pNs3FULVVeH8N3MER9cUBSn1TTCDZ8tE2WBoBXurmjWNe1qXGykpEWSkqRgD9D0N//2UTTQshqFfqxDo5PaWLncij3dGxzKcpmA9N4EudkPAukX7dJPuIbR3b4dvKwfUW99ltFFdFujOS5VUr7+H9ScXyn63+k26kcn3Mxd6c/mk65ZmIvvukefeGO2PQ6rnANPvRbv3MBx9a4BAjxkvDTuHKyhtILEq5bAyPQ2ek4mj1gn82S8upd/JHOmjjH8D51cryrPydQQPNt1LXQhP21S30oV5DrFYs4ob75N09vGZf/xzHcx9p4vI9GYG09fTYBycLLWz8qXbB5G65EIgjissUIyjalD5Vdr2p1FJtqsxbBp1/SmyLYRYoc+BIuH98Yk1J15jlpsF9fx/cMIKR10GNgDao9P0zI07HVsKSnHR0qzoU7fF+JGifMVhdbo2w8pB6Os1ryHx+rsiOfTdiUFu/zoflnPsqy2pqY8TJYaWW5yUG1CimgTr/01Bgg7oslKpxCwZB2KKo5EkCP2VGZ7axF04/s8YWIwsvKPdXtFxYe+L8Br1KeB8qzBAXzxN5sOu6SGjJ4M+r6yaxAlcSain/AyqDsRc/asGWY9vf7tNa5ZoJmsoZowY0M7R9U5r43orbvxKgWA+IpWdF1huxgRhlA/cWx1mMgeREwRtCWyY7sruG56O1aUU9VtjRqxrkTEJe2PnYFilUtn57A5jWtVULybDfABjv9Cyr/0v+2U2ywRUg5KKDZ33eG+ehuP0dhW/IzYX7gCgyNUbSuHiNhMlvigKYFlbnEXh90QPSnlT/xfRWLOiwiKwsGAFJUzKsnVFjZ9DtRzBKwsP/P8N0aYKrdGnIY9uC85czsGfTwUAyGimyfOe1o1OYl7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eiuyp1zSCcuQTokchrBhwQ",
      "input": {
        "note": "The bottle is back at its spot and the shoulder is unloading, so it is likely resting on the table; opening the left gripper to release it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Eiuyp1zSCcuQTokchrBhwQ",
      "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]: [-0.0845, 1.4326, 1.0424, -0.2768, -0.1867, -0.1421, 0.6951, -0.0147, 0.8249, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=0.0004 left_z=0.1852 left_yaw=0.1417 left_pitch=-0.093 left_roll=0.0041 left_gripper=0.6951 right_x=0.2954 right_y=0.0014 right_z=0.1704 right_yaw=0.0012 right_pitch=-0.0534 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7487, 10.2085, 1.5409, -0.1099, 0.0855, 0.1343, -0.3487, -1.5521, 7.2274, 1.707, -0.0366, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1563b82aff4c5ee1e3357f6831017ecb269c568e6de888bbfe9a55e55451ae21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d17b09b78c850d7ab4303afc1c7cdeee1175f5e4a945f760260f144a804dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46ea4d758a2e3accd8e9076a55573a4d53d68b03b115629ec4c86b56e3c4b562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 11.02 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]: [-0.2211, 1.4372, 1.409, -0.6708, -0.2676, -0.2169, 0.3229, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4165 left_y=-0.0421 left_z=0.2721 left_yaw=0.1137 left_pitch=-0.1091 left_roll=0.003 left_gripper=0.3229 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [-0.3214, -9.0598, 7.3915, 2.0781, -0.2955, 0.0659, 1.0281, -0.3487, -1.6068, 7.0769, 1.7118, -0.0366, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0845, 1.4311, 1.0554, -0.2653, -0.1898, -0.1371, 0.3228, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4301 left_y=0.0006 left_z=0.1938 left_yaw=0.1412 left_pitch=-0.0673 left_roll=0.004 left_gripper=0.3228 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.8325, 6.7487, 1.5409, 0.0317, 0.1001, 1.0281, -0.335, -1.2376, 7.1043, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0845, 1.4326, 1.0424, -0.2768, -0.1867, -0.1421, 0.6951, -0.0147, 0.8249, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=0.0004 left_z=0.1852 left_yaw=0.1417 left_pitch=-0.093 left_roll=0.0041 left_gripper=0.6951 right_x=0.2954 right_y=0.0014 right_z=0.1704 right_yaw=0.0012 right_pitch=-0.0534 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7487, 10.2085, 1.5409, -0.1099, 0.0855, 0.1343, -0.3487, -1.5521, 7.2274, 1.707, -0.0366, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1563b82aff4c5ee1e3357f6831017ecb269c568e6de888bbfe9a55e55451ae21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3d17b09b78c850d7ab4303afc1c7cdeee1175f5e4a945f760260f144a804dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ea4d758a2e3accd8e9076a55573a4d53d68b03b115629ec4c86b56e3c4b562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WhbQgcjEYt4x85LAwboc4C",
      "input": {
        "note": "The bottle is released; raising and retracting the left arm so the top camera can show where the displaced red cup ended up.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WhbQgcjEYt4x85LAwboc4C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1658, 0.9726, 1.1023, -0.7132, -0.2485, -0.1699, 0.9986, -0.0147, 0.8276, 0.6075, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3116 left_y=-0.0044 left_z=0.2886 left_yaw=0.1261 left_pitch=-0.0029 left_roll=-0.0052 left_gripper=0.9986 right_x=0.2957 right_y=0.0014 right_z=0.1699 right_yaw=0.0012 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.359, 8.9778, 1.6532, -0.2662, -0.0122, 0.0611, -0.2393, -1.5658, 7.0359, 1.746, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7548ab74f4c890d5a3394f32b79d87659240c0e9cc36aa5a43ff6cbc9652252c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec819d28e32b182a9782b9c8524a452a101e2f80f965604baf335282eb20918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f5aece699801d729e2a0191ee1cf3df6472c472409a89bfe2b6b5f6c6462cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 10.86 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]: [-0.0845, 1.4311, 1.0554, -0.2653, -0.1898, -0.1371, 0.3228, -0.0147, 0.8211, 0.6079, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4301 left_y=0.0006 left_z=0.1938 left_yaw=0.1412 left_pitch=-0.0673 left_roll=0.004 left_gripper=0.3228 right_x=0.2953 right_y=0.0014 right_z=0.1717 right_yaw=0.0012 right_pitch=-0.0488 right_roll=0.0001 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.8325, 6.7487, 1.5409, 0.0317, 0.1001, 1.0281, -0.335, -1.2376, 7.1043, 1.6972, -0.0269, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0845, 1.4326, 1.0424, -0.2768, -0.1867, -0.1421, 0.6951, -0.0147, 0.8249, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=0.0004 left_z=0.1852 left_yaw=0.1417 left_pitch=-0.093 left_roll=0.0041 left_gripper=0.6951 right_x=0.2954 right_y=0.0014 right_z=0.1704 right_yaw=0.0012 right_pitch=-0.0534 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7487, 10.2085, 1.5409, -0.1099, 0.0855, 0.1343, -0.3487, -1.5521, 7.2274, 1.707, -0.0366, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1658, 0.9726, 1.1023, -0.7132, -0.2485, -0.1699, 0.9986, -0.0147, 0.8276, 0.6075, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3116 left_y=-0.0044 left_z=0.2886 left_yaw=0.1261 left_pitch=-0.0029 left_roll=-0.0052 left_gripper=0.9986 right_x=0.2957 right_y=0.0014 right_z=0.1699 right_yaw=0.0012 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.359, 8.9778, 1.6532, -0.2662, -0.0122, 0.0611, -0.2393, -1.5658, 7.0359, 1.746, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7548ab74f4c890d5a3394f32b79d87659240c0e9cc36aa5a43ff6cbc9652252c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cec819d28e32b182a9782b9c8524a452a101e2f80f965604baf335282eb20918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5aece699801d729e2a0191ee1cf3df6472c472409a89bfe2b6b5f6c6462cfb",
        "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_011Do5t9TKZVZ5QjEXFNhYNf",
      "input": {
        "note": "The red cup was knocked to the near-left, at the bottom-left of the left wrist view; moving the open left gripper above its estimated spot to pick it up and relocate it toward the centre where the right arm can reach.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.31,
          "left_y": 0.03,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_011Do5t9TKZVZ5QjEXFNhYNf",
      "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]: [0.0349, 0.8829, 0.5613, -0.3099, -0.0994, -0.0769, 0.9988, -0.0147, 0.8288, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3014 left_y=0.0317 left_z=0.1505 left_yaw=0.152 left_pitch=-0.0675 left_roll=-0.0017 left_gripper=0.9988 right_x=0.2957 right_y=0.0014 right_z=0.1695 right_yaw=0.0012 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.853, 7.6786, 2.0928, 0.0659, 0.1294, -0.1392, -0.1436, -1.5521, 6.9949, 1.6972, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e48182d9f76b02599658df83f83add09a23a3a3810aaeaeddc1c098a25fcd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a88e495578f992903e44a358996b3f36c868a29d53fd884287323bb94904f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3d3f9a98e3485242e94b1863ac59e4d4e6570edfaedd47452e8e810cd4aae796",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.391 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0349, 0.8829, 0.5613, -0.3099, -0.0994, -0.0769, 0.9988, -0.0147, 0.8288, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3014 left_y=0.0317 left_z=0.1505 left_yaw=0.152 left_pitch=-0.0675 left_roll=-0.0017 left_gripper=0.9988 right_x=0.2957 right_y=0.0014 right_z=0.1695 right_yaw=0.0012 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.853, 7.6786, 2.0928, 0.0659, 0.1294, -0.1392, -0.1436, -1.5521, 6.9949, 1.6972, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e48182d9f76b02599658df83f83add09a23a3a3810aaeaeddc1c098a25fcd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a88e495578f992903e44a358996b3f36c868a29d53fd884287323bb94904f68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d3f9a98e3485242e94b1863ac59e4d4e6570edfaedd47452e8e810cd4aae796",
        "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_01DcjHMcSNmKeLeFHAH2eKsV",
      "input": {
        "note": "The red mug appears in the left wrist view about 55 px left of the jaw column with its handle toward the right; shifting the gripper left to centre over the mug body.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.09,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_01DcjHMcSNmKeLeFHAH2eKsV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
call 20 attempt 0 · /messages · status 200 · 20.06 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 57 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]: [-0.0845, 1.4326, 1.0424, -0.2768, -0.1867, -0.1421, 0.6951, -0.0147, 0.8249, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4262 left_y=0.0004 left_z=0.1852 left_yaw=0.1417 left_pitch=-0.093 left_roll=0.0041 left_gripper=0.6951 right_x=0.2954 right_y=0.0014 right_z=0.1704 right_yaw=0.0012 right_pitch=-0.0534 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.253, -6.7487, 10.2085, 1.5409, -0.1099, 0.0855, 0.1343, -0.3487, -1.5521, 7.2274, 1.707, -0.0366, -0.0464, -0.0122]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.1658, 0.9726, 1.1023, -0.7132, -0.2485, -0.1699, 0.9986, -0.0147, 0.8276, 0.6075, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3116 left_y=-0.0044 left_z=0.2886 left_yaw=0.1261 left_pitch=-0.0029 left_roll=-0.0052 left_gripper=0.9986 right_x=0.2957 right_y=0.0014 right_z=0.1699 right_yaw=0.0012 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.359, 8.9778, 1.6532, -0.2662, -0.0122, 0.0611, -0.2393, -1.5658, 7.0359, 1.746, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 57 current as-sent form
{
  "content": [
    {
      "content": "target for left_y is outside [-0.4, 0.05]",
      "tool_use_id": "toolu_01DcjHMcSNmKeLeFHAH2eKsV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "signature": "CAQSxAcKEAgRGAI4AUIIdGhpbmtpbmcSDH4sam5Ac+p8xFY8nBoMniejXEUbjqltdZ8zIjB5CrtulZDhMt0/CL50xQIL4WCL9kkpsT8x9etagPpMD40cHKzi/ieLD+E4gVKXUsQq4QavvS/mj7rLsG+NhAboAhfLPK4ecPctQcltZM6J/sYajM2ID12yYcY8pGqxwMHpNIKCGquPFekFfvLg11ktX2Q5iAYQrXYJtyLSO3Zn+67g19a3HkhEoD9mE14C3irThiDWXEDFeCQJ1vJaq9Z/jVS2+lVjdF7LGOJo2L2G9yefwGlmQOCkVwBIgG7T/QL/2SU6jpCJ3iuabQzVbsEkgFawRRvLHuHj99cYD3TK//7S3YwtoNHU8qQAzmz4aEgT64CTAgiN/CNGCw8gN8sfylLbFEpWBpuZoy66Q+ExKPUaFy060s+RNMBTizPtPd/G9ETieI4qsQT1FpZUFtIO1ZoaiRO6eJ9kuielIJXTfOD9ZiBtJFNWulaULOR1FbkdJ72TdqGyu4+nUmaLC0aHpsbWnAkLs5RNZp3A9sOQtrRR27t/Q9BLiv9adpfD47kJQH1QXqcavag9A8Re53abm5vvx6+p3yA5/30Adoy3Xb3J6MyK/daoRcf0uyHRmCMa4UiQNupYCdRG1/LU/3a7xgX4RSFaj5VzqKyp3nqbneyJQssbxO0Q/5WpgShkUBOK1J1EEvBq9MFYAkcJFBk0Aq6cG1oHhqKIpv/rmeV3N7NU/iSOEihTTkmabtjt4ueBio1+1vnsLuVVVIvhDb8Kkn2DKMVMOdzUytxaMoi3zW+W8rjMZKh9uEZrIxsS5LecPderRFL+15FD10v08PBJbyZxcqzGszk2tIkQIPMm3S8i3f8JX5uYL70r0Xsmp+pwVSq5OyRwF9/GZOFXcrNofQIPlcXipsMSysFcb+leZ/TWgfFH1wzCfTLUKLoaiMyzKI5WZ/tRiJtXQsqqQseHglb6cxit78klvwoFjB/j2PP2k55zMv5nSdp9DWRoKin/MZJTT8Vw0j4IoUpYSTGqkEO5qMBbjMjt+038qiqxetJvU6hfwuh1UWLqlzu1xROjTi4POHpH4mVIcLUJMcOtzAVada26AL+Gpm66SLVLpwncmkjrItpwGGeqSWhxMDOBDjvRr9DFeZ1wEULNhDJpQHve2vNt/dol7ulFAMoAcXx4FxiZ07Gg+mD89oT+Aj6riZGnnTPgM7MSG/5geUx9VV65gBPCMIJb+KEeLxTuzKm4ETdTFU7pHFiod2VCJLIrsvVAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014g8dLw7cRLLLoYwwdn7d2J",
      "input": {
        "note": "Left y is capped at 0.05 by the fence-side bound; moving to that limit and checking whether the mug body can still be centred between the jaws.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": 0.05,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014g8dLw7cRLLLoYwwdn7d2J",
      "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]: [0.1364, 0.8574, 0.5045, -0.2379, -0.0433, -0.038, 0.9988, -0.0143, 0.8299, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=0.0523 left_z=0.1461 left_yaw=0.1851 left_pitch=-0.0296 left_roll=-0.0053 left_gripper=0.9988 right_x=0.2957 right_y=0.0015 right_z=0.1691 right_yaw=0.0016 right_pitch=-0.058 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.359, 6.7077, 2.044, 0.2906, 0.1245, -0.1392, -0.1299, -1.5521, 7.0085, 1.7216, -0.0073, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48975ba784ae3e610c01d7a61c3cad95a6a02fbe81068a33dab2782be5c36457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06e761e2da45473301d6022ca52a399547989e59b1fe209991d564b6d460950f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7d20e91ae7149fbcfde2b14b5cdb25db7abb27c9662b5ca6db7976f59d664a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 19.02 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 60 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1658, 0.9726, 1.1023, -0.7132, -0.2485, -0.1699, 0.9986, -0.0147, 0.8276, 0.6075, -0.392, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3116 left_y=-0.0044 left_z=0.2886 left_yaw=0.1261 left_pitch=-0.0029 left_roll=-0.0052 left_gripper=0.9986 right_x=0.2957 right_y=0.0014 right_z=0.1699 right_yaw=0.0012 right_pitch=-0.0553 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -2.359, 8.9778, 1.6532, -0.2662, -0.0122, 0.0611, -0.2393, -1.5658, 7.0359, 1.746, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0349, 0.8829, 0.5613, -0.3099, -0.0994, -0.0769, 0.9988, -0.0147, 0.8288, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3014 left_y=0.0317 left_z=0.1505 left_yaw=0.152 left_pitch=-0.0675 left_roll=-0.0017 left_gripper=0.9988 right_x=0.2957 right_y=0.0014 right_z=0.1695 right_yaw=0.0012 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.853, 7.6786, 2.0928, 0.0659, 0.1294, -0.1392, -0.1436, -1.5521, 6.9949, 1.6972, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1364, 0.8574, 0.5045, -0.2379, -0.0433, -0.038, 0.9988, -0.0143, 0.8299, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=0.0523 left_z=0.1461 left_yaw=0.1851 left_pitch=-0.0296 left_roll=-0.0053 left_gripper=0.9988 right_x=0.2957 right_y=0.0015 right_z=0.1691 right_yaw=0.0016 right_pitch=-0.058 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.359, 6.7077, 2.044, 0.2906, 0.1245, -0.1392, -0.1299, -1.5521, 7.0085, 1.7216, -0.0073, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48975ba784ae3e610c01d7a61c3cad95a6a02fbe81068a33dab2782be5c36457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06e761e2da45473301d6022ca52a399547989e59b1fe209991d564b6d460950f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d20e91ae7149fbcfde2b14b5cdb25db7abb27c9662b5ca6db7976f59d664a2",
        "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_01XBAqND7kLBbtQ4sFew74ke",
      "input": {
        "note": "The mug body is beyond the left arm's y limit but its handle sits on the jaw column pointing toward the base-right; yawing the gripper ~45° and lowering so the jaws can pinch the handle across.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.29,
          "left_y": 0.05,
          "left_yaw": 0.8,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XBAqND7kLBbtQ4sFew74ke",
      "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]: [-0.1478, 0.9619, 0.4473, -0.1989, -0.3336, -0.3363, 0.9988, -0.0147, 0.8322, 0.6075, -0.392, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0179 left_z=0.1052 left_yaw=0.3059 left_pitch=-0.1067 left_roll=-0.0459 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1686 right_yaw=0.0017 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.0838, 7.3915, 1.6874, -0.1587, -0.105, -0.1343, -0.1846, -1.5658, 7.0222, 1.7705, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46eab6780492af4d4d94abef0699cf27335a3ff18e12f936ab565acaafd25c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8799fafd16a67a5af0c80b153fecb09d378504d6e0cfe89787235a111daddfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:629dc0d17806009339f8ac60e6986d799a7db39fa77cd0eca51850d0808b3821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.959 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 60 changed as sent

message 63 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0349, 0.8829, 0.5613, -0.3099, -0.0994, -0.0769, 0.9988, -0.0147, 0.8288, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3014 left_y=0.0317 left_z=0.1505 left_yaw=0.152 left_pitch=-0.0675 left_roll=-0.0017 left_gripper=0.9988 right_x=0.2957 right_y=0.0014 right_z=0.1695 right_yaw=0.0012 right_pitch=-0.0568 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [0.1846, -1.853, 7.6786, 2.0928, 0.0659, 0.1294, -0.1392, -0.1436, -1.5521, 6.9949, 1.6972, -0.0317, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1364, 0.8574, 0.5045, -0.2379, -0.0433, -0.038, 0.9988, -0.0143, 0.8299, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=0.0523 left_z=0.1461 left_yaw=0.1851 left_pitch=-0.0296 left_roll=-0.0053 left_gripper=0.9988 right_x=0.2957 right_y=0.0015 right_z=0.1691 right_yaw=0.0016 right_pitch=-0.058 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.359, 6.7077, 2.044, 0.2906, 0.1245, -0.1392, -0.1299, -1.5521, 7.0085, 1.7216, -0.0073, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1478, 0.9619, 0.4473, -0.1989, -0.3336, -0.3363, 0.9988, -0.0147, 0.8322, 0.6075, -0.392, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0179 left_z=0.1052 left_yaw=0.3059 left_pitch=-0.1067 left_roll=-0.0459 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1686 right_yaw=0.0017 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.0838, 7.3915, 1.6874, -0.1587, -0.105, -0.1343, -0.1846, -1.5658, 7.0222, 1.7705, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46eab6780492af4d4d94abef0699cf27335a3ff18e12f936ab565acaafd25c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8799fafd16a67a5af0c80b153fecb09d378504d6e0cfe89787235a111daddfd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629dc0d17806009339f8ac60e6986d799a7db39fa77cd0eca51850d0808b3821",
        "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_01TUeWhjLNfDTzuaESugc4tE",
      "input": {
        "note": "The yaw request made the IK struggle and pulled y inward; reverting to yaw 0 and lowering to handle height at the y limit, aiming the open jaws around the mug's handle which points toward the base-right.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.27,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TUeWhjLNfDTzuaESugc4tE",
      "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]: [-0.1463, 0.9604, 0.4473, -0.1928, -0.3969, -0.3939, 0.9988, -0.0147, 0.8326, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.029 left_z=0.1093 left_yaw=0.3893 left_pitch=-0.0817 left_roll=-0.059 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1684 right_yaw=0.0012 right_pitch=-0.0606 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.9607, 7.3641, 1.6532, -0.2759, -0.0513, -0.1392, -0.0342, -1.4701, 7.1726, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ccd075ad04bb6fb697a20a176b0f65b8b3d5ac6858d34ca599008fbe44b20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a756632545621d00eac8f6786a2162a589c74ea8c834c1e54bbaf5cf89ddb069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92302590866bcd2d58771e31c567b02cb3047242ad0d27ea62938153037152e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.237 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 60 changed as sent

message 63 changed as sent

message 66 changed as sent

message 60 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1364, 0.8574, 0.5045, -0.2379, -0.0433, -0.038, 0.9988, -0.0143, 0.8299, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2985 left_y=0.0523 left_z=0.1461 left_yaw=0.1851 left_pitch=-0.0296 left_roll=-0.0053 left_gripper=0.9988 right_x=0.2957 right_y=0.0015 right_z=0.1691 right_yaw=0.0016 right_pitch=-0.058 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.359, 6.7077, 2.044, 0.2906, 0.1245, -0.1392, -0.1299, -1.5521, 7.0085, 1.7216, -0.0073, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1478, 0.9619, 0.4473, -0.1989, -0.3336, -0.3363, 0.9988, -0.0147, 0.8322, 0.6075, -0.392, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0179 left_z=0.1052 left_yaw=0.3059 left_pitch=-0.1067 left_roll=-0.0459 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1686 right_yaw=0.0017 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.0838, 7.3915, 1.6874, -0.1587, -0.105, -0.1343, -0.1846, -1.5658, 7.0222, 1.7705, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1463, 0.9604, 0.4473, -0.1928, -0.3969, -0.3939, 0.9988, -0.0147, 0.8326, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.029 left_z=0.1093 left_yaw=0.3893 left_pitch=-0.0817 left_roll=-0.059 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1684 right_yaw=0.0012 right_pitch=-0.0606 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.9607, 7.3641, 1.6532, -0.2759, -0.0513, -0.1392, -0.0342, -1.4701, 7.1726, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ccd075ad04bb6fb697a20a176b0f65b8b3d5ac6858d34ca599008fbe44b20e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a756632545621d00eac8f6786a2162a589c74ea8c834c1e54bbaf5cf89ddb069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92302590866bcd2d58771e31c567b02cb3047242ad0d27ea62938153037152e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAgKEAgRGAI4AUIIdGhpbmtpbmcSDP7NcsixE6qIziH7MBoMmghd2nlHqNGFTbt9IjDU/nFzBMwbuDgomaaWc35y38Z+RSwHxxv7F+uMSnYcWHq/mE+QlTIq67p+kDXDoSoqqQe/ENM2XIz1Y3fNbgtRkTAl/7x1SFOvJKp2y1nekdNwTivueix3ISjAK4LuQH7/mRBR/m2g5MrmDEW60zRizkctP9UEcJZiZKiRmn7EWkpZ3vcmRCABMbhupx3tLZA+mSTt4mCoSHhnTKy9+6l9KXhZON9bni73/HH4WL3H/PuKOUm/H9L5znIa97u/s9DOorvXGCd+oYk6F4IVqgtkUPwf1ifmzfIflYUEf/l+t4Wf4Faye1L1r90JwJI+o6MjZAS2gk1YvNz6TdrXSAwkWZ1on7WY/QY74PrfBWmSYA3ScWv9u+IogJzlRe+D9bomxV217AMaCRKRv9cV985ATziY/RPA7FjGBJDlfPxqqVS8+kBTclKcdPk5P43CTpK/lRT2SWWR/jFS5g4VfJ3E+wG6K5mPyaqM3B76FXLFgwFQRTCkmOnd8Arct1qln1V3XwpbK8XWnJcHn/16qF9InOjacTrPxMsR+KACIFqLf3fU6RobHcJhBbrKVMFfvvP31RfZVCG96KAXudOunAbEHwixh00+CVm+K0Y+le23uru18FLl7K5xZcr0eMTFAVSSu2FMDNxJS0uxgKEPfOet7uLNeA//m22dQBvvr4nEdFRycTEq1uE3uc802dMCnqUszaFNXINTnS1JjGgNUir4o0L6+Pu24QJlXQJdW/UMdSBrTa1B7aUtI3PjQwwz7tRi61+3KgzhXLqoXoj5pn3fIE1p6OdWtkwNwuzdsMqzAaAA+eVT9WUoiNR4LubZRnrnz1kmg3KMfFh/8AYwIdxcGd/W9a61dMhJGAa7kx8CBdQl+G3vmUHBGCnVmMhJtJJMOtEr7Uu8JBWMEW8wK9r4JDBCkIlHD7pKibiUrGu4Rx9ZXvRuviyFqNbX5FFFvNgVRZM2cDqa3L3JhkCv9Buw6b/bCDLXs3H4AYoL5Swh2XKzigK7qL1rs/2RPoNm5hdNCgH5hDbF3XH+PELkMCHszTELEEz1c5tiEBbV3GV+Dxcr5i/Rt++Ui2hKhqEY4WhKxLop+HwVm86LpQ8PbiMx7xtCUpNq2LnyDBRR5wtI/xbuVg8lya8Jtedut3Hzz0Yj0eq+Te8a1heFnfToH1KrIYY/Tsahad/2406c0oooTTYqLQzz1RVP5cfd2sbZ3mAeWc1Lg77IdiVqKRMZ2ZfV3/wHgHur51RZQ9c6bF2n4gnehVuFSmLyQr5dDgYbHITRufA/wZy/xQGtPtm1MjJFbLTrhAarDscg+3mxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YZ2ajti1crdxevQtEYwxiU",
      "input": {
        "note": "The left arm did not move at all on the last command, so it seems stalled in an awkward pose; raising it to z=0.2 with all rotations zeroed to unstick it before retrying the handle grasp.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.28,
          "left_y": 0.03,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01YZ2ajti1crdxevQtEYwxiU",
      "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]: [-0.0292, 0.8761, 0.5163, -0.3183, -0.3035, -0.3164, 0.9988, -0.0143, 0.8345, 0.6075, -0.3916, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2889 left_y=0.048 left_z=0.1352 left_yaw=0.3877 left_pitch=-0.0822 left_roll=-0.0627 left_gripper=0.9988 right_x=0.2961 right_y=0.0015 right_z=0.168 right_yaw=0.0016 right_pitch=-0.0618 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7641, 13.9145, 2.21, 0.1392, 0.1783, -0.1343, -0.1436, -1.5248, 7.0632, 1.707, -0.0513, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccbc51a74ecfd2b93d24972825fd173d4a260c014104d9e6e98f54ccdd65b6d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94133313067ada448f0eb11d64b1e56b30d6c60ba8cb618773c1ee7bb0b2464d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94786b41dc5d305fe549a9d11f1601f29ecc9f49798294971feafcea397cae70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 13.19 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 63 changed as sent

message 66 changed as sent

message 69 changed as sent

message 63 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1478, 0.9619, 0.4473, -0.1989, -0.3336, -0.3363, 0.9988, -0.0147, 0.8322, 0.6075, -0.392, -0.0124, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.2969 left_y=0.0179 left_z=0.1052 left_yaw=0.3059 left_pitch=-0.1067 left_roll=-0.0459 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1686 right_yaw=0.0017 right_pitch=-0.0599 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [-0.1026, -3.0838, 7.3915, 1.6874, -0.1587, -0.105, -0.1343, -0.1846, -1.5658, 7.0222, 1.7705, -0.0366, -0.0806, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1463, 0.9604, 0.4473, -0.1928, -0.3969, -0.3939, 0.9988, -0.0147, 0.8326, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.029 left_z=0.1093 left_yaw=0.3893 left_pitch=-0.0817 left_roll=-0.059 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1684 right_yaw=0.0012 right_pitch=-0.0606 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.9607, 7.3641, 1.6532, -0.2759, -0.0513, -0.1392, -0.0342, -1.4701, 7.1726, 1.707, -0.0269, -0.0757, -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 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0292, 0.8761, 0.5163, -0.3183, -0.3035, -0.3164, 0.9988, -0.0143, 0.8345, 0.6075, -0.3916, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2889 left_y=0.048 left_z=0.1352 left_yaw=0.3877 left_pitch=-0.0822 left_roll=-0.0627 left_gripper=0.9988 right_x=0.2961 right_y=0.0015 right_z=0.168 right_yaw=0.0016 right_pitch=-0.0618 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7641, 13.9145, 2.21, 0.1392, 0.1783, -0.1343, -0.1436, -1.5248, 7.0632, 1.707, -0.0513, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccbc51a74ecfd2b93d24972825fd173d4a260c014104d9e6e98f54ccdd65b6d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94133313067ada448f0eb11d64b1e56b30d6c60ba8cb618773c1ee7bb0b2464d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94786b41dc5d305fe549a9d11f1601f29ecc9f49798294971feafcea397cae70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQoKEAgRGAI4AUIIdGhpbmtpbmcSDKcHFcElGykP2xZEERoM0htb1AXWijZekgvgIjBuMxQ5RUaYPa86IIUpilQMMruZKkVEo0Ik7xwJdMwf1wklvqwaWuuL2ImYY4gmQe0qzgn6Bs5yb3y0e4Q40i1c8ZNOf3Hg9JCuTxywKLymPKz/1zpmbMTZ465CQ94e+vR1LPbv5AD24PNX3XKpNCp9UfTPtehs6KBaXbDhzIrDWlHaY+W983bCugQYelt8Q1xOfZMVcIhGyVf9YIML0hY3+z5/fCsC9vN/ABgybb82OaXAnznn1JwF0bDax95KyQaiyReJlmAHBkdPbzbysJWcL7N4yZarSxQsNOb8xUDCjRpprHz6mMpTyEAHHuh5zagPEZZzofcR7sj/xIzmH8KfxL+WhNkvQOlSWQV4rDW3lNBS85ODahwizZ6jTAKmSR65enK+9Rbm11UN0xqndd6zPA7mgobSPxqGIwUlRbg5eIQ7+MP7a3ZKV0rXe1WlkShljMA+cY/r4vf1AChZhojR9bxmppryNsNUQdQBabC/vmTV8jBpL0JDMywkGkmUrxgBtwpRLRc6p2wmsJzmIcoZJz6td/z3WQObVDj491ENSenY5TWOxaGR18ppAidWvqhVLZWRNhfo2AIwcKgIdiu8ZpY8CxBzDVY5pVkLVw0d+9x2q4Y42O0blkykGe8/SEjJsG/08Kdv3vgQj9EPuPYd0YMb1279a1Esb+wo+45EtCF8rD2gzzIGg6HtqA8UfVLkCUlYyvZ8KoWjAeJIQDIUzlbvxRyk8qKXgGE89iq9hdvl3IkjIi1QXW5b2mtsIEPvMCm/raWUJdoinxcWw6xkAe78/Nx5Che9jBJP2K8ht4G6305wuy241fsX9O9PRYpFD7oKXfd1nBTOUyi62+XxkCLmshzZq8pBWgVrOWsD5MmTn2vuW8vGHmyAvjJfZyJ2ofvD0VZlyL/7A1aHppgBtpXcQGJzjuTqC0Gzx9zkxnvGizwKn42G7tciKUNNX/T5Q11SjIMGMrR2AWqcTDgC7VjDz3y/rhfcpuNKWLgk39KcAFhmdvt3NwS4HOicTs5W0Fry2OuMtM17qax+HWBNuRxs3/9jiCcAihGoj0oC/XZbY1mWt8a8mudyFbek0RltXwW27iqkaxhK93maW2bg5LhcWjukAgsQt3O1j0/tjLuAn2LWnNpQgZfsGVNykmPazpz4uhOlHjR/MqrV8jxA1NIh8VK81pmeWc6WHbDS6pqM4IkHSHjdcDTNkN67GHvLsauXSdCwyaOc9g2p3WEADG9TiP6wplE/coaC2EGgyzwH3nXhc02e09nzsSsj/io6Cy/DknRJiko9H/30Ie2ZgKWTTsFEn3VR2oENnd+iaeaaEfHlCRrPUnJ2CTxQz1P4B4meRi3p8S4Cm9d4Lb1MHVi23uck3XL/KJr6HtnnHp0hyOudaCTrXpHx1pbjKVx54e98owJvuOd/lPpjk6vlCRa0oDbdf5gwu4ghzj42279iqZINA8uHb27XV6mQwPYeCblZ7WPNM8VEh3mkZqc0TFpnpy7dfQ1Wz43nz1cKIqHu2fGaa/JiNX8ZSLIZ9FRhsDG9dd7SdhFyS0BC56XzkBbbVH1a5FG5DWYiVL8KMbs0xSnIMsQ68hoxh0PcsQVQVuuSmXME8k4QxwZK7SarK21N/ZbcT5E2hpyXD9EvObuFgs2TWiO8YawLMDQ2n4wQnb7xSPHphmSH0fTp9AXIpoyh1iqJ0TPG0ic0sYAvN70YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BWQaBMhDh5ws4jrJTntqst",
      "input": {
        "note": "Elbow effort jumped to 14 and the arm barely moved, so the open gripper is probably jammed against the left fence; pulling inward to y=-0.03 and up to free it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.28,
          "left_y": -0.03,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BWQaBMhDh5ws4jrJTntqst",
      "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]: [-0.2501, 0.757, 0.6323, -0.4808, -0.2398, -0.1818, 0.9988, -0.0147, 0.8371, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2801 left_y=-0.0246 left_z=0.1849 left_yaw=0.0408 left_pitch=-0.0255 left_roll=-0.0135 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1671 right_yaw=0.0012 right_pitch=-0.0656 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 9.2103, 1.6923, -0.1441, 0.2027, -0.1343, -0.1299, -1.6205, 7.241, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44e7abd7b31f45acbeaccc9a10b0873908a057de545859d8f8f925c74cda391e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef1e52b3621ac802eb83cda37098bd8828fa3f7df1bb36456b12b3994c5e5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8e2ad0ceb8c3b762f7ebb2ba510308d366446de58bb9219b98290baf919c78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 12.4 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 69 changed as sent

message 72 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.1463, 0.9604, 0.4473, -0.1928, -0.3969, -0.3939, 0.9988, -0.0147, 0.8326, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2964 left_y=0.029 left_z=0.1093 left_yaw=0.3893 left_pitch=-0.0817 left_roll=-0.059 left_gripper=0.9988 right_x=0.2959 right_y=0.0014 right_z=0.1684 right_yaw=0.0012 right_pitch=-0.0606 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.0615, -2.9607, 7.3641, 1.6532, -0.2759, -0.0513, -0.1392, -0.0342, -1.4701, 7.1726, 1.707, -0.0269, -0.0757, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0292, 0.8761, 0.5163, -0.3183, -0.3035, -0.3164, 0.9988, -0.0143, 0.8345, 0.6075, -0.3916, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2889 left_y=0.048 left_z=0.1352 left_yaw=0.3877 left_pitch=-0.0822 left_roll=-0.0627 left_gripper=0.9988 right_x=0.2961 right_y=0.0015 right_z=0.168 right_yaw=0.0016 right_pitch=-0.0618 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7641, 13.9145, 2.21, 0.1392, 0.1783, -0.1343, -0.1436, -1.5248, 7.0632, 1.707, -0.0513, -0.0611, -0.0122]\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 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2501, 0.757, 0.6323, -0.4808, -0.2398, -0.1818, 0.9988, -0.0147, 0.8371, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2801 left_y=-0.0246 left_z=0.1849 left_yaw=0.0408 left_pitch=-0.0255 left_roll=-0.0135 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1671 right_yaw=0.0012 right_pitch=-0.0656 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 9.2103, 1.6923, -0.1441, 0.2027, -0.1343, -0.1299, -1.6205, 7.241, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44e7abd7b31f45acbeaccc9a10b0873908a057de545859d8f8f925c74cda391e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef1e52b3621ac802eb83cda37098bd8828fa3f7df1bb36456b12b3994c5e5d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e2ad0ceb8c3b762f7ebb2ba510308d366446de58bb9219b98290baf919c78e",
        "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_011oGYirfF7Ucja4tCuqMYY4",
      "input": {
        "note": "The arm is free again; the mug handle points toward the base-right at about 7 cm left of the jaw column. Moving over the handle at reduced jaw opening so the fingers stay clear of the mug body and fence.",
        "targets": {
          "left_gripper": 0.7,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.27,
          "left_y": 0.035,
          "left_yaw": 0.0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011oGYirfF7Ucja4tCuqMYY4",
      "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]: [0.2184, 0.6994, 0.2783, -0.2195, 0.1024, 0.0578, 0.7029, -0.0143, 0.8379, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=0.0429 left_z=0.0898 left_yaw=0.0925 left_pitch=-0.0763 left_roll=-0.013 left_gripper=0.7029 right_x=0.2962 right_y=0.0015 right_z=0.1669 right_yaw=0.0016 right_pitch=-0.066 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -0.212, 7.3778, 2.0147, 0.4469, 0.1245, 0.0904, -0.0615, -1.6068, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e3bf1f251e3b5be083340c6751d5777cfa0df745346ccb02197ef5649df242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb7860bc9db75f13ddf3f8e99f8b1ba92659f7aa5e80f2dc478d73fe6439150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91f7860d49363b4124d2eb87d4084a3f03e7898073632ca45615b4fd133d4d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.429 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 69 changed as sent

message 72 changed as sent

message 75 changed as sent

message 69 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0292, 0.8761, 0.5163, -0.3183, -0.3035, -0.3164, 0.9988, -0.0143, 0.8345, 0.6075, -0.3916, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2889 left_y=0.048 left_z=0.1352 left_yaw=0.3877 left_pitch=-0.0822 left_roll=-0.0627 left_gripper=0.9988 right_x=0.2961 right_y=0.0015 right_z=0.168 right_yaw=0.0016 right_pitch=-0.0618 right_roll=0.0003 right_gripper=0.9998\nstate[joint_eff]: [-0.294, -5.7641, 13.9145, 2.21, 0.1392, 0.1783, -0.1343, -0.1436, -1.5248, 7.0632, 1.707, -0.0513, -0.0611, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2501, 0.757, 0.6323, -0.4808, -0.2398, -0.1818, 0.9988, -0.0147, 0.8371, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2801 left_y=-0.0246 left_z=0.1849 left_yaw=0.0408 left_pitch=-0.0255 left_roll=-0.0135 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1671 right_yaw=0.0012 right_pitch=-0.0656 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 9.2103, 1.6923, -0.1441, 0.2027, -0.1343, -0.1299, -1.6205, 7.241, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2184, 0.6994, 0.2783, -0.2195, 0.1024, 0.0578, 0.7029, -0.0143, 0.8379, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=0.0429 left_z=0.0898 left_yaw=0.0925 left_pitch=-0.0763 left_roll=-0.013 left_gripper=0.7029 right_x=0.2962 right_y=0.0015 right_z=0.1669 right_yaw=0.0016 right_pitch=-0.066 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -0.212, 7.3778, 2.0147, 0.4469, 0.1245, 0.0904, -0.0615, -1.6068, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9e3bf1f251e3b5be083340c6751d5777cfa0df745346ccb02197ef5649df242",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cb7860bc9db75f13ddf3f8e99f8b1ba92659f7aa5e80f2dc478d73fe6439150",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f7860d49363b4124d2eb87d4084a3f03e7898073632ca45615b4fd133d4d22",
        "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_0178itq3PXgMSL3fEPaornfR",
      "input": {
        "note": "The mug handle now sits between the jaws in the left wrist view, a little ahead of the fingertips; advancing 3 cm and descending to handle height before closing.",
        "targets": {
          "left_gripper": 0.7,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.29,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0178itq3PXgMSL3fEPaornfR",
      "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]: [0.2413, 1.0172, 0.1596, 0.1535, 0.1844, 0.1162, 0.7013, -0.0147, 0.8398, 0.6075, -0.395, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2717 left_y=0.0372 left_z=0.0329 left_yaw=0.0136 left_pitch=-0.1293 left_roll=-0.0285 left_gripper=0.7013 right_x=0.2959 right_y=0.0013 right_z=0.1659 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -5.2581, 6.5436, 2.0635, 0.2662, 0.0659, 0.1245, -0.3487, -1.2513, 7.2, 1.8681, -0.0513, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db52b2ea7f80a90db3f98f9428e16bcb3c795a64d553bb6c0e3d3d3311154a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4c7c250870462188953a36b458aca91f6b5f49a215430c0cadbff0466b1156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77d55e26c4a5cba5e6d3cc1d14a7c44ec7f84021bb13e283ca7b6f82f6d31f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 6.175 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 72 changed as sent

message 75 changed as sent

message 78 changed as sent

message 72 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2501, 0.757, 0.6323, -0.4808, -0.2398, -0.1818, 0.9988, -0.0147, 0.8371, 0.6075, -0.3927, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2801 left_y=-0.0246 left_z=0.1849 left_yaw=0.0408 left_pitch=-0.0255 left_roll=-0.0135 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1671 right_yaw=0.0012 right_pitch=-0.0656 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -1.5248, 9.2103, 1.6923, -0.1441, 0.2027, -0.1343, -0.1299, -1.6205, 7.241, 1.7265, -0.0317, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2184, 0.6994, 0.2783, -0.2195, 0.1024, 0.0578, 0.7029, -0.0143, 0.8379, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=0.0429 left_z=0.0898 left_yaw=0.0925 left_pitch=-0.0763 left_roll=-0.013 left_gripper=0.7029 right_x=0.2962 right_y=0.0015 right_z=0.1669 right_yaw=0.0016 right_pitch=-0.066 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -0.212, 7.3778, 2.0147, 0.4469, 0.1245, 0.0904, -0.0615, -1.6068, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2413, 1.0172, 0.1596, 0.1535, 0.1844, 0.1162, 0.7013, -0.0147, 0.8398, 0.6075, -0.395, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2717 left_y=0.0372 left_z=0.0329 left_yaw=0.0136 left_pitch=-0.1293 left_roll=-0.0285 left_gripper=0.7013 right_x=0.2959 right_y=0.0013 right_z=0.1659 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -5.2581, 6.5436, 2.0635, 0.2662, 0.0659, 0.1245, -0.3487, -1.2513, 7.2, 1.8681, -0.0513, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db52b2ea7f80a90db3f98f9428e16bcb3c795a64d553bb6c0e3d3d3311154a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f4c7c250870462188953a36b458aca91f6b5f49a215430c0cadbff0466b1156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77d55e26c4a5cba5e6d3cc1d14a7c44ec7f84021bb13e283ca7b6f82f6d31f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwgKEAgRGAI4AUIIdGhpbmtpbmcSDCsfHVcanmVWH9RkIRoMmKXEKymJpMEE67LZIjDENXkErT5Lm+UWdQIVBTehB0LK3mxZNBps4WTtF8fJyb2n2ijD88/npwAM9OCAy/4qtAcyrjdv3aGtasfMMn1eXn+je+WsXKsn2MkJjev1UV2khLHIZvXjso07OsZJ+jFoumO5VvyO3LWMa8kOSY/GH2CF/sFFlQWLgFNYOjH2q6JYZaAiD5j/Z4ETxfmnZNVj+Zbah9+IQ3X+zeFSkQnK4seBnLZQB8hHISQ7QPhR/VjbZiZ4uI/kGZY260nLI5qxnfqBs93VVT04wKJS2c7MBN2q1cXfApCLsR6pAVPR3fTuFLZtFNnVcucsIclbILJV4/rkNRcHakbmLpy1efqDS12Qs+Yla4MDDFBlYkRibYL9tL7r4Qyu0bY8y5kPBSIFRDyMALmZQvEHeMKcihMBBaA7kxjQebsGZutZOf0YyLOtq8GqnM7bpgF7WAU1GhmQy8IhnbJ8cpSsH8pDV3ZQu/ATlainSOwMn+XDTXONLbPKc4gcZ03fV/qG7EugGLCWYySP2QuJsUkJfICKb8JipschpRNMKAli0od46KD2ACjqsdMHO0i0Z/wr8C7vhBT8QuRNxb/uJkmGvyJuxHe+t+F6XX4glnBqRy7+IAdWcBbDtv7gLNDnjS2v5ZHCg0urcizIuoUtZxxwhnkTkNdWNQFis6CmjXb+YNpPI2ZB+8RkL2xVpyJu8NctR3Xa37lsZs1tB2kB0MkO2m4u3XQOLleIU/yC6om2AUSj4m1B7BOdWodTXDdBFnAAz6F+fO3s/OMaQ1udqliXHOSwaMhIHAlI12jKJ3s6jg675PvVHKZT93hFeVwAiF4O61tECBh7n0GAodorA8BOGP9lWlYIwrXz2vRvyIUmEyDtGGIJMqC0/GOGbdVwYqLVEPwppOCNIJy4eIvXp0SFSb7go5jFX9fOZoiSaFMRV7VEzKb/E65nEFt0OjLhyN2OoL2N0x6PCyYgD/GK9rcz4KT9zP8yxGcx5XYNfTMT54e89Oq+YtFf8MIGzCCJRhsMZOyA4ORRzTNB0lkkuSiB8+bZzeTtPqpeF9AXdXjOtDyfsRPJ4OKVvup9ano+nx2oLtQCB4fgvPAzW9Xolild0GtLIsaQwKNtdaDYi/RWCJhDKd2xsflTYf/vZ6DLJ6sFutMOGOcIkKd1/8IIoqp7N2ga4fTH8qGClMj2tn2Eii5IEKdHIhKAhMStYqsGhfxvYhzImA445/I2DWZ1tTmpxvd0Cq9p6Y2CqzXBm+rOSo11K3lfdv0iqB95M16M5Q2lySo+BGEoCHMcbye1NBqqdLVSyG8KVal/gJD9eJN+7MnA5KlP1sxA0ECsDkAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W5hTYbtWYtMByaQbPWEo4U",
      "input": {
        "note": "The handle is right between the jaws in the wrist view; closing the left gripper to pinch it.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.28,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01W5hTYbtWYtMByaQbPWEo4U",
      "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]: [0.2436, 1.0782, 0.1223, 0.3305, 0.1879, 0.1207, 0.0093, -0.0147, 0.8417, 0.6075, -0.4, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2819 left_y=0.0397 left_z=0.0366 left_yaw=0.0122 left_pitch=-0.0523 left_roll=-0.009 left_gripper=0.0093 right_x=0.2953 right_y=0.0014 right_z=0.1644 right_yaw=0.0012 right_pitch=-0.0774 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.7692, 6.6256, 1.8437, 0.1587, 0.0611, 0.7497, -0.1709, -1.4427, 6.9949, 1.7607, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad6f253192eab26433f0d386c84d70b2881bdef8dda19c170571124d24dcb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f8793cfa0b343fcca7e47eb671c51d5d912eb97ccd4a0935e3315071300768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:026980748c913f3422c50d9b5c8905ecb56251b9fe8509cc8d1668eff720dcd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.116 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 75 changed as sent

message 78 changed as sent

message 81 changed as sent

message 75 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2184, 0.6994, 0.2783, -0.2195, 0.1024, 0.0578, 0.7029, -0.0143, 0.8379, 0.6075, -0.3923, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2602 left_y=0.0429 left_z=0.0898 left_yaw=0.0925 left_pitch=-0.0763 left_roll=-0.013 left_gripper=0.7029 right_x=0.2962 right_y=0.0015 right_z=0.1669 right_yaw=0.0016 right_pitch=-0.066 right_roll=0.0004 right_gripper=0.9998\nstate[joint_eff]: [-0.3624, -0.212, 7.3778, 2.0147, 0.4469, 0.1245, 0.0904, -0.0615, -1.6068, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2413, 1.0172, 0.1596, 0.1535, 0.1844, 0.1162, 0.7013, -0.0147, 0.8398, 0.6075, -0.395, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2717 left_y=0.0372 left_z=0.0329 left_yaw=0.0136 left_pitch=-0.1293 left_roll=-0.0285 left_gripper=0.7013 right_x=0.2959 right_y=0.0013 right_z=0.1659 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -5.2581, 6.5436, 2.0635, 0.2662, 0.0659, 0.1245, -0.3487, -1.2513, 7.2, 1.8681, -0.0513, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2436, 1.0782, 0.1223, 0.3305, 0.1879, 0.1207, 0.0093, -0.0147, 0.8417, 0.6075, -0.4, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2819 left_y=0.0397 left_z=0.0366 left_yaw=0.0122 left_pitch=-0.0523 left_roll=-0.009 left_gripper=0.0093 right_x=0.2953 right_y=0.0014 right_z=0.1644 right_yaw=0.0012 right_pitch=-0.0774 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.7692, 6.6256, 1.8437, 0.1587, 0.0611, 0.7497, -0.1709, -1.4427, 6.9949, 1.7607, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad6f253192eab26433f0d386c84d70b2881bdef8dda19c170571124d24dcb5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8f8793cfa0b343fcca7e47eb671c51d5d912eb97ccd4a0935e3315071300768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026980748c913f3422c50d9b5c8905ecb56251b9fe8509cc8d1668eff720dcd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwgKEAgRGAI4AUIIdGhpbmtpbmcSDKyjocOyxhs8bsUW/hoMDO+yXcG6U+s6763MIjBxXjgCWnikOf2aqPxspReizMuKw468BVpGlIIHUQxXHCLwNQvsQFBRArgDGkxpy2Eq1Adg6Lvwyl6t9ud9qswxBM1xh/tWxLz0CK+C5/sgyBMhcw/yZGY/9gX5HUjQEd5cvJbRU3KzA/YumEv3fMyrDpISGO7Vsh9x8dCebJYKReqlrbE5Q+zbxUoXzdLsrEkNoCDIR/ltGMkz9xjTOUW0Pe/S7/PtVRQzDZK5orNgd4F0aHaHBB+4g1kyXiB2gQMtDZ2OPt4C7i3WV1xgO76VNlgkGRLer3tPm04yEg06CN7VwxEHQz+DVJKBlFbYcY+MQ6aw8NwMdxzL/a7AuQOSFniiMY2boJFAiEf2f7kCbUc0Uu1EgVT3DHzxW4IimnLJNb8yWB47A/QWb1dxKylGBf4+y/odWTL8z4uZpijwvRfOEbUwMZPYt/g+rMyTwegDMl2o4nRcxIBiZSGRP9OKxf6EMMLuHaELBS9cKiCG6757CoNmXTVL0h+kfqzcF/rUV27OUpultb3kpbRTLk9T/Qcsm7UQNEJe099dF931dJZCRTwqMiHSaqmNGawJWdzpg12ljganUHoDYIl63PjdJ4Y827tV615+6ATmGL/7vkTy05dyKbokP7sWuUXsiNmdELr2dg+/xGZOZMR2z9ritmYhewHk0MiWYwo9YqN4ODY8SRAEHPYeMyP6bnjr8P9sLu4wTHwTJ+nJ+emcBi/oHa7JMes+w6UJSy5ZhVh+vwgezIcZbhxMDyXhNtJl3HZapupJR9LE3A3rz3f4LCo1VVlZq7MdU0omuyJgeP5W0QzBX0xrl0tdnW6lhWZhkb97MjQOUT25ojfyVbBiNESi7e5E2fnwJRSq9y+wDvcIK3EDY7mHgnIv/h4c8mqjj/Z2lf6uL3cQ9AKusfEqcMeXQxjhkHncbXMy7aY+BjQveUMsVlVl3mC4o783tOdPtQ9EPIarP9rx/f/46pwMVygJ3CdqpQUpPvZ20ryTzQQrLkwx41nePpFN9WuysezcJR95ETvV0vzrb6bqN4VN6OMKK7PRhU8j5YJU7z1WGm3+avqjhxK//CWuRZx8ElNjWf5McqLq/DsbOgjy2YmdMi11gI8G4PA6l85FCfayD0rshfe8n0G5JjtYArd2XxYXyAZPubuEmMynX3RVrtcSwGr86PHgaE4rXfEY31EAKQe54iJ1DMWwvylak4qC6IvT19yLWx6ERwCzzajT3UWcmDmaj/VIoXVr5cUsqKAlzU+tOqslY9XdT/oKG+D/s/3Oi5MkKqHoC00J0qIHShMYdhpt2A/efHHgVrjQagk/bTas79REdmKBF8zNWa7pLwTrFXI6LR2LzcktIHHaXtGT2/1r17p9IwoMChgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VhGWGNMYDE3yHM1c2kLA68",
      "input": {
        "note": "The close was empty; the wrist view shows the handle just beyond the fingertips. Opening and advancing 3 cm forward so the jaws straddle the handle.",
        "targets": {
          "left_gripper": 0.6,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.31,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VhGWGNMYDE3yHM1c2kLA68",
      "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]: [0.2199, 1.2045, 0.1596, 0.403, 0.1795, 0.1085, 0.5951, -0.0147, 0.8455, 0.6075, -0.4072, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0373 left_z=0.0309 left_yaw=0.0019 left_pitch=-0.0694 left_roll=-0.0177 left_gripper=0.5951 right_x=0.2944 right_y=0.0014 right_z=0.1619 right_yaw=0.0012 right_pitch=-0.0885 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7419, 7.6513, 1.8242, 0.022, 0.1245, 0.1294, -0.1983, -1.7983, 7.1726, 1.8144, -0.0464, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5385ef9fddd05b6bb12199032add642b8017d678957bce63295a01290fbfd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fe4ce0bcc2b9dbe6b8c447d073b10283c3c6b8eb6d3f40cde2905ed722a5aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f16534a86749da6ebdb7c295884f4ffb155475877e74275320b058b89ad5da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.368 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 81 changed as sent

message 84 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2413, 1.0172, 0.1596, 0.1535, 0.1844, 0.1162, 0.7013, -0.0147, 0.8398, 0.6075, -0.395, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2717 left_y=0.0372 left_z=0.0329 left_yaw=0.0136 left_pitch=-0.1293 left_roll=-0.0285 left_gripper=0.7013 right_x=0.2959 right_y=0.0013 right_z=0.1659 right_yaw=0.0009 right_pitch=-0.0706 right_roll=0.0002 right_gripper=0.9998\nstate[joint_eff]: [0.4581, -5.2581, 6.5436, 2.0635, 0.2662, 0.0659, 0.1245, -0.3487, -1.2513, 7.2, 1.8681, -0.0513, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2436, 1.0782, 0.1223, 0.3305, 0.1879, 0.1207, 0.0093, -0.0147, 0.8417, 0.6075, -0.4, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2819 left_y=0.0397 left_z=0.0366 left_yaw=0.0122 left_pitch=-0.0523 left_roll=-0.009 left_gripper=0.0093 right_x=0.2953 right_y=0.0014 right_z=0.1644 right_yaw=0.0012 right_pitch=-0.0774 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.7692, 6.6256, 1.8437, 0.1587, 0.0611, 0.7497, -0.1709, -1.4427, 6.9949, 1.7607, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2199, 1.2045, 0.1596, 0.403, 0.1795, 0.1085, 0.5951, -0.0147, 0.8455, 0.6075, -0.4072, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0373 left_z=0.0309 left_yaw=0.0019 left_pitch=-0.0694 left_roll=-0.0177 left_gripper=0.5951 right_x=0.2944 right_y=0.0014 right_z=0.1619 right_yaw=0.0012 right_pitch=-0.0885 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7419, 7.6513, 1.8242, 0.022, 0.1245, 0.1294, -0.1983, -1.7983, 7.1726, 1.8144, -0.0464, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5385ef9fddd05b6bb12199032add642b8017d678957bce63295a01290fbfd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99fe4ce0bcc2b9dbe6b8c447d073b10283c3c6b8eb6d3f40cde2905ed722a5aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f16534a86749da6ebdb7c295884f4ffb155475877e74275320b058b89ad5da4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgRGAI4AUIIdGhpbmtpbmcSDO55SMglSE87iliE2xoMzOwWJcKsKB0xZIHnIjByRymebNXuCoUOtGhqkU3ummEMAlwmxc57gb1GSxHFL7+7Bb0/RGTOlXhSqQ6nytgqtQZOMKfyzBfxlIgd1GP6N0QLhO6tpQ0YsD6fWz5sNtCRxsIsLNzlyicY8KUZOEOYd/DDAxcHh35m8t+WlEIFjfuogD1KUomDNulq+3vwGEtPzJKPU4ONlPLyiqOvFJIerr6C3jG9+LtP7btbNk7n8iND4K974dQWiM+x2r74TgdoBTLIXTCywm2KG7SYQJr5Ut8P204gLYfQi7y9I6w0AUFkQNPK7JRd7jenLjAv4YxeuazlsRM+BECnK7cbR0JQJm7dia+mwoIiTBiuZQYkgBFKedhyIpMs2Z+Prwgwwdjo/97DG2nZSL1D50vRITuDxRTfIZjjzXnH0ymoVFiT9ouk8QuGweV2+5p8zB452Nl0W8bKbz0GbWBwkd4zWWfer0Z5DXxXGi8Rz6Sy/uXAdEzZyjA0lhpJ7pyzOpzJKRukxFjajqJ6LVnrfUKO4FNxjS6YUy+HkBi4KDPosbq9XL/KKOZpt/vnOu4vqTszz/FeAWCoimJbsZxzwcMNz3Im5ED+//SiQmC4FAJxuBs/JyeGUbClC+8c52Gn1auqwnHXTypXGB8rLD5PCmCMkJzD/YL+pgqMaadweMAPoMCnMRWT1RUAioeiLRbyxufGqW1TvEZspxV98Os15bBoD+Xujo4FpkYZASudkmTZT9hrRaDNjh+1lvHszKr/cLu2SoE+KQX/E8bx8FqHZi+XDftEGxPLE+qtXjTxGfjyXAFymT8E+pKaOlodyN+LhAvRd1oANXBqGvqlEiqjJ7ek/wgVJSdpfF5Dh+JVmqc/SORhgGazw3FLn05wVLJ2qAP3wg/OrA7P2j7BJaiDWFYPjyJhqLvxHBbA9my1N99JP1FZi4ZkNfcktdBlK9gg7dn6msgBM09XJcN3YatUlMDZiB9YttAMtx5bhAOwr31HXF27WYFg+Mvg4sAckdUU0upk893LwGhEkUCHQQMeWd28iwBnUb9oYpY+lTGprmpcp5toJ1ygPntD24u80qlBWR1bCIWguo8RzMkOGAgDXJ3oQquGisYfONZAvKbs5uVFEHAmZfGaY2LIj63L7HhbyJO+oLHjIHQIBNN9XqoZBzNbXHMGoCXuROyqAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01754Q8N8KPN22d3nfpXKHgq",
      "input": {
        "note": "The handle now sits squarely between the open jaws in the left wrist view; closing to pinch it.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.04,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01754Q8N8KPN22d3nfpXKHgq",
      "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]: [0.2256, 1.2091, 0.1425, 0.4629, 0.1837, 0.1085, 0.1075, -0.0147, 0.8455, 0.6075, -0.408, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0388 left_z=0.0352 left_yaw=0.0045 left_pitch=-0.0317 left_roll=-0.0118 left_gripper=0.1075 right_x=0.2943 right_y=0.0013 right_z=0.1617 right_yaw=0.0009 right_pitch=-0.0893 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -2.0034, 4.8205, 2.0049, 0.0757, 0.0659, 0.823, -0.1983, -1.5658, 7.0222, 1.7167, -0.0171, -0.022, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa90764db51a881aa06f11a1b0e6f928b3d644119fd3f0a1cd551cee392f59f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eca642ac303f17998fac14f499972655cc3551f796d8a73aea4079cb6d92fad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f27e054346ee026090f9e6bb3c779164f4bbc0a442f2806415a387980e98ab56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 32.47 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 81 changed as sent

message 84 changed as sent

message 87 changed as sent

message 81 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2436, 1.0782, 0.1223, 0.3305, 0.1879, 0.1207, 0.0093, -0.0147, 0.8417, 0.6075, -0.4, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2819 left_y=0.0397 left_z=0.0366 left_yaw=0.0122 left_pitch=-0.0523 left_roll=-0.009 left_gripper=0.0093 right_x=0.2953 right_y=0.0014 right_z=0.1644 right_yaw=0.0012 right_pitch=-0.0774 right_roll=0.0006 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -2.7692, 6.6256, 1.8437, 0.1587, 0.0611, 0.7497, -0.1709, -1.4427, 6.9949, 1.7607, -0.0122, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2199, 1.2045, 0.1596, 0.403, 0.1795, 0.1085, 0.5951, -0.0147, 0.8455, 0.6075, -0.4072, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0373 left_z=0.0309 left_yaw=0.0019 left_pitch=-0.0694 left_roll=-0.0177 left_gripper=0.5951 right_x=0.2944 right_y=0.0014 right_z=0.1619 right_yaw=0.0012 right_pitch=-0.0885 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7419, 7.6513, 1.8242, 0.022, 0.1245, 0.1294, -0.1983, -1.7983, 7.1726, 1.8144, -0.0464, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2256, 1.2091, 0.1425, 0.4629, 0.1837, 0.1085, 0.1075, -0.0147, 0.8455, 0.6075, -0.408, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0388 left_z=0.0352 left_yaw=0.0045 left_pitch=-0.0317 left_roll=-0.0118 left_gripper=0.1075 right_x=0.2943 right_y=0.0013 right_z=0.1617 right_yaw=0.0009 right_pitch=-0.0893 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -2.0034, 4.8205, 2.0049, 0.0757, 0.0659, 0.823, -0.1983, -1.5658, 7.0222, 1.7167, -0.0171, -0.022, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa90764db51a881aa06f11a1b0e6f928b3d644119fd3f0a1cd551cee392f59f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eca642ac303f17998fac14f499972655cc3551f796d8a73aea4079cb6d92fad6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f27e054346ee026090f9e6bb3c779164f4bbc0a442f2806415a387980e98ab56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvAcKEAgRGAI4AUIIdGhpbmtpbmcSDK1IKe5jJSLLHnE7ARoMHUPUS6vaaO10l6TrIjB0a/HO+yIS68Dplcjt7IoLHn3d8UumleUJuk5YRUq3lTHg8cA3JZFHd8FjAbgG5YUq2QYW8fUvjkyBJv+uQsYrZtWWObTcPB5FKce/F5vtz/NWWKDlW6kVSorDwGMRcKtSgmaH096sFsTZ1RNUsafCxWt8PmPAWdr6Qg5wwjnniBYnQW90mWs7c4oU2r/7srJXQDYtJrqG3Tj/jSu6gvOI+LDb72BGyT1+lS7wbPeibTWarWWUwy2p7m/guShrCrW/VwWXR8Oq0VQ7aTnSPHHPLkIsLwiN4xBRHfv1869aN7nyBrMnCVxjroqw7803VuNZV6u4i6hyXt2YHy0i4A46S6gsx7nQfQtv4hL0yzVQWM9WAFc+BDIdeNxS5EZInyvXu7JEMqE0aNYn/0cyGj0tWaWzCIPzVa8W7pLp+anHm+QbAAwZrrRFnHUs9CppChs3mhmLgR4Pmj2yKgspstRQgEdILD6wro0WROkySJK7GWRWJ60JJABj6qU+DxgFZ0f0MSJGgxX2nnaE4RlOTFlUtIHG9QWgN/WzhAMRojfvw1nUvFL2OFE6QmrCTMeeAUXKFlpuORrGvgLCuNmtGion137H5qoGIFRiJtq3x+/HCtsjConmqKV/zXCA71yFpy3p5gO7VI2uPF7QengoTr6GBzBOYZwf/OT8a1cw5Uhb0Ohj7exELg8pCfYPKy27FkWAMY1jfiT8cp8O+gsULqj7SF7dmxPgiwnCbPzutm8leMDnEaHcKZhZs4G2BlVKbqPsCKxOvaEtKG3eUlO4OnfARmelONQ762FghZvsjB+8G7FhHPp2LLV4moxaBqvQgNn0KdpUVeZ4MKlUtq5NuRqSQO+R5+tofaDKvk8oevtd+H6eVFMYsq89FApHBQqrSFdnDWr5VFuuKmCilpJB8Pfq2cDWmNgGOsHpy17CRyCi6Oo8XCXFFddD6WsEg6O81PpYphAfQ67Oob0WNPXl6l8VoeQonML2aOjtsluVeX9dVEFdi/LQSeQdwOK6VTmgg3XPapCUHZPtTnxi0KIff/fnzgLZaKrlR4wij6KrJwt52GYGx1FVY+xgbcWfO11785FsrO3Xxr1wDcdsvU4SreVHj99FPlb6z06l046eSyZwsmT2YfpqGOE0FEs11HmX4CFRSBFJTmwC/e5Rmq9u2FzCQGUkc1DIx19IdCd+ANQOCd1N/l4IOqhqnb1WfhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J3Xuriqh9wUuyxhgAr167S",
      "input": {
        "note": "Gripper settled at 0.11 (≈1 cm), consistent with pinching the mug handle; lifting the mug and starting to carry it toward the table centre.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01J3Xuriqh9wUuyxhgAr167S",
      "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]: [-0.0208, 0.8242, 0.519, -0.2394, -0.0013, -0.0093, 0.009, -0.0147, 0.8494, 0.6075, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3036 left_y=-0.0025 left_z=0.1617 left_yaw=-0.0228 left_pitch=0.0159 left_roll=-0.0048 left_gripper=0.009 right_x=0.2944 right_y=0.0014 right_z=0.1605 right_yaw=0.0012 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.1949, 8.8684, 1.6728, -0.1636, -0.0611, 0.7057, -0.1983, -1.7846, 6.9949, 1.6825, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20fbcdfe3638cb7deceb22e616de722179901ad1db5748f5384d5b8711db754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339d21285fbfada887d3254231c3a45fac512c1c9c0b5701f3f2e486eb00ec8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c33ebec5a3e0be5ed525d06e6d3e22cd05024388cef2c493c57ffbd845c6a12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 9.794 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 84 changed as sent

message 87 changed as sent

message 90 changed as sent

message 84 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2199, 1.2045, 0.1596, 0.403, 0.1795, 0.1085, 0.5951, -0.0147, 0.8455, 0.6075, -0.4072, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2948 left_y=0.0373 left_z=0.0309 left_yaw=0.0019 left_pitch=-0.0694 left_roll=-0.0177 left_gripper=0.5951 right_x=0.2944 right_y=0.0014 right_z=0.1619 right_yaw=0.0012 right_pitch=-0.0885 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.4991, -2.7419, 7.6513, 1.8242, 0.022, 0.1245, 0.1294, -0.1983, -1.7983, 7.1726, 1.8144, -0.0464, -0.0464, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2256, 1.2091, 0.1425, 0.4629, 0.1837, 0.1085, 0.1075, -0.0147, 0.8455, 0.6075, -0.408, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0388 left_z=0.0352 left_yaw=0.0045 left_pitch=-0.0317 left_roll=-0.0118 left_gripper=0.1075 right_x=0.2943 right_y=0.0013 right_z=0.1617 right_yaw=0.0009 right_pitch=-0.0893 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -2.0034, 4.8205, 2.0049, 0.0757, 0.0659, 0.823, -0.1983, -1.5658, 7.0222, 1.7167, -0.0171, -0.022, -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 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0208, 0.8242, 0.519, -0.2394, -0.0013, -0.0093, 0.009, -0.0147, 0.8494, 0.6075, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3036 left_y=-0.0025 left_z=0.1617 left_yaw=-0.0228 left_pitch=0.0159 left_roll=-0.0048 left_gripper=0.009 right_x=0.2944 right_y=0.0014 right_z=0.1605 right_yaw=0.0012 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.1949, 8.8684, 1.6728, -0.1636, -0.0611, 0.7057, -0.1983, -1.7846, 6.9949, 1.6825, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c20fbcdfe3638cb7deceb22e616de722179901ad1db5748f5384d5b8711db754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:339d21285fbfada887d3254231c3a45fac512c1c9c0b5701f3f2e486eb00ec8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c33ebec5a3e0be5ed525d06e6d3e22cd05024388cef2c493c57ffbd845c6a12",
        "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_01CYHyhXjuWtQk4PSzFzNDaU",
      "input": {
        "note": "The mug slipped out of the pinch and remains on the left beyond the arm's y limit; new plan is to hook the open gripper's left finger inside the handle loop and drag the mug rightward. Moving above the handle area with jaws open.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": 0.01,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CYHyhXjuWtQk4PSzFzNDaU",
      "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]: [0.0227, 1.0813, 0.469, 0.017, 0.0055, 0.0006, 0.9954, -0.0143, 0.8494, 0.6075, -0.4088, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0102 left_z=0.1151 left_yaw=0.0096 left_pitch=-0.0349 left_roll=-0.0005 left_gripper=0.9954 right_x=0.2944 right_y=0.0015 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0938 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -3.2068, 6.3658, 1.8486, 0.0708, 0.0562, -0.0855, -0.0479, -1.5795, 7.0359, 1.6581, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b15ded3b651ba09ebf1ed20edd25443c562b359a5b2252a3fe09e18a5a3022a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c9ffff02f719e51b4b38306f17b7741e08cb57a5f2c7a1d80e36b7728523748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:12568b6fca51d7dfdc1fca69fc5382878890c7db03565b030a88158236a416f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.934 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 87 changed as sent

message 90 changed as sent

message 93 changed as sent

message 87 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2256, 1.2091, 0.1425, 0.4629, 0.1837, 0.1085, 0.1075, -0.0147, 0.8455, 0.6075, -0.408, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.2971 left_y=0.0388 left_z=0.0352 left_yaw=0.0045 left_pitch=-0.0317 left_roll=-0.0118 left_gripper=0.1075 right_x=0.2943 right_y=0.0013 right_z=0.1617 right_yaw=0.0009 right_pitch=-0.0893 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.2803, -2.0034, 4.8205, 2.0049, 0.0757, 0.0659, 0.823, -0.1983, -1.5658, 7.0222, 1.7167, -0.0171, -0.022, -0.0171]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0208, 0.8242, 0.519, -0.2394, -0.0013, -0.0093, 0.009, -0.0147, 0.8494, 0.6075, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3036 left_y=-0.0025 left_z=0.1617 left_yaw=-0.0228 left_pitch=0.0159 left_roll=-0.0048 left_gripper=0.009 right_x=0.2944 right_y=0.0014 right_z=0.1605 right_yaw=0.0012 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.1949, 8.8684, 1.6728, -0.1636, -0.0611, 0.7057, -0.1983, -1.7846, 6.9949, 1.6825, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0227, 1.0813, 0.469, 0.017, 0.0055, 0.0006, 0.9954, -0.0143, 0.8494, 0.6075, -0.4088, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0102 left_z=0.1151 left_yaw=0.0096 left_pitch=-0.0349 left_roll=-0.0005 left_gripper=0.9954 right_x=0.2944 right_y=0.0015 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0938 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -3.2068, 6.3658, 1.8486, 0.0708, 0.0562, -0.0855, -0.0479, -1.5795, 7.0359, 1.6581, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b15ded3b651ba09ebf1ed20edd25443c562b359a5b2252a3fe09e18a5a3022a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c9ffff02f719e51b4b38306f17b7741e08cb57a5f2c7a1d80e36b7728523748",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12568b6fca51d7dfdc1fca69fc5382878890c7db03565b030a88158236a416f7",
        "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_012YBSvvMmMWkAfFnuUjPo1S",
      "input": {
        "note": "The handle loop appears just right of the open left jaw and a few cm ahead of the fingertips; advancing slightly and descending so the left finger drops inside the handle loop.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": -0.005,
          "left_yaw": 0.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012YBSvvMmMWkAfFnuUjPo1S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 1.4651, 0.3809, 0.4137, -0.0303, -0.0242, 0.9988, -0.0147, 0.8536, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3532 left_y=-0.0045 left_z=0.0329 left_yaw=-0.0073 left_pitch=-0.1097 left_roll=0.0014 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.159 right_yaw=0.0009 right_pitch=-0.0992 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.8188, 4.9709, 1.7705, -0.0659, -0.0708, -0.1343, -0.0615, -1.7162, 7.0359, 1.6484, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:796321c9aba19b550a74d78dee0e1372526b766d7f71018c5783e89c2a8ae768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa999c963c11e316d18aa78770be8ae74ec07992987935c90bb23d0860d489e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b5f4ffad0d296252b4243ef4cf0aa756f3dff733be503c870f87dcf768637d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 13.35 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 93 changed as sent

message 96 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0208, 0.8242, 0.519, -0.2394, -0.0013, -0.0093, 0.009, -0.0147, 0.8494, 0.6075, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3036 left_y=-0.0025 left_z=0.1617 left_yaw=-0.0228 left_pitch=0.0159 left_roll=-0.0048 left_gripper=0.009 right_x=0.2944 right_y=0.0014 right_z=0.1605 right_yaw=0.0012 right_pitch=-0.0938 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -2.1949, 8.8684, 1.6728, -0.1636, -0.0611, 0.7057, -0.1983, -1.7846, 6.9949, 1.6825, -0.0317, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0227, 1.0813, 0.469, 0.017, 0.0055, 0.0006, 0.9954, -0.0143, 0.8494, 0.6075, -0.4088, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0102 left_z=0.1151 left_yaw=0.0096 left_pitch=-0.0349 left_roll=-0.0005 left_gripper=0.9954 right_x=0.2944 right_y=0.0015 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0938 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -3.2068, 6.3658, 1.8486, 0.0708, 0.0562, -0.0855, -0.0479, -1.5795, 7.0359, 1.6581, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 1.4651, 0.3809, 0.4137, -0.0303, -0.0242, 0.9988, -0.0147, 0.8536, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3532 left_y=-0.0045 left_z=0.0329 left_yaw=-0.0073 left_pitch=-0.1097 left_roll=0.0014 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.159 right_yaw=0.0009 right_pitch=-0.0992 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.8188, 4.9709, 1.7705, -0.0659, -0.0708, -0.1343, -0.0615, -1.7162, 7.0359, 1.6484, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:796321c9aba19b550a74d78dee0e1372526b766d7f71018c5783e89c2a8ae768",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8aa999c963c11e316d18aa78770be8ae74ec07992987935c90bb23d0860d489e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5f4ffad0d296252b4243ef4cf0aa756f3dff733be503c870f87dcf768637d95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgRGAI4AUIIdGhpbmtpbmcSDOASw109u6K+hhleIBoM0mjn524PgvfLw8gVIjDxhEO+GTx+UpOFTt6oFXcFxGuGkdeusI/kc8DfPaViYbMsezfFEa3of/iiYjGEpQ4qugfulOBsUQlRV9rGmTKnpvlvDAeJ+iwjojNRHYRkNvIKVcmBvK9bA1laqa/rylh1THWdMqZ0itOUBa+nOHl3VdXwOZG/q8eenVL2BWBQPhkbYc3/6WMVSeUfHGH+uyRqrXDe7ZQz2XrP4yaugADu45nQEQw7Xx1zZm9nKs1yatwx84/3FljWILqBNFgnieeLKB3bm7e88GxPtvwlPZTnMwwsIuHE6WPsVuIHgw6xKTVse/IHM/by5pE0ZY1kCLiToFEPw51B3c2JY91OSpk63M5VYObTdRArtloSoTglw3UUZSfCxU2y5p1DZ9+2XnMsAtRkvM45eiS0RKpzai8BN0C0r9ggEOfXxtrwqNYNIrCil0KzzBRBwQM62MuIw8N1/gdhNpVK3fqtKN/mGpaz27UojRy1Wfj7WNJGxLddf1hfGeJ+F1Wo8bWlIzvyDsFt6UK+EXsgFHfNcoBloRR/dSUroTBiuUtKrNuC+ccJ9C9wWqkJfGTT9GKS5SdnaHC/V1LPleNCrP+JLJInUWdwgexLSLnGdln+lQUQmjz9gxwZayFNp1lutCIq/sykwxBLIAUk4D9DuqW76GjiWQPA+6IDnp86GxkwIJT7C7EsUJqEvmAmgjQImwZW9Lqo8h4aC2Ig6ZKFgkFVcpZrjeYIshOt8TpXPP94jOuXChxSFlNErjGqQiakN/KYNuFCxC328CSCLYbEdlLFLo31Q5Ftftnhp4TvK86scZxrxf/VAz+6pvCbgOZQyYMOoURBIc5+ujZp0f09SehXzneiF9OBg/WtGPssnF2PApjvfwWHb+HCfUo8XxZMTcoJWsxsuNwSdS5vQ9ikIYnh30RuWocQT+wpV4O2UFAc+7Bq+tNHQ77QzvaX9MoLfzDmGxLdxON+b2lSoBRlk4ZW6zyonMflUMQW/WubuQlsVK/rwLNIA7e8EBzF0ndeNCwue5j0u87uug6d7xj/Ovn4Dt3tcs4Yd1kkJFyU05gJ0m2b1JigN/rAPINK/pZEAj3mCDwiEy2livgdvxS4eEKzPpV1DViHwoYgv0EeR/PiohYLQch+KcFGM3jLgogRlwly7btbA0ySGANuQ/f7kPEmbNoL4BEgcWfYAWse2/yIpd/xbwI3yvrYJMXOW3DEvfexDz4iEcFnHbLNE3zZ/fsX0gvCvCp5OBouts0wF5JQTkh1n99S65Dfl6rac1qrXMRjEMN9L13jMFPHPxe6MYOh4O0I+EM/z0qE7iFdAUV2QaygQiAsMQ7/6eEabpPIbsjPWlsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CHUMQCgzUxSBjMbxAWBuAF",
      "input": {
        "note": "The gripper is down at table level next to the mug's handle; sliding it 10 cm to the right to see whether the left finger hooks the handle and drags the mug along.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.355,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01CHUMQCgzUxSBjMbxAWBuAF",
      "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]: [-0.4572, 1.5635, 0.3779, 0.5228, -0.3458, -0.2417, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3439 left_y=-0.0985 left_z=0.0263 left_yaw=-0.0457 left_pitch=-0.0572 left_roll=0.0158 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.0256, 7.159, 1.9072, -0.3199, -0.1392, -0.1392, -0.253, -1.6068, 7.2274, 1.6386, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b15d1a5d87962e05db52097c2eac00c99875cd1db6445d3f14ed73df52f602c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c409529dcec9b2223e54f4c6097b3919146d8cf6d201b28ff6af24d3c130302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6506c27bc065dcbfb6f559ea8eafac57a87878e388b7d27efb3a905d3058d929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 10.95 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 93 changed as sent

message 96 changed as sent

message 99 changed as sent

message 93 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0227, 1.0813, 0.469, 0.017, 0.0055, 0.0006, 0.9954, -0.0143, 0.8494, 0.6075, -0.4088, -0.012, -0.0265, 0.9998]\nstate[eef_state]: left_x=0.3351 left_y=0.0102 left_z=0.1151 left_yaw=0.0096 left_pitch=-0.0349 left_roll=-0.0005 left_gripper=0.9954 right_x=0.2944 right_y=0.0015 right_z=0.1605 right_yaw=0.0018 right_pitch=-0.0938 right_roll=0.0005 right_gripper=0.9998\nstate[joint_eff]: [0.4718, -3.2068, 6.3658, 1.8486, 0.0708, 0.0562, -0.0855, -0.0479, -1.5795, 7.0359, 1.6581, -0.0269, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 1.4651, 0.3809, 0.4137, -0.0303, -0.0242, 0.9988, -0.0147, 0.8536, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3532 left_y=-0.0045 left_z=0.0329 left_yaw=-0.0073 left_pitch=-0.1097 left_roll=0.0014 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.159 right_yaw=0.0009 right_pitch=-0.0992 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.8188, 4.9709, 1.7705, -0.0659, -0.0708, -0.1343, -0.0615, -1.7162, 7.0359, 1.6484, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4572, 1.5635, 0.3779, 0.5228, -0.3458, -0.2417, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3439 left_y=-0.0985 left_z=0.0263 left_yaw=-0.0457 left_pitch=-0.0572 left_roll=0.0158 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.0256, 7.159, 1.9072, -0.3199, -0.1392, -0.1392, -0.253, -1.6068, 7.2274, 1.6386, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b15d1a5d87962e05db52097c2eac00c99875cd1db6445d3f14ed73df52f602c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c409529dcec9b2223e54f4c6097b3919146d8cf6d201b28ff6af24d3c130302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6506c27bc065dcbfb6f559ea8eafac57a87878e388b7d27efb3a905d3058d929",
        "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_0156fUhHKC8atd5RMVincEbn",
      "input": {
        "note": "The drag missed — the mug has not moved in the top view and is further forward (x≈0.39) than I assumed. Repositioning the open gripper above the handle further forward to retry the hook.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": 0.02,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_0156fUhHKC8atd5RMVincEbn",
      "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]: [0.0486, 1.3624, 0.5735, 0.1944, 0.0013, -0.0074, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3845 left_y=0.0221 left_z=0.1007 left_yaw=0.0433 left_pitch=-0.0341 left_roll=-0.0048 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.159, 8.4991, 1.6532, 0.1197, 0.1441, -0.1343, -0.2256, -1.5385, 7.0359, 1.6288, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87a840fabef071d1c71aebd71b445ffe29d7967ad7f324621b25a1e9e133e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb42ea95e027ed40e1e6f9b85d2e6f4d9659cb2ac40b5d3f1f79e96db2724a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9336d3f5b135eb716eb76a5a319f10e50d568d282efe3886a8266b69b947c7f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.123 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 96 changed as sent

message 99 changed as sent

message 102 changed as sent

message 96 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.038, 1.4651, 0.3809, 0.4137, -0.0303, -0.0242, 0.9988, -0.0147, 0.8536, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3532 left_y=-0.0045 left_z=0.0329 left_yaw=-0.0073 left_pitch=-0.1097 left_roll=0.0014 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.159 right_yaw=0.0009 right_pitch=-0.0992 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [-0.3761, -5.8188, 4.9709, 1.7705, -0.0659, -0.0708, -0.1343, -0.0615, -1.7162, 7.0359, 1.6484, -0.0366, -0.0562, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4572, 1.5635, 0.3779, 0.5228, -0.3458, -0.2417, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3439 left_y=-0.0985 left_z=0.0263 left_yaw=-0.0457 left_pitch=-0.0572 left_roll=0.0158 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.0256, 7.159, 1.9072, -0.3199, -0.1392, -0.1392, -0.253, -1.6068, 7.2274, 1.6386, -0.0317, -0.0562, -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 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0486, 1.3624, 0.5735, 0.1944, 0.0013, -0.0074, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3845 left_y=0.0221 left_z=0.1007 left_yaw=0.0433 left_pitch=-0.0341 left_roll=-0.0048 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.159, 8.4991, 1.6532, 0.1197, 0.1441, -0.1343, -0.2256, -1.5385, 7.0359, 1.6288, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f87a840fabef071d1c71aebd71b445ffe29d7967ad7f324621b25a1e9e133e32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfb42ea95e027ed40e1e6f9b85d2e6f4d9659cb2ac40b5d3f1f79e96db2724a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 244):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9336d3f5b135eb716eb76a5a319f10e50d568d282efe3886a8266b69b947c7f4",
        "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_012kvxsZEHSsLbyXS8VUaXfU",
      "input": {
        "note": "The mug handle now shows at the bottom-left of the left wrist view directly above the open left jaw; descending here so the finger enters the handle loop.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.375,
          "left_y": 0.02,
          "left_yaw": 0.0,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012kvxsZEHSsLbyXS8VUaXfU",
      "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]: [0.0631, 1.5326, 0.4004, 0.4477, 0.0349, 0.0162, 0.9988, -0.0147, 0.8547, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3589 left_y=0.0201 left_z=0.0237 left_yaw=0.0165 left_pitch=-0.1236 left_roll=-0.0082 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.1003 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.2838, 5.8188, 2.293, 0.149, 0.0464, -0.1392, -0.2256, -1.6479, 6.9949, 1.6288, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09fd761cfad957b804e3d7053078e2ade4ab0e6f3beadc55ea84e4e8321e5cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7255b2242b312c02171736406b0ef27ffa44f21e5d065e94b59b1a248a1bc881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7135101fa9ee047036aad96ca3f3f842e3e5e2a383925b1bf2327836fa16989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 12.34 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 99 changed as sent

message 102 changed as sent

message 105 changed as sent

message 99 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4572, 1.5635, 0.3779, 0.5228, -0.3458, -0.2417, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3439 left_y=-0.0985 left_z=0.0263 left_yaw=-0.0457 left_pitch=-0.0572 left_roll=0.0158 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [-0.1573, -5.0256, 7.159, 1.9072, -0.3199, -0.1392, -0.1392, -0.253, -1.6068, 7.2274, 1.6386, -0.0317, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0486, 1.3624, 0.5735, 0.1944, 0.0013, -0.0074, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3845 left_y=0.0221 left_z=0.1007 left_yaw=0.0433 left_pitch=-0.0341 left_roll=-0.0048 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.159, 8.4991, 1.6532, 0.1197, 0.1441, -0.1343, -0.2256, -1.5385, 7.0359, 1.6288, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0631, 1.5326, 0.4004, 0.4477, 0.0349, 0.0162, 0.9988, -0.0147, 0.8547, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3589 left_y=0.0201 left_z=0.0237 left_yaw=0.0165 left_pitch=-0.1236 left_roll=-0.0082 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.1003 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.2838, 5.8188, 2.293, 0.149, 0.0464, -0.1392, -0.2256, -1.6479, 6.9949, 1.6288, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09fd761cfad957b804e3d7053078e2ade4ab0e6f3beadc55ea84e4e8321e5cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7255b2242b312c02171736406b0ef27ffa44f21e5d065e94b59b1a248a1bc881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7135101fa9ee047036aad96ca3f3f842e3e5e2a383925b1bf2327836fa16989",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwcKEAgRGAI4AUIIdGhpbmtpbmcSDGGNasFjoKjrLgjomBoMtWXf2KtC38Ca7a6FIjB1Ay2JV/7OFeVrMYa/F/6CqZs0uiOl/JhC6Man3m5CZfBzimZPq7rjN+OCQC9UeC4qyAaxiBaagnJIqoACNgBiwmtlOzYqcpxO2ojMKnK2SxgniXPm1rfQ9LDhDhb6hOjw0HGHXwuIIFBzO838TpYduQOhUjcVuddKMbfCxCPUCRgmuDQXZ29GFk60TgsJhqP2biX1l14cDsyPKSuiI7UCnmLgGDus6K8C2q7ncvJXuybvsmie546qQfSjfCH7s2OJMqzH0Eqahl+ZM2B/ah5ZI9QOxVxLTCzR/2mzK0bTcxPqq4zOmHxKJwbqslgpabzHA3nh3LM5mvPLPEoaXSKCR2yjtYeCe+4ugfNJUcfFI3SSKIr8AWscU6Rxk7Q2Z+01/xY+xxIcZmhgagtYSfGYG5zyE56PcXQ8ajClbP3qycSbKLM4tDjMfhVm2tlCcSXdA9nAQ5XiFzIi5RW2jj3Df/S/rEiBxfws7t02M7SKVo4xlMp6hA1IwWo7WoDHzP7JTuWAXQ0yqJvU9Xx37cHQ2AfKcTm+I9OBSKJLA1MQy/LZDZbTzzmIj5w5XyXgtGpkWWGhkPwSfZZkXdbAZ42SM6RXqXLsK25pWeQ+5tKogh1pmvFi2mvz+9vashP0bo+brxtvV2u/bdP7L9g4JJXHGSbbXL3nKSax8lAeazbI6WfUCCl7I3WkXwvoJDljNfaavM5dAb5stEQOihd6RLdbd0YY6dliSknXFlTvS7S/lgzFOoNfg8zTIlFk0nKtngqrx9R++g8/5/BzYAEVDss8JOzDmOCgZvDF/DKnOw63AezJOAfOJAJVr7R5NEaySwI4KHxKIqL6kRV9mU1+KDEdHdtm6BC3LabN232oc2vMCwTR6bm7Su9EXfKoZFrLz0C5FBgG87MjH1yvtvmyJCvaj8YDFcZyuqmressk8XtHNzjZTenP0jrJlO6VQBidSUv+VaSjtB9Lt5qhQAbpat/eGS9BtenauquVFMI+zR32ePGc4XGZPlCCr/9vuluIh2odXXgTOF0zLwb0e+b0DCrGFd4H6g+CN83Hipb9yx1hjkP2vlS7N+gz2Oby6kX5ImNdvp8BrbQu6F4mLA1YWG76gQRSc1tPnO3WR4LvHfeeVrlq7C69ik2ZaAum5bZRYc4AzCX9euR0byhVuiCoI/8axMOv2rXhcrL+JP8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N7TZfNtEzYqo9NbGiRZEm7",
      "input": {
        "note": "The gripper is down at table level with the mug's red handle right against the left jaw; dragging rightward to pull the mug toward the table centre.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.12,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01N7TZfNtEzYqo9NbGiRZEm7",
      "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]: [-0.2649, 1.6466, 0.4374, 0.5629, -0.189, -0.1783, 0.9988, -0.0147, 0.8589, 0.6067, -0.4088, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3738 left_y=-0.0633 left_z=0.0207 left_yaw=-0.0179 left_pitch=-0.0727 left_roll=-0.0285 left_gripper=0.9988 right_x=0.2947 right_y=0.0013 right_z=0.1576 right_yaw=0.0009 right_pitch=-0.1041 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [3.1795, -6.8855, 5.9419, 1.5702, -0.2759, -0.2271, -0.1392, -0.3761, -1.4838, 7.2137, 1.663, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa72a64c8f9fd3a117d42e2a9578ae68a15fef0b698d4ac6a3f702e4d20e77a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce4079897fe6f35dbeb1fab6518a5a89ed9675fa4e36635c490a503540a28d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:814b2872f2e96703cbad0d39c0c6e77cd0920a18e0d5deec34756757dae49cc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 23.04 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 105 changed as sent

message 108 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0486, 1.3624, 0.5735, 0.1944, 0.0013, -0.0074, 0.9988, -0.0147, 0.8539, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3845 left_y=0.0221 left_z=0.1007 left_yaw=0.0433 left_pitch=-0.0341 left_roll=-0.0048 left_gripper=0.9988 right_x=0.2944 right_y=0.0014 right_z=0.1589 right_yaw=0.0012 right_pitch=-0.0996 right_roll=0.0009 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -7.159, 8.4991, 1.6532, 0.1197, 0.1441, -0.1343, -0.2256, -1.5385, 7.0359, 1.6288, -0.0464, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0631, 1.5326, 0.4004, 0.4477, 0.0349, 0.0162, 0.9988, -0.0147, 0.8547, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3589 left_y=0.0201 left_z=0.0237 left_yaw=0.0165 left_pitch=-0.1236 left_roll=-0.0082 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.1003 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.2838, 5.8188, 2.293, 0.149, 0.0464, -0.1392, -0.2256, -1.6479, 6.9949, 1.6288, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2649, 1.6466, 0.4374, 0.5629, -0.189, -0.1783, 0.9988, -0.0147, 0.8589, 0.6067, -0.4088, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3738 left_y=-0.0633 left_z=0.0207 left_yaw=-0.0179 left_pitch=-0.0727 left_roll=-0.0285 left_gripper=0.9988 right_x=0.2947 right_y=0.0013 right_z=0.1576 right_yaw=0.0009 right_pitch=-0.1041 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [3.1795, -6.8855, 5.9419, 1.5702, -0.2759, -0.2271, -0.1392, -0.3761, -1.4838, 7.2137, 1.663, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa72a64c8f9fd3a117d42e2a9578ae68a15fef0b698d4ac6a3f702e4d20e77a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce4079897fe6f35dbeb1fab6518a5a89ed9675fa4e36635c490a503540a28d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:814b2872f2e96703cbad0d39c0c6e77cd0920a18e0d5deec34756757dae49cc4",
        "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_01ArkWFSE5myCZY7atHqtWCR",
      "input": {
        "note": "The drag stalled at y=-0.06 with rising base torque, and the mug still has not moved in the top view; lifting clear to reassess the mug and bottle positions.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.06,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01ArkWFSE5myCZY7atHqtWCR",
      "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]: [-0.2943, 1.161, 0.7746, -0.2031, -0.2443, -0.1905, 0.9988, -0.0147, 0.8604, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.363 left_y=-0.0616 left_z=0.1833 left_yaw=0.005 left_pitch=-0.0094 left_roll=-0.023 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0013 right_pitch=-0.106 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -5.4906, 9.3607, 1.6435, -0.1978, 0.1783, -0.1343, -0.0752, -1.6889, 7.0632, 1.6337, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eed66f7b6fdf37689d23f6293741101b48f5abab803a215204daefef536620c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9162c385b1f97f8c7c2fe9c8de3698a00d833b72349607bbce63d0e0953d4d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f273e617fff0ab156a738c27a05ec8e71fe326b73460794f2db6f88a0596b3ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 15.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 105 changed as sent

message 108 changed as sent

message 111 changed as sent

message 105 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0631, 1.5326, 0.4004, 0.4477, 0.0349, 0.0162, 0.9988, -0.0147, 0.8547, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3589 left_y=0.0201 left_z=0.0237 left_yaw=0.0165 left_pitch=-0.1236 left_roll=-0.0082 left_gripper=0.9988 right_x=0.2944 right_y=0.0013 right_z=0.1586 right_yaw=0.0009 right_pitch=-0.1003 right_roll=0.0007 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -6.2838, 5.8188, 2.293, 0.149, 0.0464, -0.1392, -0.2256, -1.6479, 6.9949, 1.6288, -0.0122, -0.0513, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2649, 1.6466, 0.4374, 0.5629, -0.189, -0.1783, 0.9988, -0.0147, 0.8589, 0.6067, -0.4088, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3738 left_y=-0.0633 left_z=0.0207 left_yaw=-0.0179 left_pitch=-0.0727 left_roll=-0.0285 left_gripper=0.9988 right_x=0.2947 right_y=0.0013 right_z=0.1576 right_yaw=0.0009 right_pitch=-0.1041 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [3.1795, -6.8855, 5.9419, 1.5702, -0.2759, -0.2271, -0.1392, -0.3761, -1.4838, 7.2137, 1.663, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2943, 1.161, 0.7746, -0.2031, -0.2443, -0.1905, 0.9988, -0.0147, 0.8604, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.363 left_y=-0.0616 left_z=0.1833 left_yaw=0.005 left_pitch=-0.0094 left_roll=-0.023 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0013 right_pitch=-0.106 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -5.4906, 9.3607, 1.6435, -0.1978, 0.1783, -0.1343, -0.0752, -1.6889, 7.0632, 1.6337, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eed66f7b6fdf37689d23f6293741101b48f5abab803a215204daefef536620c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9162c385b1f97f8c7c2fe9c8de3698a00d833b72349607bbce63d0e0953d4d23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f273e617fff0ab156a738c27a05ec8e71fe326b73460794f2db6f88a0596b3ff",
        "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_01FL15wMnLe9DsXCsc2YwpmY",
      "input": {
        "note": "Earlier contacts put the mug's handle tip near (0.30, 0.04), so its loop should be around (0.32, 0.06); placing the open gripper so the left finger drops into that loop, well short of the bottle.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": 0.012,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FL15wMnLe9DsXCsc2YwpmY",
      "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]: [0.0296, 1.2949, 0.2008, 0.4377, -0.0128, -0.0162, 0.9988, -0.0143, 0.8631, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=0.015 left_z=0.0255 left_yaw=0.0409 left_pitch=-0.0958 left_roll=-0.0035 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1563 right_yaw=0.0016 right_pitch=-0.1087 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.0, 5.5179, 1.9951, 0.1392, 0.0513, -0.1343, -0.0342, -1.8803, 6.9949, 1.6337, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009e27dcaa82f559aa359fe41d0a6f180d2b23889b9f5d83f60fa5ac6d327219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b489af110d90f12299ed70d791cb9a10b729582c7e44fb1ba6bf7103b734e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b9b8645bfd7c6e887a676abe96f4da67715c55d3e0d7056cf4351821a33541a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 6.22 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 108 changed as sent

message 111 changed as sent

message 114 changed as sent

message 108 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2649, 1.6466, 0.4374, 0.5629, -0.189, -0.1783, 0.9988, -0.0147, 0.8589, 0.6067, -0.4088, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3738 left_y=-0.0633 left_z=0.0207 left_yaw=-0.0179 left_pitch=-0.0727 left_roll=-0.0285 left_gripper=0.9988 right_x=0.2947 right_y=0.0013 right_z=0.1576 right_yaw=0.0009 right_pitch=-0.1041 right_roll=0.0008 right_gripper=0.9998\nstate[joint_eff]: [3.1795, -6.8855, 5.9419, 1.5702, -0.2759, -0.2271, -0.1392, -0.3761, -1.4838, 7.2137, 1.663, -0.0122, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2943, 1.161, 0.7746, -0.2031, -0.2443, -0.1905, 0.9988, -0.0147, 0.8604, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.363 left_y=-0.0616 left_z=0.1833 left_yaw=0.005 left_pitch=-0.0094 left_roll=-0.023 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0013 right_pitch=-0.106 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -5.4906, 9.3607, 1.6435, -0.1978, 0.1783, -0.1343, -0.0752, -1.6889, 7.0632, 1.6337, -0.0122, -0.0366, -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 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.2949, 0.2008, 0.4377, -0.0128, -0.0162, 0.9988, -0.0143, 0.8631, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=0.015 left_z=0.0255 left_yaw=0.0409 left_pitch=-0.0958 left_roll=-0.0035 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1563 right_yaw=0.0016 right_pitch=-0.1087 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.0, 5.5179, 1.9951, 0.1392, 0.0513, -0.1343, -0.0342, -1.8803, 6.9949, 1.6337, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:009e27dcaa82f559aa359fe41d0a6f180d2b23889b9f5d83f60fa5ac6d327219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b489af110d90f12299ed70d791cb9a10b729582c7e44fb1ba6bf7103b734e02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9b8645bfd7c6e887a676abe96f4da67715c55d3e0d7056cf4351821a33541a3",
        "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_01PA2LSfiy76n6q22fVCcHwq",
      "input": {
        "note": "The wrist view shows the mug ahead-left of the fingertips, so the handle loop is a bit further forward; sliding the open gripper 2.5 cm forward and left at table level to seat the left finger in the loop.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.335,
          "left_y": 0.022,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01PA2LSfiy76n6q22fVCcHwq",
      "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]: [0.0872, 1.4536, 0.1963, 0.6174, 0.0444, 0.0238, 0.9988, -0.0147, 0.865, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=0.0236 left_z=0.0126 left_yaw=0.0285 left_pitch=-0.0787 left_roll=-0.0057 left_gripper=0.9988 right_x=0.2949 right_y=0.0014 right_z=0.1558 right_yaw=0.0013 right_pitch=-0.1106 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.1504, 6.5983, 1.9707, 0.1441, 0.0806, -0.1343, -0.0889, -1.7983, 7.0906, 1.6484, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c99689f1577057152d02c73657aa62fa5fd95cd8f99d268361fa09255a4a09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab47ed5180c616f4fc3d803693cd4ae2fff6d638dbbf99605f22391f1e0006b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1edadb833a12d4f5a6f8e56e1eabe8378e2cc0e9364af8f767cc5469af0e4614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 40 attempt 0 · /messages · status 200 · 8.158 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 111 changed as sent

message 114 changed as sent

message 117 changed as sent

message 111 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.2943, 1.161, 0.7746, -0.2031, -0.2443, -0.1905, 0.9988, -0.0147, 0.8604, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.363 left_y=-0.0616 left_z=0.1833 left_yaw=0.005 left_pitch=-0.0094 left_roll=-0.023 left_gripper=0.9988 right_x=0.2947 right_y=0.0014 right_z=0.1571 right_yaw=0.0013 right_pitch=-0.106 right_roll=0.001 right_gripper=0.9998\nstate[joint_eff]: [-0.7043, -5.4906, 9.3607, 1.6435, -0.1978, 0.1783, -0.1343, -0.0752, -1.6889, 7.0632, 1.6337, -0.0122, -0.0366, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.2949, 0.2008, 0.4377, -0.0128, -0.0162, 0.9988, -0.0143, 0.8631, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=0.015 left_z=0.0255 left_yaw=0.0409 left_pitch=-0.0958 left_roll=-0.0035 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1563 right_yaw=0.0016 right_pitch=-0.1087 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.0, 5.5179, 1.9951, 0.1392, 0.0513, -0.1343, -0.0342, -1.8803, 6.9949, 1.6337, -0.0611, -0.0611, -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 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0872, 1.4536, 0.1963, 0.6174, 0.0444, 0.0238, 0.9988, -0.0147, 0.865, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=0.0236 left_z=0.0126 left_yaw=0.0285 left_pitch=-0.0787 left_roll=-0.0057 left_gripper=0.9988 right_x=0.2949 right_y=0.0014 right_z=0.1558 right_yaw=0.0013 right_pitch=-0.1106 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.1504, 6.5983, 1.9707, 0.1441, 0.0806, -0.1343, -0.0889, -1.7983, 7.0906, 1.6484, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c99689f1577057152d02c73657aa62fa5fd95cd8f99d268361fa09255a4a09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab47ed5180c616f4fc3d803693cd4ae2fff6d638dbbf99605f22391f1e0006b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1edadb833a12d4f5a6f8e56e1eabe8378e2cc0e9364af8f767cc5469af0e4614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQcKEAgRGAI4AUIIdGhpbmtpbmcSDEE8A6Q+ADZrTqy8XBoMTYSYTYFz/I4fdWLeIjDNw1E5CyHFrcdGHoZGBBy1eMee7iGbJInWFXuHFqW1QMCpKePq3QVzwcWg4uLQVeAq1gY/7IEHnc1eKMfH4V7blyY5dga9mfoYnakx5W6HjrskpzAGyCURuffPTIkWfRu4lN6buKbR9YZA+M380mCM7Apv/8OKeMcHjak7KUAa+0Ze/311QlU3ZwCvo2Z3YBsCv/05Ag/mCIEq16QpjcGvVl0Stt2cejQmLQroogydwrK/LQxZ5kxlZ77TpN5+37yeY2XygWfuEm5GtTpnnymon/81tXxZtjUeoPt5C9OhErwme/uGRVbr8q2+iQaNwiWzz5OtKHOOOTUgmMn65js6loG0t0UchW677Tb052PVEthgMQnUGeftOCPH79fjk347R8EcT9OEHRmbqz63iFbUGPSDusm/ZdqqzOVEZSa+ctdIX0AtT1y+2spa/BNBspQSu3RSDgOIncDMeMYTPC/gl8rQ8JFCBFmUPcvQ2Q3zYMG352rgJ23tOYAOMq+NYutLFN3sQWo0DRNdRrboKP0vIy2n4MHdlhbHmSgP5d5UEj0z/fVvd9RBcWn3z/77bjvS4DkpJcHsyObzH3aDzH2WqjHMGlNHvv8UlAf9VrK27o2bzM9sSBGfPhlqSbTbS9ooHw8wsye3lbPK6Yje9JqZMfTIXSoX0nD5Ahy/IwT7OGTiC2YsgVd2FpGNXXIb6IyWef0Q7SZleD7GOBFRpB0oe511AppFvPi8UfRZx6HYDeuUoA3pjrC7biU/NNC1VBngdaBfVS1cDKHjjbXQGWppnbaTQ4AE5JED+IOl5O/64qdBxw43eB/yPwpuJb+JCMUTSfShv7tKYIPT2ms/mUnF/8KNRXzsydRbLr36QkjdnxEthBUVgL5jqhYFpSx4Zp4eFLC6OJJOU4mOF/Jc4+HDXfJYDjSWZOnHCSZp4KwiMuEx4vnZpfbYhx0hoYjZrKshFV4bG8HMlv0DFn6SVryKhw7QYOm6aU1KGEo0cuGrv+8B2aNQehV6SOOWb29uNdsvJ64fuT4GbPbNODIG2cc1ipzETqbsGB8k+yPFT3e/V8R/SMbFgsxeGMnJINXZ5aWJ41On59dsI+zbifT+I2LyBeOG0HY/rhTYA7bD2C0L6ZZAQ4k3c9FuRp6NqJX+Cr//CsTtWAoT8xijnuKr7/U+tJQgd+xQjmihowClHONvYxF64mqvOFcSExgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QuASEX8WAgsLaQar51s6HM",
      "input": {
        "note": "Forward progress stopped short, suggesting the finger is against the handle; dragging rightward now to see if the mug follows.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.32,
          "left_y": -0.08,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QuASEX8WAgsLaQar51s6HM",
      "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]: [0.0914, 1.4704, 0.1982, 0.6704, 0.0574, 0.0307, 0.9988, -0.0143, 0.8642, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3255 left_y=0.0232 left_z=0.0188 left_yaw=0.0182 left_pitch=-0.0402 left_roll=-0.0051 left_gripper=0.9988 right_x=0.2949 right_y=0.0015 right_z=0.1561 right_yaw=0.0016 right_pitch=-0.1095 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.4103, 6.0103, 1.8681, 0.1392, 0.0659, -0.1343, -0.1162, -1.5795, 7.159, 1.6142, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e18a2a7504d28ae124822a80480c18839ac3fab03e2bcd0f375197b34475f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffcd53ac160264fe365e77b0eedb89c2fc9652eb94773fa485e1d4efdf49a159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa73c6a8af449670522fc8058006f0666463a06b23fcaf8a5595125a57e56f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 41 attempt 0 · /messages · status 200 · 19.55 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 114 changed as sent

message 117 changed as sent

message 120 changed as sent

message 114 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.2949, 0.2008, 0.4377, -0.0128, -0.0162, 0.9988, -0.0143, 0.8631, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3091 left_y=0.015 left_z=0.0255 left_yaw=0.0409 left_pitch=-0.0958 left_roll=-0.0035 left_gripper=0.9988 right_x=0.2948 right_y=0.0015 right_z=0.1563 right_yaw=0.0016 right_pitch=-0.1087 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0752, -4.0, 5.5179, 1.9951, 0.1392, 0.0513, -0.1343, -0.0342, -1.8803, 6.9949, 1.6337, -0.0611, -0.0611, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0872, 1.4536, 0.1963, 0.6174, 0.0444, 0.0238, 0.9988, -0.0147, 0.865, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=0.0236 left_z=0.0126 left_yaw=0.0285 left_pitch=-0.0787 left_roll=-0.0057 left_gripper=0.9988 right_x=0.2949 right_y=0.0014 right_z=0.1558 right_yaw=0.0013 right_pitch=-0.1106 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.1504, 6.5983, 1.9707, 0.1441, 0.0806, -0.1343, -0.0889, -1.7983, 7.0906, 1.6484, -0.0806, -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 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0914, 1.4704, 0.1982, 0.6704, 0.0574, 0.0307, 0.9988, -0.0143, 0.8642, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3255 left_y=0.0232 left_z=0.0188 left_yaw=0.0182 left_pitch=-0.0402 left_roll=-0.0051 left_gripper=0.9988 right_x=0.2949 right_y=0.0015 right_z=0.1561 right_yaw=0.0016 right_pitch=-0.1095 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.4103, 6.0103, 1.8681, 0.1392, 0.0659, -0.1343, -0.1162, -1.5795, 7.159, 1.6142, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e18a2a7504d28ae124822a80480c18839ac3fab03e2bcd0f375197b34475f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffcd53ac160264fe365e77b0eedb89c2fc9652eb94773fa485e1d4efdf49a159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa73c6a8af449670522fc8058006f0666463a06b23fcaf8a5595125a57e56f33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwkKEAgRGAI4AUIIdGhpbmtpbmcSDFunDJR6BcxQfaoO/RoMQSWsvBpVo7Gdo3dvIjBICN1DkuejNIp2s1GJfnVSsOtRqhSJCLsT4xZVROtBDdBLGJqqIZY8ZKFDXyZ/T/4qoAgokiVBAfqeArJ+Vn++cBvuEAAF79x+A5KCn6kWwZZvpijMHDTwJN0cQ6OM2EbKDTEeL//zPU5Jq4NEoJZYgDZ3giqlLEVvVwZ/BxmpLc33H4YztKNA22/M+oFScuZzVHgx0kUXAWrIZrZ8iKUL+PclWTa7a9HMKQbOpau00noi7VjHaO9fvtoSwO5BfzMxLjKK6DHW4jRZbZldx1Bx5sEUTduBIWUoBMzRDgkY0K8OclLbSmPF57HUhDlWdUk+7xj9+O/GQWP9PrrXpzSB3fhT35apl62D7Wc5D4ESrKgjlsIRd1duGFsAEVSUS2nSCb/mg+9Jk4di67/UtlLutHHSctv//1lz11IjoSiTab3mlbvnrL6S6eYaLFLeQJM4B2CgDky24CER71RTlm4P9H6Nwg2kxafNgUl+grNFJ7q4HqmdATSHe2A0YNU+6gMSZJcVhud0ANydFLdx8f2dXctFfzvy0Con/ltxPmwO1QOs/RS02xC4RddGKTqxLBS3Gt/SeLzsZflCIFrZSVv0LlaZ1R+4pGKXyDo71fKxKYAUrPWswaX2htg2tfI4MMwNSRaG0b3SYPZqnQTsTNui0L6S3d+VCzpERWyh75sa2766hvEZOBvIVrmQH1+w9bRQvIM/Md99JXjgIEPDWru+gevTczYz91+Xxekphu0ZYdYB/r1ACKBfeyvfxpoV1tLEfzDSnhtZV+GXptrleAcFJ907zqHPjV5Y4APupSkCte4sYqrwHE/wbbifXYvrfXlauk6rvR4IToE3ldEzE18RAJ/2C9S7U8HWRohP+XjFapGyWKu6M97oFlDFLoZdD7Td/y51GpN2YO+daJhJ3brg57b2QXoylNR3/DKsGt/jcdua6/U51Z6dQO6vTy9D5sgyH4fdTqZ01ZkpA+C+UjWM/J0GiQFbCG0DMh40U2+JZNN2GiZWCGJJACpXA0JN/BxLWSy0b2w/GbL/pBycA6/HAwnjS5nn4LbuJdhuxV67lMHWRhL18Np3s/W91/Xq+rA96FC2bkk+msBX6TZI1UikvKTJuQzQQsqNJt93tzu1bPr99cjEYy/Pekx8cF79Ub680uzMFlic60i1iJMtCOknaXLdH9Ebf8sr0vD6ZQMUpiGCN1a3Z2znAjQIdCdNMJP4lDLFhtS4TX/V0JfE8Y+tKShh5NMxibAZdo+/mEDvXmkgQ6V6Pva4GGzmAq9jKZoFTwvD1CqiO9tVkOGL2HKaUXV7uGwJZ3EIemw3mqDLSPGyPxHLZgUUS8z6O/78HpyaBEFj52IIqmozhms1TfMGAd36Aih5JA2bUOyYI7qYNofNuY8EWLdUwtnlLMQz/MGUkwneA7hI9WpQXm2SgaZI/XU6spBRRua3FxLYpXx5YBI9fOBNP9rsH4A3Bespg0CmSTsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018yfCA5mozYYc8etDS5m1yt",
      "input": {
        "note": "The arm ignored the sideways command entirely — it appears stalled in a folded pose near the table; raising and pulling in slightly to unstick it before another attempt.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": 0.0,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_018yfCA5mozYYc8etDS5m1yt",
      "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]: [-0.0242, 0.8768, 0.329, 0.0235, -0.0254, -0.0261, 0.9988, -0.0147, 0.868, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3053 left_y=0.0007 left_z=0.1152 left_yaw=0.003 left_pitch=0.0363 left_roll=-0.0072 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1549 right_yaw=0.0013 right_pitch=-0.114 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.6342, 9.3333, 1.8046, -0.0513, -0.0024, -0.1392, -0.0889, -1.9487, 7.1179, 1.6093, -0.0464, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37808d008afbd7c12d419379a8e9f67335f52c302c2d6e8d422f61615b768b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd89ee552cd342c2bb5c583c4ae356bd41b1bbf499f412fbdfa53cf77a42dd96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8b85d11d899d09931ded995aba0d2bf779cc640756348c66c7bf4c1111f8026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 42 attempt 0 · /messages · status 200 · 7.132 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 117 changed as sent

message 120 changed as sent

message 123 changed as sent

message 117 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0872, 1.4536, 0.1963, 0.6174, 0.0444, 0.0238, 0.9988, -0.0147, 0.865, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3188 left_y=0.0236 left_z=0.0126 left_yaw=0.0285 left_pitch=-0.0787 left_roll=-0.0057 left_gripper=0.9988 right_x=0.2949 right_y=0.0014 right_z=0.1558 right_yaw=0.0013 right_pitch=-0.1106 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.253, -4.1504, 6.5983, 1.9707, 0.1441, 0.0806, -0.1343, -0.0889, -1.7983, 7.0906, 1.6484, -0.0806, -0.0806, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0914, 1.4704, 0.1982, 0.6704, 0.0574, 0.0307, 0.9988, -0.0143, 0.8642, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3255 left_y=0.0232 left_z=0.0188 left_yaw=0.0182 left_pitch=-0.0402 left_roll=-0.0051 left_gripper=0.9988 right_x=0.2949 right_y=0.0015 right_z=0.1561 right_yaw=0.0016 right_pitch=-0.1095 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.4103, 6.0103, 1.8681, 0.1392, 0.0659, -0.1343, -0.1162, -1.5795, 7.159, 1.6142, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0242, 0.8768, 0.329, 0.0235, -0.0254, -0.0261, 0.9988, -0.0147, 0.868, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3053 left_y=0.0007 left_z=0.1152 left_yaw=0.003 left_pitch=0.0363 left_roll=-0.0072 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1549 right_yaw=0.0013 right_pitch=-0.114 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.6342, 9.3333, 1.8046, -0.0513, -0.0024, -0.1392, -0.0889, -1.9487, 7.1179, 1.6093, -0.0464, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37808d008afbd7c12d419379a8e9f67335f52c302c2d6e8d422f61615b768b66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd89ee552cd342c2bb5c583c4ae356bd41b1bbf499f412fbdfa53cf77a42dd96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 304):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8b85d11d899d09931ded995aba0d2bf779cc640756348c66c7bf4c1111f8026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvhgKEAgRGAI4AUIIdGhpbmtpbmcSDCkHnzBRGAZMHRMI3hoMeThsJib6+SoBbwiRIjA6L2RlLFZgYj6jPeEO3GFStf+1ubAhCb4jI9h0TOEaqmx7LDxli2SU17hrnGUVeSMq2xcwuzzILaEul/9SBIa2S0WX9eC49FFvm124zjwJZMwP6ICpy0i+BEzSuMfXXUbpLehvijr4Ab1iy4ne2AwqUsgPEU9mWorLsHeIW9/ZqDVofMg/px/Trz2+TkqowBFe+lzKwbCB9ugc8qcZYLdds19G1sqQhOhLQSp0XjwpWdyMZW3dbxhRKauheMlLMW8ujNeMsAgf6+HuFEpYHvUVNQtAFmn1L4hXCDZxm9Xot4/MSIj76gGFsw1qYcZ2lhNHxf/Hho8ne6rOV7/JQWFkswgaoz+BOg7MdomovF5Oxo1SWxghQ2xQD1BF3s6Fj55z8GyQ4y3fr5Z0w7bvzqM9ON+qiDNRBwU8ekw23O0QdPfnlHfyp4A/6jLxqx3FpLLiifVMOmeyP9IWtxHUuTIFqsBk+tTfJg/C7B+WxtzFYNNg2NzC3hSAJ1pgU9nLkRy/Mzw8rEIup/XfK99+WhnkiFU6epyinUV9nz4F+bsEHoocXHyQNSy6nq2yKyUfWe1UEd4JVhfgT/SkzDAnCbk378h3MGMWK998lDfKFiufNZ8B1eVr8twmey4AvcID/WFxzHOe4yxR6HnoN/ZAmXTIRmBaOYkqmIl8sfsh8FDd+yFrC7wMjmsj5Hj3VQZDknuWknvxjp7fpbG3sTD/kC1E4TGl+fCgQGitGja5f2CfqSH7WN/V8M3twUNO9Up6RpGQJLmySIZUaPR+M0tZDJyb7yCk9Df5jV329/OVPUhAZpgLCBsTpBZzottyg9ZG4Z291H08X0aEYcwzimKxjhlK7qGcTNTWatTVxd7kYnbCchKFHcgg6VCeVPAepTa1ivukKu987RlwURqC8WxwrYY4hRZBXXfPcm9V+fnFhmoFQvEpTophmYepwTTYFGU6Wh8DAy2g9KxC6QDtSxbFofseHCqTsGp7V0BtTewj0GN0DqSxYeKbZGEAkRU9lo0DaM0OA+HWhyRYI/YzdjAAtgQCmvW559A9ErnociknnLoMDMepUwiM0Tzd12Uo5bxRsVgK4xtZebrAKtCu9/Yjx1ngT5r5bhJJzy9mSfAa2Qrcrgo8I1poB1pz0T+LmPX15A8jqMyhPtmqHnYe1X2MKpEJhkfUI9KBm+0thcUq4zI7mQSKtiXc+3kLgxOA5B3MAAXE1OUm9CicIUXXqm1Nm/WuN8tEfJdBYu+XWHx7/7abzqQJ9IvKol9t5eqoN1folcfu59KaGSXT+F4vB4f7g6pMr33TLHrIXykB6pVf/c3vB98sRLrybddUYWZQo8xZQYNMEFtkPUSWno2aRGokbA90QA/EMiBwrvNhqeckG5A1pzMCKBp1Tqf5tIR6Sm+lYQ6pNmfLVzbaywVxJkLJBtNH+OLix8EOV/kxFAqAEeoeYr/sMjdL0Rvun/1iMsNcC8UTeQb08u+BIUR5wMSiu114il24PHQmbb2Hwu2ntnfvp9uWQWAbnqV2gY+SJDm5Wmi8hBY5XpLLi2VwjhyCqXiONU9pKy0uZyH6z5HmF+2bksenAoZVdjjxAniTwKY+USDb5SEAJtspU2n2AkWFya9C+QBIltL2/V5zYDiwUsyJmI41LoFULraBYCmBj9lag292QzobMyyGiJ1d8UG/ATNI5Bd/LdB2GVml/9qdSXlZbiWLpwaWDWEy8gNvFxvEHxnObuSqTsaqYRMQsWJyS5z7DEXBBp7uXO1wMthKAs9s17fyKIVMHZQlGwY1RROw+cvHas/lHpd8Sq0zNFGJL7IaA83tsygLgNAnhQXWk9evmvHir7RmCwbA24q2BA3s4GxANkIX75FVBnlXEvFPsiLmMbS5z+AWAc10LzFd+m3Y/TbDML94HW0YuECobgVjO+Dge2jRmfRq84wUDwKPssci0n+bixPdIYiGJqzW16wC8Oz88K14vd1c2Kn0zUK2t1YRA1+NQdtsiqsjDT4aqdYod0vREBUX+H8MoL8lDNZAF5ouDo+7jhWmEi76jhGd99VF7lFMLHwclphuZX7YJ4cwEOyUW3GXESFXSNGEHUYkwBU8pn5BkcJOO5qorkqGy6p7qzGRRXYkfBSRL0one1KM7xsj6g5kyhOdXT8Aea7v3nFFFHL+2O5uwZBLHE2N7ui5wf3Qf2Ashp8ZvTzpusphiYd24qTuToRg5IqdEqmR7+3zehBGWRn+vppNFUwn+HRCeb2nkg/Jy9M1G+1pY6mrcVaZd3iJ4k/LHO2usrPjUxVe2nLTcXXAQVAZEuCHGDzuArtho6gPcveFJdqtksKKBk4NJ3Lvk51H1cTbvEtX49x1PZHVb5jgQx8l70KF7Jn/1Z6dfUhUNGAvaVMb8MhjwJjSiWPy7m+FRfOTT0alEKlWSQ7/2GmkZhDImMkFkVOmzjUW8DZFzYPMqo29FarI7L71XTHGFaRgZGTpVLvCBSj2obmDBe4ciAGH4bB0pedclEg+VrStSk03elWRS9dabGea+9khSb4Oz7pELU236A+x4n184rG8CapmGDjYLF7+FBQWpELfr/DKgKmAoNpM2zRnb1XG0DDDVtul6ZVDrw1hKuCi5t1mxsIWjNrd+1hevKkrN+UfMTElyFYzqAV1GdU/iE/6UnxmBsUgNMQdiIe4UQazbQjmdJQ2hdIi/HGhBlz9bIa6q93PRHwbdHk9wFHYF3uAwckMy3a073Fp5g88LHR7s2jVSQExxKaP4h7FG0BZfZMUN9XGac5o+Ljf+dnv2cwsSZ+z/F2mxVnBmoJi6DZ90iNzNpHORidKWfywgK+qDUYIkoFBY6ehgCu29OW2+mFJUcdNUslJpf74ehA5WXVWfaU6ILa01jyl2qYNu+T7viJXXD2o6K1azCv6O/01/Vp/g7f3RARkNe4kLThtnFbWHwJG7oVgD5gYKZr7JYR0GV81xl6OGgL4DtVwvyo83n2X5JsyA/qdDmipRjGsUJXdo/qKQglIcdIUVNKxeE1IrbLActkGozq+Z4nEu1aWatcM6FQPmvpCVu5uwQs3M2Kv3ymR2Ueg72/h8yM3wPMAlfki1baQlBWDGSzrdYvoJBkr1CRZD2CYly/JLFSIW2SHiMQLDSjc9kDYOfs7dYHqwzxgfrRhZA3RYBrhWcTQLqRlJh3IhgBAqGtWlYenTjuCqDxxA5Gf/aBp+UMl5E1BXosnMIZRu4xojM+K7iV07rXG6bFi+BNrib0cfiGAdljF1EhYuca/NVkCBMmT+fEWR2ICNVyCu71gKs+5noXk/diWdaryK7B7XB9I0dDdBQDZsF6/xazV1jzLPq5dLiWTFDsm25O4hm+0/mxxjbqzOpRTrycbv0f1hNUZxL1tYeU3Y7O6XRvXcLe/v1pCrjXWGF48LEddaUgHgd2xyeVzV4Ug2vHNDbNWe0LQlNPFXWi3rXrsb6wuGeE/GIq4R6yCHQZVUvxToi9HHIsphOE/mVDJPFZjPUo9sq82/Cluevp7+mxFa/CkhifqljoZJ+ovlGdHyPDmVzedszYkAnNDcsESa+hIwvttIW4oYFg5wVEMbBQNP4a11undwMro4N3lXn+qEyj0d77OqNV9JqJgqgHFe8uuGqOM0urC64ldve8TOUyt4CGs7jWihoMh+yirBNkdlO1I3onarmQC3HWVYDkw2M5Z1MvcupiHmG3t2Bwr6LMeWrdgAJ+TiT0ajXp4tr5/gizBLMgLAqjG/Eov0nUNEvyAvZohLWHEQynv5uDZY/j2CxRDIlL6K+V6g49dsQfwa+8ZthwobJsl9Mpi+66EpG/bu+h3QEhcbBQvBH2K0LesFaYTQngFSUCc0WnrPo12FJaLI+PUKifq50QqoiYR0KuKt5TlktsJrtDRJDZsUqh8ASJUTZDRQeeRbhBmiWq8THxfyhm9t5zlnKk3dypVptU4P2mpkuaY6DmscuphnnKHmWtcWSo28xdix4KjnkQDfG8msWH76YmbEaqYqS0gcarXjeB+bJ5XoukaI/C4yJzsIeV4srVej4pHiAVY96ndWViiMWMgqV21i3nV9UngDcuofVnDkj9xnc1aneOFimoxtJx/cJHAxxH9y+PkZIYv51aKTjy3vRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015VpHn78U1caCTXqMNXbSPD",
      "input": {
        "note": "The mug sits at about (0.40, 0.10) beside the bottle with its handle toward the bottle, so hooking it there would hit the bottle; instead I will reach past the mug with the open gripper and pull it toward the base with the left finger.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.48,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015VpHn78U1caCTXqMNXbSPD",
      "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]: [0.136, 1.3895, 0.9009, 0.0311, 0.0757, 0.0353, 0.9988, -0.0143, 0.8726, 0.6067, -0.4103, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=0.0497 left_z=0.201 left_yaw=0.0445 left_pitch=0.1043 left_roll=0.0015 left_gripper=0.9988 right_x=0.295 right_y=0.0015 right_z=0.1535 right_yaw=0.0017 right_pitch=-0.1194 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9521, 4.9026, 1.0672, 0.1685, 0.2515, -0.1343, -0.0479, -1.812, 6.9675, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f5e18b6787cbbf4cb101e4049db34fcb203fcfcc69d2d02f955a88355450f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83b4b16d2e75d21e5ec4d2d40fe5f70bfe95f6b75454bfc848b51e914bd9d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8c51e09a67691f8ce28dac20f1d92c044f3c869c22789f44705ddd3a22e0cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 43 attempt 0 · /messages · status 200 · 16.45 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 120 changed as sent

message 123 changed as sent

message 126 changed as sent

message 120 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0914, 1.4704, 0.1982, 0.6704, 0.0574, 0.0307, 0.9988, -0.0143, 0.8642, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3255 left_y=0.0232 left_z=0.0188 left_yaw=0.0182 left_pitch=-0.0402 left_roll=-0.0051 left_gripper=0.9988 right_x=0.2949 right_y=0.0015 right_z=0.1561 right_yaw=0.0016 right_pitch=-0.1095 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.0889, -4.4103, 6.0103, 1.8681, 0.1392, 0.0659, -0.1343, -0.1162, -1.5795, 7.159, 1.6142, -0.0562, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0242, 0.8768, 0.329, 0.0235, -0.0254, -0.0261, 0.9988, -0.0147, 0.868, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3053 left_y=0.0007 left_z=0.1152 left_yaw=0.003 left_pitch=0.0363 left_roll=-0.0072 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1549 right_yaw=0.0013 right_pitch=-0.114 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.6342, 9.3333, 1.8046, -0.0513, -0.0024, -0.1392, -0.0889, -1.9487, 7.1179, 1.6093, -0.0464, -0.0464, -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 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.136, 1.3895, 0.9009, 0.0311, 0.0757, 0.0353, 0.9988, -0.0143, 0.8726, 0.6067, -0.4103, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=0.0497 left_z=0.201 left_yaw=0.0445 left_pitch=0.1043 left_roll=0.0015 left_gripper=0.9988 right_x=0.295 right_y=0.0015 right_z=0.1535 right_yaw=0.0017 right_pitch=-0.1194 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9521, 4.9026, 1.0672, 0.1685, 0.2515, -0.1343, -0.0479, -1.812, 6.9675, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3f5e18b6787cbbf4cb101e4049db34fcb203fcfcc69d2d02f955a88355450f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d83b4b16d2e75d21e5ec4d2d40fe5f70bfe95f6b75454bfc848b51e914bd9d19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8c51e09a67691f8ce28dac20f1d92c044f3c869c22789f44705ddd3a22e0cea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgRGAI4AUIIdGhpbmtpbmcSDHhOSe3C6cww6SEmHRoMqUp8HFGm/v0v2dX9IjCx3q9ALXSNq73Gy60TpLEnfYGpJypcsIRw7vPV+pgjFVRl3QJAWtGjLHCjgqwzYikqsgiQZ3LplMHrM9kaivImhf+pD8orYf1/2KK2x0+w7s1rWTwOH6devfZrYdcNezZVR02zCRi/keIuVI3ADoBZQktH6eCMIuhgctWpPQJHFeyluM9oobxYV2vUZ2nz/lqW2ZYhX6HAcqUsditocTmXTWEQY7Lad0wIK3DMnkNLEwemX88T/kRlnvtz2TnAhtgwaBEJNn6NkyimEhv1gjXVGH+LCrdtsVa5SbWdTzt/6QVohjXdniZBCT6pYsHK3u7kLLJFYuil8PTdGPkJ6VsL8UQEf13bEaOsifX29A9GULSzFbELFEZzbHgZaJbgdgoAglOBUaxaKFyPsaeihVFahsqfH3VW62WhsZtBaj665Q0mXQjEx8ClhRmcx6dsCsBtKDchLy2rgV/upCHa39Eg+Z6avZ3j0JHreRwu3AUQ7ORFkq48be6jTFprnZBZBzhZfdq1yNmfKo/YdgIEFDq2zxI0u8NVVD8TlWgp8qcpMIIcKxENcXe2V+yb6svRqOiKigenQQ+ZXmgx9tqjJqyBFlTkvq5mkw57Bgx51KglzjCMv6FyaPUkTOjfGG0lfjzQRBDHawx3DvqCUCCaAyVJIzNEW3tPotnCsw/h52lqzge9H0ZKy+g3z1gkOnJEQzo2u+xiaragVpS9MtBd+rgUr5/1u1aiKW7XnDQm2xUhAjy1apmmPQU0fq48bQYduI/nJvHgtdEtJJYnDv0GCwB4NQWTaTt/6dIqRjq7jBUS8OZz4WTpyCFEjuHCItn38eVJlCZwpeQHCpdPW7KpkJMGgW1eauXhJc3F0HTtgSBs10q6Vg9mH1qxJNE0k8ltCuyYd0Vc2TLy+FQIPgYEPBzvbSeyHfWDMDNU0LcVO0XMSmrAF6/61/3kfuMDThpBSIa9gXifpYYCNMknuJdZ4s6ewr5OwrQ1Awdg0seX9XfL1vaZUfpqbTTbbey5ZQOdMHjWuE5mRCslZwmgV7D7xqvDjmiIeRqmYAz97DDXvTilcjdsCU3S2Xt1EaGQjXIN2HfzDY/lq7vq7UIGTen0z4HoHviw4JFKj4Pf+yQTOYfJtlqWMgJ7RAUkSjQiw87gEIHAy08DeKJ4Da6iDAU+HrQ/dQ//4VJD6XsCq7+kyDgf0pMHt15SZxie1qSAbFpdTbvqpaqLrEz8m7tD6Mm5pUdCceJm/A1qOkavzpuYKlxyUhD3o8omQDhrey7YycyHrZrXFEk2jJQL3sC4uJzbxewTM554pd8U78rPhhkbIJvOFuwa9ILN1ArsgAp74KVFpyL84cSwj4hmFIf5RkaoR1bRj15E+/Baau3bz/pjqQNj4G+JKidLofYfJLxaaIXLyl+Dj6T84d6L0GfH2cjTeyleO8hBBw5aLEfy6nWt26KFdtrZ1ox74hXVAImzRvSCrS1EGJQGzBWuck5g3aihjVXp7c0KjhgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013UGcuHk9wj62SjC51mNQwG",
      "input": {
        "note": "The gripper collided with the bottle and knocked it over; pulling the left arm up and back to get a clear top view of the fallen bottle and mug.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013UGcuHk9wj62SjC51mNQwG",
      "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]: [-0.3237, 0.9791, 1.1103, -0.6827, -0.2367, -0.1608, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3119 left_y=-0.0572 left_z=0.2961 left_yaw=-0.0465 left_pitch=0.0261 left_roll=-0.0125 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1525 right_yaw=0.0017 right_pitch=-0.1228 right_roll=0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.4137, 8.6222, 1.5702, -0.3053, -0.0611, -0.1343, -0.0889, -1.9624, 7.1316, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ae143881fb78bd3e9a47f6a105353a90a5ade2e9b70b8c1afa9865a9018bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf89793fe5784e0fb44594d49d4820de424bd99fd52ef08b32ea9f0fa569f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3731a26d430d56aa879d4bacc837be1a44f4167677d1e84e3bf5dbfeff4cf676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 44 attempt 0 · /messages · status 200 · 10.43 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 123 changed as sent

message 126 changed as sent

message 129 changed as sent

message 123 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0242, 0.8768, 0.329, 0.0235, -0.0254, -0.0261, 0.9988, -0.0147, 0.868, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3053 left_y=0.0007 left_z=0.1152 left_yaw=0.003 left_pitch=0.0363 left_roll=-0.0072 left_gripper=0.9988 right_x=0.295 right_y=0.0014 right_z=0.1549 right_yaw=0.0013 right_pitch=-0.114 right_roll=0.0012 right_gripper=0.9998\nstate[joint_eff]: [-0.4034, -1.6342, 9.3333, 1.8046, -0.0513, -0.0024, -0.1392, -0.0889, -1.9487, 7.1179, 1.6093, -0.0464, -0.0464, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.136, 1.3895, 0.9009, 0.0311, 0.0757, 0.0353, 0.9988, -0.0143, 0.8726, 0.6067, -0.4103, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=0.0497 left_z=0.201 left_yaw=0.0445 left_pitch=0.1043 left_roll=0.0015 left_gripper=0.9988 right_x=0.295 right_y=0.0015 right_z=0.1535 right_yaw=0.0017 right_pitch=-0.1194 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9521, 4.9026, 1.0672, 0.1685, 0.2515, -0.1343, -0.0479, -1.812, 6.9675, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3237, 0.9791, 1.1103, -0.6827, -0.2367, -0.1608, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3119 left_y=-0.0572 left_z=0.2961 left_yaw=-0.0465 left_pitch=0.0261 left_roll=-0.0125 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1525 right_yaw=0.0017 right_pitch=-0.1228 right_roll=0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.4137, 8.6222, 1.5702, -0.3053, -0.0611, -0.1343, -0.0889, -1.9624, 7.1316, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ae143881fb78bd3e9a47f6a105353a90a5ade2e9b70b8c1afa9865a9018bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbf89793fe5784e0fb44594d49d4820de424bd99fd52ef08b32ea9f0fa569f2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3731a26d430d56aa879d4bacc837be1a44f4167677d1e84e3bf5dbfeff4cf676",
        "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_01CvUECRNDJA9Crr1wTnokqA",
      "input": {
        "note": "The bottle has rolled forward out of the way and the mug sits near-left with its handle pointing right; placing the open gripper so the left finger lands in the handle loop at about (0.34, 0.06).",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": 0.01,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01CvUECRNDJA9Crr1wTnokqA",
      "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]: [0.0219, 1.3926, 0.2661, 0.4618, -0.0025, -0.0071, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=0.0112 left_z=0.0244 left_yaw=0.0196 left_pitch=-0.1043 left_roll=-0.0025 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1525 right_yaw=0.0013 right_pitch=-0.1228 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2034, 4.6974, 1.9805, 0.022, 0.105, -0.1343, -0.0615, -1.7162, 7.1316, 1.619, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b47bc5d92659a9ff46ebb516405d980f56c68311b538f6540ac02ebb3ac154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14aafd4e0cf06c17554e945ad64afd11a38c5015c084df7c693364ace78d28e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ae8a98d4679ed1707c7f518325d68a8bd01ac69622be9663419694aff3de3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 45 attempt 0 · /messages · status 200 · 8.759 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 126 changed as sent

message 129 changed as sent

message 132 changed as sent

message 126 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.136, 1.3895, 0.9009, 0.0311, 0.0757, 0.0353, 0.9988, -0.0143, 0.8726, 0.6067, -0.4103, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4353 left_y=0.0497 left_z=0.201 left_yaw=0.0445 left_pitch=0.1043 left_roll=0.0015 left_gripper=0.9988 right_x=0.295 right_y=0.0015 right_z=0.1535 right_yaw=0.0017 right_pitch=-0.1194 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.212, -7.9521, 4.9026, 1.0672, 0.1685, 0.2515, -0.1343, -0.0479, -1.812, 6.9675, 1.746, -0.0513, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3237, 0.9791, 1.1103, -0.6827, -0.2367, -0.1608, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3119 left_y=-0.0572 left_z=0.2961 left_yaw=-0.0465 left_pitch=0.0261 left_roll=-0.0125 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1525 right_yaw=0.0017 right_pitch=-0.1228 right_roll=0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.4137, 8.6222, 1.5702, -0.3053, -0.0611, -0.1343, -0.0889, -1.9624, 7.1316, 1.6728, -0.0464, -0.0366, -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 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0219, 1.3926, 0.2661, 0.4618, -0.0025, -0.0071, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=0.0112 left_z=0.0244 left_yaw=0.0196 left_pitch=-0.1043 left_roll=-0.0025 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1525 right_yaw=0.0013 right_pitch=-0.1228 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2034, 4.6974, 1.9805, 0.022, 0.105, -0.1343, -0.0615, -1.7162, 7.1316, 1.619, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32b47bc5d92659a9ff46ebb516405d980f56c68311b538f6540ac02ebb3ac154",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14aafd4e0cf06c17554e945ad64afd11a38c5015c084df7c693364ace78d28e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae8a98d4679ed1707c7f518325d68a8bd01ac69622be9663419694aff3de3c7",
        "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_01HVn56ev3JeCeTYd4U7nAHq",
      "input": {
        "note": "The top view shows the mug directly left of the gripper and slightly further forward; sliding forward 4 cm at table level so the left finger passes into the handle loop before dragging.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.365,
          "left_y": 0.012,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HVn56ev3JeCeTYd4U7nAHq",
      "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]: [0.028, 1.5772, 0.2989, 0.638, 0.0048, -0.0063, 0.9988, -0.0143, 0.878, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3475 left_y=0.0125 left_z=0.0115 left_yaw=0.0192 left_pitch=-0.0798 left_roll=-0.0062 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1523 right_yaw=0.0017 right_pitch=-0.1236 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -5.7094, 6.3658, 1.9512, 0.1685, 0.1392, -0.1343, -0.1573, -1.8256, 7.159, 1.6093, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bd96d11742b8ca6b8ed9d417a2005d9c8eaef0cc308d441e9b84a8eae6631ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb40566797518d6981aa358bb3cf434071d1abb1151656e9ae60a8fbfbe1caa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ea3c35d62a0e075a865fedbff9108e6124a560659bc5a1a0ce83ccd1da5dab9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 46 attempt 0 · /messages · status 200 · 9.838 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 129 changed as sent

message 132 changed as sent

message 135 changed as sent

message 129 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3237, 0.9791, 1.1103, -0.6827, -0.2367, -0.1608, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.012, -0.0261, 0.9997]\nstate[eef_state]: left_x=0.3119 left_y=-0.0572 left_z=0.2961 left_yaw=-0.0465 left_pitch=0.0261 left_roll=-0.0125 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1525 right_yaw=0.0017 right_pitch=-0.1228 right_roll=0.0013 right_gripper=0.9997\nstate[joint_eff]: [-0.1709, -2.4137, 8.6222, 1.5702, -0.3053, -0.0611, -0.1343, -0.0889, -1.9624, 7.1316, 1.6728, -0.0464, -0.0366, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0219, 1.3926, 0.2661, 0.4618, -0.0025, -0.0071, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=0.0112 left_z=0.0244 left_yaw=0.0196 left_pitch=-0.1043 left_roll=-0.0025 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1525 right_yaw=0.0013 right_pitch=-0.1228 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2034, 4.6974, 1.9805, 0.022, 0.105, -0.1343, -0.0615, -1.7162, 7.1316, 1.619, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.028, 1.5772, 0.2989, 0.638, 0.0048, -0.0063, 0.9988, -0.0143, 0.878, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3475 left_y=0.0125 left_z=0.0115 left_yaw=0.0192 left_pitch=-0.0798 left_roll=-0.0062 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1523 right_yaw=0.0017 right_pitch=-0.1236 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -5.7094, 6.3658, 1.9512, 0.1685, 0.1392, -0.1343, -0.1573, -1.8256, 7.159, 1.6093, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bd96d11742b8ca6b8ed9d417a2005d9c8eaef0cc308d441e9b84a8eae6631ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb40566797518d6981aa358bb3cf434071d1abb1151656e9ae60a8fbfbe1caa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 350):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ea3c35d62a0e075a865fedbff9108e6124a560659bc5a1a0ce83ccd1da5dab9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QkKEAgRGAI4AUIIdGhpbmtpbmcSDKSmgpToMx0AhZIsKBoMnfdYYlOdFCgwxLxFIjBn0zsrg4TObqjLf7LOZ18sSgCh46UbakeI+1Rn/SgUnZVMS5436UCiO6iG7bxeJPEqigl4oPCxv3Trrdu6fjd54aaK4gE/3Dfrgo8DonSIcKQOsDonVBxZnsvykPTTuGAjVYMJezgPxGm4HOmerCuAlx8GDpu/KA3jaedE5bZVDTnKYz3SWKRzjTgLHlzHH+PZGcD+SArFcXg6IeBHKSVtEEe9De2h8xWVsEWlCmU780YV42Eo+DgsDLD9ILoeZcxjM1NoPSb9+JCL89n9jBsb18WMG39W1iE6LOZorB+rXI48kLKGoUrczoCKTp15Jy29O/jxoeFOPMea0dsdd0723Kfv/yxaYfCzZIovSnj6cxPd4ToUOzk884TP/5nhU/XkGirkapInHAGBmSUHeHoGuDKxNJGxWlVymNgA1fpkPb8HBdWLoRV8iodtzS6i7lvpOfosyAD1TXUvxeUZvBGfoSbHGDYnuMcx+rV82txVMhLK8iW/vNnCfNqzfduLkzT2k0T+oJKpkOwXYZPFJ81FigeAaL7V2J8ePQUtralb8KoKL9FyXtoUO1U7qI9CnJQGKC6BG5ZAY5ZV0bIXGWwlDE22nETenoWGe9mEn+grpz/dYy9szAhQcSsma46jdWabiO0EY1vOFezDsCi5ly2LqAZMUiAhahfn+6PyDaWe5zUjHCYhSv8uU8hg2xrBeh5AxDKSgLAUbrFu9IC2+zI5VJV6BDgOweXwgzw+oGm2wDlL+4+HBMjfxqeCsEt/rnm667Ai0Av7u1UfsQLmOMOsmNouVA3pDoxU3uDVXDyubcpGkpZ4xjLF9yAZa7rKaaVeQIhOowOjd5u3WUW7yHWbjSgb5m3Rj2lqNa8vHxcTW9f2NL5cGoQy9yjRRTPY+EwyxMru/f0hUZizjrBk3UlgVbCdeYc6vy/mshgZuWYmt39YdvfONu5aoaE5nAGnGRn3A2G5aTgsAihMmtcpPbOF9BwcyiiLexQQIuzE4I27/m90oH36fic60jn/2gHdt+LfJ2NNYN8vs/G4sJA7at80fC86mhIkarQj3ORlvHWExMh8m/sYVWi6BT0QXCZmqrW2jL2JXyRZ8h8LJFqscB91xtdzMdcHt8lc0un4EQAZ1kpzYoCKYMMjUkdteiZ0fL0QwOhbk8Qx9dNGNpMcuzNPZih9GrMrNQ9C7P4584QBRRtV33Pa2uflbR/RkBGmYdqaPJDaPfBWO5wO4/UXrUSFUASMs3DtTXD/hgkfFOzzH7H2cxHY7B3+2fFLWPYJN6Tcd08+IVUznsZH3MaqWtYj+zAyesiiLR1LCkn2mp9LG6OxNIhJ4E16XxLubPOqj9cesO1ZuJPmS75QfqR6UJYJmJPYA3tcXN47ZNFVj+ri4YmbZPa0ieuW4/21x8SIEbNmVj3op7iLcriY+G6IxRkmawLwj9iXjqm8d8cImLCXdLNitoj0/jBw6X4PETDfXCkPkqm5M2F7RjLQjDnU4JwsVRR1PjoFECDXMmheSQsmEH4skOHRzo/OrOflqNNy+kTX6HIX/7ncFWfRlGN1WQ+kEJpr9mr9BiLycBUMRFdB6TFKjSpJEc2yr+pJS07ucGUuIOW0va3LrsxyBjQVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M2kYpDGEWvTBQGK6xpTNg1",
      "input": {
        "note": "The handle is visible ahead-left in the wrist view and the fingertips are scraping the table; lifting a touch and advancing further so the left finger reaches the loop.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.39,
          "left_y": 0.012,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M2kYpDGEWvTBQGK6xpTNg1",
      "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]: [0.0296, 1.5894, 0.3088, 0.6781, 0.0086, 0.0006, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3557 left_y=0.0126 left_z=0.0187 left_yaw=0.0138 left_pitch=-0.0421 left_roll=-0.0023 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.3812, 6.0103, 1.9316, 0.1001, 0.0562, -0.1343, -0.1709, -1.7983, 7.241, 1.6142, -0.0513, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ebcb4b4b06201208a0728485016bef843e3c9c7fcda93d66e8bd9e51ddee37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4cfe58a90c82b20f0e53aeb42d1412f606488efad00a99c3588ac1ef2abfe78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4907ef0a300cf23a8a6573c47ec1f70375b1976fa77e9c294c598bbd58f3a2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 47 attempt 0 · /messages · status 200 · 25.07 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 132 changed as sent

message 135 changed as sent

message 138 changed as sent

message 132 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0219, 1.3926, 0.2661, 0.4618, -0.0025, -0.0071, 0.9988, -0.0143, 0.8772, 0.6067, -0.4091, -0.0116, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3268 left_y=0.0112 left_z=0.0244 left_yaw=0.0196 left_pitch=-0.1043 left_roll=-0.0025 left_gripper=0.9988 right_x=0.2954 right_y=0.0014 right_z=0.1525 right_yaw=0.0013 right_pitch=-0.1228 right_roll=0.0011 right_gripper=0.9998\nstate[joint_eff]: [0.1299, -5.2034, 4.6974, 1.9805, 0.022, 0.105, -0.1343, -0.0615, -1.7162, 7.1316, 1.619, -0.0366, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.028, 1.5772, 0.2989, 0.638, 0.0048, -0.0063, 0.9988, -0.0143, 0.878, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3475 left_y=0.0125 left_z=0.0115 left_yaw=0.0192 left_pitch=-0.0798 left_roll=-0.0062 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1523 right_yaw=0.0017 right_pitch=-0.1236 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -5.7094, 6.3658, 1.9512, 0.1685, 0.1392, -0.1343, -0.1573, -1.8256, 7.159, 1.6093, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.5894, 0.3088, 0.6781, 0.0086, 0.0006, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3557 left_y=0.0126 left_z=0.0187 left_yaw=0.0138 left_pitch=-0.0421 left_roll=-0.0023 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.3812, 6.0103, 1.9316, 0.1001, 0.0562, -0.1343, -0.1709, -1.7983, 7.241, 1.6142, -0.0513, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4ebcb4b4b06201208a0728485016bef843e3c9c7fcda93d66e8bd9e51ddee37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4cfe58a90c82b20f0e53aeb42d1412f606488efad00a99c3588ac1ef2abfe78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4907ef0a300cf23a8a6573c47ec1f70375b1976fa77e9c294c598bbd58f3a2c0",
        "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_01BJSKTWQHJghHvSmfBvx9ih",
      "input": {
        "note": "Forward motion is blocked at x≈0.355, likely by the mug handle against the left finger; trying the rightward drag from here to see if the mug comes along.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BJSKTWQHJghHvSmfBvx9ih",
      "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]: [-0.4564, 1.6314, 0.3843, 0.6392, -0.3119, -0.226, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1097 left_z=0.0264 left_yaw=-0.082 left_pitch=-0.0142 left_roll=-0.0109 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.053, 6.4205, 1.6484, -0.1978, -0.0757, -0.1343, -0.2393, -1.7162, 6.9949, 1.6337, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ce7e1c500707e9acbd6e11ddd823be3b0930f758439e625f10cd5dc9633789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5dc4a4813c59e1131250ef425618ee3b2904dac96e52b0b9dc35c6589bf2fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec20b723342b78119b520e11682a40bb6e0cb2aa10a9862be16dd4d3b8889635",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 48 attempt 0 · /messages · status 200 · 28.17 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 135 changed as sent

message 138 changed as sent

message 141 changed as sent

message 135 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.028, 1.5772, 0.2989, 0.638, 0.0048, -0.0063, 0.9988, -0.0143, 0.878, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3475 left_y=0.0125 left_z=0.0115 left_yaw=0.0192 left_pitch=-0.0798 left_roll=-0.0062 left_gripper=0.9988 right_x=0.2954 right_y=0.0015 right_z=0.1523 right_yaw=0.0017 right_pitch=-0.1236 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.4171, -5.7094, 6.3658, 1.9512, 0.1685, 0.1392, -0.1343, -0.1573, -1.8256, 7.159, 1.6093, -0.022, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.5894, 0.3088, 0.6781, 0.0086, 0.0006, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3557 left_y=0.0126 left_z=0.0187 left_yaw=0.0138 left_pitch=-0.0421 left_roll=-0.0023 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.3812, 6.0103, 1.9316, 0.1001, 0.0562, -0.1343, -0.1709, -1.7983, 7.241, 1.6142, -0.0513, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4564, 1.6314, 0.3843, 0.6392, -0.3119, -0.226, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1097 left_z=0.0264 left_yaw=-0.082 left_pitch=-0.0142 left_roll=-0.0109 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.053, 6.4205, 1.6484, -0.1978, -0.0757, -0.1343, -0.2393, -1.7162, 6.9949, 1.6337, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95ce7e1c500707e9acbd6e11ddd823be3b0930f758439e625f10cd5dc9633789",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5dc4a4813c59e1131250ef425618ee3b2904dac96e52b0b9dc35c6589bf2fbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 365):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec20b723342b78119b520e11682a40bb6e0cb2aa10a9862be16dd4d3b8889635",
        "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_01Rj8AaTQSTjoQMjDqJFbMNU",
      "input": {
        "note": "The mug still hasn't moved, so the open finger keeps missing the loop; switching to a closed gripper as a narrow hook, positioning it above the handle loop at the y limit before lowering into it.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.36,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01Rj8AaTQSTjoQMjDqJFbMNU",
      "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]: [0.1963, 1.2392, 0.5041, 0.1493, 0.1268, 0.075, 0.0083, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=0.0519 left_z=0.1064 left_yaw=0.0409 left_pitch=-0.02 left_roll=-0.0051 left_gripper=0.0083 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6684, 8.5812, 1.663, 0.1685, 0.149, 0.6813, -0.1983, -1.5248, 6.9949, 1.6435, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df31efbbdc6eaf85f8bac983ee1fb4ccaef0f6d1269cc125aa0342fc66b0561d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8210454d6105ae5b2ae3ccf97f6b1282ce501c33657949a2261b9891f5bdfa5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9dd2dcf0a8153b0ece1a367e8575b26951bfb57230a5886c302091ff3e070cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 49 attempt 0 · /messages · status 200 · 10.01 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 138 changed as sent

message 141 changed as sent

message 144 changed as sent

message 138 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0296, 1.5894, 0.3088, 0.6781, 0.0086, 0.0006, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3557 left_y=0.0126 left_z=0.0187 left_yaw=0.0138 left_pitch=-0.0421 left_roll=-0.0023 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.2256, -5.3812, 6.0103, 1.9316, 0.1001, 0.0562, -0.1343, -0.1709, -1.7983, 7.241, 1.6142, -0.0513, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4564, 1.6314, 0.3843, 0.6392, -0.3119, -0.226, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1097 left_z=0.0264 left_yaw=-0.082 left_pitch=-0.0142 left_roll=-0.0109 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.053, 6.4205, 1.6484, -0.1978, -0.0757, -0.1343, -0.2393, -1.7162, 6.9949, 1.6337, -0.0611, -0.0464, -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 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1963, 1.2392, 0.5041, 0.1493, 0.1268, 0.075, 0.0083, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=0.0519 left_z=0.1064 left_yaw=0.0409 left_pitch=-0.02 left_roll=-0.0051 left_gripper=0.0083 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6684, 8.5812, 1.663, 0.1685, 0.149, 0.6813, -0.1983, -1.5248, 6.9949, 1.6435, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df31efbbdc6eaf85f8bac983ee1fb4ccaef0f6d1269cc125aa0342fc66b0561d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8210454d6105ae5b2ae3ccf97f6b1282ce501c33657949a2261b9891f5bdfa5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 380):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9dd2dcf0a8153b0ece1a367e8575b26951bfb57230a5886c302091ff3e070cd",
        "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_01QoAG85Szcbt6qJiSCkX3Nd",
      "input": {
        "note": "Clear wrist view now: the handle loop sits about 2.5 cm left of and a few cm ahead of the jaw tips. Opening the jaws so the left finger (4.75 cm left of the grasp point) drops into the loop at about (0.37, 0.075).",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.37,
          "left_y": 0.028,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QoAG85Szcbt6qJiSCkX3Nd",
      "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]: [0.1081, 1.5688, 0.3679, 0.5827, 0.0898, 0.0498, 0.9954, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3638 left_y=0.0272 left_z=0.0268 left_yaw=-0.0027 left_pitch=-0.0549 left_roll=-0.0094 left_gripper=0.9954 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.6137, 4.2325, 2.0147, -0.0269, 0.0513, -0.1197, -0.0205, -1.7026, 6.9949, 1.6581, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac944670ceb0a6896ba3a3622c3ab8297a6fafbb1afeb4188af8777182f46394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f9fd9ef03c6744beeb5045daaa2d8d1257b4230c5addbc224af2f44b3761d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd6e1aa919f67f616d8ffa2f9b40669b4459422a3aa3b9f532df4dfb124e182d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 50 attempt 0 · /messages · status 200 · 7.576 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 141 changed as sent

message 144 changed as sent

message 147 changed as sent

message 141 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.4564, 1.6314, 0.3843, 0.6392, -0.3119, -0.226, 0.9988, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3544 left_y=-0.1097 left_z=0.0264 left_yaw=-0.082 left_pitch=-0.0142 left_roll=-0.0109 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.1436, -5.053, 6.4205, 1.6484, -0.1978, -0.0757, -0.1343, -0.2393, -1.7162, 6.9949, 1.6337, -0.0611, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1963, 1.2392, 0.5041, 0.1493, 0.1268, 0.075, 0.0083, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=0.0519 left_z=0.1064 left_yaw=0.0409 left_pitch=-0.02 left_roll=-0.0051 left_gripper=0.0083 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6684, 8.5812, 1.663, 0.1685, 0.149, 0.6813, -0.1983, -1.5248, 6.9949, 1.6435, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1081, 1.5688, 0.3679, 0.5827, 0.0898, 0.0498, 0.9954, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3638 left_y=0.0272 left_z=0.0268 left_yaw=-0.0027 left_pitch=-0.0549 left_roll=-0.0094 left_gripper=0.9954 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.6137, 4.2325, 2.0147, -0.0269, 0.0513, -0.1197, -0.0205, -1.7026, 6.9949, 1.6581, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac944670ceb0a6896ba3a3622c3ab8297a6fafbb1afeb4188af8777182f46394",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62f9fd9ef03c6744beeb5045daaa2d8d1257b4230c5addbc224af2f44b3761d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 390):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd6e1aa919f67f616d8ffa2f9b40669b4459422a3aa3b9f532df4dfb124e182d",
        "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_013PVnCcpSkrpT29X1S4n4Cx",
      "input": {
        "note": "The gripper reached table level but the handle bar still appears ahead of the left jaw in the wrist view; sliding forward 3 cm so the finger moves into the loop.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": 0.028,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013PVnCcpSkrpT29X1S4n4Cx",
      "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]: [0.0956, 1.6978, 0.4377, 0.6495, 0.0807, 0.0444, 0.9988, -0.0147, 0.8795, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3865 left_y=0.0264 left_z=0.018 left_yaw=-0.0046 left_pitch=-0.0478 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1518 right_yaw=0.0013 right_pitch=-0.1251 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.7077, 6.1197, 1.956, -0.0708, -0.0562, -0.1392, -0.2256, -1.2786, 7.0085, 1.6532, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bbe5b5fc60b1e75346ded7a184d0554156d3544a68a30e231c58475edf4714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479c5e9cbf73bf3155abebe8d6c22579cd7a8b5eb100c468023a599adb8ea2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a6820b9a955e5710179cb07235bba794456d42eaff5924c3e262c7bc1b824ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 51 attempt 0 · /messages · status 200 · 11.77 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 144 changed as sent

message 147 changed as sent

message 150 changed as sent

message 144 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1963, 1.2392, 0.5041, 0.1493, 0.1268, 0.075, 0.0083, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3573 left_y=0.0519 left_z=0.1064 left_yaw=0.0409 left_pitch=-0.02 left_roll=-0.0051 left_gripper=0.0083 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.6684, 8.5812, 1.663, 0.1685, 0.149, 0.6813, -0.1983, -1.5248, 6.9949, 1.6435, -0.0366, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1081, 1.5688, 0.3679, 0.5827, 0.0898, 0.0498, 0.9954, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3638 left_y=0.0272 left_z=0.0268 left_yaw=-0.0027 left_pitch=-0.0549 left_roll=-0.0094 left_gripper=0.9954 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.6137, 4.2325, 2.0147, -0.0269, 0.0513, -0.1197, -0.0205, -1.7026, 6.9949, 1.6581, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0956, 1.6978, 0.4377, 0.6495, 0.0807, 0.0444, 0.9988, -0.0147, 0.8795, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3865 left_y=0.0264 left_z=0.018 left_yaw=-0.0046 left_pitch=-0.0478 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1518 right_yaw=0.0013 right_pitch=-0.1251 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.7077, 6.1197, 1.956, -0.0708, -0.0562, -0.1392, -0.2256, -1.2786, 7.0085, 1.6532, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bbe5b5fc60b1e75346ded7a184d0554156d3544a68a30e231c58475edf4714d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:479c5e9cbf73bf3155abebe8d6c22579cd7a8b5eb100c468023a599adb8ea2d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 393):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a6820b9a955e5710179cb07235bba794456d42eaff5924c3e262c7bc1b824ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgRGAI4AUIIdGhpbmtpbmcSDGvrEUMltFSCOkWnOhoMA9YT2WCBIXGO2mw6IjDxU21yf/zaVB8smP/HRrswIrBnIl9nQmUmVhTP0BcuSSJFAPvqURKdVKS9w1Ff14wq/wcVJctNCyOmY9TTdd0wOk7IIaDkfne7rvYKM4mPbmLkNIVssdUIPEatUuNM3e5Aj/C//MT5g5kS2LS/27nudpBMet8qiqknPVCYZPi4OVDDtN6XdH07lrw0DxDxt6gUeLAwJyRBEwEojfxVg0GZ04XZxI+d5TR9x/QljlhSxWKtyZRi3edULoJK0G3Mz2u0TfgmQYUWaTLIlLDM33NVDQ9AnRBmmh2qBkrcH1frjzbsPlKlwmp27yP8fiTHCv7bH2Qa5rz/y7Nc08f/Rm0/lsDedJzazt8Uh4pwQxpNsMYbggPHCKnHOSbmCZJSqoyA3FM6S1ls24WnolSQKvgnlDtilarrbPAvIAnOQFTU1lI5i0dxy5OQ5h2gi+87Ugqoe498XprnRXqHoubH4428egrFU2kNSI1fl27HBOWyRstpYWZRpnq5pGB46DIOXYE9EYzL9w4TqFaY9BjfT5N6Q2UAy2kXSATERXMY6lD6B4opvNPv9Dk/Mm/MMXfDHXPjOq8UhytYOh8Ldxi+nJuR7ZqoUbUfgEL+YXma4MUmwDQWb6whUyqRQAs2nAhiUex4BAcZV3jwHCF15WsLnwW3oEiT+woOhhNKim7vBjqpQG7bLBPOc0RtwBi/icGv3YkJ0G57OchxRttj7hZ8Q3KDXS4voUhELRXbElZB6/jaN/xtai+tZG38nCxBFg+5OiXTNEjvlnsmRx3vPGrM6DKpsCj5bfGnxxlakcjvx/z4PTtFVvJhQch9xil5xfeWg0eP6s5QXJk+N2CaDbuHsK7A1YQ5FOpGggub2diAG4jVvZlmvmKISq5NiTDV6dyrW+bo0ZMT83GJY2HtpKViGAF4T5OwzA4FnymHo3KxdXMzXGnfpcl58Vpx1xtOvIH1AFKyiAjbkQ0J+KFEhJ7pGaBDrir9Is8Ism6DnT11TiIyg+zDGnCUe2A3XcheGvqhBe1/PXjp74aUzgigORMbunk90QiNUbKPoazztrGFZcdI6fOAr9/2Q5VyCnGv7PyMqbGKfW3LP8shOzB+nfXepeujHCKl7A4eL1a4R0DeuQyZGl1LPBd/9ov8kiPe3PVSCx47l9yODKBD7rJ2QYsm55H69iikAFX3E5i5bUu/edsJRtjRGqUxbEfJkZ/SXUZGSXl3vD+szagoqhP266jxcjENsOgZe9sPlGwuZibEQkrTSxigazWHSnwjYjtGqF2u4JQ4VN7e0u/21LKKYOwu0MnLqawC/J/C0HdsL78e3qvCA0LwSt8mAyaJug1mm9zapcuHflo9ERdEtrhIJZD74IAZmlKoXk0iFIUwny5lZQjTWdNg7X5c1hKhbNasu2GVe5I5BQjekj+cXJYAvkqLUcCyp0oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SVeSJrdUZgPV2bxjMsdwAV",
      "input": {
        "note": "The handle now sits right beside the open left jaw in the wrist view; dragging rightward to pull the mug toward the centre.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SVeSJrdUZgPV2bxjMsdwAV",
      "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]: [-0.0235, 1.7435, 0.5022, 0.63, -0.0315, -0.0498, 0.9988, -0.0147, 0.8814, 0.6067, -0.4099, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.0003 left_z=0.0183 left_yaw=0.0216 left_pitch=-0.0505 left_roll=-0.0208 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1512 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.1316, 5.6684, 1.7607, 0.0806, -0.0806, -0.1343, -0.2393, -1.8393, 6.9675, 1.619, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609b2c8a5e933076408bcc92551070aeccb73ac23048c906cf510656180ba1fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca6fc67047b0f01dd91bba4d9bdd95dab8f0279d44d53f91eb04008370f017e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a2b3f3474a8f96ca45e0d8c08bd44d4dd231b16e562711589d16a50216488da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 52 attempt 0 · /messages · status 200 · 31.3 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 147 changed as sent

message 150 changed as sent

message 153 changed as sent

message 147 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1081, 1.5688, 0.3679, 0.5827, 0.0898, 0.0498, 0.9954, -0.0147, 0.8783, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3638 left_y=0.0272 left_z=0.0268 left_yaw=-0.0027 left_pitch=-0.0549 left_roll=-0.0094 left_gripper=0.9954 right_x=0.2955 right_y=0.0014 right_z=0.1521 right_yaw=0.0013 right_pitch=-0.124 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -5.6137, 4.2325, 2.0147, -0.0269, 0.0513, -0.1197, -0.0205, -1.7026, 6.9949, 1.6581, -0.0317, -0.0757, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0956, 1.6978, 0.4377, 0.6495, 0.0807, 0.0444, 0.9988, -0.0147, 0.8795, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3865 left_y=0.0264 left_z=0.018 left_yaw=-0.0046 left_pitch=-0.0478 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1518 right_yaw=0.0013 right_pitch=-0.1251 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.7077, 6.1197, 1.956, -0.0708, -0.0562, -0.1392, -0.2256, -1.2786, 7.0085, 1.6532, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0235, 1.7435, 0.5022, 0.63, -0.0315, -0.0498, 0.9988, -0.0147, 0.8814, 0.6067, -0.4099, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.0003 left_z=0.0183 left_yaw=0.0216 left_pitch=-0.0505 left_roll=-0.0208 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1512 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.1316, 5.6684, 1.7607, 0.0806, -0.0806, -0.1343, -0.2393, -1.8393, 6.9675, 1.619, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:609b2c8a5e933076408bcc92551070aeccb73ac23048c906cf510656180ba1fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca6fc67047b0f01dd91bba4d9bdd95dab8f0279d44d53f91eb04008370f017e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 405):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2b3f3474a8f96ca45e0d8c08bd44d4dd231b16e562711589d16a50216488da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStw0KEAgRGAI4AUIIdGhpbmtpbmcSDPSnBIOjgC+lsOsdHxoMPRDSlYn8rtdjRBXGIjCjjrs+2/FcAIKocdI63E504w0FTEobCQ7rz+qhMUNa8yc64O4aTZqb1zLfC7jvizgq1AwrXJSVoUElfyyJZZ7a+xhLLGFl2TgntA+Kfd6uJ/PfuCWBi52CoHQ5rgNCQ0p5Rz0v/SU8MVI/O5J6U+ItkZhaFZSPLsMGJO1dK4U6brxFLLDDmtX8q7bBkNP9wRWMw9w0JVVBV/HOC3TMnoy4T7h7YGGxlGdaJeR9eBtLiuvyYK3jP/XynRKBA568nMqb2xCYuaDtMtOCIQEnybuEdTS1RYLn7Ee5frkuhYOfXnC+fxBWvCuJybMtWpisyZD/NB+88MMLZnsIgFm8Bj9dI1kHDgYyW8UA3O1z3XLhuw6NmGFIsGltisTPst3JKNRW6snNcehP9+wrRiC3MaCaa+XBbS4cfCd/o52EbjQWU7syHIaCcdMKt4eSUDbXhbb4qEhztS+g7w9flK5UrtbMqyjNzt5Es2BN8reQbI/ayeXMD5sZF1Z9FB2Fjmd9WFnNVk6AZuNSj0HCggpWfVFQoAa/pNFJQ71ZsmKI1wyotEfM9A2dUJ7A/1FS82fTe6Dob3I8hRBZkWwzi7bZ2enKMhLkm79FT66hsN3GEp2+IRDrgy3ffjhFHiZUuoQsE6tBGZRUjhQzNWu32GNiRE3QM0OKwUxuAdX7wUWAPaYroH90n1UYazIDWcYBk608j/Pz4ZCTInVsjKoWUewz830rqzp6htdtWewwQsAs+vYESeuDGFuxNKgD3nVd7B7BMKhhGrG3zHSA926C2OgqaKNPSBRvSsal4+Mc0O4qo15Yo5wVYcf2dz6s+SVqEybxXvJMZ836JyTdnLopZ5AVj066i6Fk8caz9gXFpx7e/ylgXkPzMcR7t/GEXEzNNWL2XkGhR6uEdI+pLKfG1Fg47Zo7qujXsjeKNINlltN75jwzS7qklVIdRm6z5aICeZNMOrY1i3h0w5pBl6RfT2VucvNZpjYGxLexZ/14V9f0RYo7yYAzGNKU5Pk4m9brttPGbrb3zxh2iQ80fDzdd9V8G7O4THK2PerSxJT9303LjzC1EpgHOFJ9VGMQ5SvNS5wgsdulKdoyXb84ZVL8BYI1liHQmsbXS8vSkDXkmw6KaR+7bxqndy8j7dPvr2DVTIhV7OaB6tPCZs1u39yO8Xph/TKveuBgpPQ+9JiJ8uG/QTjzrBCLkj6XX/IZVw2rEn3aVVcQLrn4ZhKpqCTFh1L6VofGivw3SBt7/8Ked7CFV+4ewLXSLfsg6agPk4NmRhF1lfCYbhDSUKd08hDH/uhI0sMxPTZQkjRjfj8gMxFVtopD+0PthwOltt0QU52s8Qw6zGq4L8C8kprOG/Ny+oKZpwTcrz+Uzjt84ozjqTDI6rOXmOCpcOMW/QDUnQE5GUbmVpS4lL+uumd5RcuX0dLSgycOKjMGP0dRR2igAciKYCR7kwjlsvylLfCgwFwlcUQC/XPuDZxjKLZiUUWDRpTfC2O2gNdHVaHrHt9x5xvOl/dcLPrqvd293ocU1DnOPIsJOoAKu0wpMDv7suVs6jyFKcqxXbVoxC6L42RbW4kxeSj9rB+zbTwUxwtgSo1Di8xn4e+Dud8XPnN4NzfE/52mivyD+ECqXSq7nrd9K9LcxD+7EREuwAG/89R2aUd3035b/AZYhJRmy/+BFX4/4OCi5G1isNR7vYPLulWHCFGglmi85MB24XoXabmKzuEiZv40zqCf/tMfbhditCHObJHcLV1PO9iPZ9JNsUrB+LF1rqsvi8uU1t4yqDrVr0VgT16OPMKFEXMyW/WaiOThTWZ3TJjEGSTxJZ6LD6tE3vljapsb1xN+8/BWcOsYycicy7XpeWTfL0h3Vi0ro6CSXRJnelQmQWk/QliTvtdEeGc/KLQwdP5QoOsLzVjBhMjvgm4xjMBzf10Rvzrh328u3BGGBbbgiqgE+uWoByqOw3oZL/M5qJjG7QnZ2noMC54ZQtg4JanSZrN3yhSi96I2xkq1+wXFMXZ4mczFVUXHXiTJI8ADIBsa3oPTs7MDjyYwoNlNcJuZSl6W92Y0mrn9tijAsoKwwE7Mkukl4qb1gTl0SEoUgrzR9CDSF927/u2b2vUa7XhfNFrzLdpDpV1fg1fqUnElYkqGK6wgfiCWRVIaytDmM/JHECoYuCIDoVwglWfjtWIoXLXH3u7JoQeigeEG4swzvHjRIpwpp1fyYuWEwkNnqxtScVrtVgsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0195D8Z1bcyZPQZfygAJe2Fm",
      "input": {
        "note": "The drag stalled after 2-3 cm with little torque, which matches earlier controller stalls near the table when the wrist joint hits a limit; repeating the rightward drag slightly higher at z=0.055.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.1,
          "left_yaw": 0.0,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0195D8Z1bcyZPQZfygAJe2Fm",
      "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]: [-0.3801, 1.6878, 0.5507, 0.4892, -0.2993, -0.2111, 0.9988, -0.0147, 0.8818, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.391 left_y=-0.0963 left_z=0.0331 left_yaw=-0.0236 left_pitch=-0.0544 left_roll=0.0088 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1511 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.1829, 7.3231, 1.7314, -0.2662, -0.0611, -0.1343, -0.212, -1.812, 7.1316, 1.6044, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9009a24ff732eab18dd1b1e0d3d8647f47b339a977d586ba1085fbf95e91b527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603a72746e7d2aa91ab782dee823b2a78483939f1c8d8de437f8d5539b4ee28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d79c94db99db95372641a93e0c9e49ea8c691321a2b49fe6e9549a89f2c73fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 53 attempt 0 · /messages · status 200 · 10.93 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 150 changed as sent

message 153 changed as sent

message 156 changed as sent

message 150 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0956, 1.6978, 0.4377, 0.6495, 0.0807, 0.0444, 0.9988, -0.0147, 0.8795, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3865 left_y=0.0264 left_z=0.018 left_yaw=-0.0046 left_pitch=-0.0478 left_roll=-0.0078 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1518 right_yaw=0.0013 right_pitch=-0.1251 right_roll=0.0013 right_gripper=0.9998\nstate[joint_eff]: [-0.2393, -6.7077, 6.1197, 1.956, -0.0708, -0.0562, -0.1392, -0.2256, -1.2786, 7.0085, 1.6532, -0.0269, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0235, 1.7435, 0.5022, 0.63, -0.0315, -0.0498, 0.9988, -0.0147, 0.8814, 0.6067, -0.4099, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.0003 left_z=0.0183 left_yaw=0.0216 left_pitch=-0.0505 left_roll=-0.0208 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1512 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.1316, 5.6684, 1.7607, 0.0806, -0.0806, -0.1343, -0.2393, -1.8393, 6.9675, 1.619, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3801, 1.6878, 0.5507, 0.4892, -0.2993, -0.2111, 0.9988, -0.0147, 0.8818, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.391 left_y=-0.0963 left_z=0.0331 left_yaw=-0.0236 left_pitch=-0.0544 left_roll=0.0088 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1511 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.1829, 7.3231, 1.7314, -0.2662, -0.0611, -0.1343, -0.212, -1.812, 7.1316, 1.6044, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9009a24ff732eab18dd1b1e0d3d8647f47b339a977d586ba1085fbf95e91b527",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:603a72746e7d2aa91ab782dee823b2a78483939f1c8d8de437f8d5539b4ee28d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 414):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d79c94db99db95372641a93e0c9e49ea8c691321a2b49fe6e9549a89f2c73fe",
        "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_01EhgHNamLXSQk7Bdn9dQ8Lq",
      "input": {
        "note": "The mug barely moved, so the finger is not catching the handle (a mug handle is a vertical loop, closed on top). New plan: pinch the handle's vertical outer bar between the jaws by approaching it from the base side; first positioning behind it at handle height.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.34,
          "left_y": 0.02,
          "left_yaw": 0.0,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01EhgHNamLXSQk7Bdn9dQ8Lq",
      "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]: [0.0605, 1.4155, 0.2749, 0.5465, 0.0074, -0.0013, 0.9988, -0.0143, 0.8829, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3397 left_y=0.0228 left_z=0.0372 left_yaw=0.0467 left_pitch=-0.0337 left_roll=-0.0032 left_gripper=0.9988 right_x=0.2956 right_y=0.0015 right_z=0.1508 right_yaw=0.0017 right_pitch=-0.1289 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.5744, 1.9023, 0.2173, 0.0855, -0.1343, -0.0889, -1.853, 6.9949, 1.6337, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448f94b61c1bf48ee7fdd75706fbcfaadea129662f699f9d6e51de850affab5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2d59c96204907eb268592e7f20047851022dc77119717ebfe9148620a46556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af5a722acf5404ff295047750934d1e67bd5616a1ef3b4dada8ce069c08d5307",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 54 attempt 0 · /messages · status 200 · 10.69 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 153 changed as sent

message 156 changed as sent

message 159 changed as sent

message 153 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.0235, 1.7435, 0.5022, 0.63, -0.0315, -0.0498, 0.9988, -0.0147, 0.8814, 0.6067, -0.4099, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4036 left_y=-0.0003 left_z=0.0183 left_yaw=0.0216 left_pitch=-0.0505 left_roll=-0.0208 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1512 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3077, -7.1316, 5.6684, 1.7607, 0.0806, -0.0806, -0.1343, -0.2393, -1.8393, 6.9675, 1.619, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3801, 1.6878, 0.5507, 0.4892, -0.2993, -0.2111, 0.9988, -0.0147, 0.8818, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.391 left_y=-0.0963 left_z=0.0331 left_yaw=-0.0236 left_pitch=-0.0544 left_roll=0.0088 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1511 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.1829, 7.3231, 1.7314, -0.2662, -0.0611, -0.1343, -0.212, -1.812, 7.1316, 1.6044, -0.0366, -0.0415, -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 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0605, 1.4155, 0.2749, 0.5465, 0.0074, -0.0013, 0.9988, -0.0143, 0.8829, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3397 left_y=0.0228 left_z=0.0372 left_yaw=0.0467 left_pitch=-0.0337 left_roll=-0.0032 left_gripper=0.9988 right_x=0.2956 right_y=0.0015 right_z=0.1508 right_yaw=0.0017 right_pitch=-0.1289 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.5744, 1.9023, 0.2173, 0.0855, -0.1343, -0.0889, -1.853, 6.9949, 1.6337, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448f94b61c1bf48ee7fdd75706fbcfaadea129662f699f9d6e51de850affab5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2d59c96204907eb268592e7f20047851022dc77119717ebfe9148620a46556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 425):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af5a722acf5404ff295047750934d1e67bd5616a1ef3b4dada8ce069c08d5307",
        "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_01EfDHvZ6rEBTuWbrKxNzyYE",
      "input": {
        "note": "The handle's outer bar shows ahead-left of the jaws in the wrist view, roughly at (0.41, 0.06); advancing at the y limit with the jaws half open so the bar enters between them.",
        "targets": {
          "left_gripper": 0.5,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.41,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01EfDHvZ6rEBTuWbrKxNzyYE",
      "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]: [0.1658, 1.6867, 0.4999, 0.5861, 0.1101, 0.065, 0.504, -0.0147, 0.8848, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=0.0505 left_z=0.0309 left_yaw=0.0298 left_pitch=-0.036 left_roll=-0.0062 left_gripper=0.504 right_x=0.2958 right_y=0.0014 right_z=0.1504 right_yaw=0.0013 right_pitch=-0.1301 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.2974, 6.0513, 1.7558, 0.149, 0.149, -0.0073, -0.0479, -1.5795, 6.9949, 1.6532, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1526f92d9c2b38e6def586d8e4125fd4fe4642ef7ad0d2734d3b91ae6c6a683c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2e8bef9d686d87b67e3ae79755df3fed07eeafc980919a165acfedf70c7043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4aa955c83193ca1155dd87b94fde7a74966081df7eb6efc9885673dbb93f4df8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 55 attempt 0 · /messages · status 200 · 5.228 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 156 changed as sent

message 159 changed as sent

message 162 changed as sent

message 156 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [-0.3801, 1.6878, 0.5507, 0.4892, -0.2993, -0.2111, 0.9988, -0.0147, 0.8818, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.391 left_y=-0.0963 left_z=0.0331 left_yaw=-0.0236 left_pitch=-0.0544 left_roll=0.0088 left_gripper=0.9988 right_x=0.2955 right_y=0.0014 right_z=0.1511 right_yaw=0.0013 right_pitch=-0.1278 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [-0.3897, -9.1829, 7.3231, 1.7314, -0.2662, -0.0611, -0.1343, -0.212, -1.812, 7.1316, 1.6044, -0.0366, -0.0415, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0605, 1.4155, 0.2749, 0.5465, 0.0074, -0.0013, 0.9988, -0.0143, 0.8829, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3397 left_y=0.0228 left_z=0.0372 left_yaw=0.0467 left_pitch=-0.0337 left_roll=-0.0032 left_gripper=0.9988 right_x=0.2956 right_y=0.0015 right_z=0.1508 right_yaw=0.0017 right_pitch=-0.1289 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.5744, 1.9023, 0.2173, 0.0855, -0.1343, -0.0889, -1.853, 6.9949, 1.6337, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1658, 1.6867, 0.4999, 0.5861, 0.1101, 0.065, 0.504, -0.0147, 0.8848, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=0.0505 left_z=0.0309 left_yaw=0.0298 left_pitch=-0.036 left_roll=-0.0062 left_gripper=0.504 right_x=0.2958 right_y=0.0014 right_z=0.1504 right_yaw=0.0013 right_pitch=-0.1301 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.2974, 6.0513, 1.7558, 0.149, 0.149, -0.0073, -0.0479, -1.5795, 6.9949, 1.6532, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1526f92d9c2b38e6def586d8e4125fd4fe4642ef7ad0d2734d3b91ae6c6a683c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc2e8bef9d686d87b67e3ae79755df3fed07eeafc980919a165acfedf70c7043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 431):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa955c83193ca1155dd87b94fde7a74966081df7eb6efc9885673dbb93f4df8",
        "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_01NH1ksyMvgb59K1rM8tDdTF",
      "input": {
        "note": "The handle bar is just left of the half-open left jaw and slightly ahead; opening fully and advancing 2.5 cm so the bar lies inside the jaw gap, then I will close on it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.425,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NH1ksyMvgb59K1rM8tDdTF",
      "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]: [0.1623, 1.7641, 0.5583, 0.5922, 0.128, 0.07, 0.9948, -0.0147, 0.8867, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4125 left_y=0.0483 left_z=0.0226 left_yaw=0.0085 left_pitch=-0.0474 left_roll=-0.0141 left_gripper=0.9948 right_x=0.2957 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1327 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.9128, 6.4889, 1.9463, 0.0806, 0.1783, 0.1148, -0.0342, -1.9077, 6.9949, 1.6386, -0.0659, -0.0415, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43f2f7e6d2f9b4a49f4787e6f4c867c0d18dbacc9510da0fa1cc887c77369d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db191b4ddb54222df1ee819158efbd522935edda51a289597d794ff536708b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:957c5ed05645abd56458a1b53279a33c830b52656b6ec6f63c2e482b3fc383a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 56 attempt 0 · /messages · status 200 · 24.8 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 159 changed as sent

message 162 changed as sent

message 165 changed as sent

message 159 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.0605, 1.4155, 0.2749, 0.5465, 0.0074, -0.0013, 0.9988, -0.0143, 0.8829, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3397 left_y=0.0228 left_z=0.0372 left_yaw=0.0467 left_pitch=-0.0337 left_roll=-0.0032 left_gripper=0.9988 right_x=0.2956 right_y=0.0015 right_z=0.1508 right_yaw=0.0017 right_pitch=-0.1289 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.0615, -5.2718, 4.5744, 1.9023, 0.2173, 0.0855, -0.1343, -0.0889, -1.853, 6.9949, 1.6337, -0.0611, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1658, 1.6867, 0.4999, 0.5861, 0.1101, 0.065, 0.504, -0.0147, 0.8848, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=0.0505 left_z=0.0309 left_yaw=0.0298 left_pitch=-0.036 left_roll=-0.0062 left_gripper=0.504 right_x=0.2958 right_y=0.0014 right_z=0.1504 right_yaw=0.0013 right_pitch=-0.1301 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.2974, 6.0513, 1.7558, 0.149, 0.149, -0.0073, -0.0479, -1.5795, 6.9949, 1.6532, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 165 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7641, 0.5583, 0.5922, 0.128, 0.07, 0.9948, -0.0147, 0.8867, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4125 left_y=0.0483 left_z=0.0226 left_yaw=0.0085 left_pitch=-0.0474 left_roll=-0.0141 left_gripper=0.9948 right_x=0.2957 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1327 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.9128, 6.4889, 1.9463, 0.0806, 0.1783, 0.1148, -0.0342, -1.9077, 6.9949, 1.6386, -0.0659, -0.0415, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43f2f7e6d2f9b4a49f4787e6f4c867c0d18dbacc9510da0fa1cc887c77369d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db191b4ddb54222df1ee819158efbd522935edda51a289597d794ff536708b99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 436):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:957c5ed05645abd56458a1b53279a33c830b52656b6ec6f63c2e482b3fc383a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QYKEAgRGAI4AUIIdGhpbmtpbmcSDILT4Tha+uA/8Q+gohoMtlCTia6BdtbB66lwIjBzZ8ttAPzCqOHzqTMg6kXhpeHb8nnOinBWbG13UopZGnd2TozrzIt3MGe05CGwKMUq/gVfxjhV4TCf1ana+PIgCeH+steBiOOFt/sPwblwCeiHT471Rolnm/TKBvD/0bGeQw02W9hWKqb1vKrN5dJxlF7b1LHH+hghB2mn/C3dcxkFB+iT741jUMTOa8xALl512tNYpTbfUVzkS/1jOX4fxf65rD4OZ2dIahddWeApPZwQOgZtq3d4ApFAkTrhQuCFgTJ+gnZV3ZvrF/jLjJFn8M1PSvX73s8PrlXpiC+1FLJcA+pWjt+mkLUnfUEq1mNwFulcZIeMfWvlQtdGSgAgYJ6jOTYWWKZtMx+N//64tnqLOweIG8tLztp3NdM4LK0YlihyS7g/NOvfweB+HaFaaKxLMfDtv8BHt9fHYkLcu5rvfXZqqplY17vgjZ6XD/ReL69rvNrWgPrr+790HEQAKGyaqHkUTdU43nLxlaxBpo0w2rPkTPxHb9+Bl0WedxPpID4Zkk67NUPO1Be56NWDdQsIzVDJjRR2kaIG4tB0QwuuXBV+OI2jYeHXwkD4H9UUF0kMWwKFQdF4+am/J4TP+jul8FL2Ms1KZQYe6a4MZVJtLoYXjMv3h5jXtpADkToe34X0+WveYZ7A02DsjY4D4vARIAQO8measxXz8WKR6Wf7iNx0w0OM/qe4CmoOz0B2puhelDUVjBzGnUkLsk07VfUmaYsP63ar6o8zN9QbVl3GvQrNnLTRtS6T3yYRj5Rm9wI6EyjtaR4SUmZwhorqNsVNbTKQ4oxXo8kSvCctMN15aYWp8VgFN2pZa7VOjVmKCss4Px3XjHYIvgN8HAZzlwwuKBYg/nllLO2eMfXbiV6l/l0UFjs5mjUdSzRF5iEVTXtIu1mJSLJfpqaGtj36QCDdhLlmvTW5e7Gt/Ib63+uqur3KPUw9QxzvA1gWtlfUzwGxHos0d9dV24N811AWEgZWSRBIHXjlIuFPfEHy2NqoKeD1IY3HtZhcXE1c+CvRMgA7bfSfxvfgzfkW/Kw9Fwz3q4GkxrCipCi0BaY5YxQDtS38Ln4WNLwF4JF5nh67GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RDrDFvLQ2wQ4yzVXZkohoc",
      "input": {
        "note": "The red handle now sits right beside the open left jaw in the wrist view; closing the jaws to pinch the handle bar.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.415,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RDrDFvLQ2wQ4yzVXZkohoc",
      "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]: [0.1623, 1.7691, 0.5678, 0.5964, 0.1272, 0.0723, 0.0092, -0.0147, 0.8867, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4159 left_y=0.049 left_z=0.0247 left_yaw=0.008 left_pitch=-0.0388 left_roll=-0.0105 left_gripper=0.0092 right_x=0.2958 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1324 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.0496, 6.2291, 1.9853, 0.0904, 0.0415, 0.696, -0.1709, -1.6342, 7.2137, 1.5995, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5235efe48eac5a4fc86f0433cb75e173ec6b5d28fb0656508a7b419f1125bef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d97bc144780ab8c04d8300560d5f97ce18f0937502e30ad99817d06f26da09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffedf62020f6209cfd9b0f539413eec85a97b1fae4dc8280aaa94e04637932b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 57 attempt 0 · /messages · status 200 · 6.958 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 162 changed as sent

message 165 changed as sent

message 168 changed as sent

message 162 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1658, 1.6867, 0.4999, 0.5861, 0.1101, 0.065, 0.504, -0.0147, 0.8848, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3979 left_y=0.0505 left_z=0.0309 left_yaw=0.0298 left_pitch=-0.036 left_roll=-0.0062 left_gripper=0.504 right_x=0.2958 right_y=0.0014 right_z=0.1504 right_yaw=0.0013 right_pitch=-0.1301 right_roll=0.0014 right_gripper=0.9998\nstate[joint_eff]: [0.3077, -6.2974, 6.0513, 1.7558, 0.149, 0.149, -0.0073, -0.0479, -1.5795, 6.9949, 1.6532, -0.0708, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 165 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7641, 0.5583, 0.5922, 0.128, 0.07, 0.9948, -0.0147, 0.8867, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4125 left_y=0.0483 left_z=0.0226 left_yaw=0.0085 left_pitch=-0.0474 left_roll=-0.0141 left_gripper=0.9948 right_x=0.2957 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1327 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.9128, 6.4889, 1.9463, 0.0806, 0.1783, 0.1148, -0.0342, -1.9077, 6.9949, 1.6386, -0.0659, -0.0415, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 168 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7691, 0.5678, 0.5964, 0.1272, 0.0723, 0.0092, -0.0147, 0.8867, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4159 left_y=0.049 left_z=0.0247 left_yaw=0.008 left_pitch=-0.0388 left_roll=-0.0105 left_gripper=0.0092 right_x=0.2958 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1324 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.0496, 6.2291, 1.9853, 0.0904, 0.0415, 0.696, -0.1709, -1.6342, 7.2137, 1.5995, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 446):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5235efe48eac5a4fc86f0433cb75e173ec6b5d28fb0656508a7b419f1125bef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 446):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6d97bc144780ab8c04d8300560d5f97ce18f0937502e30ad99817d06f26da09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 446):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffedf62020f6209cfd9b0f539413eec85a97b1fae4dc8280aaa94e04637932b2",
        "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_01AU8cuY6YkpephN5BgwoYS3",
      "input": {
        "note": "Empty close again — the handle is roughly 6 cm beyond the left arm's y limit. Last attempt: reach past the handle with the fully open jaws and then rake it back toward the base to swing the mug inward.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.47,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AU8cuY6YkpephN5BgwoYS3",
      "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]: [0.1452, 1.9072, 0.7353, 0.5808, 0.1085, 0.054, 0.9951, -0.0147, 0.8875, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4591 left_y=0.0514 left_z=0.022 left_yaw=0.0164 left_pitch=-0.0267 left_roll=-0.0133 left_gripper=0.9951 right_x=0.2958 right_y=0.0014 right_z=0.1496 right_yaw=0.0013 right_pitch=-0.1331 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8974, 7.2821, 1.7705, 0.0513, 0.2759, 0.0611, -0.1026, -1.3197, 7.0359, 1.6386, -0.0659, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c621cbb06b8ddf83b9d4e6d40dffdefa45d78d2ee46a92ade18785c2edeaaea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbaaacbb5e3d6b33832f6de911b846f94d70577677945d7bc54e8cc94adc8e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b72d16f1ae71e13c6b420621efcb7658e67d343d5d6e0a6e314412db49e814a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 58 attempt 0 · /messages · status 200 · 17.15 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 165 changed as sent

message 168 changed as sent

message 171 changed as sent

message 165 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7641, 0.5583, 0.5922, 0.128, 0.07, 0.9948, -0.0147, 0.8867, 0.6067, -0.4095, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4125 left_y=0.0483 left_z=0.0226 left_yaw=0.0085 left_pitch=-0.0474 left_roll=-0.0141 left_gripper=0.9948 right_x=0.2957 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1327 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.1162, -6.9128, 6.4889, 1.9463, 0.0806, 0.1783, 0.1148, -0.0342, -1.9077, 6.9949, 1.6386, -0.0659, -0.0415, -0.0171]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 168 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7691, 0.5678, 0.5964, 0.1272, 0.0723, 0.0092, -0.0147, 0.8867, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4159 left_y=0.049 left_z=0.0247 left_yaw=0.008 left_pitch=-0.0388 left_roll=-0.0105 left_gripper=0.0092 right_x=0.2958 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1324 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.0496, 6.2291, 1.9853, 0.0904, 0.0415, 0.696, -0.1709, -1.6342, 7.2137, 1.5995, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 171 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1452, 1.9072, 0.7353, 0.5808, 0.1085, 0.054, 0.9951, -0.0147, 0.8875, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4591 left_y=0.0514 left_z=0.022 left_yaw=0.0164 left_pitch=-0.0267 left_roll=-0.0133 left_gripper=0.9951 right_x=0.2958 right_y=0.0014 right_z=0.1496 right_yaw=0.0013 right_pitch=-0.1331 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8974, 7.2821, 1.7705, 0.0513, 0.2759, 0.0611, -0.1026, -1.3197, 7.0359, 1.6386, -0.0659, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c621cbb06b8ddf83b9d4e6d40dffdefa45d78d2ee46a92ade18785c2edeaaea5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbaaacbb5e3d6b33832f6de911b846f94d70577677945d7bc54e8cc94adc8e79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 456):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b72d16f1ae71e13c6b420621efcb7658e67d343d5d6e0a6e314412db49e814a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgRGAI4AUIIdGhpbmtpbmcSDCXXE1FQBmq9UbpucRoMYcl9yZOA6W2XRd4aIjC5A05nCOPz2J6RF89+ScVh5boPsW3uhGBbDTVpeejrCtMR7CnXLSKYdf5DAdLGhcwq0AZJmd6DQDhGl5exmxuA9qW4b02QfjvZINLrdcoq/4gcquXPFcfVOHBgqv4rRClXXP7s5MrkDGO/+jWTeEnQoVxYaV0ri3EqlO4cHC5epTFkB4ZHBgXFYDsN8I3jsXFDJdEzxYxQcPuvkTzJBLROxgcDnOdLB4uTiggfur0x3HU/y3tL4x6RwYSIx+hLNqTwqINU0dZBAmCahqkCvHDOYL7knovx+iXP+F6JilkjMpg62+2j6kr91djqNFrlxTZRepG6zNZBsVw/+QFdHPt4Ex/sN3ZxK3Le74kJr9YLd5vE6m8f8fBDR+ipI5/OCnsdEShtC5JbccatIwinRkLfPCAWStRbrGFCPpy6kI3ZQrCyRb+b7Ud8ygLzpbCDToGDXPjvLkRi27PLNuM/YrKssdUT2RS5RDkCbIl/OVnvTyuulpvyzncnsckjUisUPn0ij+tg4jrzx6wE3dWldLYfHySxpQQOmS7+zD4QEh2VBQdli8pCV8l6sL44cj0+03JogFKLrtTaZcS1LYGRlJ3UjlCeKe/FlP32chFOQ3ifHVsplYhQrUhi0QTJz+Xovc2j5FCPfMdu4o31Ioidrenz6ATHaievXbTvsD3O01BI7zWIu/D3ECmXKLQZ6ZqvEwOEaRN5K8bYULQ8UsLFChsUW39FtaF0LzQ39fCRY5BuyDUeOOGZ8QU7wn/H/MLfLOhHwa0U4/JDmZ/NRRfT+fodv5i5sMKTEg9/4iE10FjFydqqnk+x9eP/bTHbv5diGiJRixAVLMQO7tMAPlOWJZ/Oc2dBLiRUe6lmlyw+LRy7/JCxCFu5gxkZt3KUCE6QdstZXxk/5Cz0444U5A7UZDcMaKelqYfuT3XDYJSNon1aXhK7zKq7f6NrK/UGCYL4kl/hTP00eKqRfyM6ogB6TU1s6/URwJABB3B+/AtE8FIhX/zTti65+PBUj7OXDWa+gFnVny05zm/JMNf5u7v7vJY5PxILpbej0zBlCaWkaxO8jVZ4bolB4CMSP0HbygYhgIAMQpyeNWVG9dgL07fj6UTsH/FNcv8xHZNUhAb7mza6NuLKjzBAuEChoDVccSnfgj0zKyCh6BaY7v0Q0ZHv8ncrkdu8c65JKJ4oUvWrZhibge7ITxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1geYrCQhbnyHQg3YNzo5s",
      "input": {
        "note": "The open gripper is now forward of the mug's handle at table level; raking back toward the base so the left finger catches the handle and swings the mug inward.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.35,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01T1geYrCQhbnyHQg3YNzo5s",
      "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]: [0.2161, 1.5818, 0.3096, 0.6704, 0.1604, 0.0971, 0.9988, -0.0147, 0.8925, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.351 left_y=0.0518 left_z=0.0212 left_yaw=0.0206 left_pitch=-0.0325 left_roll=-0.008 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1483 right_yaw=0.0013 right_pitch=-0.1377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -5.7915, 5.1624, 1.8242, 0.1978, 0.0317, -0.1245, -0.212, -2.1402, 6.9538, 1.6337, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbbc5621d0f8d9e7b11d5550444de800aba0c60f0c8f7109f5c8ab77696aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:738c9ec45a749e58ec9068e0d1563cc17e22efc2307afef76c5900ef70c358c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e34f96e3fe1a2cec3db9e01488c33d763dcd27e02770309bf5f331a4a13a7dbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 59 attempt 0 · /messages · status 200 · 8.369 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 168 changed as sent

message 171 changed as sent

message 174 changed as sent

message 168 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1623, 1.7691, 0.5678, 0.5964, 0.1272, 0.0723, 0.0092, -0.0147, 0.8867, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4159 left_y=0.049 left_z=0.0247 left_yaw=0.008 left_pitch=-0.0388 left_roll=-0.0105 left_gripper=0.0092 right_x=0.2958 right_y=0.0014 right_z=0.1498 right_yaw=0.0013 right_pitch=-0.1324 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.0496, 6.2291, 1.9853, 0.0904, 0.0415, 0.696, -0.1709, -1.6342, 7.2137, 1.5995, -0.0611, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 171 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1452, 1.9072, 0.7353, 0.5808, 0.1085, 0.054, 0.9951, -0.0147, 0.8875, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4591 left_y=0.0514 left_z=0.022 left_yaw=0.0164 left_pitch=-0.0267 left_roll=-0.0133 left_gripper=0.9951 right_x=0.2958 right_y=0.0014 right_z=0.1496 right_yaw=0.0013 right_pitch=-0.1331 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8974, 7.2821, 1.7705, 0.0513, 0.2759, 0.0611, -0.1026, -1.3197, 7.0359, 1.6386, -0.0659, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 174 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2161, 1.5818, 0.3096, 0.6704, 0.1604, 0.0971, 0.9988, -0.0147, 0.8925, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.351 left_y=0.0518 left_z=0.0212 left_yaw=0.0206 left_pitch=-0.0325 left_roll=-0.008 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1483 right_yaw=0.0013 right_pitch=-0.1377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -5.7915, 5.1624, 1.8242, 0.1978, 0.0317, -0.1245, -0.212, -2.1402, 6.9538, 1.6337, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7dbbc5621d0f8d9e7b11d5550444de800aba0c60f0c8f7109f5c8ab77696aec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:738c9ec45a749e58ec9068e0d1563cc17e22efc2307afef76c5900ef70c358c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 465):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e34f96e3fe1a2cec3db9e01488c33d763dcd27e02770309bf5f331a4a13a7dbc",
        "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_01SSV7h7CtrHqL3WvYwRZNU7",
      "input": {
        "note": "The rake rotated the mug so its handle now points forward (+x), which suits jaws closing along y; lifting and moving forward over where the handle's outer bar should be (x≈0.46) before descending onto it.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.46,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01SSV7h7CtrHqL3WvYwRZNU7",
      "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]: [0.1505, 1.6222, 0.8211, 0.2276, 0.12, 0.0593, 0.9988, -0.0147, 0.8944, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.451 left_y=0.0506 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.0085 left_roll=-0.0127 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1477 right_yaw=0.0013 right_pitch=-0.14 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -7.3231, 8.1983, 1.8291, 0.0122, 0.0708, -0.1392, -0.0615, -1.6479, 6.9949, 1.6337, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c226657a720b97b2d3881795d2379b444295ad8758e17e8590abbc19c6cf3b47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5c623b185e5c92611d07769b0b836cbe9b43f3df7f6818afdde51083f22194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 474):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ad2a84875386296bc7f3baf010c73561f1de0ea9d09b38e64456fb12c968627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 60 attempt 0 · /messages · status 200 · 6.151 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 171 changed as sent

message 174 changed as sent

message 177 changed as sent

message 171 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1452, 1.9072, 0.7353, 0.5808, 0.1085, 0.054, 0.9951, -0.0147, 0.8875, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4591 left_y=0.0514 left_z=0.022 left_yaw=0.0164 left_pitch=-0.0267 left_roll=-0.0133 left_gripper=0.9951 right_x=0.2958 right_y=0.0014 right_z=0.1496 right_yaw=0.0013 right_pitch=-0.1331 right_roll=0.0015 right_gripper=0.9998\nstate[joint_eff]: [-0.4444, -7.8974, 7.2821, 1.7705, 0.0513, 0.2759, 0.0611, -0.1026, -1.3197, 7.0359, 1.6386, -0.0659, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 174 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2161, 1.5818, 0.3096, 0.6704, 0.1604, 0.0971, 0.9988, -0.0147, 0.8925, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.351 left_y=0.0518 left_z=0.0212 left_yaw=0.0206 left_pitch=-0.0325 left_roll=-0.008 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1483 right_yaw=0.0013 right_pitch=-0.1377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -5.7915, 5.1624, 1.8242, 0.1978, 0.0317, -0.1245, -0.212, -2.1402, 6.9538, 1.6337, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 177 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1505, 1.6222, 0.8211, 0.2276, 0.12, 0.0593, 0.9988, -0.0147, 0.8944, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.451 left_y=0.0506 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.0085 left_roll=-0.0127 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1477 right_yaw=0.0013 right_pitch=-0.14 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -7.3231, 8.1983, 1.8291, 0.0122, 0.0708, -0.1392, -0.0615, -1.6479, 6.9949, 1.6337, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c226657a720b97b2d3881795d2379b444295ad8758e17e8590abbc19c6cf3b47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a5c623b185e5c92611d07769b0b836cbe9b43f3df7f6818afdde51083f22194",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 474):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad2a84875386296bc7f3baf010c73561f1de0ea9d09b38e64456fb12c968627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQsKEAgRGAI4AUIIdGhpbmtpbmcSDG58uSGAmbCElgaRfBoMqG/zCHs2JqY1ct/VIjBCMRUEC+kmpjqz12SEMlsDBglKTuMz4jy8MoDbaki+Wt9I5MlKuseqbj8Wqzny0BMq6goYfO9F+EfWqkWmRwsQglU7EkdTTxbfbvfWfh2mhv68tGTpiO6ZiHwq5LP5ZHVmHgJwr21sFaKpkzozOLhU3p7HCv/AavbLq+hLGMdCNbD0qFoBMTvBGYtvhrdxgnJVl3H4k6zLrzW3g4779rdwMN/rIScaIzEiaL2Y5uS68aTYADC+BtdKqy/7FRU/hjSamaKC/asCFTQ6OS69YTua6F7P4ffXUuST0SB7I3j7mk9zI0WvncKDyYItprR4dJvt11HY9KNbU0dHhkME2vfBWtuI9azjfBofXI1rwKAqQMmE2I3KJ+s3RpWClqwBaldhROjjq1jUwMaOk6oMNCvvLB7wN+ldcJmROkrAMoRrSZ6t6guGAPAKooDNepFTnWHp+sOtFL8WhhoSR2N0u6dhfhxZv+/VZv3LhHTPhh8q3X4gkElLkthGzMzmw0pxBlm96I3I3FaF3sD9nPbPffqGuHA4d0SJE5po3l1BVXhy6bbls+3uQJ+Rob2+yGj3eu0nTwyyZWAvKXqcavC71vvttjGMGkowxt/DldPHQGoC6zBnY576zgMk5kCv8MH3Xrxynw4y+Qz7N5BGmqS6mmyPxKOh9F7adPE4U7GqT5khYZLwNSSeXVNvDhB67Q+E7nnnOb/E3q6RzcdUB460w/xrRB84mIdYY2ABTa7OoSbPGXNCTH2KqHUmdAZkwBq7XrTL4NLZ4fEMAyjd0Dh+kZdbXgDzLxOpKew1P5Vo0Cufa5wNN5pXnR1pD7wjS7Yn/qtulCWdMpB2iKRg/dojeom8YJPq312V467dNGb3MowztiUbKmMSg0po3YAJdyLvS17Xh4hZCOOVqh6KmmsM03nPSfRMaYin443OVL43+RXCMiPO8b9TfGYC33pqMfeMMNqpMMkAtn1371Jh3eyZLrHxZPAk5/eEMw3ajA+PHHE/cBPBnJZ0SY6hEKd0TDGOnWp0kNpsLXQF42F83BS+tW5poPwxpOpusPfGft3+aO1R6VU5lTYaFREY9ewqJr2R24NXGj7Z1TwS3lwWY30CHm+gHLb0cYw8NK+5nUrITH3b3xP8duRz5edZNt6Vad2DqueJk9YIPDGnYHYPpXJpMflAuuZQciraXQOW7k37ExHSRqiH96Qds+8KRohhVj/uwZSm0nBFoGy8wNHsHuMjGPCxyrGk+0/3pxHiZi+UW/6J3vZr5hGDVpaBv48oFoWCMUepFJrDJjmGP0NjjpimKnAK84wJklVj8H8pf1A0ht8pSZylXTBA5w8DInHU++ftyXxBG7P31+iKcXWILy7NFT1TEej3v73fXPKRajc7uLjLK6pDoYjUasu8E9jNnVqlD0T504fnnYWX0Gz2xhF2aGGnx5h1jM0DHB6ebnmoFXOFCc+t5VbtuEQvDDMmxmrzX8f1zjnp0maipyLUYvwEwnCI8TxgTcbH1pq/jdGI1xPuyF6oo5f/D0pOppdkfwz8J1JjkbIl2jzM2HXAbdrEvIa75M2VT4KCj6memE7G5cKK5NtA+Diy+if+IuP2TKD6LJaYRfMnI4Hy937/8yWfcxKmyCE70aVkbAM8/R+b7NQrL6CN1VQIbpj3mWK2P1WtK9WL7G3GrQHK8VRMg8+pMr3izJl2NGcQHJjaAQ0T/EvnQXE125gc4BkPf2qbEtI0ExwJmHUjHzRfyc4HGihR5Qm3kHshe9Q66Od49YxBREFHsHkdYGf1gpse5Mwo4PTPXms0C0OojCeTh55WD7+7u6FpPDw47nTOoTsIMWmCTcaKtRZnxitR+it/94hfqGdByg/nSuS0gGeI/wBRpVepiW7FcjktvfTUNkOy0UhkIy64f3O6nRbGP05yTpEV9ikYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QQwtaTgsS7EBJLdsmDiLpp",
      "input": {
        "note": "Red shows right beside the open left jaw at the bottom-left of the wrist view, so the handle should be just under the jaw; descending to handle height here.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QQwtaTgsS7EBJLdsmDiLpp",
      "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]: [0.149, 1.8462, 0.6945, 0.5217, 0.1127, 0.0631, 0.9988, -0.0147, 0.8959, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=0.0499 left_z=0.0221 left_yaw=0.0116 left_pitch=-0.0649 left_roll=-0.0133 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.8291, 4.5607, 1.8291, 0.0708, 0.0024, -0.1392, -0.2256, -1.9897, 6.9538, 1.5946, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd176df73b870dd909d43499c5a94b5240b6f10a098aed14797f829aac1ee32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f747c9a488e41107f9a933845b7f501ea95addafbc6a538fa20020f08098cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24a4f7ecd7b4f8f2550b18dc3b755d52180d46ccded6f5474bd05b9a3ee89acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 61 attempt 0 · /messages · status 200 · 8.353 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 174 changed as sent

message 177 changed as sent

message 180 changed as sent

message 174 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.2161, 1.5818, 0.3096, 0.6704, 0.1604, 0.0971, 0.9988, -0.0147, 0.8925, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.351 left_y=0.0518 left_z=0.0212 left_yaw=0.0206 left_pitch=-0.0325 left_roll=-0.008 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1483 right_yaw=0.0013 right_pitch=-0.1377 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.3487, -5.7915, 5.1624, 1.8242, 0.1978, 0.0317, -0.1245, -0.212, -2.1402, 6.9538, 1.6337, -0.0464, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 177 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1505, 1.6222, 0.8211, 0.2276, 0.12, 0.0593, 0.9988, -0.0147, 0.8944, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.451 left_y=0.0506 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.0085 left_roll=-0.0127 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1477 right_yaw=0.0013 right_pitch=-0.14 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -7.3231, 8.1983, 1.8291, 0.0122, 0.0708, -0.1392, -0.0615, -1.6479, 6.9949, 1.6337, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 180 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.149, 1.8462, 0.6945, 0.5217, 0.1127, 0.0631, 0.9988, -0.0147, 0.8959, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=0.0499 left_z=0.0221 left_yaw=0.0116 left_pitch=-0.0649 left_roll=-0.0133 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.8291, 4.5607, 1.8291, 0.0708, 0.0024, -0.1392, -0.2256, -1.9897, 6.9538, 1.5946, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd176df73b870dd909d43499c5a94b5240b6f10a098aed14797f829aac1ee32e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f747c9a488e41107f9a933845b7f501ea95addafbc6a538fa20020f08098cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 480):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24a4f7ecd7b4f8f2550b18dc3b755d52180d46ccded6f5474bd05b9a3ee89acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgRGAI4AUIIdGhpbmtpbmcSDHQn13MGmOpQjykJYBoMdgOmTv/HRIZZpTeEIjBAZaEvkcUPqoWDyd/96WJwOip3OOeHgaxb4opPe/D+FOxskVmvDEOx2MmOMFi4E9gqswdfzgjne07G9o76Nq27H/eazrXrxcruzHhA0fcJah50WKFtcbynO8Ar/DskP83S/dQz5m6y4YwvjJI8caRdd3w2IgUsLF5oRQgKuYhuFRU4I2Q7r4xRY3g0kgjY1OeSpFcIXVJxKPo6oC+/9TrKqFyqfulVS1lZjfc1L3jMMWbnl199Lz5SXKmQF8sHJ6dje6tvazEDdKt+4AZFdq7/hFbQooVZ3DTMb6cJ45EHJ0XmjBBhiIxlhGvwNcLaTXH6e6t3BBLdq887I1hmgd6TTA3iGcv5/R6KHkbIbWjGg5aDnRJHeGwIfN2HhTU5BQYIiYOHhU1qC00IOT1mGyb9Apyo6pT01X/kHkjKlKRxyzvP0gx5la9jI4nzwCtVcKTldliYGxLOfBgbiVf3rRf/F4BFt2DGu68M+j5jQiwvHDFF2lDwTTO4ylT2FLIkeexBY9aRxgnBXSFWjpHimTu/Ms+2I9HcNiu8zqfH/YYzq8eyiiRRK4QKLsjR5gzfkO2hjh8LRl5WyguMoOJbyxEIU3i3eXP1tq5AcfQya/pGhsdTZKTz1mevsN5YzWVsZpmXczJmm/gpON/q+o1jKV+Fbd61oFrvKFvhBQ3HozTza0trj7npl8pAf0lZ1belGDq/jalyLT++L6chYP5NfzMfZK950ZF0//RuSS0osB9iYajiHVSRR+gu4INJk1w0Xs7FSYmr4tIt4GkPyrSssMecOQ4TrxS+5B0Go8BfknuBPwo4HdVu9g+LZ41UbMai35lY9ILfFfosSiofGORkSX7SzOCzCjtTYRUWX8kumYpB55Z/x63DGojuH2TlZwXtS3ps5eIuc3Xp37FYFAur/kn78rHGn/IHHblPCswjjIq+yoODsYz+BM5feq1rpTxaEXWmHlBxqUgYUxzvjRanVMagXLBUvLC1olyhwAroEev4d0YxV35qbC5i/2QmVrnqKSmGmbaCF8T2fP0y9d/DCGRPQj+l4ud0vR4k1h6LmfOyIpITlhf5lB7X5vvfwkiIOIEjnWHC58lpZMtqoMSjjUwHDM8VEaW3z1ppq12VkuCz0L3JB7GXH7EhvTOtTBXT8lgdejYLmdCMtm95uX39un14tpQzIdFgtOjEx12GOLRlWG8jqYviEWboWRH+1fBMldDXppClIxCbYTHWHS/9XX5VfoZwoFhUO6kbHLFEO6Gv6St+wKabZqh//lxTsv0cObpiJ3xsOVfYY7dU6RctGRi3AaNuvED2tVuHN7nkKMjY1YyxY9EGghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015V9LyQqaic87esE4S4PUHj",
      "input": {
        "note": "At table level the red handle sits immediately beside the open left jaw; closing to try to catch it.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.45,
          "left_y": 0.05,
          "left_yaw": 0.0,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015V9LyQqaic87esE4S4PUHj",
      "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]: [0.149, 1.8645, 0.688, 0.5896, 0.1116, 0.0677, 0.0093, -0.0147, 0.8963, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=0.051 left_z=0.0257 left_yaw=0.0104 left_pitch=-0.0223 left_roll=-0.003 left_gripper=0.0093 right_x=0.2962 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.4034, 4.7111, 1.917, 0.1197, 0.0171, 0.696, -0.2256, -1.9077, 7.1453, 1.5946, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8221b8389a7792074b5f4902b665638ab3100fc329711ea1545e8c54817d5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d996e13ab0d6be54ad040db6516d12f5e43cd6aac46eea22d044b93521f88a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10a5022003e0b07238fa6cd8667f262ba0176633aad99ffdd94b2ada5c72036e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 62 attempt 0 · /messages · status 200 · 16.16 s
model
claude-fable-5-1
effort
medium
temperature
n/a
tool count
3

message 177 changed as sent

message 180 changed as sent

message 183 changed as sent

message 177 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.1505, 1.6222, 0.8211, 0.2276, 0.12, 0.0593, 0.9988, -0.0147, 0.8944, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.451 left_y=0.0506 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.0085 left_roll=-0.0127 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1477 right_yaw=0.0013 right_pitch=-0.14 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.6906, -7.3231, 8.1983, 1.8291, 0.0122, 0.0708, -0.1392, -0.0615, -1.6479, 6.9949, 1.6337, -0.0659, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 180 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.149, 1.8462, 0.6945, 0.5217, 0.1127, 0.0631, 0.9988, -0.0147, 0.8959, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.4424 left_y=0.0499 left_z=0.0221 left_yaw=0.0116 left_pitch=-0.0649 left_roll=-0.0133 left_gripper=0.9988 right_x=0.2961 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [0.0342, -7.8291, 4.5607, 1.8291, 0.0708, 0.0024, -0.1392, -0.2256, -1.9897, 6.9538, 1.5946, -0.0415, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 183 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: pour the left container into the red cup, then pour the right container into the red cup\nstate[joint_pos]: [0.149, 1.8645, 0.688, 0.5896, 0.1116, 0.0677, 0.0093, -0.0147, 0.8963, 0.6067, -0.4088, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.448 left_y=0.051 left_z=0.0257 left_yaw=0.0104 left_pitch=-0.0223 left_roll=-0.003 left_gripper=0.0093 right_x=0.2962 right_y=0.0014 right_z=0.1473 right_yaw=0.0013 right_pitch=-0.1415 right_roll=0.0016 right_gripper=0.9998\nstate[joint_eff]: [-0.0752, -8.4034, 4.7111, 1.917, 0.1197, 0.0171, 0.696, -0.2256, -1.9077, 7.1453, 1.5946, -0.0611, -0.0562, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8221b8389a7792074b5f4902b665638ab3100fc329711ea1545e8c54817d5339",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d996e13ab0d6be54ad040db6516d12f5e43cd6aac46eea22d044b93521f88a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 490):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10a5022003e0b07238fa6cd8667f262ba0176633aad99ffdd94b2ada5c72036e",
        "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+gkKEAgRGAI4AUIIdGhpbmtpbmcSDEjlL3dZT9k6MWWvpRoMPP5bq+dSQJk1OjD5IjD79BI3cBw9CXkooJKKDtUs97KnQbgd6pjgMM9lKCyA9WOVuefV3ucJDrgKS0FdXoIqlwmBYf56IyQ84k18nqJkw/zyvZtsljHjcMAYJmRPfG5Ua7VEL35lZjyyq/jIoK/AQzMiRVBvLpiR+UcLjNSdMYt9hkkt2a8+FqoXYYLpHF5IzhTafFBsCteIR/9MAj2Z1AYBxhHphqtCjSwt7FsUHy4uXpA/yveQv9neRUvYsFymwIJ9fZqXR2I+TVd4/pAe/ueLCAd06X7XF0ecDoKu0oGYTTgUglJXZuxka8x7rBjEejtQBcoOtbcC5hljcr7hhfDFUHRAsdFbm9/y4H0itWgmRf8Obpe/U2+1qA4+OSC672FVC24ROqFGyWsauKmmOwvvqq1nuq5A5fEob0BhH7N184AAW+UrIJxjeqVP4Hx3WPYSrncsAs9fIhL8/0tIclVf8NxCDIko7yR8dxES3ryNGSKnq1i1RPRaQTclFJhgi6Ok/3rFZxeTnLKJPJeM18LvXjE6muz1Yt6JpZQnWHXDAk32oHCXxsyEbg+LuTqJ64rqveLIwydAXzhHKZGzHx15QB+NDrnnmGzxMvZG6erfbiBrmL3rxpMb3MDAG73hAWbFrh5TpD5eFeVQ3G1d+JeghggJeq1sHfgd4lEMo3rvO6HqwZKwc3VY14HqFpL4pLKBf/uhXJiPUUPDFMNQUUX3sKHBu2/WwJ7cn39cWxptuRQUGEwhhCaVX+ivW3lJCDKPbZQEnWrua0ukI04eiGrmZP+w6aG+rVJ5c3pPKt9/Im9kSNzu0BayVp+KfvtISy9ppKV+QJhXBBA7IxiClOyNSX/UttBpOhMfr8A1Vun2xb6E3f7kOFSPgRRmc8F8KDqm1jnFEReRe8fT7HcgJ98Xk4o3q3dz5XfEwU26YcZmO8ItBxQFsnG1t7a7zoyEgMR8vGzQkAJOuc0xCDtE6g9wmodjFCkh7HHdwWAFPopVhsuf44fH5Rgu6C+hmy/4XOzYbdVw8+v/nCQaFUsL1UDOoUQOkTUjGaAsMhEtxBJAl2F7C3UExavirYXBC/74fcEz3TLsv0n5F3W9dXPC+DZQi4BUU4SeXsMTZe5KOt58nHTSE3Gz3nJ3Umo3RaQG6OoEVxQCMxfdcXIJnzh99n5DK+eNdgpWdIMDkS3zRxfyM2/mLwhSf/NL9n0mKtU9tWvqy1AsiqWTFplYbJJCBhalAUMnsnnijgoW0JmWZ+B23Us2p57aG+FmlyyM0OlsFgdrtiv7noghQVvmW+ORp5YxJyzAZ9eYfFGCKha41bcqOMfpxJ1DbmsqmF9D957Vvuuq5Q4NcuLSz5zBvx3n9jxtr3gQcej4PMXaawB5snQBYWG76sQxJkHfjMKBzfkAL0qh9V+q3CMTudqeUauXnlo77r1C/uA+L+NDkBCmTTVo24XJNa9D6MjGGnCrYg1X1pnwACmmTgzhFi4e2V/DzssCv2mTQBiqgr/jvSv8OgrKA7TMGgLwO5oDcTuNJDb1bQFbYkL0eq0FBR77ox4eDwHJvfgtVP9rB5vQ4G0KnEVcJWgT+1H1VU8Jt6t4ehjN2VOkrrEFdMKYnz6CRphHngPVZYC0XSDmjWzlIsQKB++zqiRVaq5pNRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V4dLpbaDQSY3EHsY7YeZj6",
      "input": {
        "note": "The close was empty again; the mug lies against the left fence beyond the arm's y limit. Parking the left arm clear of the objects before ending the trial.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.3,
          "left_y": -0.05,
          "left_yaw": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01V4dLpbaDQSY3EHsY7YeZj6",
      "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]: [-0.3229, 0.8921, 0.659, -0.3145, -0.2314, -0.1589, 0.9958, -0.0147, 0.9016, 0.6067, -0.4091, -0.012, -0.0261, 0.9998]\nstate[eef_state]: left_x=0.3111 left_y=-0.0576 left_z=0.1934 left_yaw=-0.0512 left_pitch=0.029 left_roll=-0.0146 left_gripper=0.9958 right_x=0.2963 right_y=0.0014 right_z=0.1457 right_yaw=0.0013 right_pitch=-0.1472 right_roll=0.0017 right_gripper=0.9998\nstate[joint_eff]: [-0.2256, -2.2769, 9.347, 1.6044, -0.2613, 0.0269, -0.0073, -0.1299, -2.2906, 7.1316, 1.5995, -0.0757, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ab82b07e201ebea5e8a2a01004aae73c8b7a2b511b83f62d280b0b7caeadf87",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 502):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f95516e8549ccebc98150802e6f82f5f9675970f6389d6b84e35a7dcd9cc6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 502):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:51d68293df9d4e97b6a662482f4b4cd41738a52020f815cc1c653262af30c761",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]